version: 66.08
glider: 502
mission: 3
dive: 505
start: 1 4 111 13 19 22
data:
$ID,502
$MISSION,3
$DIVE,505
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,750
$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,5
$SURFACE_URGENCY_TRY,4
$SURFACE_URGENCY_FORCE,8
$T_DIVE,250
$T_MISSION,320
$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,0.025
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51763
$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,70
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,8
$TGT_DEFAULT_LAT,-7715
$TGT_DEFAULT_LON,16530
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-30776.359
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3944
$C_PITCH,3065
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$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,2650
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,420
$VBD_MAX,3960
$C_VBD,2961
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.546913
$PRESSURE_SLOPE,0.00011650941
$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,4
$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,0.0043373196
$SEABIRD_T_H,0.00062598457
$SEABIRD_T_I,2.5066851e-05
$SEABIRD_T_J,2.8555498e-06
$SEABIRD_C_G,-9.7998753
$SEABIRD_C_H,1.1362277
$SEABIRD_C_I,-0.00070417771
$SEABIRD_C_J,0.00014171835
$GPS1,040111,131037,-7629.039,17856.148,45,0.9,45,119.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-67.0
$GPS2,040111,131855,-7628.988,17856.492,15,1.0,15,119.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,POLYNYA1
$TGT_LATLONG,-7630.000,17000.000
$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,143.4,231955,-17.5,-10.000
$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,-0.76,-146.0,0.0,0.0,0,163,0.00,0.00,-144.45,0.000,2,0.000,0.000,412,2662,3263,0,0,0,0,0,0
$GC,168,-0.76,-146.0,3.0,-1.1,21,191,8.95,2.38,-8.35,0.000,4,0.195,0.062,2809,1234,3560,0,0,0,0,0,0
$GC,330,-0.76,-146.0,29.1,-15.3,49,337,0.00,2.33,0.00,0.000,6,0.000,0.056,2801,2649,3563,0,0,0,0,0,0
$GC,466,-0.76,-146.0,51.7,-15.6,74,474,0.00,1.83,0.00,0.000,4,0.000,0.060,2792,3757,3563,0,0,0,0,0,0
$GC,504,-0.76,-146.0,58.3,-17.7,80,512,0.00,1.77,0.00,0.000,6,0.000,0.042,2792,2648,3563,0,0,0,0,0,0
$GC,645,-0.76,-146.0,82.8,-18.1,105,651,0.00,1.85,0.00,0.000,4,0.000,0.062,2785,3767,3563,0,0,0,0,0,0
$GC,675,-0.76,-146.0,88.3,-18.4,110,683,0.08,1.77,0.00,0.000,6,0.142,0.042,2810,2660,3563,0,0,0,0,0,0
$GC,813,-0.76,-146.0,110.4,-15.8,129,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2659,3564,0,0,0,0,0,0
$GC,941,-0.76,-146.0,129.9,-15.3,141,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2659,3564,0,0,0,0,0,0
$GC,1067,-0.76,-146.0,149.7,-15.6,153,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2659,3564,0,0,0,0,0,0
$GC,1195,-0.76,-146.0,169.6,-15.9,165,1199,0.00,1.80,0.00,0.000,4,0.000,0.061,2803,3764,3564,0,0,0,0,0,0
$GC,1252,-0.76,-146.0,178.8,-16.7,170,1256,0.00,1.73,0.00,0.000,6,0.000,0.041,2803,2656,3564,0,0,0,0,0,0
$GC,1394,-0.76,-146.0,200.7,-16.2,183,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2655,3564,0,0,0,0,0,0
$GC,1520,-0.76,-146.0,220.2,-15.4,195,1521,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2654,3564,0,0,0,0,0,0
$GC,1647,-0.76,-146.0,239.6,-15.1,207,1651,0.00,1.85,0.00,0.000,4,0.000,0.063,2795,3771,3564,0,0,0,0,0,0
$GC,1719,-0.76,-146.0,250.5,-15.9,213,1723,0.00,1.73,0.00,0.000,6,0.000,0.042,2795,2664,3564,0,0,0,0,0,0
$GC,1925,-0.76,-146.0,283.1,-15.3,232,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2662,3564,0,0,0,0,0,0
$STATE,1984,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1984,begin apogee
$GC,1990,-0.27,0.0,292.6,15.6,238,2128,0.55,0.00,129.52,0.987,4,0.129,0.000,2972,2480,2961,0,0,0,0,0,0
$STATE,2128,end apogee,CONTROL_FINISHED_OK
