version: 66.08
glider: 503
mission: 7
dive: 182
start: 12 13 110 7 58 12
data:
$ID,503
$MISSION,7
$DIVE,182
$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,-19716.566
$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,48
$R_STBD_OVSHOOT,30
$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
$GPS1,131210,075320,-7640.208,17505.096,17,2.0,17,125.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-71.9
$GPS2,131210,075744,-7640.227,17505.061,8,1.4,8,125.7
$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,288.6,128913,-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,-219.0,0.0,0.0,0,108,0.00,0.00,-90.47,0.000,2,0.000,0.000,189,2787,3447,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.3,-6.7,15,138,8.88,1.62,-8.85,0.000,4,0.223,0.068,2515,3764,3857,0,0,0,0,0,0
$GC,388,-0.84,-219.0,61.6,-19.2,64,395,0.00,1.55,0.00,0.000,6,0.000,0.030,2516,2773,3859,0,0,0,0,0,0
$GC,530,-0.84,-219.0,88.1,-18.6,89,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2773,3859,0,0,0,0,0,0
$GC,668,-0.84,-219.0,114.5,-19.1,107,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2773,3859,0,0,0,0,0,0
$GC,796,-0.84,-219.0,138.2,-17.9,119,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2773,3859,0,0,0,0,0,0
$GC,924,-0.84,-219.0,160.5,-17.4,131,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2773,3859,0,0,0,0,0,0
$GC,1051,-0.84,-219.0,183.5,-18.4,143,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2773,3859,0,0,0,0,0,0
$GC,1179,-0.84,-219.0,205.9,-17.8,155,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2773,3860,0,0,0,0,0,0
$GC,1306,-0.84,-219.0,228.6,-17.6,167,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2773,3859,0,0,0,0,0,0
$GC,1434,-0.84,-219.0,251.4,-18.4,179,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2773,3859,0,0,0,0,0,0
$GC,1626,-0.84,-219.0,285.3,-17.6,197,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2773,3860,0,0,0,0,0,0
$GC,1816,-0.84,-219.0,318.0,-16.9,215,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2773,3860,0,0,0,0,0,0
$GC,2011,-0.84,-219.0,350.8,-17.2,233,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2773,3860,0,0,0,0,0,0
$STATE,2153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2153,begin apogee
$GC,2159,-0.16,0.0,375.7,16.6,247,2338,0.68,0.00,173.68,0.962,4,0.129,0.000,2740,2687,2960,0,0,0,0,0,0
$STATE,2339,end apogee,CONTROL_FINISHED_OK
$STATE,2339,begin climb
$GC,2341,0.84,219.0,385.4,0.0,263,2543,1.00,2.35,189.02,0.907,4,0.080,0.033,3071,1312,2067,0,0,0,0,0,0
$GC,2714,0.84,219.0,347.9,13.3,296,2719,0.00,2.38,0.00,0.000,6,0.000,0.041,3071,2701,2058,0,0,1,0,0,0
$GC,2911,0.84,219.0,318.8,14.4,314,2916,0.00,2.30,0.00,0.000,4,0.000,0.034,3081,1316,2055,0,0,0,0,0,0
$GC,3089,0.84,219.0,293.6,13.8,329,3096,0.00,2.35,0.00,0.000,6,0.000,0.041,3082,2700,2053,0,0,0,0,0,0
$GC,3288,0.84,219.0,263.1,15.9,348,3289,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2701,2052,0,0,0,0,0,0
$GC,3479,0.84,219.0,233.4,15.5,366,3482,0.00,1.70,0.00,0.000,4,0.000,0.049,3081,3764,2052,0,0,0,0,0,0
$GC,3525,0.84,219.0,225.7,17.6,370,3529,0.00,1.62,0.00,0.000,6,0.000,0.031,3090,2704,2052,0,0,1,0,0,0
$GC,3664,0.84,219.0,203.4,15.6,383,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2704,2051,0,0,0,0,0,0
$GC,3792,0.84,219.0,183.9,15.4,395,3793,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2704,2051,0,0,0,0,0,0
$GC,3919,0.84,219.0,164.3,15.1,407,3920,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2704,2051,0,0,0,0,0,0
$GC,4047,0.84,219.0,145.2,15.0,419,4048,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2704,2050,0,0,0,0,0,0
$GC,4175,0.84,219.0,125.5,15.6,431,4179,0.00,1.73,0.00,0.000,4,0.000,0.049,3090,3755,2050,0,0,0,0,0,0
$GC,4209,0.84,219.0,119.8,18.1,434,4213,0.00,1.65,0.00,0.000,6,0.000,0.031,3098,2714,2051,0,0,0,0,0,0
$GC,4343,0.84,219.0,98.1,16.2,447,4350,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2712,2050,0,0,0,0,0,0
$GC,4486,0.84,219.0,75.9,16.0,472,4492,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2712,2050,0,0,0,0,0,0
$GC,4627,0.84,219.0,53.4,15.4,497,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2712,2050,0,0,0,0,0,0
$GC,4767,0.84,219.0,30.9,16.1,522,4774,0.00,1.73,0.00,0.000,4,0.000,0.050,3098,3765,2050,0,0,0,0,0,0
$GC,4818,0.84,219.0,21.9,18.6,531,4826,0.10,1.62,0.00,0.000,6,0.148,0.032,3063,2721,2050,0,0,1,0,0,0
$FREEZE,8.64,-1.606,-1.900,2,1,0
$FREEZE,7.97,-1.596,-1.899,2,1,0
$FREEZE,7.21,-1.590,-1.898,2,1,0
$FREEZE,6.37,-1.600,-1.898,2,1,0
$FREEZE,5.58,-1.599,-1.897,2,1,0
$FREEZE,4.98,-1.594,-1.896,2,1,0
$FREEZE,4.14,-1.585,-1.896,2,1,0
$FREEZE,3.48,-1.588,-1.895,2,1,0
$FREEZE,2.67,-1.597,-1.895,2,1,0
$STATE,4951,end climb,SURFACE_DEPTH_REACHED
$STATE,4951,begin surface coast
$FREEZE,1.79,-1.590,-1.894,2,1,0
$FREEZE,1.15,-1.591,-1.894,2,1,0
$FREEZE,0.60,-1.591,-1.893,2,1,0
$FREEZE,0.09,-1.590,-1.893,2,1,0
$FINISH,0.1,1.027756
$STATE,4974,end surface coast,CONTROL_FINISHED_OK
$STATE,4974,begin surface
$SM_CCo,4990,45.97,0.100,0,0,1655,320.11
$SM_GC,1.02,0.00,0.00,45.97,0.000,0.000,0.100,186,2797,1655,-8.17,0.48,320.11
$IRIDIUM_FIX,-7554.21,17511.09,131210,060644
$TT8_MAMPS,0.027713
$HUMID,51.69
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,20.0
$ALTIM_BOTTOM_PING,350.8,60.4
$24V_AH,22.4,13.741
$10V_AH,10.0,5.931
$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,18.250,22.775,362.700,45.975,0.000,27.712,39.888,102.945,1.250,0.000,10.793,1366.196,2223.354,463.369,1153.660,109.843,0.000,1010.359,0.000,915.703,0.000,10.626,0.000
$DEVICE_MAMPS,223.380,101.745,961.605,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,390.798,715.622,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37002,559
$CAP_FILE_SIZE,68828,0
$CFSIZE,260165632,241672192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.190,198.7,1
$GPS,131210,092334,-7640.359,17507.156,27,6.3,46,125.7