version: 66.08
glider: 503
mission: 7
dive: 255
start: 12 17 110 9 29 54
data:
$ID,503
$MISSION,7
$DIVE,255
$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,-19808.365
$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,50
$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
$GPS1,171210,092220,-7636.603,17753.691,11,1.2,11,121.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-71.8
$GPS2,171210,092926,-7636.599,17753.982,10,1.2,10,121.5
$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,307.1,55836,-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,14,begin dive
$GC,16,-0.84,-219.0,0.0,0.0,0,113,0.00,0.00,-94.97,0.000,2,0.000,0.000,176,2806,3569,0,0,0,0,0,0
$GC,116,-0.84,-219.0,4.2,-10.8,16,138,8.77,2.35,-5.68,0.000,4,0.215,0.044,2520,1368,3856,0,0,0,0,0,0
$GC,348,-0.84,-219.0,53.7,-17.5,57,355,0.00,2.28,0.00,0.000,6,0.000,0.044,2510,2759,3860,0,0,0,0,0,0
$GC,489,-0.84,-219.0,80.9,-20.3,82,496,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2758,3860,0,0,0,0,0,0
$GC,633,-0.84,-219.0,109.4,-19.7,104,634,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2759,3860,0,0,0,0,0,0
$GC,761,-0.84,-219.0,133.5,-18.5,116,764,0.00,1.62,0.00,0.000,4,0.000,0.051,2502,3795,3860,0,0,0,0,0,0
$GC,809,-0.84,-219.0,143.4,-19.4,120,817,0.00,1.58,0.00,0.000,6,0.000,0.030,2502,2779,3860,0,0,0,0,0,0
$GC,944,-0.84,-219.0,169.0,-19.7,133,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2779,3860,0,0,0,0,0,0
$GC,1072,-0.84,-219.0,193.3,-18.9,145,1075,0.00,2.20,0.00,0.000,4,0.000,0.033,2502,1375,3861,0,0,0,0,0,0
$GC,1101,-0.84,-219.0,198.8,-19.5,147,1106,0.12,2.28,0.00,0.000,6,0.161,0.045,2527,2783,3860,0,0,0,0,0,0
$GC,1235,-0.84,-219.0,221.3,-17.4,159,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2783,3860,0,0,0,0,0,0
$GC,1362,-0.84,-219.0,243.1,-16.9,171,1366,0.00,1.58,0.00,0.000,4,0.000,0.051,2520,3764,3861,0,0,0,0,0,0
$GC,1409,-0.84,-219.0,251.5,-18.0,175,1412,0.00,1.52,0.00,0.000,6,0.000,0.031,2520,2780,3860,0,0,0,0,0,0
$STATE,1569,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1569,begin apogee
$GC,1574,-0.16,0.0,279.8,17.7,190,1754,0.68,0.00,171.77,0.904,4,0.125,0.000,2744,2697,2959,0,0,0,0,0,0
$STATE,1754,end apogee,CONTROL_FINISHED_OK
$STATE,1755,begin climb
$GC,1756,0.84,219.0,287.7,0.0,206,1952,0.98,2.38,187.05,0.851,4,0.078,0.033,3067,1298,2067,0,0,0,0,0,0
$GC,2076,0.85,228.8,259.1,12.9,234,2091,0.00,2.42,9.05,0.750,6,0.000,0.041,3067,2700,2026,0,0,0,0,0,0
$GC,2290,0.85,228.8,229.9,13.5,254,2294,0.00,2.33,0.00,0.000,4,0.000,0.034,3077,1309,2023,0,0,1,0,0,0
$GC,2465,0.86,234.9,206.8,13.1,269,2477,0.00,2.33,6.25,0.715,6,0.000,0.041,3077,2705,2002,0,0,0,0,0,0
$GC,2603,0.86,234.9,187.1,14.4,282,2607,0.00,1.70,0.00,0.000,4,0.000,0.049,3078,3760,2001,0,0,0,0,0,0
