version: 66.08
glider: 502
mission: 3
dive: 539
start: 1 6 111 23 20 12
data:
$ID,502
$MISSION,3
$DIVE,539
$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,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,-30819.322
$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,38
$R_STBD_OVSHOOT,25
$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
$GPS1,060111,231050,-7627.751,17728.094,10,2.0,10,121.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-65.6
$GPS2,060111,231944,-7627.751,17728.104,22,1.7,22,121.5
$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,137.2,193778,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,162,0.00,0.00,-143.93,0.000,2,0.000,0.000,402,2637,3303,0,0,0,0,0,0
$GC,167,-0.76,-146.0,3.1,-1.3,21,190,8.85,2.30,-6.90,0.000,4,0.191,0.062,2811,1248,3560,0,0,0,0,0,0
$GC,409,-0.76,-146.0,41.0,-13.7,64,417,0.00,2.33,0.00,0.000,6,0.000,0.055,2802,2648,3563,0,0,0,0,0,0
$GC,550,-0.76,-146.0,62.8,-15.8,89,556,0.00,1.80,0.00,0.000,4,0.000,0.058,2793,3767,3564,0,0,0,0,0,0
$GC,598,-0.76,-146.0,71.4,-17.3,97,605,0.00,1.77,0.00,0.000,6,0.000,0.041,2793,2629,3564,0,0,0,0,0,0
$GC,736,-0.76,-146.0,95.0,-16.5,122,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2627,3564,0,0,0,0,0,0
$GC,874,-0.76,-146.0,118.5,-16.5,137,878,0.00,1.88,0.00,0.000,4,0.000,0.060,2785,3773,3564,0,0,0,0,0,0
$GC,931,-0.76,-146.0,128.8,-18.1,142,936,0.12,1.73,0.00,0.000,6,0.159,0.040,2818,2662,3564,0,0,0,0,0,0
$GC,1073,-0.76,-146.0,150.8,-15.0,155,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2661,3564,0,0,0,0,0,0
$GC,1199,-0.76,-146.0,169.7,-14.7,167,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2661,3564,0,0,0,0,0,0
$GC,1327,-0.76,-146.0,188.6,-14.8,179,1331,0.00,1.80,0.00,0.000,4,0.000,0.060,2811,3763,3564,0,0,0,0,0,0
$GC,1374,-0.76,-146.0,196.0,-16.1,183,1378,0.00,1.70,0.00,0.000,6,0.000,0.039,2811,2666,3564,0,0,0,0,0,0
$GC,1518,-0.76,-146.0,217.7,-15.2,196,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2663,3564,0,0,0,0,0,0
$GC,1653,-0.76,-146.0,238.5,-14.8,209,1656,0.00,1.80,0.00,0.000,4,0.000,0.059,2803,3767,3564,0,0,0,0,0,0
$GC,1702,-0.76,-146.0,246.7,-16.2,213,1710,0.00,1.75,0.00,0.000,6,0.000,0.040,2803,2671,3564,0,0,0,0,0,0
$GC,1836,-0.76,-146.0,266.8,-15.0,226,1837,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2670,3564,0,0,0,0,0,0
$GC,2028,-0.76,-146.0,295.2,-14.8,244,2032,0.00,1.80,0.00,0.000,4,0.000,0.060,2794,3771,3564,0,0,0,0,0,0
$GC,2084,-0.76,-146.0,304.2,-15.5,249,2088,0.00,1.75,0.00,0.000,6,0.000,0.041,2794,2677,3564,0,0,0,0,0,0
$GC,2288,-0.76,-146.0,334.2,-14.3,268,2292,0.00,2.28,0.00,0.000,4,0.000,0.050,2794,1237,3564,0,0,0,0,0,0
$GC,2321,-0.76,-146.0,339.4,-14.6,270,2328,0.12,2.38,0.00,0.000,6,0.148,0.054,2817,2684,3564,0,0,0,0,0,0
$GC,2522,-0.76,-146.0,365.8,-13.3,289,2525,0.00,1.75,0.00,0.000,4,0.000,0.060,2811,3770,3564,0,0,0,0,0,0
$STATE,2565,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2565,begin apogee
$GC,2573,-0.27,0.0,372.8,14.0,293,2712,0.50,0.00,131.57,1.030,4,0.121,0.000,2973,2491,2961,0,0,0,0,0,0
$STATE,2712,end apogee,CONTROL_FINISHED_OK
$STATE,2712,begin climb
$GC,2715,0.76,146.0,380.8,0.0,305,2874,1.10,2.55,149.95,0.958,4,0.078,0.048,3310,1099,2364,0,0,0,0,0,0
$GC,2990,0.76,146.0,357.2,11.7,329,2997,0.00,2.53,0.00,0.000,6,0.000,0.048,3310,2500,2353,0,0,0,0,0,0
$GC,3191,0.76,146.0,333.7,12.0,348,3195,0.00,2.35,0.00,0.000,4,0.000,0.047,3316,1088,2350,0,0,0,0,0,0
$GC,3365,0.76,146.0,313.1,11.4,363,3369,0.00,2.33,0.00,0.000,6,0.000,0.051,3316,2519,2347,0,0,0,0,0,0
$GC,3565,0.76,146.0,290.0,11.7,381,3568,0.00,1.98,0.00,0.000,4,0.000,0.057,3317,3761,2347,0,0,0,0,0,0
