version: 66.08
glider: 502
mission: 3
dive: 512
start: 1 5 111 0 21 46
data:
$ID,502
$MISSION,3
$DIVE,512
$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,623.29712
$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,-30785.258
$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,40
$R_STBD_OVSHOOT,20
$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
$GPS1,050111,001208,-7626.894,17841.418,13,1.3,13,119.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-69.4
$GPS2,050111,002120,-7626.849,17840.912,12,1.8,12,119.8
$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,126.6,225287,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,106,0.00,0.00,-86.60,0.000,2,0.000,0.000,417,2651,3327,0,0,0,0,0,0
$GC,109,-0.76,-146.0,3.2,-1.6,13,132,8.85,2.33,-6.38,0.000,4,0.196,0.063,2810,1247,3560,0,0,0,0,0,0
$GC,271,-0.76,-146.0,30.8,-15.4,41,278,0.00,2.33,0.00,0.000,6,0.000,0.056,2801,2660,3564,0,0,0,0,0,0
$GC,409,-0.76,-146.0,53.0,-15.7,66,417,0.00,1.83,0.00,0.000,4,0.000,0.063,2793,3764,3565,0,0,0,0,0,0
$GC,446,-0.76,-146.0,59.4,-17.4,72,454,0.00,1.75,0.00,0.000,6,0.000,0.042,2793,2668,3564,0,0,0,0,0,0
$GC,588,-0.76,-146.0,83.3,-17.5,97,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2667,3564,0,0,0,0,0,0
$GC,729,-0.76,-146.0,107.4,-16.7,119,733,0.00,1.80,0.00,0.000,4,0.000,0.062,2785,3768,3564,0,0,0,0,0,0
$GC,766,-0.76,-146.0,113.6,-16.8,122,770,0.12,1.73,0.00,0.000,6,0.162,0.042,2818,2661,3564,0,0,0,0,0,0
$GC,908,-0.76,-146.0,135.1,-14.4,135,912,0.00,1.80,0.00,0.000,4,0.000,0.063,2811,3764,3565,0,0,0,0,0,0
$GC,934,-0.76,-146.0,139.3,-15.7,137,937,0.00,1.70,0.00,0.000,6,0.000,0.041,2811,2673,3565,0,0,0,0,0,0
$GC,1075,-0.76,-146.0,161.1,-15.4,150,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2669,3565,0,0,0,0,0,0
$GC,1201,-0.76,-146.0,180.7,-15.2,162,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2670,3565,0,0,0,0,0,0
$GC,1329,-0.76,-146.0,200.3,-15.5,174,1332,0.00,1.80,0.00,0.000,4,0.000,0.062,2803,3770,3565,0,0,0,0,0,0
$GC,1365,-0.76,-146.0,206.0,-16.7,177,1368,0.00,1.73,0.00,0.000,6,0.000,0.043,2803,2666,3564,0,0,0,0,0,0
$GC,1506,-0.76,-146.0,228.3,-15.6,190,1507,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2663,3564,0,0,0,0,0,0
$GC,1633,-0.76,-146.0,248.2,-15.8,202,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2663,3564,0,0,0,0,0,0
$GC,1759,-0.76,-146.0,267.5,-15.7,214,1763,0.00,1.85,0.00,0.000,4,0.000,0.063,2795,3764,3565,0,0,0,0,0,0
$GC,1819,-0.76,-146.0,278.0,-17.3,219,1827,0.00,1.73,0.00,0.000,6,0.000,0.041,2796,2681,3564,0,0,0,0,0,0
$STATE,1931,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1931,begin apogee
