version: 66.08
glider: 503
mission: 7
dive: 108
start: 12 7 110 10 36 18
data:
$ID,503
$MISSION,7
$DIVE,108
$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,2
$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,1
$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,-19379.35
$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,43
$R_STBD_OVSHOOT,33
$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
$GPS1,071210,102736,-7647.797,17040.260,52,1.2,59,132.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-51.7
$GPS2,071210,103550,-7647.835,17039.945,12,1.5,12,133.0
$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,257.0,34150,-18.2,-13.333
$D_GRID,765
$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,16,-0.84,-219.0,0.0,0.0,0,169,0.00,0.00,-150.12,0.000,2,0.000,0.000,184,2789,3392,0,0,0,0,0,0
$GC,172,-0.84,-219.0,3.1,-8.1,23,199,9.02,1.58,-10.07,0.000,4,0.225,0.067,2513,3763,3856,0,0,0,0,0,0
$GC,451,-0.84,-219.0,65.6,-19.7,72,457,0.00,1.55,0.00,0.000,6,0.000,0.030,2513,2775,3858,0,0,0,0,0,0
$GC,593,-0.84,-219.0,93.4,-19.3,97,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2774,3859,0,0,0,0,0,0
$GC,734,-0.84,-219.0,120.9,-19.6,113,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2774,3859,0,0,0,0,0,0
$GC,861,-0.84,-219.0,146.1,-19.4,125,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2774,3859,0,0,0,0,0,0
$GC,989,-0.84,-219.0,170.6,-19.0,137,993,0.00,1.60,0.00,0.000,4,0.000,0.052,2506,3747,3859,0,0,0,0,0,0
$GC,1026,-0.84,-219.0,178.4,-19.5,140,1034,0.00,1.50,0.00,0.000,6,0.000,0.031,2505,2790,3859,0,0,0,0,0,0
$GC,1161,-0.84,-219.0,204.0,-19.6,153,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2790,3859,0,0,0,0,0,0
$GC,1288,-0.84,-219.0,228.4,-19.0,165,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2790,3858,0,0,0,0,0,0
$GC,1416,-0.84,-219.0,252.6,-19.3,177,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2790,3859,0,0,0,0,0,0
$GC,1607,-0.84,-219.0,288.7,-18.8,195,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2790,3858,0,0,0,0,0,0
$GC,1798,-0.84,-219.0,325.0,-19.3,213,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2790,3859,0,0,0,0,0,0
$GC,1989,-0.84,-219.0,361.0,-18.9,231,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2790,3859,0,0,0,0,0,0
$GC,2180,-0.84,-219.0,397.7,-19.6,249,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2790,3859,0,0,0,0,0,0
$GC,2372,-0.84,-219.0,434.3,-19.3,267,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2790,3859,0,0,0,0,0,0
$GC,2563,-0.84,-219.0,470.2,-18.6,285,2567,0.00,1.58,0.00,0.000,4,0.000,0.052,2498,3760,3859,0,0,0,0,0,0
$GC,2589,-0.84,-219.0,475.7,-19.5,287,2598,0.08,1.52,0.00,0.000,6,0.153,0.031,2523,2778,3859,0,0,0,0,0,0
$STATE,2734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2734,begin apogee
$GC,2739,-0.16,0.0,500.1,16.4,301,2926,0.65,0.00,177.25,1.014,4,0.129,0.000,2742,2698,2958,0,0,0,0,0,0
$STATE,2927,end apogee,CONTROL_FINISHED_OK
$STATE,2927,begin climb
$GC,2929,0.84,219.0,510.0,0.0,307,3131,1.00,2.38,190.93,0.962,4,0.079,0.033,3072,1299,2066,0,0,0,0,0,0
$GC,3225,0.84,219.0,482.2,14.1,322,3233,0.00,2.47,0.00,0.000,6,0.000,0.041,3071,2685,2057,0,0,0,0,0,0
$GC,3424,0.84,219.0,452.4,15.3,341,3428,0.00,2.33,0.00,0.000,4,0.000,0.034,3082,1296,2052,0,0,0,0,0,0
$GC,3588,0.84,219.0,429.0,14.4,355,3592,0.00,2.35,0.00,0.000,6,0.000,0.042,3082,2710,2050,0,0,1,0,0,0
$GC,3785,0.84,219.0,397.8,15.7,373,3789,0.00,1.75,0.00,0.000,4,0.000,0.048,3082,3761,2049,0,0,0,0,0,0
$GC,3842,0.84,219.0,388.0,18.3,378,3845,0.00,1.65,0.00,0.000,6,0.000,0.031,3091,2714,2048,0,0,0,0,0,0
