version: 66.08
glider: 502
mission: 3
dive: 536
start: 1 6 111 17 38 35
data:
$ID,502
$MISSION,3
$DIVE,536
$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,-2
$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,623.29712
$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,-30815.551
$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,46
$R_STBD_OVSHOOT,23
$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
$GPS1,060111,172837,-7627.684,17736.711,40,1.1,40,121.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-72.4
$GPS2,060111,173808,-7627.653,17736.707,12,1.2,12,121.3
$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,130.0,197501,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-80.12,0.000,2,0.000,0.000,417,2636,3201,0,0,0,0,0,0
$GC,102,-0.76,-146.0,3.0,-1.2,12,132,8.73,1.92,-11.20,0.000,4,0.190,0.076,2798,3767,3560,0,0,0,0,0,0
$GC,378,-0.76,-146.0,50.3,-18.0,61,385,0.00,1.77,0.00,0.000,6,0.000,0.041,2798,2628,3563,0,0,0,0,0,0
$GC,515,-0.76,-146.0,73.9,-17.3,86,524,0.00,1.90,0.00,0.000,4,0.000,0.060,2789,3763,3563,0,0,0,0,0,0
$GC,595,-0.76,-146.0,88.2,-17.6,100,604,0.00,1.75,0.00,0.000,6,0.000,0.040,2789,2662,3564,0,0,0,0,0,0
$GC,739,-0.76,-146.0,113.3,-17.2,119,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2661,3564,0,0,0,0,0,0
$GC,866,-0.76,-146.0,135.3,-17.1,131,869,0.00,1.80,0.00,0.000,4,0.000,0.060,2781,3767,3564,0,0,0,0,0,0
$GC,902,-0.76,-146.0,141.7,-18.1,134,906,0.12,1.70,0.00,0.000,6,0.156,0.041,2815,2664,3564,0,0,0,0,0,0
$GC,1042,-0.76,-146.0,163.8,-15.2,147,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2663,3564,0,0,0,0,0,0
$GC,1169,-0.76,-146.0,182.6,-14.6,159,1173,0.00,1.80,0.00,0.000,4,0.000,0.060,2807,3767,3564,0,0,0,0,0,0
$GC,1216,-0.76,-146.0,189.5,-15.1,163,1220,0.00,1.70,0.00,0.000,6,0.000,0.040,2807,2670,3565,0,0,0,0,0,0
$GC,1359,-0.76,-146.0,210.4,-14.9,176,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2667,3565,0,0,0,0,0,0
$GC,1495,-0.76,-146.0,230.7,-14.9,189,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2667,3565,0,0,0,0,0,0
$GC,1623,-0.76,-146.0,249.6,-14.7,201,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2667,3564,0,0,0,0,0,0
$GC,1748,-0.76,-146.0,268.2,-14.7,213,1749,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2667,3564,0,0,0,0,0,0
$GC,1939,-0.76,-146.0,295.7,-14.4,231,1943,0.00,1.80,0.00,0.000,4,0.000,0.060,2799,3770,3564,0,0,0,0,0,0
$GC,1996,-0.76,-146.0,304.5,-16.0,236,2000,0.00,1.70,0.00,0.000,6,0.000,0.041,2799,2676,3564,0,0,0,0,0,0
$GC,2200,-0.76,-146.0,335.0,-14.9,255,2204,0.00,1.83,0.00,0.000,4,0.000,0.061,2790,3761,3565,0,0,0,0,0,0
$GC,2240,-0.76,-146.0,341.4,-16.1,258,2247,0.00,1.73,0.00,0.000,6,0.000,0.040,2790,2679,3564,0,0,0,0,0,0
$GC,2439,-0.76,-146.0,372.8,-16.1,277,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2679,3564,0,0,0,0,0,0
$STATE,2446,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2446,begin apogee
$GC,2452,-0.27,0.0,374.3,15.9,278,2590,0.57,0.00,131.60,1.051,4,0.126,0.000,2973,2495,2961,0,0,0,0,0,0
$STATE,2591,end apogee,CONTROL_FINISHED_OK
$STATE,2591,begin climb
$GC,2593,0.76,146.0,382.3,0.0,290,2752,1.08,0.00,150.43,0.973,6,0.085,0.000,3304,2495,2364,0,0,0,0,0,0
$GC,2944,0.76,146.0,350.1,10.9,322,2948,0.00,2.28,0.00,0.000,4,0.000,0.057,3304,3763,2352,0,0,0,0,0,0
$GC,2996,0.76,146.0,343.5,13.0,326,3000,0.00,2.10,0.00,0.000,6,0.000,0.037,3314,2514,2352,0,0,0,0,0,0
$GC,3196,0.76,146.0,320.2,11.5,344,3200,0.00,2.08,0.00,0.000,4,0.000,0.057,3314,3768,2349,0,0,0,0,0,0
$GC,3251,0.76,146.0,312.5,13.5,348,3259,0.00,2.00,0.00,0.000,6,0.000,0.038,3323,2515,2348,0,0,0,0,0,0
$GC,3452,0.76,146.0,288.2,12.0,367,3455,0.00,2.03,0.00,0.000,4,0.000,0.057,3323,3766,2347,0,0,0,0,0,0
$GC,3520,0.76,146.0,278.7,14.5,373,3524,0.00,1.95,0.00,0.000,6,0.000,0.038,3332,2536,2346,0,0,0,0,0,0
