version: 66.08
glider: 503
mission: 7
dive: 156
start: 12 11 110 15 59 31
data:
$ID,503
$MISSION,7
$DIVE,156
$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,-19683.076
$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,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
$GPS1,111210,155425,-7640.812,17348.867,16,1.0,28,127.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-56.7
$GPS2,111210,155902,-7640.792,17348.975,13,1.4,13,127.7
$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,316.8,161650,-18.2,-13.333
$D_GRID,408
$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,-219.0,0.0,0.0,0,171,0.00,0.00,-151.85,0.000,2,0.000,0.000,159,2761,3537,0,0,0,0,0,0
$GC,173,-0.84,-219.0,4.1,-9.8,25,195,8.90,1.70,-6.32,0.000,4,0.218,0.066,2516,3776,3857,0,0,0,0,0,0
$GC,378,-0.84,-219.0,52.6,-18.4,61,385,0.00,1.58,0.00,0.000,6,0.000,0.029,2516,2771,3860,0,0,0,0,0,0
$GC,519,-0.84,-219.0,78.7,-18.9,86,525,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2771,3860,0,0,0,0,0,0
$GC,664,-0.84,-219.0,106.5,-19.6,109,668,0.00,2.17,0.00,0.000,4,0.000,0.033,2516,1380,3860,0,0,0,0,0,0
$GC,696,-0.84,-219.0,113.0,-18.9,111,704,0.00,2.33,0.00,0.000,6,0.000,0.046,2506,2781,3860,0,0,0,0,0,0
$GC,831,-0.84,-219.0,138.7,-19.5,124,834,0.00,1.60,0.00,0.000,4,0.000,0.052,2498,3766,3861,0,0,0,0,0,0
$GC,899,-0.84,-219.0,152.7,-20.0,130,902,0.00,1.50,0.00,0.000,6,0.000,0.031,2498,2808,3861,0,0,0,0,0,0
$GC,1038,-0.84,-219.0,180.7,-20.0,143,1040,0.10,0.00,0.00,0.000,6,0.185,0.000,2524,2808,3860,0,0,0,0,0,0
$GC,1165,-0.84,-219.0,203.4,-17.3,155,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2808,3860,0,0,0,0,0,0
$GC,1293,-0.84,-219.0,225.1,-16.9,167,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2808,3861,0,0,0,0,0,0
$GC,1420,-0.84,-219.0,246.3,-16.5,179,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2808,3860,0,0,0,0,0,0
$GC,1548,-0.84,-219.0,267.9,-17.2,191,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2808,3861,0,0,0,0,0,0
$GC,1740,-0.84,-219.0,300.1,-16.8,209,1741,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2808,3861,0,0,0,0,0,0
$GC,1931,-0.84,-219.0,332.3,-16.9,227,1935,0.00,1.55,0.00,0.000,4,0.000,0.050,2517,3760,3861,0,0,0,0,0,0
$GC,1980,-0.84,-219.0,341.3,-17.8,231,1988,0.00,1.50,0.00,0.000,6,0.000,0.031,2517,2796,3861,0,0,0,0,0,0
$GC,2180,-0.84,-219.0,374.9,-16.7,250,2181,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2796,3861,0,0,0,0,0,0
$GC,2369,-0.84,-219.0,406.6,-16.6,268,2373,0.00,1.58,0.00,0.000,4,0.000,0.051,2510,3764,3860,0,0,0,0,0,0
$STATE,2379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2380,begin apogee
$GC,2386,-0.16,0.0,408.5,16.6,269,2567,0.70,0.00,175.70,0.980,4,0.126,0.000,2742,2699,2960,0,0,0,0,0,0
$STATE,2567,end apogee,CONTROL_FINISHED_OK
$STATE,2567,begin climb
$GC,2569,0.84,219.0,417.7,0.0,285,2773,1.00,2.40,189.73,0.925,4,0.077,0.034,3074,1291,2065,0,0,0,0,0,0
$GC,2912,0.84,219.0,383.0,14.0,315,2920,0.00,2.45,0.00,0.000,6,0.000,0.042,3074,2699,2054,0,0,0,0,0,0
$GC,3110,0.84,219.0,353.2,15.0,334,3114,0.00,2.35,0.00,0.000,4,0.000,0.036,3084,1299,2051,0,0,0,0,0,0
$GC,3286,0.84,219.0,327.9,13.9,349,3294,0.00,2.38,0.00,0.000,6,0.000,0.044,3084,2697,2050,0,0,1,0,0,0