$GC,3645,0.76,146.0,278.9,14.6,388,3648,0.00,1.92,0.00,0.000,6,0.000,0.039,3325,2516,2345,0,0,0,0,0,0
$GC,3849,0.76,146.0,253.2,11.8,407,3853,0.00,2.03,0.00,0.000,4,0.000,0.056,3326,3767,2345,0,0,0,0,0,0
$GC,3940,0.76,146.0,240.8,14.6,415,3943,0.00,1.90,0.00,0.000,6,0.000,0.038,3334,2541,2344,0,0,0,0,0,0
$GC,4082,0.76,146.0,222.7,12.6,428,4090,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2538,2344,0,0,0,0,0,0
$GC,4217,0.76,146.0,205.6,12.4,441,4221,0.00,1.98,0.00,0.000,4,0.000,0.057,3335,3761,2344,0,0,0,0,0,0
$GC,4277,0.76,146.0,196.9,13.9,446,4286,0.10,1.95,0.00,0.000,6,0.136,0.039,3312,2536,2343,0,0,0,0,0,0
$GC,4415,0.76,146.0,181.9,10.8,459,4419,0.00,1.98,0.00,0.000,4,0.000,0.057,3311,3761,2343,0,0,0,0,0,0
$GC,4451,0.76,146.0,177.4,11.8,462,4455,0.00,1.88,0.00,0.000,6,0.000,0.039,3319,2550,2342,0,0,0,0,0,0
$GC,4593,0.76,146.0,161.9,10.7,475,4597,0.00,1.98,0.00,0.000,4,0.000,0.058,3319,3764,2343,0,0,0,0,0,0
$GC,4630,0.76,146.0,157.5,12.0,478,4633,0.00,1.85,0.00,0.000,6,0.000,0.038,3328,2565,2342,0,0,0,0,0,0
$GC,4772,0.76,146.0,141.7,11.1,491,4780,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2563,2342,0,0,0,0,0,0
$GC,4908,0.76,146.0,126.6,11.0,504,4912,0.00,1.95,0.00,0.000,4,0.000,0.058,3328,3763,2342,0,0,0,0,0,0
$GC,4977,0.76,146.0,118.3,13.3,510,4981,0.00,1.85,0.00,0.000,6,0.000,0.039,3337,2566,2342,0,0,0,0,0,0
$GC,5120,0.76,146.0,101.2,11.9,523,5128,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2565,2342,0,0,0,0,0,0
$GC,5257,0.76,146.0,84.9,12.1,547,5264,0.00,1.98,0.00,0.000,4,0.000,0.057,3337,3773,2342,0,0,0,0,0,0
$GC,5317,0.76,146.0,76.7,14.5,557,5324,0.12,1.88,0.00,0.000,6,0.158,0.040,3313,2568,2341,0,0,0,0,0,0
$GC,5455,0.76,146.0,61.0,10.4,582,5463,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2568,2341,0,0,0,0,0,0
$GC,5597,0.76,146.0,45.6,11.4,607,5605,0.00,1.95,0.00,0.000,4,0.000,0.058,3313,3761,2341,0,0,0,0,0,0
$GC,5646,0.76,146.0,39.4,13.6,615,5654,0.00,1.85,0.00,0.000,6,0.000,0.039,3320,2573,2341,0,0,0,0,0,0
$GC,5783,0.76,146.0,23.4,11.9,640,5791,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2572,2341,0,0,0,0,0,0
$FREEZE,8.53,0.010,-1.893,2,1,0
$FREEZE,8.01,0.003,-1.893,2,1,0
$FREEZE,7.18,0.006,-1.893,2,1,0
$FREEZE,6.61,0.017,-1.892,2,1,0
$GC,5928,0.76,146.0,6.6,11.6,665,5935,0.00,1.95,0.00,0.000,4,0.000,0.058,3320,3761,2341,0,0,0,0,0,0
$FREEZE,4.58,0.040,-1.891,2,1,0
$FREEZE,3.79,0.037,-1.890,2,1,0
$FREEZE,3.11,0.039,-1.890,2,1,0
$FREEZE,2.27,0.047,-1.889,2,1,0
$STATE,5959,end climb,SURFACE_DEPTH_REACHED
$STATE,5959,begin surface coast
$FREEZE,1.49,0.046,-1.888,2,1,0
$FREEZE,1.11,-0.124,-1.829,2,1,0
$FINISH,1.1,1.026779
$STATE,5974,end surface coast,CONTROL_FINISHED_OK
$STATE,5974,begin surface
$SM_CCo,5993,74.35,0.101,0,0,1737,300.24
$SM_GC,2.14,0.00,0.00,74.35,0.000,0.000,0.101,414,2648,1737,-8.28,-0.06,300.24
$IRIDIUM_FIX,-7519.49,17220.16,060111,212119
$TT8_MAMPS,0.027713
$HUMID,54.33
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,18.6
$ALTIM_BOTTOM_PING,350.2,37.2
$24V_AH,20.2,78.454
$10V_AH,9.6,54.084
$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,18.550,75.200,281.525,74.350,0.000,27.118,35.120,311.411,1.500,0.000,22.846,1701.243,2099.456,507.335,2037.573,264.012,0.000,1217.688,0.000,1141.809,0.000,11.884,0.000
$DEVICE_MAMPS,191.250,61.965,1029.690,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,471.274,875.390,956.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258140
$DATA_FILE_SIZE,47097,672
$CAP_FILE_SIZE,95958,0
$CFSIZE,260165632,223260672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4
$CURRENT,0.020,274.1,1
$GPS,070111,010237,-7627.885,17724.785,39,0.8,39,121.6