version: 66.08
glider: 503
mission: 7
dive: 86
start: 12 5 110 13 55 16
data:
$ID,503
$MISSION,7
$DIVE,86
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,2
$SURFACE_URGENCY_TRY,2
$SURFACE_URGENCY_FORCE,4
$T_DIVE,125
$T_MISSION,200
$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,0.0099999998
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51780
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,4
$TGT_DEFAULT_LAT,-7700
$TGT_DEFAULT_LON,17100
$TGT_AUTO_DEFAULT,0
$SM_CC,616.91943
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,4
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-18860.07
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,203
$PITCH_MAX,3889
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,15
$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,2780
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,445
$VBD_MAX,3956
$C_VBD,2960
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,134.3
$AH0_10V,102.9
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-51.009045
$PRESSURE_SLOPE,0.00011732637
$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,1
$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,0.0043281103
$SEABIRD_T_H,0.00062152545
$SEABIRD_T_I,2.1491383e-05
$SEABIRD_T_J,2.0368557e-06
$SEABIRD_C_G,-10.162479
$SEABIRD_C_H,1.1594115
$SEABIRD_C_I,4.3937558e-05
$SEABIRD_C_J,0.00011023274
$GPS1,051210,081809,-7612.108,17113.053,0,10000.0,0,133.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.98
$_SM_ANGLEo,0.5
$GPS2,051210,081809,-7612.108,17113.053,0,10000.0,0,133.3
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,POLYNYA1
$TGT_LATLONG,-7630.000,17100.000
$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,56.4,33613,-18.2,-13.333
$D_GRID,618
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.84,-219.0,0.0,0.0,0,25,0.00,0.00,-7.30,0.000,2,0.000,0.000,2800,2751,3293,0,0,0,0,0,0
$GC,27,-0.84,-219.0,6.1,-0.0,1,47,0.73,1.67,-14.20,0.000,4,0.071,0.073,2521,3766,3855,0,0,1,0,0,0
$GC,194,-0.84,-219.0,39.1,-22.3,30,200,0.00,1.55,0.00,0.000,6,0.000,0.030,2521,2770,3858,0,0,0,0,0,0
$GC,335,-0.84,-219.0,67.7,-20.7,55,342,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2770,3858,0,0,0,0,0,0
$GC,478,-0.84,-219.0,94.8,-17.2,80,484,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2769,3859,0,0,0,0,0,0
$GC,613,-0.84,-219.0,124.3,-21.6,95,617,0.00,2.15,0.00,0.000,4,0.000,0.031,2521,1372,3858,0,0,0,0,0,0
$GC,668,-0.84,-219.0,134.2,-15.0,99,676,0.00,2.30,0.00,0.000,6,0.000,0.045,2511,2780,3858,0,0,0,0,0,0
$GC,803,-0.84,-219.0,157.2,-19.4,112,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2780,3858,0,0,0,0,0,0
$GC,930,-0.84,-219.0,180.0,-18.9,124,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2780,3858,0,0,0,0,0,0
$GC,1057,-0.84,-219.0,205.3,-21.2,136,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2780,3859,0,0,0,0,0,0
$GC,1185,-0.84,-219.0,231.0,-19.5,148,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2780,3860,0,0,0,0,0,0
$GC,1312,-0.84,-219.0,254.7,-18.2,160,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2780,3859,0,0,0,0,0,0
$GC,1503,-0.84,-219.0,288.3,-17.8,178,1507,0.00,2.17,0.00,0.000,4,0.000,0.034,2510,1381,3859,0,0,1,0,0,0
$GC,1535,-0.84,-219.0,294.3,-17.3,180,1543,0.00,2.30,0.00,0.000,6,0.000,0.046,2500,2780,3859,0,0,0,0,0,0
$GC,1734,-0.84,-219.0,330.5,-18.4,199,1735,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2780,3859,0,0,0,0,0,0
$GC,1925,-0.84,-219.0,364.6,-16.8,217,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2780,3858,0,0,0,0,0,0
$GC,2116,-0.84,-219.0,398.2,-18.1,235,2118,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2780,3859,0,0,0,0,0,0
$GC,2309,-0.84,-219.0,433.0,-18.7,253,2313,0.00,2.17,0.00,0.000,4,0.000,0.034,2500,1374,3858,0,0,1,0,0,0
$GC,2337,-0.84,-219.0,438.3,-18.8,255,2342,0.12,2.25,0.00,0.000,6,0.171,0.046,2529,2776,3858,0,0,0,0,0,0
$GC,2541,-0.84,-219.0,470.7,-15.7,274,2542,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2777,3859,0,0,0,0,0,0
$STATE,2732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2732,begin apogee
