version: 66.08
glider: 502
mission: 3
dive: 544
start: 1 7 111 8 40 53
data:
$ID,502
$MISSION,3
$DIVE,544
$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,-30825.613
$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,35
$R_STBD_OVSHOOT,32
$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
$GPS1,070111,083056,-7628.936,17716.314,11,1.6,11,121.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-71.7
$GPS2,070111,084026,-7628.969,17716.527,16,1.5,16,121.9
$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,190.6,188738,-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,-146.0,0.0,0.0,0,101,0.00,0.00,-81.30,0.000,2,0.000,0.000,403,2664,3232,0,0,0,0,0,0
$GC,104,-0.76,-146.0,3.0,-1.1,12,128,9.02,2.35,-9.98,0.000,4,0.196,0.060,2811,1244,3559,0,0,0,0,0,0
$GC,371,-0.76,-146.0,42.5,-14.4,60,379,0.00,2.33,0.00,0.000,6,0.000,0.055,2802,2639,3563,0,0,0,0,0,0
$GC,509,-0.76,-146.0,64.6,-16.5,85,517,0.00,1.85,0.00,0.000,4,0.000,0.059,2794,3762,3563,0,0,0,0,0,0
$GC,552,-0.76,-146.0,72.2,-18.0,92,560,0.00,1.77,0.00,0.000,6,0.000,0.039,2794,2645,3564,0,0,0,0,0,0
$GC,693,-0.76,-146.0,95.7,-17.1,117,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2644,3564,0,0,0,0,0,0
$GC,835,-0.76,-146.0,120.5,-17.5,132,839,0.00,1.83,0.00,0.000,4,0.000,0.058,2785,3764,3564,0,0,0,0,0,0
$GC,874,-0.76,-146.0,128.1,-18.6,135,882,0.08,1.75,0.00,0.000,6,0.138,0.039,2810,2665,3564,0,0,0,0,0,0
$GC,1011,-0.76,-146.0,149.7,-15.7,148,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2663,3565,0,0,0,0,0,0
$GC,1146,-0.76,-146.0,171.4,-15.9,161,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2663,3565,0,0,0,0,0,0
$GC,1274,-0.76,-146.0,191.2,-15.2,173,1278,0.00,1.80,0.00,0.000,4,0.000,0.058,2802,3766,3565,0,0,0,0,0,0
$GC,1322,-0.76,-146.0,199.8,-16.3,177,1332,0.00,1.75,0.00,0.000,6,0.000,0.040,2803,2665,3565,0,0,0,0,0,0
$GC,1460,-0.76,-146.0,220.8,-15.9,190,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2663,3565,0,0,0,0,0,0
$GC,1596,-0.76,-146.0,242.0,-15.6,203,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2663,3565,0,0,0,0,0,0
$GC,1721,-0.76,-146.0,261.9,-15.6,215,1724,0.00,1.80,0.00,0.000,4,0.000,0.057,2794,3767,3565,0,0,0,0,0,0
$GC,1766,-0.76,-146.0,269.3,-16.3,219,1770,0.00,1.70,0.00,0.000,6,0.000,0.040,2794,2675,3565,0,0,0,0,0,0
$GC,1971,-0.76,-146.0,301.7,-15.8,238,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2673,3565,0,0,0,0,0,0
$GC,2160,-0.76,-146.0,332.3,-15.7,256,2164,0.00,1.77,0.00,0.000,4,0.000,0.059,2786,3763,3565,0,0,0,0,0,0
$GC,2199,-0.76,-146.0,339.0,-17.2,259,2207,0.12,1.70,0.00,0.000,6,0.157,0.039,2820,2667,3565,0,0,0,0,0,0
$GC,2399,-0.76,-146.0,366.7,-14.2,278,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2666,3564,0,0,0,0,0,0
$STATE,2437,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2438,begin apogee
$GC,2443,-0.27,0.0,372.5,13.6,282,2582,0.45,0.00,131.32,1.034,4,0.117,0.000,2971,2483,2961,0,0,0,0,0,0
$STATE,2583,end apogee,CONTROL_FINISHED_OK
$STATE,2583,begin climb
$GC,2585,0.76,146.0,380.1,0.0,294,2744,1.10,2.50,148.80,0.956,4,0.080,0.047,3306,1108,2365,0,0,0,0,0,0
$GC,2848,0.76,146.0,359.6,10.8,317,2853,0.00,2.55,0.00,0.000,6,0.000,0.049,3306,2504,2355,0,0,0,0,0,0
$GC,3047,0.76,146.0,337.5,11.2,335,3051,0.00,2.38,0.00,0.000,4,0.000,0.048,3316,1099,2351,0,0,0,0,0,0
$GC,3199,0.76,146.0,320.1,11.5,348,3204,0.00,2.33,0.00,0.000,6,0.000,0.050,3316,2518,2349,0,0,0,0,0,0
$GC,3398,0.76,146.0,296.0,12.4,366,3402,0.00,2.00,0.00,0.000,4,0.000,0.056,3316,3770,2348,0,0,0,0,0,0
$GC,3489,0.76,146.0,282.9,14.8,374,3494,0.00,1.98,0.00,0.000,6,0.000,0.040,3325,2530,2347,0,0,0,0,0,0
