version: 66.08
glider: 503
mission: 7
dive: 171
start: 12 12 110 15 23 17
data:
$ID,503
$MISSION,7
$DIVE,171
$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,320
$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,-19701.943
$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,49
$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
$GPS1,121210,151819,-7639.937,17436.432,30,1.5,43,126.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-68.0
$GPS2,121210,152250,-7639.920,17436.480,14,1.0,14,126.4
$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,327.4,141072,-18.2,-13.333
$D_GRID,375
$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,-219.0,0.0,0.0,0,103,0.00,0.00,-85.72,0.000,2,0.000,0.000,159,2773,3342,0,0,0,0,0,0
$GC,106,-0.84,-219.0,3.3,-7.4,14,133,8.88,1.60,-11.43,0.000,4,0.217,0.065,2515,3765,3855,0,0,0,0,0,0
$GC,282,-0.84,-219.0,45.8,-20.7,45,289,0.00,1.55,0.00,0.000,6,0.000,0.031,2515,2780,3858,0,0,0,0,0,0
$GC,424,-0.84,-219.0,72.7,-17.6,70,431,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2780,3858,0,0,0,0,0,0
$GC,565,-0.84,-219.0,99.0,-20.1,95,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2780,3858,0,0,0,0,0,0
$GC,699,-0.84,-219.0,125.9,-20.0,108,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2780,3858,0,0,0,0,0,0
$GC,827,-0.84,-219.0,150.1,-19.1,120,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2780,3858,0,0,0,0,0,0
$GC,954,-0.84,-219.0,173.9,-18.1,132,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2780,3858,0,0,0,0,0,0
$GC,1081,-0.84,-219.0,197.4,-18.4,144,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2780,3858,0,0,0,0,0,0
$GC,1209,-0.84,-219.0,221.2,-18.4,156,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2780,3859,0,0,0,0,0,0
$GC,1336,-0.84,-219.0,244.4,-18.0,168,1340,0.00,1.60,0.00,0.000,4,0.000,0.052,2507,3757,3858,0,0,1,0,0,0
$GC,1383,-0.84,-219.0,253.1,-19.2,172,1386,0.00,1.52,0.00,0.000,6,0.000,0.032,2507,2781,3858,0,0,0,0,0,0
$GC,1586,-0.84,-219.0,289.4,-17.7,191,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2781,3858,0,0,0,0,0,0
$GC,1777,-0.84,-219.0,323.8,-18.7,209,1778,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2781,3858,0,0,0,0,0,0
$GC,1969,-0.84,-219.0,359.0,-18.3,227,1970,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2781,3858,0,0,0,0,0,0
$STATE,2062,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2062,begin apogee
$GC,2067,-0.16,0.0,376.4,18.1,236,2247,0.70,0.00,173.95,0.962,4,0.129,0.000,2739,2682,2960,0,0,0,0,0,0
$STATE,2247,end apogee,CONTROL_FINISHED_OK
$STATE,2248,begin climb
$GC,2249,0.84,219.0,386.7,0.0,252,2452,1.00,2.35,189.18,0.907,4,0.079,0.034,3070,1311,2066,0,0,0,0,0,0
$GC,2647,0.84,219.4,348.1,13.3,287,2655,0.00,2.42,0.00,0.000,6,0.000,0.041,3070,2695,2056,0,0,0,0,0,0
$GC,2846,0.84,219.4,319.3,15.5,306,2851,0.00,2.30,0.00,0.000,4,0.000,0.034,3081,1308,2053,0,0,0,0,0,0
$GC,3043,0.84,219.4,290.9,14.7,323,3047,0.00,2.30,0.00,0.000,6,0.000,0.042,3081,2704,2051,0,0,1,0,0,0
