version: 66.08
glider: 503
mission: 7
dive: 245
start: 12 16 110 21 40 6
data:
$ID,503
$MISSION,7
$DIVE,245
$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,-19795.797
$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,51
$R_STBD_OVSHOOT,47
$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
$GPS1,161210,213514,-7637.355,17728.352,19,2.0,19,122.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-72.5
$GPS2,161210,213938,-7637.373,17728.400,16,1.9,16,122.2
$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,319.1,66950,-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,-219.0,0.0,0.0,0,112,0.00,0.00,-93.78,0.000,2,0.000,0.000,188,2806,3536,0,0,0,0,0,0
$GC,114,-0.84,-219.0,3.9,-10.1,15,136,8.82,2.35,-6.53,0.000,4,0.220,0.044,2521,1366,3855,0,0,0,0,0,0
$GC,368,-0.84,-219.0,55.6,-16.5,60,375,0.00,2.28,0.00,0.000,6,0.000,0.044,2511,2761,3859,0,0,0,0,0,0
$GC,512,-0.84,-219.0,82.3,-19.0,85,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2761,3858,0,0,0,0,0,0
$GC,651,-0.84,-219.0,108.4,-18.9,106,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2761,3859,0,0,0,0,0,0
$GC,778,-0.84,-219.0,132.1,-18.7,118,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2761,3859,0,0,0,0,0,0
$GC,906,-0.84,-219.0,155.9,-18.7,130,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2761,3859,0,0,0,0,0,0
$GC,1033,-0.84,-219.0,178.9,-18.2,142,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2761,3859,0,0,0,0,0,0
$GC,1160,-0.84,-219.0,202.3,-18.4,154,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2761,3859,0,0,0,0,0,0
$GC,1289,-0.84,-219.0,225.2,-17.7,166,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2761,3860,0,0,0,0,0,0
$GC,1415,-0.84,-219.0,248.1,-17.8,178,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2761,3859,0,0,0,0,0,0
$GC,1543,-0.84,-219.0,270.7,-17.6,190,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2761,3859,0,0,0,0,0,0
$STATE,1594,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1594,begin apogee
$GC,1599,-0.16,0.0,280.0,17.4,195,1777,0.70,0.00,171.70,0.903,4,0.127,0.000,2742,2761,2959,0,0,0,0,0,0
$STATE,1778,end apogee,CONTROL_FINISHED_OK
$STATE,1778,begin climb
$GC,1780,0.84,219.0,288.8,0.0,211,1975,1.00,2.47,187.00,0.851,4,0.078,0.032,3075,1297,2067,0,0,1,0,0,0
$GC,2093,0.84,219.0,260.0,13.8,238,2100,0.00,2.47,0.00,0.000,6,0.000,0.041,3075,2695,2059,0,0,0,0,0,0
$GC,2291,0.84,219.0,231.8,14.0,257,2295,0.00,2.33,0.00,0.000,4,0.000,0.034,3086,1300,2055,0,0,0,0,0,0
$GC,2444,0.84,219.0,210.3,14.2,270,2448,0.00,2.35,0.00,0.000,6,0.000,0.042,3086,2718,2054,0,0,1,0,0,0
$GC,2578,0.84,219.0,189.6,15.2,282,2582,0.00,1.70,0.00,0.000,4,0.000,0.050,3086,3768,2053,0,0,0,0,0,0
$GC,2624,0.84,219.0,181.9,16.6,286,2628,0.00,1.62,0.00,0.000,6,0.000,0.031,3094,2722,2052,0,0,1,0,0,0
$GC,2764,0.84,219.0,159.4,15.8,299,2765,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2721,2052,0,0,0,0,0,0
$GC,2891,0.84,219.0,139.5,15.8,311,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2721,2052,0,0,0,0,0,0
$GC,3018,0.84,219.0,119.5,15.9,323,3019,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2721,2052,0,0,0,0,0,0
$GC,3146,0.84,219.0,99.5,15.5,335,3153,0.00,1.73,0.00,0.000,4,0.000,0.049,3094,3763,2051,0,0,0,0,0,0
$GC,3188,0.84,219.0,92.4,18.1,342,3195,0.08,1.65,0.00,0.000,6,0.163,0.031,3077,2728,2051,0,0,0,0,0,0
$GC,3329,0.84,219.0,72.2,13.6,367,3335,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2728,2051,0,0,0,0,0,0
$GC,3469,0.84,219.0,52.9,13.4,392,3475,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2728,2050,0,0,0,0,0,0
$GC,3609,0.84,219.0,33.2,14.3,417,3616,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2728,2051,0,0,0,0,0,0
$GC,3752,0.84,219.0,13.2,14.2,442,3758,0.00,1.67,0.00,0.000,4,0.000,0.049,3077,3755,2050,0,0,0,0,0,0
$FREEZE,8.92,-1.283,-1.896,2,1,0
$FREEZE,8.12,-1.282,-1.896,2,1,0
$FREEZE,7.33,-1.277,-1.895,2,1,0
$GC,3792,0.84,219.0,7.3,15.0,449,3800,0.00,1.60,0.00,0.000,6,0.000,0.031,3084,2726,2050,0,0,1,0,0,0
$FREEZE,5.02,-1.275,-1.893,2,1,0
$FREEZE,4.08,-1.274,-1.893,2,1,0
$FREEZE,3.17,-1.268,-1.892,2,1,0
$FREEZE,2.55,-1.264,-1.891,2,1,0
$STATE,3822,end climb,SURFACE_DEPTH_REACHED
$STATE,3822,begin surface coast
$FREEZE,1.62,-1.265,-1.891,2,1,0
$FREEZE,0.92,-1.260,-1.890,2,1,0
$FREEZE,0.25,-1.259,-1.890,2,1,0
$FINISH,0.2,1.027698
$STATE,3839,end surface coast,CONTROL_FINISHED_OK
$STATE,3840,begin surface
$SM_CCo,3856,46.97,0.102,0,0,1655,320.11
$SM_GC,0.88,0.00,0.00,46.97,0.000,0.000,0.102,176,2799,1655,-8.20,0.54,320.11
$IRIDIUM_FIX,-7554.21,17721.30,161210,202055
$TT8_MAMPS,0.026964
$HUMID,51.92
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.7
$ALTIM_BOTTOM_PING,250.1,43.6
$24V_AH,22.6,20.388
$10V_AH,10.0,8.528
$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,18.225,24.325,358.700,46.975,0.000,27.453,38.185,94.967,0.750,0.000,18.811,1112.334,1528.770,456.449,981.938,105.021,0.000,929.937,0.000,757.558,0.000,7.150,0.000
$DEVICE_MAMPS,220.320,96.390,903.465,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,318.400,645.687,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30356,457
$CAP_FILE_SIZE,60302,0
$CFSIZE,260165632,239136768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.124,236.3,1
$GPS,161210,224625,-7637.349,17729.807,38,1.7,38,122.1