$GC,3694,0.76,146.0,256.9,12.4,393,3697,0.00,2.00,0.00,0.000,4,0.000,0.056,3325,3764,2346,0,0,0,0,0,0
$GC,3732,0.76,146.0,251.3,14.6,396,3739,0.00,1.95,0.00,0.000,6,0.000,0.038,3335,2536,2346,0,0,0,0,0,0
$GC,3931,0.76,146.0,225.3,13.2,415,3935,0.00,2.00,0.00,0.000,4,0.000,0.056,3335,3773,2346,0,0,0,0,0,0
$GC,3978,0.76,146.0,218.6,15.4,419,3983,0.12,1.92,0.00,0.000,6,0.164,0.040,3311,2537,2345,0,0,0,0,0,0
$GC,4114,0.76,146.0,202.4,11.0,431,4118,0.00,2.00,0.00,0.000,4,0.000,0.057,3311,3770,2345,0,0,0,0,0,0
$GC,4150,0.76,146.0,197.9,12.8,434,4154,0.00,1.90,0.00,0.000,6,0.000,0.039,3319,2550,2345,0,0,0,0,0,0
$GC,4293,0.76,146.0,181.5,11.3,447,4301,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2547,2345,0,0,0,0,0,0
$GC,4429,0.76,146.0,165.4,11.7,460,4432,0.00,1.98,0.00,0.000,4,0.000,0.056,3319,3767,2344,0,0,0,0,0,0
$GC,4464,0.76,146.0,160.7,13.2,463,4468,0.00,1.88,0.00,0.000,6,0.000,0.038,3328,2559,2344,0,0,0,0,0,0
$GC,4606,0.76,146.0,143.2,12.3,476,4609,0.00,1.95,0.00,0.000,4,0.000,0.056,3328,3764,2344,0,0,0,0,0,0
$GC,4644,0.76,146.0,137.5,14.0,479,4652,0.00,1.90,0.00,0.000,6,0.000,0.038,3337,2562,2344,0,0,0,0,0,0
$GC,4781,0.76,146.0,120.3,12.9,492,4789,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2561,2344,0,0,0,0,0,0
$GC,4917,0.76,146.0,103.0,12.5,505,4921,0.00,1.95,0.00,0.000,4,0.000,0.057,3338,3764,2343,0,0,0,0,0,0
$GC,4975,0.76,146.0,94.8,15.0,513,4984,0.12,1.85,0.00,0.000,6,0.161,0.038,3313,2571,2343,0,0,0,0,0,0
$GC,5117,0.76,146.0,78.6,10.6,538,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2570,2343,0,0,0,0,0,0
$GC,5258,0.76,146.0,63.6,10.6,563,5265,0.00,1.95,0.00,0.000,4,0.000,0.057,3313,3762,2343,0,0,0,0,0,0
$GC,5309,0.76,146.0,57.4,12.6,572,5317,0.00,1.88,0.00,0.000,6,0.000,0.039,3320,2580,2343,0,0,0,0,0,0
$GC,5450,0.76,146.0,41.7,12.4,597,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2579,2343,0,0,0,0,0,0
$GC,5587,0.76,146.0,25.1,11.3,622,5595,0.00,1.98,0.00,0.000,4,0.000,0.057,3320,3765,2342,0,0,0,0,0,0
$GC,5657,0.76,146.0,15.2,15.2,634,5665,0.00,1.88,0.00,0.000,6,0.000,0.039,3330,2581,2342,0,0,0,0,0,0
$FREEZE,8.60,0.013,-1.895,2,2,0
$FREEZE,7.81,0.018,-1.894,2,2,0
$FREEZE,7.15,0.021,-1.894,2,2,0
$FREEZE,6.31,0.028,-1.893,2,2,0
$FREEZE,5.68,0.029,-1.893,2,2,0
$FREEZE,4.98,0.028,-1.893,2,2,0
$FREEZE,4.28,0.027,-1.892,2,2,0
$FREEZE,3.56,0.029,-1.892,2,2,0
$FREEZE,2.91,0.027,-1.891,2,2,0
$STATE,5759,end climb,SURFACE_DEPTH_REACHED
$STATE,5759,begin surface coast
$FREEZE,1.96,0.021,-1.890,2,2,0
$FREEZE,1.50,0.025,-1.890,2,2,0
$FREEZE,1.37,0.016,-1.890,2,2,0
$FREEZE,1.12,-0.015,-1.029,2,2,0
$FINISH,1.1,1.015197
$STATE,5784,end surface coast,CONTROL_FINISHED_OK
$STATE,5784,begin surface
$SM_CCo,5801,298.42,0.719,5,0,419,623.30
$SM_GC,1.86,0.00,0.00,298.42,0.000,0.000,0.719,422,2667,419,-8.23,0.51,623.30
$IRIDIUM_FIX,-7545.40,17705.04,070111,080827
$TT8_MAMPS,0.028462
$HUMID,51.22
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,14.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,20.0,19.5
$ALTIM_BOTTOM_PING,350.4,36.3
$24V_AH,20.2,79.130
$10V_AH,9.6,54.522
$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,18.600,67.450,280.125,298.425,0.000,84.995,224.602,0.000,2.000,0.000,16.838,1667.956,2182.010,713.362,1917.205,220.807,0.000,1387.193,0.000,1087.231,0.000,10.582,0.000
$DEVICE_MAMPS,195.840,94.860,1033.515,719.100,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,460.020,853.119,928.703,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258164
$DATA_FILE_SIZE,47144,655
$CAP_FILE_SIZE,87964,0
$CFSIZE,260165632,223010816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.207,135.1,1
$GPS,070111,102406,-7628.960,17716.234,28,0.9,29,121.9