version: 66.08
glider: 503
mission: 7
dive: 149
start: 12 11 110 3 40 27
data:
$ID,503
$MISSION,7
$DIVE,149
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,720
$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,180
$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,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,-19674.279
$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,44
$R_STBD_OVSHOOT,26
$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,49
$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
$GPS1,111210,033437,-7640.652,17323.691,33,1.9,34,128.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-58.1
$GPS2,111210,033958,-7640.610,17323.742,26,2.6,45,128.3
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,POLYNYA3
$TGT_LATLONG,-7630.000,18000.000
$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,330.2,172442,-18.2,-13.333
$D_GRID,454
$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,15,-0.84,-219.0,0.0,0.0,0,168,0.00,0.00,-150.20,0.000,2,0.000,0.000,151,2742,3474,0,0,0,0,0,0
$GC,172,-0.84,-219.0,3.4,-7.3,24,193,8.88,1.70,-8.05,0.000,4,0.216,0.067,2515,3767,3856,0,0,1,0,0,0
$GC,406,-0.84,-219.0,57.3,-19.2,65,412,0.00,1.55,0.00,0.000,6,0.000,0.031,2515,2776,3859,0,0,0,0,0,0
$GC,548,-0.84,-219.0,84.8,-19.4,90,556,0.00,2.20,0.00,0.000,4,0.000,0.034,2515,1383,3860,0,0,0,0,0,0
$GC,585,-0.84,-219.0,91.6,-18.4,96,592,0.00,2.28,0.00,0.000,6,0.000,0.046,2505,2777,3860,0,0,0,0,0,0
$GC,727,-0.84,-219.0,119.5,-20.3,113,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2777,3860,0,0,0,0,0,0
$GC,854,-0.84,-219.0,145.4,-19.6,125,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2777,3860,0,0,0,0,0,0
$GC,982,-0.84,-219.0,170.5,-19.9,137,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2778,3860,0,0,0,0,0,0
$GC,1109,-0.84,-219.0,194.8,-18.9,149,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2777,3860,0,0,0,0,0,0
$GC,1237,-0.84,-219.0,218.9,-18.6,161,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2778,3860,0,0,0,0,0,0
$GC,1364,-0.84,-219.0,243.2,-19.5,173,1368,0.00,2.20,0.00,0.000,4,0.000,0.034,2505,1376,3861,0,0,0,0,0,0
$GC,1393,-0.84,-219.0,248.7,-19.3,175,1398,0.12,2.25,0.00,0.000,6,0.164,0.046,2529,2782,3861,0,0,0,0,0,0
$GC,1527,-0.84,-219.0,272.0,-17.4,187,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2782,3860,0,0,0,0,0,0
$GC,1718,-0.84,-219.0,304.3,-16.8,205,1721,0.00,1.58,0.00,0.000,4,0.000,0.050,2522,3763,3861,0,0,0,0,0,0
$GC,1752,-0.84,-219.0,310.3,-18.2,208,1755,0.00,1.52,0.00,0.000,6,0.000,0.031,2522,2785,3861,0,0,0,0,0,0
$GC,1955,-0.84,-219.0,344.9,-16.7,227,1956,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2784,3860,0,0,0,0,0,0
$GC,2148,-0.84,-219.0,377.1,-17.0,245,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2784,3860,0,0,0,0,0,0
$GC,2337,-0.84,-219.0,409.4,-16.6,263,2338,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2784,3860,0,0,0,0,0,0
$GC,2528,-0.84,-219.0,441.1,-16.7,281,2529,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2784,3860,0,0,0,0,0,0
$STATE,2611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2611,begin apogee
$GC,2617,-0.16,0.0,455.0,16.2,289,2798,0.68,0.00,176.15,1.011,4,0.127,0.000,2747,2684,2960,0,0,0,0,0,0
$STATE,2799,end apogee,CONTROL_FINISHED_OK
$STATE,2799,begin climb
$GC,2801,0.84,219.0,464.4,0.0,305,2997,0.93,0.00,190.52,0.953,6,0.075,0.000,3064,2684,2067,0,0,0,0,0,0
$GC,3187,0.84,219.0,421.3,14.6,341,3190,0.00,1.85,0.00,0.000,4,0.000,0.048,3065,3764,2055,0,0,0,0,0,0
$GC,3247,0.84,219.0,411.2,16.7,346,3255,0.00,1.73,0.00,0.000,6,0.000,0.030,3073,2722,2053,0,0,1,0,0,0
