version: 66.08
glider: 502
mission: 3
dive: 583
start: 1 10 111 10 6 47
data:
$ID,502
$MISSION,3
$DIVE,583
$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,-30874.67
$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,37
$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
$GPS1,100111,095737,-7628.923,17534.701,30,1.3,30,124.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-66.7
$GPS2,100111,100620,-7628.893,17534.723,16,1.6,16,124.3
$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,157.3,144728,-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,-138.15,0.000,2,0.000,0.000,409,2669,3183,0,0,0,0,0,0
$GC,163,-0.76,-146.0,3.0,-1.6,20,193,8.85,2.35,-11.45,0.000,4,0.190,0.062,2806,1250,3560,0,0,0,0,0,0
$GC,367,-0.76,-146.0,34.0,-13.9,56,376,0.00,2.35,0.00,0.000,6,0.000,0.055,2798,2648,3564,0,0,0,0,0,0
$GC,507,-0.76,-146.0,55.4,-16.4,81,514,0.00,1.83,0.00,0.000,4,0.000,0.058,2789,3773,3564,0,0,0,0,0,0
$GC,567,-0.76,-146.0,66.1,-17.7,91,574,0.00,1.77,0.00,0.000,6,0.000,0.039,2790,2644,3564,0,0,0,0,0,0
$GC,704,-0.76,-146.0,90.0,-17.3,116,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2643,3564,0,0,0,0,0,0
$GC,849,-0.76,-146.0,114.6,-17.1,134,853,0.00,1.85,0.00,0.000,4,0.000,0.059,2781,3768,3565,0,0,0,0,0,0
$GC,886,-0.76,-146.0,121.5,-19.4,137,890,0.12,1.73,0.00,0.000,6,0.153,0.040,2815,2664,3564,0,0,0,0,0,0
$GC,1029,-0.76,-146.0,143.4,-14.9,150,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2663,3564,0,0,0,0,0,0
$GC,1164,-0.76,-146.0,163.7,-14.6,163,1168,0.00,1.80,0.00,0.000,4,0.000,0.058,2807,3764,3565,0,0,0,0,0,0
$GC,1202,-0.76,-146.0,170.0,-16.0,166,1211,0.00,1.75,0.00,0.000,6,0.000,0.039,2807,2671,3564,0,0,0,0,0,0
$GC,1339,-0.76,-146.0,190.3,-15.3,179,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2670,3564,0,0,0,0,0,0
$GC,1474,-0.76,-146.0,211.7,-15.9,192,1478,0.00,1.80,0.00,0.000,4,0.000,0.059,2799,3766,3564,0,0,0,0,0,0
$GC,1510,-0.76,-146.0,217.6,-17.2,195,1513,0.00,1.73,0.00,0.000,6,0.000,0.040,2799,2666,3564,0,0,0,0,0,0
$GC,1652,-0.76,-146.0,240.4,-16.1,208,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2664,3564,0,0,0,0,0,0
$GC,1776,-0.76,-146.0,260.2,-15.2,220,1780,0.00,1.83,0.00,0.000,4,0.000,0.058,2791,3773,3564,0,0,0,0,0,0
$GC,1811,-0.76,-146.0,266.0,-17.5,223,1815,0.00,1.73,0.00,0.000,6,0.000,0.040,2791,2674,3564,0,0,0,0,0,0
$GC,2016,-0.76,-146.0,298.8,-16.5,242,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2671,3564,0,0,0,0,0,0
$GC,2206,-0.76,-146.0,329.4,-15.6,260,2207,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2671,3564,0,0,0,0,0,0
$GC,2398,-0.76,-146.0,360.0,-16.0,278,2402,0.00,1.85,0.00,0.000,4,0.000,0.059,2783,3760,3564,0,0,0,0,0,0
$GC,2444,-0.76,-146.0,367.9,-16.4,282,2449,0.12,1.70,0.00,0.000,6,0.154,0.040,2816,2678,3564,0,0,0,0,0,0
$STATE,2497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2497,begin apogee
$GC,2503,-0.27,0.0,376.3,14.7,287,2642,0.47,0.00,131.38,1.046,4,0.121,0.000,2971,2494,2960,0,0,0,0,0,0
$STATE,2642,end apogee,CONTROL_FINISHED_OK
$STATE,2642,begin climb
$GC,2645,0.76,146.0,383.8,0.0,299,2815,1.12,2.58,151.38,0.955,4,0.080,0.047,3311,1101,2363,0,0,0,0,1,0
$GC,2912,0.76,146.0,363.2,10.8,322,2919,0.00,2.60,0.00,0.000,6,0.000,0.049,3312,2506,2354,0,0,0,0,0,0
$GC,3111,0.76,146.0,340.6,11.5,341,3115,0.00,2.45,0.00,0.000,4,0.000,0.047,3316,1101,2350,0,0,0,0,0,0
$GC,3246,0.76,146.0,325.6,10.8,353,3250,0.00,2.45,0.00,0.000,6,0.000,0.050,3316,2528,2348,0,0,0,0,0,0
$GC,3444,0.76,146.0,303.4,11.0,371,3447,0.00,2.03,0.00,0.000,4,0.000,0.056,3316,3764,2347,0,0,0,0,0,0
$GC,3527,0.76,146.0,292.1,14.4,378,3534,0.00,1.98,0.00,0.000,6,0.000,0.037,3325,2539,2346,0,0,0,0,0,0
$GC,3725,0.76,146.0,267.3,12.1,397,3726,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2537,2346,0,0,0,0,0,0