$GC,3485,0.84,219.0,297.8,15.5,368,3488,0.00,1.73,0.00,0.000,4,0.000,0.050,3084,3764,2048,0,0,0,0,0,0
$GC,3519,0.84,219.0,291.9,18.0,371,3523,0.00,1.65,0.00,0.000,6,0.000,0.032,3092,2705,2047,0,0,1,0,0,0
$GC,3722,0.84,219.0,258.7,16.1,390,3726,0.00,1.73,0.00,0.000,4,0.000,0.050,3092,3765,2047,0,0,0,0,0,0
$GC,3748,0.84,219.0,253.8,18.5,392,3757,0.08,1.65,0.00,0.000,6,0.161,0.031,3077,2725,2047,0,0,1,0,0,0
$GC,3948,0.84,219.0,224.2,15.0,411,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2725,2047,0,0,0,0,0,0
$GC,4075,0.84,219.0,205.5,14.8,423,4078,0.00,1.67,0.00,0.000,4,0.000,0.051,3077,3765,2046,0,0,0,0,0,0
$GC,4121,0.84,219.0,198.1,16.7,427,4124,0.00,1.62,0.00,0.000,6,0.000,0.032,3085,2703,2046,0,0,1,0,0,0
$GC,4260,0.84,219.0,176.4,15.4,440,4261,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2701,2046,0,0,0,0,0,0
$GC,4387,0.84,219.0,156.8,15.0,452,4391,0.00,1.75,0.00,0.000,4,0.000,0.050,3084,3754,2045,0,0,0,0,0,0
$GC,4432,0.84,219.0,149.3,17.2,456,4436,0.00,1.62,0.00,0.000,6,0.000,0.033,3093,2735,2045,0,0,0,0,0,0
$GC,4572,0.84,219.0,127.5,15.1,469,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2733,2044,0,0,0,0,0,0
$GC,4699,0.84,219.0,108.4,15.1,481,4703,0.00,1.65,0.00,0.000,4,0.000,0.052,3093,3764,2044,0,0,0,0,0,0
$GC,4766,0.84,219.0,96.8,18.0,488,4773,0.08,1.60,0.00,0.000,6,0.161,0.032,3076,2753,2044,0,0,0,0,0,0
$GC,4909,0.84,219.0,75.4,14.5,513,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2753,2044,0,0,0,0,0,0
$GC,5050,0.84,219.0,53.2,15.8,538,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2753,2044,0,0,0,0,0,0
$GC,5192,0.84,219.0,30.7,14.7,563,5198,0.00,1.65,0.00,0.000,4,0.000,0.050,3076,3764,2044,0,0,0,0,0,0
$GC,5283,0.84,219.0,16.3,17.3,579,5289,0.00,1.60,0.00,0.000,6,0.000,0.031,3083,2747,2043,0,0,0,0,0,0
$FREEZE,8.54,-1.689,-1.900,2,1,0
$FREEZE,7.71,-1.688,-1.899,2,1,0
$FREEZE,6.78,-1.688,-1.899,2,1,0
$FREEZE,5.85,-1.686,-1.898,2,1,0
$FREEZE,5.03,-1.686,-1.897,2,1,0
$FREEZE,4.34,-1.684,-1.897,2,1,0
$FREEZE,3.63,-1.683,-1.896,2,1,0
$FREEZE,2.83,-1.683,-1.896,2,1,0
$STATE,5365,end climb,SURFACE_DEPTH_REACHED
$STATE,5367,begin surface coast
$FREEZE,2.15,-1.681,-1.895,2,1,0
$FREEZE,1.34,-1.682,-1.894,2,1,0
$FREEZE,0.55,-1.680,-1.894,2,1,0
$FREEZE,-0.14,-1.677,-1.893,2,1,0
$FINISH,-0.1,1.027764
$STATE,5390,end surface coast,CONTROL_FINISHED_OK
$STATE,5390,begin surface
$SM_CCo,5405,199.25,0.100,0,0,445,616.92
$SM_GC,0.54,0.00,0.00,199.25,0.000,0.000,0.100,186,2745,445,-8.16,-0.96,616.92
$IRIDIUM_FIX,-7554.21,17345.78,111210,141429
$TT8_MAMPS,0.027713
$HUMID,49.72
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,19.1
$24V_AH,22.3,10.891
$10V_AH,10.0,4.756
$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,18.525,46.675,365.425,199.250,0.000,27.720,41.608,108.726,1.250,0.000,15.806,1463.030,2368.049,679.470,1262.548,122.967,0.000,1295.957,0.000,1010.303,0.000,9.472,0.000
$DEVICE_MAMPS,218.025,65.790,979.965,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,417.184,749.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258300
$DATA_FILE_SIZE,37043,598
$CAP_FILE_SIZE,81582,0
$CFSIZE,260165632,242761728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.047,335.7,1
$GPS,111210,173356,-7640.661,17352.355,21,1.9,22,127.6