$GC,3723,0.76,146.0,253.8,11.9,392,3727,0.00,2.00,0.00,0.000,4,0.000,0.057,3333,3771,2345,0,0,0,0,0,0
$GC,3781,0.76,146.0,246.3,13.5,397,3785,0.12,1.92,0.00,0.000,6,0.164,0.039,3309,2533,2346,0,0,0,0,0,0
$GC,3918,0.76,146.0,231.3,10.4,409,3926,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2531,2345,0,0,0,0,0,0
$GC,4054,0.76,146.0,217.1,10.6,422,4058,0.00,2.00,0.00,0.000,4,0.000,0.057,3309,3767,2344,0,0,0,0,0,0
$GC,4090,0.76,146.0,212.8,12.8,425,4094,0.00,1.90,0.00,0.000,6,0.000,0.038,3317,2544,2344,0,0,0,0,0,0
$GC,4232,0.76,146.0,196.5,11.3,438,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2541,2344,0,0,0,0,0,0
$GC,4360,0.76,146.0,182.0,11.1,450,4363,0.00,1.98,0.00,0.000,4,0.000,0.058,3317,3764,2344,0,0,0,0,0,0
$GC,4394,0.76,146.0,177.4,12.9,453,4398,0.00,1.88,0.00,0.000,6,0.000,0.038,3327,2550,2343,0,0,0,0,0,0
$GC,4536,0.76,146.0,159.8,11.9,466,4540,0.00,1.98,0.00,0.000,4,0.000,0.058,3327,3767,2343,0,0,0,0,0,0
$GC,4585,0.76,146.0,152.8,13.6,470,4594,0.00,1.90,0.00,0.000,6,0.000,0.038,3336,2569,2343,0,0,0,0,0,0
$GC,4722,0.76,146.0,136.4,12.4,483,4723,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2568,2343,0,0,0,0,0,0
$GC,4848,0.76,146.0,120.8,12.4,495,4852,0.00,1.95,0.00,0.000,4,0.000,0.057,3336,3773,2343,0,0,0,0,0,0
$GC,4905,0.76,146.0,113.2,14.0,500,4910,0.12,1.85,0.00,0.000,6,0.161,0.039,3312,2577,2343,0,0,0,0,0,0
$GC,5041,0.76,146.0,97.8,10.8,514,5048,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2574,2343,0,0,0,0,0,0
$GC,5182,0.76,146.0,83.0,10.6,539,5188,0.00,1.95,0.00,0.000,4,0.000,0.057,3311,3769,2343,0,0,0,0,0,0
$GC,5239,0.76,146.0,76.0,12.4,549,5247,0.00,1.85,0.00,0.000,6,0.000,0.039,3319,2580,2343,0,0,0,0,0,0
$GC,5380,0.76,146.0,60.3,10.8,574,5388,0.00,1.98,0.00,0.000,4,0.000,0.057,3319,3768,2343,0,0,0,0,0,0
$GC,5437,0.76,146.0,52.7,12.4,584,5446,0.00,1.85,0.00,0.000,6,0.000,0.039,3328,2604,2343,0,0,0,0,0,0
$GC,5578,0.76,146.0,36.3,11.7,609,5586,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2604,2343,0,0,0,0,0,0
$GC,5716,0.76,146.0,20.2,11.5,634,5725,0.00,1.92,0.00,0.000,4,0.000,0.057,3328,3760,2342,0,0,0,0,0,0
$GC,5754,0.76,146.0,15.4,12.8,640,5762,0.00,1.83,0.00,0.000,6,0.000,0.040,3337,2613,2342,0,0,0,0,0,0
$FREEZE,8.53,-0.212,-1.891,2,2,0
$FREEZE,7.76,-0.207,-1.891,2,2,0
$FREEZE,7.14,-0.208,-1.890,2,2,0
$FREEZE,6.26,-0.205,-1.890,2,2,0
$FREEZE,5.69,-0.206,-1.889,2,2,0
$FREEZE,4.86,-0.205,-1.889,2,2,0
$FREEZE,3.99,-0.201,-1.888,2,2,0
$FREEZE,3.31,-0.207,-1.888,2,2,0
$FREEZE,2.57,-0.201,-1.887,2,2,0
$STATE,5855,end climb,SURFACE_DEPTH_REACHED
$STATE,5855,begin surface coast
$FREEZE,1.48,-0.195,-1.886,2,2,0
$FREEZE,1.08,-0.191,-1.000,2,2,0
$FREEZE,1.22,-0.238,-1.059,2,2,0
$FREEZE,1.10,-0.237,-1.887,2,2,0
$FINISH,1.1,1.027613
$STATE,5880,end surface coast,CONTROL_FINISHED_OK
$STATE,5880,begin surface
$SM_CCo,5898,300.00,0.732,7,0,419,623.30
$SM_GC,1.84,0.00,0.00,300.00,0.000,0.000,0.732,419,2656,419,-8.24,0.17,623.30
$IRIDIUM_FIX,-7545.40,17733.02,060111,171728
$TT8_MAMPS,0.028462
$HUMID,50.66
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.4
$ALTIM_BOTTOM_PING,350.8,37.4
$24V_AH,20.2,78.082
$10V_AH,9.6,53.818
$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,18.375,64.875,282.025,300.000,0.000,91.705,225.326,0.000,1.500,0.000,13.197,1685.911,2271.917,713.871,1916.946,222.316,0.000,1382.612,0.000,1078.484,0.000,13.510,0.000
$DEVICE_MAMPS,190.485,123.165,1051.110,732.105,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,464.789,860.751,943.119,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258128
$DATA_FILE_SIZE,47033,661
$CAP_FILE_SIZE,89124,0
$CFSIZE,260165632,223420416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$CURRENT,0.107, 29.7,1
$GPS,060111,192320,-7627.578,17734.176,13,1.8,13,121.4