version: 66.08
glider: 502
mission: 3
dive: 517
start: 1 5 111 8 16 48
data:
$ID,502
$MISSION,3
$DIVE,517
$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,-30791.549
$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,34
$R_STBD_OVSHOOT,31
$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
$GPS1,050111,080745,-7628.580,17820.957,10,4.3,29,120.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-65.1
$GPS2,050111,081622,-7628.592,17820.971,11,2.3,30,120.4
$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,193.9,216606,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,158,0.00,0.00,-138.10,0.000,2,0.000,0.000,405,2664,3148,0,0,0,0,0,0
$GC,163,-0.76,-146.0,3.1,-2.5,20,193,8.85,2.28,-13.00,0.000,4,0.190,0.059,2808,1242,3559,0,0,0,0,0,0
$GC,387,-0.76,-146.0,36.3,-14.9,60,395,0.00,2.33,0.00,0.000,6,0.000,0.056,2798,2637,3563,0,0,0,0,0,0
$GC,528,-0.76,-146.0,58.8,-16.2,85,535,0.00,1.85,0.00,0.000,4,0.000,0.062,2790,3757,3563,0,0,0,0,0,0
$GC,587,-0.76,-146.0,69.3,-17.1,95,593,0.00,1.75,0.00,0.000,6,0.000,0.041,2790,2659,3563,0,0,0,0,0,0
$GC,724,-0.76,-146.0,93.1,-17.9,120,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2658,3563,0,0,0,0,0,0
$GC,864,-0.76,-146.0,116.0,-16.3,136,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2658,3563,0,0,0,0,0,0
$GC,999,-0.76,-146.0,138.9,-16.7,149,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2658,3564,0,0,0,0,0,0
$GC,1127,-0.76,-146.0,160.0,-16.5,161,1131,0.00,1.83,0.00,0.000,4,0.000,0.063,2783,3770,3564,0,0,0,0,0,0
$GC,1174,-0.76,-146.0,168.2,-18.7,165,1178,0.12,1.73,0.00,0.000,6,0.156,0.041,2816,2660,3564,0,0,0,0,0,0
$GC,1316,-0.76,-146.0,188.9,-14.0,178,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2659,3564,0,0,0,0,0,0
$GC,1452,-0.76,-146.0,208.1,-13.8,191,1456,0.00,1.83,0.00,0.000,4,0.000,0.063,2809,3771,3564,0,0,0,0,0,0
$GC,1487,-0.76,-146.0,213.4,-15.8,194,1491,0.00,1.73,0.00,0.000,6,0.000,0.041,2809,2666,3564,0,0,0,0,0,0
$GC,1628,-0.76,-146.0,234.3,-14.7,207,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2663,3564,0,0,0,0,0,0
$GC,1754,-0.76,-146.0,253.4,-15.1,219,1756,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2663,3564,0,0,0,0,0,0
$GC,1945,-0.76,-146.0,282.4,-14.8,237,1949,0.00,1.80,0.00,0.000,4,0.000,0.061,2801,3765,3564,0,0,0,0,0,0
$GC,1968,-0.76,-146.0,286.1,-15.7,239,1972,0.00,1.70,0.00,0.000,6,0.000,0.041,2801,2673,3564,0,0,0,0,0,0
$STATE,2118,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2118,begin apogee
$GC,2125,-0.27,0.0,309.4,15.0,253,2261,0.52,0.00,129.43,0.996,4,0.129,0.000,2969,2489,2961,0,0,0,0,0,0
$STATE,2262,end apogee,CONTROL_FINISHED_OK
$STATE,2262,begin climb
$GC,2265,0.76,146.0,315.7,0.0,265,2424,1.10,2.50,147.75,0.913,4,0.083,0.047,3308,1106,2364,0,0,0,0,0,0
$GC,2586,0.76,146.0,287.3,11.4,293,2594,0.00,2.47,0.00,0.000,6,0.000,0.051,3308,2499,2353,0,0,0,0,0,0
$GC,2786,0.76,146.0,262.8,11.9,312,2790,0.00,2.28,0.00,0.000,4,0.000,0.048,3315,1103,2349,0,0,0,0,0,0
$GC,2940,0.76,146.0,245.8,11.3,325,2944,0.00,2.28,0.00,0.000,6,0.000,0.053,3315,2507,2348,0,0,0,0,0,0
$GC,3077,0.76,146.0,230.0,11.2,337,3080,0.00,2.03,0.00,0.000,4,0.000,0.060,3315,3767,2348,0,0,0,0,0,0
$GC,3158,0.76,146.0,218.7,13.1,344,3167,0.00,1.98,0.00,0.000,6,0.000,0.039,3324,2522,2346,0,0,0,0,0,0