$GC,3918,0.76,146.0,244.2,12.0,415,3922,0.00,2.00,0.00,0.000,4,0.000,0.055,3325,3766,2345,0,0,0,0,0,0
$GC,3988,0.76,146.0,233.9,14.9,421,3999,0.00,1.98,0.00,0.000,6,0.000,0.037,3335,2531,2344,0,0,0,0,0,0
$GC,4126,0.76,146.0,216.9,12.5,434,4130,0.00,2.00,0.00,0.000,4,0.000,0.056,3335,3764,2344,0,0,0,0,0,0
$GC,4153,0.76,146.0,212.5,14.2,436,4162,0.10,1.95,0.00,0.000,6,0.138,0.038,3312,2550,2344,0,0,0,0,0,0
$GC,4288,0.76,146.0,197.4,10.9,449,4292,0.00,2.00,0.00,0.000,4,0.000,0.057,3312,3773,2344,0,0,0,0,0,0
$GC,4324,0.76,146.0,193.1,12.1,452,4328,0.00,1.92,0.00,0.000,6,0.000,0.038,3320,2544,2343,0,0,0,0,0,0
$GC,4467,0.76,146.0,176.8,11.3,465,4475,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2542,2343,0,0,0,0,0,0
$GC,4603,0.76,146.0,161.4,11.2,478,4607,0.00,2.00,0.00,0.000,4,0.000,0.057,3320,3767,2343,0,0,0,0,0,0
$GC,4671,0.76,146.0,152.5,13.4,484,4675,0.00,1.88,0.00,0.000,6,0.000,0.038,3329,2565,2343,0,0,0,0,0,0
$GC,4815,0.76,146.0,135.2,11.9,497,4823,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2563,2343,0,0,0,0,0,0
$GC,4951,0.76,146.0,119.0,11.5,510,4954,0.00,1.98,0.00,0.000,4,0.000,0.057,3329,3770,2343,0,0,0,0,0,0
$GC,4999,0.76,146.0,112.2,13.8,514,5009,0.00,1.92,0.00,0.000,6,0.000,0.038,3338,2563,2342,0,0,0,0,0,0
$GC,5135,0.76,146.0,95.8,12.0,530,5143,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2561,2342,0,0,0,0,0,0
$GC,5276,0.76,146.0,78.2,12.2,555,5282,0.00,2.00,0.00,0.000,4,0.000,0.057,3338,3773,2342,0,0,0,0,0,0
$GC,5318,0.76,146.0,72.2,14.0,562,5327,0.10,1.90,0.00,0.000,6,0.134,0.038,3315,2585,2341,0,0,0,0,0,0
$GC,5460,0.76,146.0,56.2,11.4,587,5467,0.00,1.95,0.00,0.000,4,0.000,0.057,3315,3765,2342,0,0,0,0,0,0
$GC,5490,0.76,146.0,52.3,12.2,592,5498,0.00,1.88,0.00,0.000,6,0.000,0.038,3322,2591,2341,0,0,0,0,0,0
$GC,5629,0.76,146.0,36.1,11.9,617,5636,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2590,2341,0,0,0,0,0,0
$GC,5765,0.76,146.0,20.0,11.4,642,5775,0.00,1.98,0.00,0.000,4,0.000,0.057,3322,3768,2341,0,0,0,0,0,0
$GC,5815,0.76,146.0,13.3,13.5,650,5824,0.00,1.88,0.00,0.000,6,0.000,0.039,3331,2600,2341,0,0,0,0,0,0
$FREEZE,8.52,0.233,-1.891,2,1,0
$FREEZE,7.92,0.227,-1.891,2,1,0
$FREEZE,7.22,0.232,-1.891,2,1,0
$FREEZE,6.60,0.225,-1.890,2,1,0
$FREEZE,5.72,0.228,-1.889,2,1,0
$FREEZE,5.13,0.227,-1.889,2,1,0
$FREEZE,4.46,0.230,-1.888,2,1,0
$FREEZE,3.90,0.228,-1.888,2,1,0
$FREEZE,3.29,0.227,-1.888,2,1,0
$FREEZE,2.83,0.227,-1.887,2,1,0
$STATE,5904,end climb,SURFACE_DEPTH_REACHED
$STATE,5905,begin surface coast
$FREEZE,1.57,0.222,-1.887,2,1,0
$FREEZE,1.33,0.149,-1.890,2,1,0
$FREEZE,1.16,0.103,-1.894,2,1,0
$FREEZE,1.13,0.106,-1.894,2,1,0
$FREEZE,1.18,0.168,-1.804,2,1,0
$FINISH,1.2,1.026411
$STATE,5934,end surface coast,CONTROL_FINISHED_OK
$STATE,5934,begin surface
$SM_CCo,5953,79.47,0.745,1,0,1736,300.24
$SM_GC,2.08,0.00,0.00,79.47,0.000,0.000,0.745,418,2666,1736,-8.27,0.45,300.24
$IRIDIUM_FIX,-7545.40,17533.26,100111,080829
$TT8_MAMPS,0.028462
$HUMID,54.44
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.3,17.4
$ALTIM_BOTTOM_PING,351.4,84.6
$24V_AH,20.4,83.703
$10V_AH,9.6,57.945
$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,18.600,71.675,282.750,79.475,0.000,25.525,38.756,297.097,2.000,0.000,17.453,1679.122,2093.134,532.047,1977.669,284.914,0.000,1245.984,0.000,1112.436,0.000,10.702,0.000
$DEVICE_MAMPS,189.720,95.625,1045.755,745.110,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,469.095,871.805,944.763,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258120
$DATA_FILE_SIZE,46966,670
$CAP_FILE_SIZE,95685,0
$CFSIZE,260165632,220987392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.089,125.2,1
$GPS,100111,114836,-7628.915,17532.594,31,0.8,32,124.3