$GC,3242,0.84,219.4,260.4,15.6,341,3245,0.00,1.70,0.00,0.000,4,0.000,0.050,3081,3765,2051,0,0,0,0,0,0
$GC,3298,0.84,219.4,250.0,18.2,346,3302,0.00,1.62,0.00,0.000,6,0.000,0.031,3088,2709,2050,0,0,1,0,0,0
$GC,3501,0.84,219.4,217.1,16.0,365,3502,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2708,2050,0,0,0,0,0,0
$GC,3629,0.84,219.4,197.0,15.4,377,3632,0.00,1.70,0.00,0.000,4,0.000,0.050,3088,3768,2050,0,0,0,0,0,0
$GC,3685,0.84,219.4,187.1,18.5,382,3688,0.00,1.65,0.00,0.000,6,0.000,0.031,3097,2703,2049,0,0,0,0,0,0
$GC,3824,0.84,219.4,164.5,16.1,395,3827,0.00,1.70,0.00,0.000,4,0.000,0.050,3097,3765,2049,0,0,0,0,0,0
$GC,3873,0.84,219.4,155.6,18.2,399,3882,0.10,1.62,0.00,0.000,6,0.154,0.032,3073,2742,2049,0,0,0,0,0,0
$GC,4008,0.84,221.9,137.3,13.2,412,4009,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2742,2049,0,0,0,0,0,0
$GC,4136,0.85,226.3,120.8,13.2,424,4146,0.00,0.00,4.38,0.655,6,0.000,0.000,3073,2742,2037,0,0,0,0,0,0
$GC,4273,0.86,233.4,102.7,13.0,437,4284,0.00,0.00,8.62,0.769,6,0.000,0.000,3073,2742,2007,0,0,0,0,0,0
$GC,4415,0.86,233.4,83.8,14.0,461,4422,0.00,1.67,0.00,0.000,4,0.000,0.050,3073,3756,2006,0,0,0,0,0,0
$GC,4445,0.86,233.4,79.3,15.5,466,4452,0.00,1.65,0.00,0.000,6,0.000,0.032,3081,2720,2006,0,0,0,0,0,0
$GC,4587,0.86,233.4,57.1,15.3,491,4594,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2720,2005,0,0,0,0,0,0
$GC,4730,0.86,233.4,35.9,15.0,516,4737,0.00,2.25,0.00,0.000,4,0.000,0.034,3091,1297,2005,0,0,0,0,0,0
$GC,4778,0.88,252.8,30.2,12.5,524,4804,0.00,2.33,18.27,0.767,6,0.000,0.044,3092,2725,1929,0,0,0,0,0,0
$FREEZE,8.69,-1.664,-1.900,2,1,0
$FREEZE,7.93,-1.663,-1.899,2,1,0
$FREEZE,7.10,-1.664,-1.899,2,1,0
$FREEZE,6.34,-1.665,-1.898,2,1,0
$FREEZE,5.56,-1.665,-1.897,2,1,0
$FREEZE,4.95,-1.665,-1.897,2,1,0
$GC,4939,0.88,252.8,5.0,15.1,552,4946,0.00,1.70,0.00,0.000,4,0.000,0.049,3091,3768,1925,0,0,0,0,0,0
$FREEZE,2.18,-1.665,-1.895,2,1,0
$STATE,4952,end climb,SURFACE_DEPTH_REACHED
$STATE,4952,begin surface coast
$FREEZE,1.47,-1.665,-1.894,2,1,0
$FREEZE,0.42,-1.663,-1.893,2,1,0
$FINISH,0.4,1.027764
$STATE,4964,end surface coast,CONTROL_FINISHED_OK
$STATE,4965,begin surface
$SM_CCo,4981,31.35,0.102,0,0,1655,320.11
$SM_GC,1.03,0.00,0.00,31.35,0.000,0.000,0.102,194,2770,1655,-8.14,-0.28,320.11
$IRIDIUM_FIX,-7554.21,17432.25,121210,131332
$TT8_MAMPS,0.026964
$HUMID,51.73
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.8
$24V_AH,22.4,12.559
$10V_AH,10.0,5.444
$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,18.425,36.950,394.400,31.350,0.000,29.443,36.149,100.093,1.000,0.000,16.554,1365.867,2157.338,483.738,1174.501,115.699,0.000,1053.012,0.000,936.800,0.000,7.757,0.000
$DEVICE_MAMPS,217.260,84.150,961.605,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,388.002,713.413,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258276
$DATA_FILE_SIZE,37030,556
$CAP_FILE_SIZE,73185,0
$CFSIZE,260165632,242122752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.120, 24.6,1
$GPS,121210,164744,-7639.769,17440.316,16,1.9,17,126.3