$GC,2648,0.86,234.9,180.0,16.7,286,2652,0.00,1.62,0.00,0.000,6,0.000,0.031,3085,2714,2000,0,0,1,0,0,0
$GC,2787,0.86,234.9,158.7,15.1,299,2789,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2714,2000,0,0,0,0,0,0
$GC,2914,0.86,234.9,139.5,15.0,311,2915,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2714,1999,0,0,0,0,0,0
$GC,3042,0.86,234.9,120.1,15.3,323,3045,0.00,1.70,0.00,0.000,4,0.000,0.049,3085,3771,1999,0,0,0,0,0,0
$GC,3089,0.86,234.9,112.5,16.9,327,3093,0.00,1.65,0.00,0.000,6,0.000,0.031,3093,2705,1998,0,0,0,0,0,0
$GC,3226,0.86,234.9,91.1,15.4,344,3232,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2704,1999,0,0,0,0,0,0
$GC,3366,0.86,234.9,69.6,14.6,369,3373,0.00,1.73,0.00,0.000,4,0.000,0.049,3093,3755,1998,0,0,0,0,0,0
$GC,3401,0.86,234.9,63.7,16.5,375,3409,0.00,1.62,0.00,0.000,6,0.000,0.031,3101,2728,1998,0,0,0,0,0,0
$GC,3545,0.86,234.9,40.4,15.8,400,3551,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2728,1998,0,0,0,0,0,0
$GC,3686,0.86,234.9,17.8,16.3,425,3693,0.00,1.70,0.00,0.000,4,0.000,0.050,3101,3764,1997,0,0,0,0,0,0
$GC,3721,0.86,234.9,11.3,18.3,431,3730,0.10,1.62,0.00,0.000,6,0.149,0.032,3076,2739,1997,0,0,0,0,0,0
$FREEZE,8.74,-1.381,-1.897,2,1,0
$FREEZE,8.00,-1.382,-1.896,2,1,0
$FREEZE,7.40,-1.382,-1.896,2,1,0
$FREEZE,6.67,-1.384,-1.895,2,1,0
$FREEZE,5.91,-1.383,-1.894,2,1,0
$FREEZE,5.16,-1.383,-1.894,2,1,0
$FREEZE,4.36,-1.382,-1.893,2,1,0
$FREEZE,3.66,-1.383,-1.893,2,1,0
$FREEZE,2.78,-1.388,-1.892,2,1,0
$STATE,3776,end climb,SURFACE_DEPTH_REACHED
$STATE,3778,begin surface coast
$FREEZE,1.84,-1.382,-1.891,2,1,0
$FREEZE,1.01,-1.379,-1.890,2,1,0
$FREEZE,0.40,-1.379,-1.890,2,1,0
$FINISH,0.4,1.027705
$STATE,3795,end surface coast,CONTROL_FINISHED_OK
$STATE,3795,begin surface
$SM_CCo,3811,40.67,0.101,0,0,1654,320.11
$SM_GC,0.71,0.00,0.00,40.67,0.000,0.000,0.101,194,2798,1654,-8.14,0.48,320.11
$IRIDIUM_FIX,-7554.21,17750.34,171210,090944
$TT8_MAMPS,0.027713
$HUMID,51.96
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.1
$ALTIM_BOTTOM_PING,250.4,43.3
$24V_AH,22.6,21.405
$10V_AH,9.9,8.907
$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,18.250,38.350,374.125,40.675,0.000,52.900,113.305,100.650,0.750,0.000,13.293,1098.468,1523.986,465.456,1097.141,109.841,0.000,955.907,0.000,770.592,0.000,7.149,0.000
$DEVICE_MAMPS,214.965,104.040,904.230,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,308.937,625.587,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258312
$DATA_FILE_SIZE,27077,444
$CAP_FILE_SIZE,64765,0
$CFSIZE,260165632,238751744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.186, 84.5,1
$GPS,171210,103531,-7636.371,17757.926,46,1.1,46,121.4