$GC,2736,-0.16,0.0,500.3,15.5,292,2917,0.65,0.00,175.62,0.988,4,0.124,0.000,2748,2692,2960,0,0,0,0,0,0
$STATE,2918,end apogee,CONTROL_FINISHED_OK
$STATE,2918,begin climb
$GC,2920,0.84,219.0,509.8,0.0,297,3118,0.90,0.00,189.12,0.938,6,0.069,0.000,3063,2692,2068,0,0,0,0,0,0
$GC,3308,0.84,219.0,464.4,16.1,322,3312,0.00,1.83,0.00,0.000,4,0.000,0.048,3063,3762,2058,0,0,0,0,0,0
$GC,3365,0.84,219.0,454.5,18.5,327,3369,0.00,1.70,0.00,0.000,6,0.000,0.030,3071,2716,2056,0,0,0,0,0,0
$GC,3568,0.84,219.0,421.2,16.4,346,3569,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2715,2054,0,0,0,0,0,0
$GC,3759,0.84,219.0,392.0,15.5,364,3763,0.00,1.73,0.00,0.000,4,0.000,0.050,3072,3763,2053,0,0,0,0,0,0
$GC,3853,0.84,219.0,375.3,17.1,372,3861,0.00,1.70,0.00,0.000,6,0.000,0.030,3080,2709,2052,0,0,0,0,0,0
$GC,4053,0.84,219.0,344.4,15.4,391,4054,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2709,2052,0,0,0,0,0,0
$GC,4242,0.84,219.0,313.9,16.0,409,4246,0.00,1.73,0.00,0.000,4,0.000,0.050,3080,3770,2052,0,0,0,0,0,0
$GC,4336,0.84,219.0,297.2,17.3,417,4344,0.00,1.65,0.00,0.000,6,0.000,0.030,3088,2735,2052,0,0,0,0,0,0
$GC,4536,0.84,219.0,263.9,16.9,436,4540,0.00,1.67,0.00,0.000,4,0.000,0.051,3087,3772,2052,0,0,0,0,0,0
$GC,4615,0.84,219.0,248.4,19.7,443,4619,0.00,1.62,0.00,0.000,6,0.000,0.031,3096,2743,2051,0,0,0,0,0,0
$GC,4755,0.84,219.0,224.5,16.2,456,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2742,2051,0,0,0,0,0,0
$GC,4882,0.84,219.0,202.8,16.3,468,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2742,2051,0,0,0,0,0,0
$GC,5009,0.84,219.0,181.4,16.7,480,5013,0.00,1.67,0.00,0.000,4,0.000,0.051,3095,3757,2051,0,0,0,0,0,0
$GC,5069,0.84,219.0,169.7,18.7,485,5078,0.10,1.60,0.00,0.000,6,0.157,0.030,3072,2745,2051,0,0,0,0,0,0
$GC,5204,0.84,219.0,150.8,15.5,498,5206,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2745,2051,0,0,0,0,0,0
$GC,5331,0.84,219.0,131.4,14.9,510,5335,0.00,1.67,0.00,0.000,4,0.000,0.050,3072,3764,2050,0,0,0,0,0,0
$GC,5391,0.84,219.0,122.1,14.2,515,5399,0.00,1.60,0.00,0.000,6,0.000,0.031,3080,2736,2050,0,0,1,0,0,0
$GC,5526,0.84,219.0,101.9,14.6,528,5528,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2735,2050,0,0,0,0,0,0
$GC,5660,0.84,219.0,83.1,15.4,550,5666,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2735,2050,0,0,0,0,0,0
$GC,5802,0.84,219.0,55.7,17.7,575,5808,0.00,1.67,0.00,0.000,4,0.000,0.050,3079,3760,2050,0,0,0,0,0,0
$GC,5849,0.84,219.0,48.7,17.9,583,5855,0.00,1.60,0.00,0.000,6,0.000,0.031,3087,2742,2050,0,0,0,0,0,0
$GC,5991,0.84,219.0,23.5,20.3,608,5997,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2742,2050,0,0,0,0,0,0
$FREEZE,8.83,-1.908,-1.906,2,4,2
$FREEZE,8.17,-1.907,-1.905,2,4,2
$FREEZE,7.44,-1.907,-1.905,2,4,2
$FREEZE,6.95,-1.907,-1.905,2,4,2
$FREEZE,6.13,-1.908,-1.904,2,4,2
$FREEZE,5.13,-1.908,-1.903,2,4,2
$FREEZE,4.39,-1.911,-1.903,2,4,2
$FREEZE,3.54,-1.910,-1.902,2,4,2
$FREEZE,2.41,-1.907,-1.901,2,4,2
$STATE,6117,end climb,SURFACE_DEPTH_REACHED
$STATE,6117,begin surface coast
$FREEZE,1.05,-1.907,-1.900,2,4,2
$FREEZE,-0.04,-1.910,-1.899,2,4,2
$FREEZE,0.20,-2.071,-1.909,2,4,2
$FINISH,0.2,1.028002
$STATE,6135,end surface coast,CONTROL_FINISHED_OK
$STATE,6135,begin surface
$SM_CCo,6150,200.43,0.101,0,0,444,616.92
$SM_GC,0.56,0.00,0.00,200.43,0.000,0.000,0.101,188,2786,444,-8.15,0.17,616.92
$IRIDIUM_FIX,-7612.11,17113.05,051210,080809
$TT8_MAMPS,0.027713
$HUMID,49.33
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,19.2
$24V_AH,22.5,2.207
$10V_AH,10.0,0.933
$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,10.200,40.200,364.750,200.425,0.000,0.000,0.000,0.000,2.000,0.000,0.000,1569.249,3034.122,561.994,1141.982,100.530,0.000,1194.562,0.000,1082.592,0.000,15.723,0.000
$DEVICE_MAMPS,170.595,116.280,988.380,100.980,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,447.842,759.484,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258384
$DATA_FILE_SIZE,40292,634
$CAP_FILE_SIZE,79148,0
$CFSIZE,260165632,246067200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,051210,154237,-7703.725,17104.691,49,2.0,49,133.3