$STATE,2128,begin climb
$GC,2131,0.76,146.0,299.4,0.0,250,2289,1.05,0.00,147.95,0.904,6,0.086,0.000,3305,2480,2362,0,0,0,0,0,0
$GC,2480,0.76,146.0,264.4,11.9,282,2485,0.00,2.28,0.00,0.000,4,0.000,0.057,3305,3761,2351,0,0,0,0,0,0
$GC,2558,0.76,146.0,253.1,14.7,288,2565,0.00,2.08,0.00,0.000,6,0.000,0.040,3315,2512,2349,0,0,0,0,0,0
$GC,2759,0.76,146.0,229.6,11.7,307,2763,0.00,2.08,0.00,0.000,4,0.000,0.059,3315,3771,2348,0,0,0,0,0,0
$GC,2811,0.76,146.0,222.5,13.5,311,2815,0.00,1.98,0.00,0.000,6,0.000,0.041,3324,2513,2347,0,0,0,0,0,0
$GC,2953,0.76,146.0,205.0,12.3,324,2954,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2510,2346,0,0,0,0,0,0
$GC,3080,0.76,146.0,190.0,12.2,336,3083,0.00,2.05,0.00,0.000,4,0.000,0.059,3324,3771,2346,0,0,0,0,0,0
$GC,3159,0.76,146.0,178.6,14.3,343,3163,0.00,1.95,0.00,0.000,6,0.000,0.042,3334,2523,2345,0,0,0,0,0,0
$GC,3301,0.76,146.0,160.2,13.0,356,3302,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2520,2345,0,0,0,0,0,0
$GC,3428,0.76,146.0,144.3,12.3,368,3431,0.00,2.05,0.00,0.000,4,0.000,0.060,3334,3774,2345,0,0,0,0,0,0
$GC,3477,0.76,146.0,136.8,14.5,372,3486,0.08,2.00,0.00,0.000,6,0.139,0.041,3318,2532,2344,0,0,0,0,0,0
$GC,3614,0.76,146.0,120.4,12.2,385,3621,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2531,2344,0,0,0,0,0,0
$GC,3749,0.76,146.0,104.0,11.9,398,3753,0.00,2.00,0.00,0.000,4,0.000,0.058,3318,3763,2343,0,0,0,0,0,0
$GC,3785,0.76,146.0,99.2,13.9,401,3792,0.00,1.92,0.00,0.000,6,0.000,0.041,3326,2536,2343,0,0,0,0,0,0
$GC,3927,0.76,146.0,81.4,12.4,426,3934,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2535,2343,0,0,0,0,0,0
$GC,4065,0.76,146.0,64.3,12.3,451,4073,0.00,2.05,0.00,0.000,4,0.000,0.060,3326,3765,2343,0,0,0,0,0,0
$GC,4114,0.76,146.0,57.6,14.1,459,4122,0.00,1.95,0.00,0.000,6,0.000,0.041,3335,2547,2342,0,0,0,0,0,0
$GC,4255,0.76,146.0,39.4,12.7,484,4262,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2546,2343,0,0,0,0,0,0
$GC,4393,0.76,146.0,22.1,12.5,509,4400,0.00,2.00,0.00,0.000,4,0.000,0.060,3335,3770,2342,0,0,0,0,0,0
$GC,4441,0.76,146.0,15.2,14.1,517,4449,0.12,1.92,0.00,0.000,6,0.162,0.042,3311,2549,2342,0,0,0,0,0,0
$FREEZE,8.71,-0.711,-1.898,2,1,0
$FREEZE,8.09,-0.707,-1.898,2,1,0
$FREEZE,7.44,-0.707,-1.897,2,1,0
$FREEZE,6.89,-0.704,-1.897,2,1,0
$FREEZE,6.31,-0.704,-1.896,2,1,0
$FREEZE,5.75,-0.707,-1.896,2,1,0
$FREEZE,5.09,-0.707,-1.895,2,1,0
$FREEZE,4.60,-0.707,-1.895,2,1,0
$FREEZE,3.58,-0.705,-1.894,2,1,0
$FREEZE,3.01,-0.707,-1.894,2,1,0
$FREEZE,2.40,-0.707,-1.894,2,1,0
$STATE,4551,end climb,SURFACE_DEPTH_REACHED
$STATE,4551,begin surface coast
$FREEZE,1.69,-0.709,-1.893,2,1,0
$FREEZE,1.06,-0.709,-1.892,2,1,0
$FREEZE,1.08,-0.719,-0.934,2,1,0
$FREEZE,1.07,-0.767,-1.000,2,1,0
$FREEZE,1.06,-0.761,-0.964,2,1,0
$FINISH,1.1,1.014240
$STATE,4582,end surface coast,CONTROL_FINISHED_OK
$STATE,4582,begin surface
$SM_CCo,4599,72.88,0.097,0,0,1736,300.24
$SM_GC,1.98,0.00,0.00,72.88,0.000,0.000,0.097,422,2664,1736,-8.26,0.40,300.24
$IRIDIUM_FIX,-7545.40,17846.67,040111,111111
$TT8_MAMPS,0.028462
$HUMID,53.46
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,18.7
$ALTIM_BOTTOM_PING,250.5,56.2
$24V_AH,20.2,74.758
$10V_AH,9.7,51.216
$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,18.350,47.775,277.475,72.875,0.000,30.992,37.473,283.905,1.250,0.000,15.876,1351.733,1404.717,476.747,1727.369,220.676,0.000,1042.995,0.000,880.733,0.000,7.199,0.000
$DEVICE_MAMPS,195.075,77.265,986.850,97.155,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,378.539,764.600,931.693,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267052
$DATA_FILE_SIZE,37017,541
$CAP_FILE_SIZE,77879,0
$CFSIZE,260165632,224960512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.295, 67.8,1
$GPS,040111,143802,-7628.816,17856.703,7,1.9,7,119.5