$GC,3446,0.84,219.0,381.0,15.7,365,3449,0.00,1.73,0.00,0.000,4,0.000,0.048,3073,3762,2051,0,0,0,0,0,0
$GC,3480,0.84,219.0,375.1,17.8,368,3484,0.00,1.65,0.00,0.000,6,0.000,0.031,3082,2718,2051,0,0,1,0,0,0
$GC,3683,0.84,219.0,342.7,15.5,387,3687,0.00,1.73,0.00,0.000,4,0.000,0.050,3081,3767,2050,0,0,0,0,0,0
$GC,3729,0.84,219.0,334.9,17.7,391,3733,0.00,1.65,0.00,0.000,6,0.000,0.031,3089,2733,2050,0,0,1,0,0,0
$GC,3931,0.84,219.0,301.2,16.9,410,3935,0.00,1.67,0.00,0.000,4,0.000,0.049,3090,3763,2049,0,0,0,0,0,0
$GC,3958,0.84,219.0,296.3,18.0,412,3966,0.00,1.65,0.00,0.000,6,0.000,0.031,3097,2738,2049,0,0,0,0,0,0
$GC,4157,0.84,219.0,261.4,17.9,431,4160,0.00,1.70,0.00,0.000,4,0.000,0.050,3097,3761,2049,0,0,0,0,0,0
$GC,4202,0.84,219.0,252.5,19.7,435,4206,0.12,1.60,0.00,0.000,6,0.184,0.031,3075,2747,2048,0,0,1,0,0,0
$GC,4404,0.84,219.0,220.5,15.3,454,4405,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2747,2048,0,0,0,0,0,0
$GC,4532,0.84,219.0,201.0,14.9,466,4533,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2747,2048,0,0,0,0,0,0
$GC,4659,0.84,219.0,181.7,15.4,478,4660,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2747,2048,0,0,0,0,0,0
$GC,4787,0.84,219.0,162.8,14.5,490,4790,0.00,1.62,0.00,0.000,4,0.000,0.050,3074,3766,2048,0,0,0,0,0,0
$GC,4813,0.84,219.0,158.0,16.9,492,4821,0.00,1.60,0.00,0.000,6,0.000,0.031,3082,2755,2048,0,0,0,0,0,0
$GC,4948,0.84,219.0,137.1,15.4,505,4949,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2753,2048,0,0,0,0,0,0
$GC,5075,0.84,219.0,118.2,14.3,517,5076,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2754,2048,0,0,0,0,0,0
$GC,5203,0.84,219.0,99.7,14.7,529,5210,0.00,1.65,0.00,0.000,4,0.000,0.050,3082,3758,2048,0,0,0,0,0,0
$GC,5250,0.84,219.0,92.0,16.8,537,5256,0.00,1.58,0.00,0.000,6,0.000,0.032,3089,2757,2047,0,0,0,0,0,0
$GC,5391,0.84,219.0,70.1,15.2,562,5397,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2757,2047,0,0,0,0,0,0
$GC,5532,0.84,219.0,47.2,16.7,587,5540,0.00,1.65,0.00,0.000,4,0.000,0.050,3090,3765,2047,0,0,0,0,0,0
$GC,5580,0.84,219.0,38.4,18.2,595,5587,0.00,1.55,0.00,0.000,6,0.000,0.032,3097,2764,2047,0,0,1,0,0,0
$GC,5723,0.84,219.0,16.1,14.8,620,5729,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2764,2047,0,0,0,0,0,0
$FREEZE,8.68,-1.635,-1.900,2,1,0
$FREEZE,7.65,-1.638,-1.899,2,1,0
$FREEZE,6.84,-1.661,-1.899,2,1,0
$FREEZE,5.82,-1.659,-1.898,2,1,0
$FREEZE,4.85,-1.656,-1.898,2,1,0
$FREEZE,3.79,-1.643,-1.896,2,1,0
$FREEZE,2.94,-1.643,-1.896,2,1,0
$STATE,5804,end climb,SURFACE_DEPTH_REACHED
$STATE,5804,begin surface coast
$FREEZE,2.08,-1.641,-1.895,2,1,0
$FREEZE,1.22,-1.640,-1.894,2,1,0
$FREEZE,0.41,-1.639,-1.894,2,1,0
$FINISH,0.4,1.027766
$STATE,5822,end surface coast,CONTROL_FINISHED_OK
$STATE,5823,begin surface
$SM_CCo,5838,199.52,0.099,0,0,445,616.92
$SM_GC,0.60,0.00,0.00,199.52,0.000,0.000,0.099,194,2762,445,-8.14,-0.51,616.92
$IRIDIUM_FIX,-7554.21,17319.04,111210,010125
$TT8_MAMPS,0.027713
$HUMID,49.33
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.9
$24V_AH,22.3,10.074
$10V_AH,10.0,4.404
$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,18.350,41.975,366.675,199.525,0.000,32.922,37.898,114.072,1.500,0.000,52.149,1552.926,2707.022,674.130,1309.580,129.821,0.000,1294.870,0.000,1016.239,0.000,11.188,0.000
$DEVICE_MAMPS,216.495,82.620,1010.565,99.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,445.725,773.867,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258332
$DATA_FILE_SIZE,40436,638
$CAP_FILE_SIZE,84196,0
$CFSIZE,260165632,243073024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,4
$CURRENT,0.076,279.6,1
$GPS,111210,052213,-7640.750,17327.191,19,1.9,31,128.2