version: 66.08
glider: 502
mission: 3
dive: 587
start: 1 10 111 17 38 34
data:
$ID,502
$MISSION,3
$DIVE,587
$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,-30879.699
$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,21
$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
$GPS1,100111,172931,-7628.888,17525.781,39,1.9,39,124.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-67.6
$GPS2,100111,173807,-7628.855,17525.820,11,1.3,11,124.5
$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,143.8,140881,-17.5,-10.000
$D_GRID,376
$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,-146.0,0.0,0.0,0,165,0.00,0.00,-145.50,0.000,2,0.000,0.000,395,2639,3383,0,0,0,0,0,0
$GC,170,-0.76,-146.0,3.4,-1.7,21,193,9.15,2.30,-4.32,0.000,4,0.191,0.060,2808,1245,3562,0,0,0,0,0,0
$GC,333,-0.76,-146.0,33.2,-16.1,49,340,0.00,2.35,0.00,0.000,6,0.000,0.055,2800,2659,3564,0,0,0,0,0,0
$GC,471,-0.76,-146.0,56.7,-16.5,74,479,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2658,3564,0,0,0,0,0,0
$GC,611,-0.76,-146.0,79.4,-15.4,99,618,0.00,1.80,0.00,0.000,4,0.000,0.057,2792,3768,3565,0,0,0,0,0,0
$GC,642,-0.76,-146.0,84.9,-17.2,104,650,0.00,1.80,0.00,0.000,6,0.000,0.039,2792,2648,3565,0,0,0,0,0,0
$GC,787,-0.76,-146.0,109.4,-17.3,125,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2646,3565,0,0,0,0,0,0
$GC,913,-0.76,-146.0,131.2,-17.1,137,916,0.00,1.85,0.00,0.000,4,0.000,0.059,2784,3773,3565,0,0,0,0,0,0
$GC,948,-0.76,-146.0,137.4,-18.4,140,952,0.12,1.75,0.00,0.000,6,0.157,0.040,2817,2655,3565,0,0,0,0,0,0
$GC,1089,-0.76,-146.0,158.7,-14.9,153,1091,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2653,3566,0,0,0,0,0,0
$GC,1216,-0.76,-146.0,177.3,-15.1,165,1219,0.00,1.83,0.00,0.000,4,0.000,0.059,2810,3764,3566,0,0,0,0,0,0
$GC,1251,-0.76,-146.0,182.5,-15.8,168,1255,0.00,1.73,0.00,0.000,6,0.000,0.039,2810,2663,3566,0,0,0,0,0,0
$GC,1392,-0.76,-146.0,204.0,-15.4,181,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2660,3566,0,0,0,0,0,0
$GC,1519,-0.76,-146.0,223.3,-15.5,193,1520,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2660,3566,0,0,0,0,0,0
$GC,1646,-0.76,-146.0,242.7,-15.1,205,1650,0.00,1.83,0.00,0.000,4,0.000,0.059,2801,3766,3566,0,0,0,0,0,0
$GC,1696,-0.76,-146.0,251.3,-16.4,209,1703,0.00,1.73,0.00,0.000,6,0.000,0.040,2801,2667,3565,0,0,0,0,0,0
$GC,1894,-0.76,-146.0,281.9,-15.6,228,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2666,3565,0,0,0,0,0,0
$GC,2086,-0.76,-146.0,310.5,-14.6,246,2089,0.00,1.80,0.00,0.000,4,0.000,0.059,2793,3763,3565,0,0,0,0,0,0
$GC,2146,-0.76,-146.0,320.8,-15.7,251,2154,0.00,1.75,0.00,0.000,6,0.000,0.039,2793,2676,3564,0,0,0,0,0,0
$GC,2352,-0.76,-146.0,351.4,-15.3,270,2355,0.00,1.80,0.00,0.000,4,0.000,0.060,2785,3762,3564,0,0,0,0,0,0
$GC,2386,-0.76,-146.0,357.9,-16.6,273,2390,0.12,1.70,0.00,0.000,6,0.155,0.040,2819,2677,3564,0,0,0,0,0,0
$STATE,2523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2524,begin apogee
$GC,2530,-0.27,0.0,376.9,13.4,286,2669,0.47,0.00,130.98,1.034,4,0.119,0.000,2973,2491,2960,0,0,0,0,0,0
$STATE,2670,end apogee,CONTROL_FINISHED_OK
$STATE,2670,begin climb
$GC,2672,0.76,146.0,383.4,0.0,298,2833,1.10,2.58,148.00,0.955,4,0.079,0.047,3308,1102,2363,0,0,0,0,0,0
$GC,2917,0.76,146.0,363.9,11.0,319,2925,0.00,2.58,0.00,0.000,6,0.000,0.049,3308,2500,2354,0,0,0,0,0,0
$GC,3116,0.76,146.0,341.9,11.3,338,3120,0.00,2.42,0.00,0.000,4,0.000,0.047,3315,1106,2350,0,0,0,0,0,0
$GC,3262,0.76,146.0,326.0,10.9,350,3269,0.00,2.45,0.00,0.000,6,0.000,0.050,3315,2518,2347,0,0,0,0,0,0
$GC,3460,0.76,146.0,303.2,11.7,369,3464,0.00,2.05,0.00,0.000,4,0.000,0.055,3315,3765,2347,0,0,0,0,0,0
$GC,3561,0.76,146.0,289.6,13.7,377,3568,0.00,1.95,0.00,0.000,6,0.000,0.038,3324,2528,2345,0,0,0,0,0,0
