version: 66.08
glider: 502
mission: 3
dive: 564
start: 1 8 111 22 29 59
data:
$ID,502
$MISSION,3
$DIVE,564
$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,-30850.781
$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,34
$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
$GPS1,080111,222006,-7628.218,17624.812,35,0.8,35,123.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-74.0
$GPS2,080111,222932,-7628.190,17624.713,12,1.5,12,123.1
$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,129.7,166361,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-80.28,0.000,2,0.000,0.000,405,2670,3218,0,0,0,0,0,0
$GC,103,-0.76,-146.0,3.1,-0.8,12,127,8.82,2.38,-10.35,0.000,4,0.190,0.061,2811,1240,3560,0,0,0,0,0,0
$GC,285,-0.76,-146.0,30.6,-14.8,43,292,0.00,2.30,0.00,0.000,6,0.000,0.054,2802,2642,3563,0,0,0,0,0,0
$GC,427,-0.76,-146.0,54.2,-16.3,68,435,0.00,1.85,0.00,0.000,4,0.000,0.058,2793,3767,3563,0,0,0,0,0,0
$GC,483,-0.76,-146.0,63.7,-17.4,77,490,0.00,1.75,0.00,0.000,6,0.000,0.040,2793,2668,3563,0,0,0,0,0,0
$GC,625,-0.76,-146.0,87.4,-16.6,102,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2667,3563,0,0,0,0,0,0
$GC,766,-0.76,-146.0,110.8,-17.3,121,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2667,3564,0,0,0,0,0,0
$GC,894,-0.76,-146.0,132.9,-17.3,133,897,0.00,1.77,0.00,0.000,4,0.000,0.058,2786,3763,3564,0,0,0,0,0,0
$GC,930,-0.76,-146.0,139.4,-18.7,136,934,0.12,1.73,0.00,0.000,6,0.159,0.039,2818,2648,3564,0,0,0,0,0,0
$GC,1070,-0.76,-146.0,161.9,-15.4,149,1074,0.00,1.83,0.00,0.000,4,0.000,0.058,2810,3771,3564,0,0,0,0,0,0
$GC,1098,-0.76,-146.0,166.8,-15.9,151,1106,0.00,1.75,0.00,0.000,6,0.000,0.040,2811,2676,3564,0,0,0,0,0,0
$GC,1233,-0.76,-146.0,187.8,-16.0,164,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2676,3564,0,0,0,0,0,0
$GC,1361,-0.76,-146.0,207.8,-15.5,176,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2676,3564,0,0,0,0,0,0
$GC,1489,-0.76,-146.0,227.3,-15.6,188,1492,0.00,1.77,0.00,0.000,4,0.000,0.059,2802,3766,3564,0,0,0,0,0,0
$GC,1524,-0.76,-146.0,233.0,-15.9,191,1528,0.00,1.70,0.00,0.000,6,0.000,0.040,2803,2671,3564,0,0,0,0,0,0
$GC,1664,-0.76,-146.0,254.9,-15.3,204,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2669,3564,0,0,0,0,0,0
$GC,1855,-0.76,-146.0,284.2,-15.3,222,1859,0.00,1.83,0.00,0.000,4,0.000,0.060,2794,3760,3564,0,0,0,0,0,0
$GC,1901,-0.76,-146.0,291.6,-16.7,226,1904,0.00,1.67,0.00,0.000,6,0.000,0.040,2794,2679,3564,0,0,0,0,0,0
$GC,2104,-0.76,-146.0,323.1,-15.0,245,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2677,3564,0,0,0,0,0,0
$GC,2296,-0.76,-146.0,353.0,-15.6,263,2300,0.00,1.77,0.00,0.000,4,0.000,0.060,2786,3763,3564,0,0,0,0,0,0
$GC,2356,-0.76,-146.0,363.1,-15.7,268,2364,0.10,1.73,0.00,0.000,6,0.135,0.039,2819,2678,3565,0,0,0,0,0,0
$STATE,2446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2446,begin apogee
$GC,2452,-0.27,0.0,375.3,13.1,277,2590,0.47,0.00,130.23,1.034,4,0.121,0.000,2974,2494,2961,0,0,0,0,0,0
$STATE,2591,end apogee,CONTROL_FINISHED_OK
$STATE,2591,begin climb
$GC,2593,0.76,146.0,381.7,0.0,289,2754,1.10,2.55,147.35,0.959,4,0.078,0.047,3312,1102,2366,0,0,0,0,0,0
$GC,2846,0.76,146.0,360.2,11.7,311,2850,0.00,2.58,0.00,0.000,6,0.000,0.049,3312,2501,2357,0,0,0,0,0,0
$GC,3044,0.76,146.0,335.4,12.3,329,3048,0.00,2.40,0.00,0.000,4,0.000,0.047,3316,1100,2354,0,0,0,0,0,0
$GC,3218,0.76,146.0,315.5,11.0,344,3222,0.00,2.35,0.00,0.000,6,0.000,0.050,3316,2514,2350,0,0,0,0,0,0
$GC,3418,0.76,146.0,291.1,12.3,362,3422,0.00,2.00,0.00,0.000,4,0.000,0.055,3316,3764,2350,0,0,0,0,0,0
