version: 66.08
glider: 502
mission: 3
dive: 486
start: 1 3 111 9 37 34
data:
$ID,502
$MISSION,3
$DIVE,486
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,750
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,400
$D_CALL,3
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,4
$SURFACE_URGENCY_FORCE,8
$T_DIVE,250
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-5
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.025
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51763
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,70
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,8
$TGT_DEFAULT_LAT,-7715
$TGT_DEFAULT_LON,16530
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-30752.465
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3944
$C_PITCH,3065
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,420
$VBD_MAX,3960
$C_VBD,2961
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.546913
$PRESSURE_SLOPE,0.00011650941
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,3
$ALTIM_PING_DEPTH,250
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,86
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,131
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043373196
$SEABIRD_T_H,0.00062598457
$SEABIRD_T_I,2.5066851e-05
$SEABIRD_T_J,2.8555498e-06
$SEABIRD_C_G,-9.7998753
$SEABIRD_C_H,1.1362277
$SEABIRD_C_I,-0.00070417771
$SEABIRD_C_J,0.00014171835
$GPS1,030111,093106,-7630.624,17918.512,15,1.0,31,119.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-73.3
$GPS2,030111,093708,-7630.682,17918.844,13,1.3,13,119.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,POLYNYA1
$TGT_LATLONG,-7630.000,17000.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,196.2,241614,-17.5,-10.000
$D_GRID,375
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,106,0.00,0.00,-86.45,0.000,2,0.000,0.000,409,2655,3333,0,0,0,0,0,0
$GC,109,-0.76,-146.0,3.1,-1.2,13,131,9.05,0.00,-6.47,0.000,6,0.199,0.000,2813,2655,3561,0,0,0,0,0,0
$GC,264,-0.76,-146.0,29.2,-15.7,40,271,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2655,3563,0,0,0,0,0,0
$GC,404,-0.76,-146.0,51.5,-16.4,65,411,0.00,1.85,0.00,0.000,4,0.000,0.061,2807,3764,3564,0,0,0,0,0,0
$GC,456,-0.76,-146.0,60.6,-17.1,74,464,0.00,1.80,0.00,0.000,6,0.000,0.042,2806,2638,3564,0,0,0,0,0,0
$GC,595,-0.76,-146.0,83.4,-16.1,99,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2637,3563,0,0,0,0,0,0
$GC,739,-0.76,-146.0,107.5,-17.1,121,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2637,3564,0,0,0,0,0,0
$GC,874,-0.76,-146.0,130.1,-16.9,134,878,0.00,1.85,0.00,0.000,4,0.000,0.063,2798,3762,3564,0,0,0,0,0,0
$GC,912,-0.76,-146.0,136.2,-17.4,137,915,0.00,1.73,0.00,0.000,6,0.000,0.041,2798,2656,3564,0,0,0,0,0,0
$GC,1052,-0.76,-146.0,160.0,-16.8,150,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2654,3564,0,0,0,0,0,0
$GC,1180,-0.76,-146.0,181.2,-16.4,162,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2654,3565,0,0,0,0,0,0
$GC,1307,-0.76,-146.0,202.3,-16.7,174,1311,0.00,1.83,0.00,0.000,4,0.000,0.063,2790,3766,3564,0,0,0,0,0,0
$GC,1344,-0.76,-146.0,209.5,-17.5,177,1354,0.00,1.77,0.00,0.000,6,0.000,0.042,2790,2658,3564,0,0,0,0,0,0
$GC,1481,-0.76,-146.0,231.6,-16.8,190,1482,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2657,3565,0,0,0,0,0,0
$GC,1606,-0.76,-146.0,253.2,-17.3,202,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2657,3564,0,0,0,0,0,0
$STATE,1720,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1720,begin apogee
$GC,1726,-0.27,0.0,271.2,14.9,213,1864,0.57,0.00,129.32,0.968,4,0.129,0.000,2973,2491,2960,0,0,0,0,0,0
$STATE,1865,end apogee,CONTROL_FINISHED_OK
$STATE,1865,begin climb