$GC,3759,0.76,146.0,265.9,11.6,396,3762,0.00,2.03,0.00,0.000,4,0.000,0.057,3324,3768,2344,0,0,0,0,0,0
$GC,3821,0.76,146.0,257.3,14.7,401,3827,0.00,1.95,0.00,0.000,6,0.000,0.039,3334,2527,2344,0,0,0,0,0,0
$GC,4021,0.76,146.0,232.5,12.5,420,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2526,2344,0,0,0,0,0,0
$GC,4147,0.76,146.0,216.9,12.2,432,4151,0.00,2.03,0.00,0.000,4,0.000,0.055,3334,3771,2343,0,0,0,0,0,0
$GC,4196,0.76,146.0,209.7,14.3,436,4205,0.08,1.98,0.00,0.000,6,0.143,0.039,3318,2548,2343,0,0,0,0,0,0
$GC,4333,0.76,146.0,194.4,10.9,449,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2546,2343,0,0,0,0,0,0
$GC,4469,0.76,146.0,179.6,10.6,462,4472,0.00,2.00,0.00,0.000,4,0.000,0.057,3318,3770,2342,0,0,0,0,0,0
$GC,4518,0.76,146.0,173.2,12.6,466,4526,0.00,1.98,0.00,0.000,6,0.000,0.038,3326,2542,2342,0,0,0,0,0,0
$GC,4655,0.76,146.0,157.8,11.8,479,4659,0.00,2.00,0.00,0.000,4,0.000,0.057,3326,3766,2342,0,0,0,0,0,0
$GC,4691,0.76,146.0,153.0,13.0,482,4695,0.00,1.90,0.00,0.000,6,0.000,0.037,3335,2550,2342,0,0,0,0,0,0
$GC,4834,0.76,146.0,135.6,12.1,495,4843,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2549,2342,0,0,0,0,0,0
$GC,4970,0.76,146.0,118.9,12.4,508,4974,0.00,2.00,0.00,0.000,4,0.000,0.057,3335,3768,2342,0,0,0,0,0,0
$GC,5019,0.76,146.0,111.6,14.1,512,5028,0.10,1.92,0.00,0.000,6,0.135,0.038,3312,2567,2341,0,0,0,0,0,0
$GC,5155,0.76,146.0,96.7,11.4,527,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2566,2341,0,0,0,0,0,0
$GC,5293,0.76,146.0,81.7,10.6,552,5301,0.00,2.00,0.00,0.000,4,0.000,0.057,3312,3757,2341,0,0,0,0,0,0
$GC,5330,0.76,146.0,77.3,12.4,558,5338,0.00,1.90,0.00,0.000,6,0.000,0.039,3320,2572,2341,0,0,0,0,0,0
$GC,5470,0.76,146.0,61.1,11.7,583,5477,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2572,2341,0,0,0,0,0,0
$GC,5610,0.76,146.0,45.3,11.6,608,5618,0.00,2.00,0.00,0.000,4,0.000,0.057,3319,3762,2341,0,0,0,0,0,0
$GC,5647,0.76,146.0,40.0,13.7,614,5655,0.00,1.90,0.00,0.000,6,0.000,0.038,3329,2577,2341,0,0,0,0,0,0
$GC,5787,0.76,146.0,22.7,13.0,639,5794,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2576,2341,0,0,0,0,0,0
$FREEZE,8.95,0.503,-1.891,2,1,0
$FREEZE,8.24,0.497,-1.890,2,1,0
$FREEZE,7.73,0.498,-1.890,2,1,0
$FREEZE,7.09,0.506,-1.889,2,1,0
$FREEZE,6.51,0.507,-1.889,2,1,0
$FREEZE,5.64,0.506,-1.888,2,1,0
$GC,5931,0.76,146.0,5.6,10.5,664,5939,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2575,2339,0,0,0,0,0,0
$FREEZE,3.66,0.508,-1.887,2,1,0
$FREEZE,3.07,0.505,-1.886,2,1,0
$FREEZE,2.13,0.506,-1.886,2,1,0
$STATE,5956,end climb,SURFACE_DEPTH_REACHED
$STATE,5956,begin surface coast
$FREEZE,1.38,0.503,-1.885,2,1,0
$FREEZE,1.28,0.302,-0.732,2,1,0
$FREEZE,1.11,0.294,-1.898,2,1,0
$FREEZE,1.23,0.360,-1.882,2,1,0
$FINISH,1.2,1.027499
$STATE,5981,end surface coast,CONTROL_FINISHED_OK
$STATE,5982,begin surface
$SM_CCo,5999,73.95,0.099,0,0,1736,300.24
$SM_GC,2.09,0.00,0.00,73.95,0.000,0.000,0.099,418,2678,1736,-8.27,0.79,300.24
$IRIDIUM_FIX,-7545.40,17524.83,100111,151503
$TT8_MAMPS,0.028462
$HUMID,54.76
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,14.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,19.2
$ALTIM_BOTTOM_PING,351.4,87.5
$24V_AH,20.5,84.211
$10V_AH,9.6,58.297
$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,18.725,68.000,278.975,73.950,0.000,29.573,36.569,294.830,2.250,0.000,11.961,1682.656,2130.716,518.769,1984.985,279.200,0.000,1220.451,0.000,1118.565,0.000,13.713,0.000
$DEVICE_MAMPS,191.250,85.680,1034.280,98.685,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,470.351,873.077,949.463,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258180
$DATA_FILE_SIZE,47098,672
$CAP_FILE_SIZE,95394,0
$CFSIZE,260165632,220782592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.014, 42.5,1
$GPS,100111,192038,-7628.844,17522.721,11,1.2,11,124.5