$GC,3296,0.76,146.0,202.3,12.1,357,3304,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2520,2346,0,0,0,0,0,0
$GC,3432,0.76,146.0,185.6,12.5,370,3435,0.00,2.03,0.00,0.000,4,0.000,0.060,3324,3766,2346,0,0,0,0,0,0
$GC,3492,0.76,146.0,177.0,14.0,375,3500,0.00,1.98,0.00,0.000,6,0.000,0.039,3334,2520,2346,0,0,0,0,0,0
$GC,3628,0.76,146.0,160.1,12.3,388,3629,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2519,2345,0,0,0,0,0,0
$GC,3754,0.76,146.0,144.0,13.0,400,3758,0.00,2.03,0.00,0.000,4,0.000,0.059,3334,3764,2345,0,0,0,0,0,0
$GC,3835,0.76,146.0,132.7,14.0,407,3839,0.12,1.90,0.00,0.000,6,0.160,0.039,3310,2539,2344,0,0,0,0,0,0
$GC,3975,0.76,146.0,116.4,10.9,420,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2537,2344,0,0,0,0,0,0
$GC,4102,0.76,146.0,102.5,10.9,432,4106,0.00,2.00,0.00,0.000,4,0.000,0.058,3310,3768,2344,0,0,0,0,0,0
$GC,4148,0.76,146.0,96.8,12.5,438,4156,0.00,1.95,0.00,0.000,6,0.000,0.041,3318,2544,2344,0,0,0,0,0,0
$GC,4289,0.76,146.0,80.5,11.6,463,4295,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2542,2343,0,0,0,0,0,0
$GC,4426,0.76,146.0,64.7,11.0,488,4434,0.00,2.05,0.00,0.000,4,0.000,0.060,3318,3764,2344,0,0,0,0,0,0
$GC,4459,0.76,146.0,60.9,12.6,493,4467,0.00,1.90,0.00,0.000,6,0.000,0.039,3328,2546,2343,0,0,0,0,0,0
$GC,4601,0.76,146.0,44.6,11.8,518,4609,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2545,2343,0,0,0,0,0,0
$GC,4740,0.76,146.0,28.9,11.1,543,4747,0.00,2.05,0.00,0.000,4,0.000,0.060,3327,3767,2343,0,0,0,0,0,0
$GC,4791,0.76,146.0,22.1,14.1,552,4799,0.00,1.92,0.00,0.000,6,0.000,0.040,3337,2555,2343,0,0,0,0,0,0
$FREEZE,8.89,-0.815,-1.896,2,1,0
$FREEZE,8.16,-0.797,-1.895,2,1,0
$FREEZE,7.41,-0.799,-1.895,2,1,0
$FREEZE,6.52,-0.798,-1.894,2,1,0
$FREEZE,5.82,-0.781,-1.893,2,1,0
$FREEZE,5.30,-0.789,-1.893,2,1,0
$GC,4937,0.76,146.0,5.3,11.4,577,4944,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2553,2342,0,0,0,0,0,0
$FREEZE,3.13,-0.782,-1.891,2,1,0
$FREEZE,2.33,-0.786,-1.891,2,1,0
$STATE,4956,end climb,SURFACE_DEPTH_REACHED
$STATE,4956,begin surface coast
$FREEZE,1.58,-0.775,-1.890,2,1,0
$FREEZE,1.10,-0.798,-1.888,2,1,0
$FREEZE,1.14,-0.820,-1.892,2,1,0
$FREEZE,1.13,-0.818,-1.892,2,1,0
$FINISH,1.1,1.027702
$STATE,4980,end surface coast,CONTROL_FINISHED_OK
$STATE,4981,begin surface
$SM_CCo,4998,73.57,0.100,0,0,1735,300.24
$SM_GC,2.03,0.00,0.00,73.57,0.000,0.000,0.100,411,2670,1735,-8.29,0.57,300.24
$IRIDIUM_FIX,-7519.49,-17523.07,050111,060615
$TT8_MAMPS,0.028462
$HUMID,53.26
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,18.1
$ALTIM_BOTTOM_PING,250.3,73.7
$24V_AH,20.2,75.965
$10V_AH,9.7,52.196
$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,18.350,52.550,277.175,73.575,0.000,27.281,41.275,282.059,1.250,0.000,32.080,1457.862,1561.309,492.237,1849.934,235.364,0.000,1111.914,0.000,975.179,0.000,7.245,0.000
$DEVICE_MAMPS,190.485,74.970,996.030,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,408.982,808.486,955.155,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267060
$DATA_FILE_SIZE,40402,584
$CAP_FILE_SIZE,82111,0
$CFSIZE,260165632,224387072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.199,164.5,1
$GPS,050111,094237,-7628.723,17819.703,38,1.0,38,120.4