$GC,1867,0.76,146.0,278.3,0.0,225,2019,1.05,0.00,146.73,0.892,6,0.088,0.000,3302,2491,2365,0,0,0,0,0,0
$GC,2214,0.76,146.0,243.6,12.4,256,2221,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,2491,2352,0,0,0,0,0,0
$GC,2349,0.76,146.0,228.4,11.0,269,2353,0.00,2.12,0.00,0.000,4,0.000,0.059,3303,3764,2350,0,0,0,0,0,0
$GC,2426,0.76,146.0,218.0,13.1,275,2435,0.00,2.00,0.00,0.000,6,0.000,0.041,3313,2521,2349,0,0,0,0,0,0
$GC,2564,0.76,146.0,202.9,10.7,288,2571,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2520,2348,0,0,0,0,0,0
$GC,2699,0.76,146.0,187.6,10.8,301,2703,0.00,2.03,0.00,0.000,4,0.000,0.060,3313,3770,2347,0,0,0,0,0,0
$GC,2748,0.76,146.0,181.4,12.8,305,2756,0.00,2.00,0.00,0.000,6,0.000,0.041,3322,2516,2347,0,0,0,0,0,0
$GC,2885,0.76,146.0,166.8,10.4,318,2888,0.00,2.03,0.00,0.000,4,0.000,0.058,3322,3768,2347,0,0,0,0,0,0
$GC,2922,0.76,146.0,161.9,12.4,321,2931,0.00,1.98,0.00,0.000,6,0.000,0.041,3332,2533,2347,0,0,0,0,0,0
$GC,3059,0.76,146.0,146.5,11.2,334,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2532,2347,0,0,0,0,0,0
$GC,3185,0.76,146.0,131.2,12.3,346,3188,0.00,1.98,0.00,0.000,4,0.000,0.058,3332,3760,2346,0,0,0,0,0,0
$GC,3243,0.76,146.0,122.9,13.7,351,3254,0.08,1.92,0.00,0.000,6,0.144,0.041,3318,2550,2346,0,0,0,0,0,0
$GC,3380,0.76,146.0,108.1,10.6,364,3381,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2548,2346,0,0,0,0,0,0
$GC,3507,0.76,146.0,93.9,11.0,381,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2548,2345,0,0,0,0,0,0
$GC,3643,0.76,146.0,78.8,11.2,406,3651,0.00,2.00,0.00,0.000,4,0.000,0.060,3317,3753,2345,0,0,0,0,0,0
$GC,3700,0.76,146.0,71.5,13.4,416,3709,0.00,1.92,0.00,0.000,6,0.000,0.041,3325,2547,2345,0,0,0,0,0,0
$GC,3841,0.76,146.0,54.8,11.4,441,3847,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2546,2345,0,0,0,0,0,0
$GC,3979,0.76,146.0,38.4,11.5,466,3988,0.00,2.03,0.00,0.000,4,0.000,0.060,3325,3764,2345,0,0,0,0,0,0
$GC,4039,0.76,146.0,30.4,14.3,476,4047,0.00,1.92,0.00,0.000,6,0.000,0.041,3334,2556,2344,0,0,0,0,0,0
$GC,4181,0.76,146.0,13.1,12.5,501,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2555,2344,0,0,0,0,0,0
$FREEZE,8.41,-0.910,-1.898,2,1,0
$FREEZE,7.64,-0.885,-1.897,2,1,0
$FREEZE,6.95,-0.869,-1.896,2,1,0
$FREEZE,6.23,-0.881,-1.896,2,1,0
$FREEZE,5.52,-0.889,-1.896,2,1,0
$FREEZE,4.61,-0.868,-1.895,2,1,0
$FREEZE,3.87,-0.867,-1.894,2,1,0
$FREEZE,3.08,-0.867,-1.894,2,1,0
$FREEZE,2.45,-0.867,-1.893,2,1,0
$STATE,4261,end climb,SURFACE_DEPTH_REACHED
$STATE,4261,begin surface coast
$FREEZE,1.46,-0.868,-1.893,2,1,0
$FREEZE,1.13,-0.899,-1.081,2,1,0
$FREEZE,1.28,-0.899,-1.894,2,1,0
$FREEZE,1.14,-0.880,-0.902,2,1,0
$FINISH,1.1,1.013300
$STATE,4288,end surface coast,FINISH_DEPTH_REACHED
$STATE,4288,begin surface
$SM_CCo,4305,76.28,0.100,0,0,1737,300.24
$SM_GC,1.92,0.00,0.00,76.28,0.000,0.000,0.100,417,2662,1737,-8.27,0.34,300.24
$IRIDIUM_FIX,-7545.40,17923.23,030111,080801
$TT8_MAMPS,0.027713
$HUMID,53.22
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,18.9
$ALTIM_BOTTOM_PING,251.5,34.5
$24V_AH,20.2,72.856
$10V_AH,9.7,49.741
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.300,35.150,276.050,76.275,0.000,39.107,38.729,171.569,1.250,0.000,14.780,1293.702,1246.789,446.409,1585.976,179.877,0.000,987.002,0.000,832.449,0.000,7.140,0.000
$DEVICE_MAMPS,198.900,81.855,968.490,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,363.589,750.323,942.073,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267120
$DATA_FILE_SIZE,37147,519
$CAP_FILE_SIZE,70717,0
$CFSIZE,260165632,225808384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.369,122.3,1
$GPS,030111,105126,-7630.726,17920.129,12,1.9,12,119.1