$GC,4045,0.84,219.0,354.6,16.1,397,4048,0.00,1.75,0.00,0.000,4,0.000,0.049,3091,3759,2047,0,0,0,0,0,0
$GC,4079,0.84,219.0,348.5,18.1,400,4083,0.00,1.67,0.00,0.000,6,0.000,0.031,3099,2724,2047,0,0,0,0,0,0
$GC,4282,0.84,219.0,313.0,17.6,419,4286,0.00,1.67,0.00,0.000,4,0.000,0.050,3099,3763,2047,0,0,0,0,0,0
$GC,4327,0.84,219.0,304.4,20.0,423,4331,0.15,1.65,0.00,0.000,6,0.169,0.031,3067,2704,2047,0,0,0,0,0,0
$GC,4530,0.84,219.0,274.3,14.0,442,4532,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2705,2047,0,0,0,0,0,0
$GC,4721,0.84,219.0,247.3,13.9,460,4722,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2705,2046,0,0,0,0,0,0
$GC,4849,0.84,219.0,229.1,14.4,472,4853,0.00,1.73,0.00,0.000,4,0.000,0.049,3066,3753,2046,0,0,0,0,0,0
$GC,4883,0.84,219.0,223.7,16.2,475,4886,0.00,1.62,0.00,0.000,6,0.000,0.031,3074,2728,2046,0,0,0,0,0,0
$GC,5022,0.84,219.0,203.4,14.5,488,5023,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2727,2046,0,0,0,0,0,0
$GC,5150,0.84,219.0,185.0,14.4,500,5153,0.00,1.65,0.00,0.000,4,0.000,0.049,3074,3764,2046,0,0,0,0,0,0
$GC,5187,0.84,219.0,178.7,16.9,503,5196,0.00,1.62,0.00,0.000,6,0.000,0.031,3082,2736,2046,0,0,0,0,0,0
$GC,5323,0.84,219.0,159.0,14.1,516,5326,0.00,1.65,0.00,0.000,4,0.000,0.050,3082,3772,2045,0,0,0,0,0,0
$GC,5361,0.84,219.0,152.3,16.7,519,5369,0.00,1.62,0.00,0.000,6,0.000,0.031,3090,2742,2045,0,0,0,0,0,0
$GC,5496,0.84,219.0,131.6,15.3,532,5497,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2741,2045,0,0,0,0,0,0
$GC,5623,0.84,219.0,111.7,15.7,544,5627,0.00,1.67,0.00,0.000,4,0.000,0.050,3090,3767,2045,0,0,0,0,0,0
$GC,5661,0.84,219.0,104.7,18.3,547,5669,0.00,1.60,0.00,0.000,6,0.000,0.031,3098,2753,2045,0,0,0,0,0,0
$GC,5799,0.84,219.0,81.9,17.1,569,5805,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2752,2046,0,0,0,0,0,0
$GC,5940,0.84,219.0,58.3,17.1,594,5947,0.00,1.65,0.00,0.000,4,0.000,0.051,3098,3762,2045,0,0,0,0,0,0
$GC,5993,0.84,219.0,48.5,19.2,603,6001,0.10,1.58,0.00,0.000,6,0.155,0.032,3073,2763,2045,0,0,0,0,0,0
$GC,6137,0.84,219.0,26.0,15.9,628,6143,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2763,2045,0,0,0,0,0,0
$FREEZE,8.74,-1.809,-1.902,2,1,0
$FREEZE,7.89,-1.810,-1.902,2,1,0
$FREEZE,7.18,-1.811,-1.901,2,1,0
$FREEZE,6.53,-1.813,-1.901,2,1,0
$FREEZE,5.77,-1.810,-1.900,2,1,0
$FREEZE,4.90,-1.815,-1.899,2,1,0
$GC,6277,0.84,219.0,4.9,13.9,653,6284,0.00,1.62,0.00,0.000,4,0.000,0.049,3072,3764,2045,0,0,0,0,0,0
$FREEZE,2.60,-1.814,-1.898,2,1,0
$STATE,6290,end climb,SURFACE_DEPTH_REACHED
$STATE,6290,begin surface coast
$FREEZE,1.79,-1.814,-1.897,2,1,0
$FREEZE,0.94,-1.814,-1.896,2,1,0
$FREEZE,0.16,-1.814,-1.896,2,1,0
$FINISH,0.2,1.027805
$STATE,6307,end surface coast,CONTROL_FINISHED_OK
$STATE,6307,begin surface
$SM_CCo,6323,202.75,0.101,0,0,445,616.92
$SM_GC,0.75,0.00,0.00,202.75,0.000,0.000,0.101,191,2779,445,-8.15,-0.03,616.92
$IRIDIUM_FIX,-7603.11,17052.36,071210,101008
$TT8_MAMPS,0.027713
$HUMID,48.50
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.7
$24V_AH,22.3,5.177
$10V_AH,10.0,2.197
$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,18.625,48.650,368.175,202.750,0.000,49.583,121.156,162.349,2.000,0.000,14.841,1662.041,3003.091,693.334,1537.268,137.914,0.000,1374.253,0.000,1123.113,0.000,15.723,0.000
$DEVICE_MAMPS,224.910,100.215,1014.390,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,462.145,796.576,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258336
$DATA_FILE_SIZE,40422,658
$CAP_FILE_SIZE,91771,0
$CFSIZE,260165632,245022720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.283,217.3,1
$GPS,071210,122636,-7647.814,17039.617,53,1.2,54,133.0