version: 66.08
glider: 503
mission: 7
dive: 282
start: 12 18 110 18 41 34
data:
$ID,503
$MISSION,7
$DIVE,282
$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,-5
$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,-19844.359
$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,42
$R_STBD_OVSHOOT,35
$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,48
$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
$GPS1,181210,183632,-7631.917,17903.330,19,1.9,19,119.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-74.0
$GPS2,181210,184106,-7631.868,17903.279,30,1.1,30,119.6
$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,7.4,24765,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,111,0.00,0.00,-93.28,0.000,2,0.000,0.000,183,2800,3534,0,0,0,0,0,0
$GC,114,-0.84,-219.0,3.9,-9.4,16,135,8.80,2.35,-6.57,0.000,4,0.217,0.056,2521,1366,3857,0,0,0,0,0,0
$GC,386,-0.84,-219.0,60.0,-17.0,64,393,0.00,2.28,0.00,0.000,6,0.000,0.044,2510,2771,3859,0,0,0,0,0,0
$GC,527,-0.84,-219.0,87.5,-19.3,89,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2771,3860,0,0,0,0,0,0
$GC,670,-0.84,-219.0,115.9,-20.0,108,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2771,3860,0,0,0,0,0,0
$GC,797,-0.84,-219.0,141.0,-19.4,120,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2771,3861,0,0,0,0,0,0
$GC,925,-0.84,-219.0,166.0,-20.0,132,928,0.00,1.60,0.00,0.000,4,0.000,0.051,2503,3762,3861,0,0,0,0,0,0
$GC,962,-0.84,-219.0,174.1,-20.1,135,970,0.00,1.52,0.00,0.000,6,0.000,0.031,2503,2780,3860,0,0,0,0,0,0
$GC,1097,-0.84,-219.0,200.1,-19.2,148,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2780,3860,0,0,0,0,0,0
$GC,1224,-0.84,-219.0,224.8,-18.7,160,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2780,3860,0,0,0,0,0,0
$GC,1352,-0.84,-219.0,250.1,-20.4,172,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2780,3860,0,0,0,0,0,0
$GC,1542,-0.84,-219.0,287.5,-18.0,190,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2780,3860,0,0,0,0,0,0
$STATE,1732,end dive,NO_VERTICAL_VELOCITY
$STATE,1732,begin apogee
$GC,1738,-0.16,0.0,291.5,0.0,208,1915,0.68,0.00,171.85,0.910,4,0.089,0.000,2750,2682,2960,0,0,0,0,0,0
$STATE,1916,end apogee,CONTROL_FINISHED_OK
$STATE,1916,begin climb
$GC,1918,0.84,219.0,291.3,0.0,224,2113,0.90,1.90,187.32,0.855,4,0.065,0.053,3075,3750,2067,0,0,1,0,0,0
$GC,2316,0.84,219.0,253.0,14.7,259,2320,0.00,1.67,0.00,0.000,6,0.000,0.028,3083,2706,2057,0,0,1,0,0,0
$GC,2519,0.84,219.0,224.5,14.1,278,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2705,2055,0,0,0,0,0,0
$GC,2646,0.84,219.0,207.3,13.8,290,2650,0.00,1.75,0.00,0.000,4,0.000,0.048,3083,3769,2054,0,0,0,0,0,0
$GC,2680,0.84,219.0,202.2,16.1,293,2683,0.00,1.65,0.00,0.000,6,0.000,0.031,3092,2707,2054,0,0,1,0,0,0
$GC,2820,0.84,219.0,181.7,14.2,306,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2705,2053,0,0,0,0,0,0
$GC,2946,0.84,219.0,163.7,14.0,318,2950,0.00,1.75,0.00,0.000,4,0.000,0.049,3092,3757,2053,0,0,0,0,0,0
$GC,2984,0.84,219.0,157.7,15.5,321,2991,0.00,1.65,0.00,0.000,6,0.000,0.031,3100,2713,2053,0,0,1,0,0,0
$GC,3119,0.84,219.0,138.7,13.9,334,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2714,2053,0,0,0,0,0,0
$GC,3246,0.84,219.0,120.5,14.1,346,3249,0.00,1.67,0.00,0.000,4,0.000,0.049,3100,3765,2052,0,0,0,0,0,0
$GC,3294,0.84,219.0,112.6,16.0,350,3304,0.10,1.65,0.00,0.000,6,0.151,0.031,3076,2729,2052,0,0,0,0,0,0
$GC,3430,0.88,256.3,96.0,11.8,366,3468,0.00,0.00,31.08,0.797,6,0.000,0.000,3076,2729,1916,0,0,0,0,0,0
$GC,3601,0.90,271.5,74.5,12.7,396,3621,0.00,1.75,14.68,0.759,4,0.000,0.050,3076,3765,1853,0,0,1,0,0,0
$GC,3645,0.90,271.5,68.6,14.2,403,3652,0.00,1.65,0.00,0.000,6,0.000,0.031,3083,2728,1852,0,0,1,0,0,0
$GC,3789,0.91,280.4,49.6,13.0,428,3802,0.00,0.00,9.00,0.725,6,0.000,0.000,3083,2728,1817,0,0,0,0,0,0
$GC,3937,0.91,280.4,30.0,13.9,454,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2728,1815,0,0,0,0,0,0
$GC,4081,0.91,280.4,9.7,13.8,479,4087,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2728,1815,0,0,0,0,0,0
$FREEZE,7.71,-1.280,-1.899,2,1,0
$FREEZE,6.97,-1.282,-1.899,2,1,0
$FREEZE,6.08,-1.274,-1.898,2,1,0
$FREEZE,5.40,-1.275,-1.898,2,1,0
$FREEZE,4.59,-1.274,-1.897,2,1,0
$FREEZE,3.91,-1.274,-1.897,2,1,0
$FREEZE,3.15,-1.274,-1.896,2,1,0
$FREEZE,2.33,-1.273,-1.895,2,1,0
$STATE,4131,end climb,SURFACE_DEPTH_REACHED
$STATE,4131,begin surface coast
$FREEZE,1.42,-1.275,-1.895,2,1,0
$FREEZE,0.56,-1.271,-1.894,2,1,0
$FREEZE,0.06,-1.269,-1.894,2,1,0
$FREEZE,-0.09,-1.316,-0.143,2,1,0
$FINISH,-0.1,1.001870
$STATE,4156,end surface coast,FINISH_DEPTH_REACHED
$STATE,4157,begin surface
$SM_CCo,4172,18.92,0.103,0,0,1655,320.11
$SM_GC,0.92,0.00,0.00,18.92,0.000,0.000,0.103,177,2806,1655,-8.20,0.76,320.11
$IRIDIUM_FIX,-7545.40,17904.71,181210,171722
$TT8_MAMPS,0.027713
$HUMID,52.52
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,19.9
$24V_AH,22.6,24.253
$10V_AH,10.0,9.958
$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,18.175,25.050,413.925,18.925,0.000,30.819,37.009,89.730,1.000,0.000,32.895,1179.135,1671.118,467.971,1051.964,112.007,0.000,978.042,0.000,812.392,0.000,4.327,0.000
$DEVICE_MAMPS,217.260,91.035,909.585,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,342.174,682.689,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267192
$DATA_FILE_SIZE,30310,492
$CAP_FILE_SIZE,64009,0
$CFSIZE,260165632,237674496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$CURRENT,0.241,327.1,1
$GPS,181210,195214,-7631.687,17904.229,10,1.6,10,119.5