$GC,3520,0.76,146.0,276.5,14.6,371,3524,0.00,1.92,0.00,0.000,6,0.000,0.038,3325,2521,2349,0,0,0,0,0,0
$GC,3724,0.76,146.0,249.2,13.1,390,3725,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2518,2348,0,0,0,0,0,0
$GC,3852,0.76,146.0,232.6,13.0,402,3856,0.00,2.03,0.00,0.000,4,0.000,0.057,3325,3774,2348,0,0,0,0,0,0
$GC,3922,0.76,146.0,222.4,15.0,408,3925,0.00,1.95,0.00,0.000,6,0.000,0.038,3335,2519,2347,0,0,0,0,0,0
$GC,4063,0.76,146.0,202.6,13.5,421,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2516,2347,0,0,0,0,0,0
$GC,4189,0.76,146.0,185.8,13.5,433,4193,0.00,2.03,0.00,0.000,4,0.000,0.056,3335,3770,2347,0,0,0,0,0,0
$GC,4238,0.76,146.0,178.2,14.7,437,4247,0.10,1.95,0.00,0.000,6,0.136,0.039,3312,2545,2347,0,0,0,0,0,0
$GC,4376,0.76,146.0,162.3,11.3,450,4384,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2544,2346,0,0,0,0,0,0
$GC,4512,0.76,146.0,147.1,11.1,463,4516,0.00,1.98,0.00,0.000,4,0.000,0.057,3312,3764,2346,0,0,0,0,0,0
$GC,4572,0.76,146.0,139.0,13.2,468,4581,0.00,1.95,0.00,0.000,6,0.000,0.037,3320,2536,2346,0,0,0,0,0,0
$GC,4709,0.76,146.0,123.4,11.4,481,4712,0.00,1.98,0.00,0.000,4,0.000,0.056,3320,3763,2345,0,0,0,0,0,0
$GC,4744,0.76,146.0,118.7,13.5,484,4748,0.00,1.88,0.00,0.000,6,0.000,0.038,3329,2555,2346,0,0,0,0,0,0
$GC,4885,0.76,146.0,101.1,12.5,497,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2553,2345,0,0,0,0,0,0
$GC,5017,0.76,146.0,84.5,11.8,520,5025,0.00,2.00,0.00,0.000,4,0.000,0.057,3329,3760,2346,0,0,0,0,0,0
$GC,5065,0.76,146.0,77.6,14.5,528,5073,0.00,1.90,0.00,0.000,6,0.000,0.038,3339,2562,2345,0,0,0,0,0,0
$GC,5212,0.76,146.0,58.9,12.8,553,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2561,2345,0,0,0,0,0,0
$GC,5353,0.76,146.0,40.2,12.7,578,5362,0.00,2.00,0.00,0.000,4,0.000,0.055,3338,3768,2345,0,0,0,0,0,0
$GC,5402,0.76,146.0,33.2,15.0,586,5412,0.10,1.90,0.00,0.000,6,0.132,0.038,3315,2566,2345,0,0,0,0,0,0
$GC,5551,0.76,146.0,16.6,11.0,611,5557,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2566,2345,0,0,0,0,0,0
$FREEZE,8.40,-0.173,-1.892,2,2,0
$FREEZE,7.77,-0.169,-1.892,2,2,0
$FREEZE,7.14,-0.163,-1.891,2,2,0
$FREEZE,6.50,-0.158,-1.891,2,2,0
$FREEZE,5.56,-0.116,-1.889,2,2,0
$FREEZE,5.09,0.004,-1.887,2,2,0
$FREEZE,4.43,0.042,-1.887,2,2,0
$FREEZE,3.92,0.064,-1.887,2,2,0
$FREEZE,3.10,0.083,-1.887,2,2,0
$FREEZE,2.46,0.083,-1.887,2,2,0
$STATE,5679,end climb,SURFACE_DEPTH_REACHED
$STATE,5679,begin surface coast
$FREEZE,1.42,0.063,-1.887,2,2,0
$FREEZE,1.24,-0.012,-0.630,2,2,0
$FREEZE,1.18,0.051,-1.815,2,2,0
$FREEZE,1.18,0.032,-1.051,2,2,0
$FREEZE,1.17,0.038,-0.964,2,2,0
$FINISH,1.2,1.014232
$STATE,5709,end surface coast,CONTROL_FINISHED_OK
$STATE,5709,begin surface
$SM_CCo,5726,259.88,0.101,0,0,420,623.30
$SM_GC,1.95,0.00,0.00,259.88,0.000,0.000,0.101,415,2663,420,-8.27,0.37,623.30
$IRIDIUM_FIX,-7545.40,17628.85,080111,222235
$TT8_MAMPS,0.028462
$HUMID,52.55
$INTERNAL_PRESSURE,8.68197
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,17.9
$ALTIM_BOTTOM_PING,351.3,63.2
$24V_AH,20.3,81.385
$10V_AH,9.6,56.282
$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,18.450,63.550,277.575,259.875,0.000,82.771,225.330,0.000,1.500,0.000,13.382,1632.697,2197.512,629.995,1877.856,220.061,0.000,1286.541,0.000,1070.839,0.000,10.650,0.000
$DEVICE_MAMPS,190.485,90.270,1033.515,100.980,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,448.391,826.929,903.809,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258176
$DATA_FILE_SIZE,43775,638
$CAP_FILE_SIZE,86014,0
$CFSIZE,260165632,221970432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.082,320.6,1
$GPS,090111,001032,-7628.218,17621.012,8,1.9,8,123.1