$GC,1936,-0.27,0.0,296.1,15.7,230,2076,0.55,0.00,128.93,0.984,4,0.131,0.000,2971,2483,2960,0,0,0,0,0,0
$STATE,2077,end apogee,CONTROL_FINISHED_OK
$STATE,2077,begin climb
$GC,2079,0.76,146.0,303.8,0.0,242,2239,1.08,2.47,146.27,0.904,4,0.081,0.047,3306,1105,2363,0,0,0,0,0,0
$GC,2336,0.76,146.0,285.0,11.3,264,2343,0.00,2.55,0.00,0.000,6,0.000,0.050,3306,2498,2354,0,0,0,0,0,0
$GC,2534,0.76,146.0,261.3,11.9,283,2538,0.00,2.33,0.00,0.000,4,0.000,0.047,3315,1095,2351,0,0,0,0,0,0
$GC,2698,0.76,146.0,242.6,11.7,297,2702,0.00,2.33,0.00,0.000,6,0.000,0.052,3315,2525,2349,0,0,0,0,0,0
$GC,2834,0.76,146.0,227.0,11.4,309,2837,0.00,2.00,0.00,0.000,4,0.000,0.060,3315,3773,2349,0,0,0,0,0,0
$GC,2925,0.76,146.0,214.5,13.6,317,2929,0.00,1.92,0.00,0.000,6,0.000,0.041,3324,2539,2348,0,0,0,0,0,0
$GC,3066,0.76,146.0,197.5,11.6,330,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2537,2347,0,0,0,0,0,0
$GC,3194,0.76,146.0,182.9,11.4,342,3198,0.00,2.00,0.00,0.000,4,0.000,0.060,3325,3768,2346,0,0,0,0,0,0
$GC,3229,0.76,146.0,178.3,13.1,345,3233,0.00,1.92,0.00,0.000,6,0.000,0.041,3333,2536,2346,0,0,0,0,0,0
$GC,3370,0.76,146.0,161.0,11.9,358,3374,0.00,2.00,0.00,0.000,4,0.000,0.059,3334,3764,2346,0,0,0,0,0,0
$GC,3409,0.76,146.0,155.4,14.0,361,3418,0.08,1.92,0.00,0.000,6,0.143,0.041,3318,2562,2346,0,0,0,0,0,0
$GC,3546,0.76,146.0,140.1,11.0,374,3554,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2561,2345,0,0,0,0,0,0
$GC,3682,0.76,146.0,124.8,10.9,387,3683,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2561,2346,0,0,0,0,0,0
$GC,3810,0.76,146.0,111.0,11.0,399,3813,0.00,1.98,0.00,0.000,4,0.000,0.060,3318,3767,2345,0,0,0,0,0,0
$GC,3880,0.76,146.0,101.8,13.4,405,3889,0.00,1.92,0.00,0.000,6,0.000,0.041,3326,2557,2345,0,0,0,0,0,0
$GC,4017,0.76,146.0,87.2,10.7,429,4024,0.00,2.03,0.00,0.000,4,0.000,0.061,3326,3763,2345,0,0,0,0,0,0
$GC,4059,0.76,146.0,82.1,12.5,436,4067,0.00,1.90,0.00,0.000,6,0.000,0.041,3335,2568,2344,0,0,0,0,0,0
$GC,4200,0.76,146.0,66.2,11.9,461,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2568,2344,0,0,0,0,0,0
$GC,4336,0.76,146.0,49.7,12.3,486,4345,0.00,2.00,0.00,0.000,4,0.000,0.060,3335,3760,2344,0,0,0,0,0,0
$GC,4373,0.76,146.0,44.9,13.5,492,4381,0.08,1.90,0.00,0.000,6,0.138,0.041,3318,2570,2344,0,0,0,0,0,0
$GC,4515,0.76,146.0,29.1,11.2,517,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2570,2344,0,0,0,0,0,0
$GC,4654,0.76,146.0,14.2,10.3,542,4661,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2570,2344,0,0,0,0,0,0
$FREEZE,8.42,-0.878,-1.895,2,2,0
$FREEZE,7.82,-0.886,-1.895,2,2,0
$FREEZE,7.20,-0.886,-1.894,2,2,0
$FREEZE,6.56,-0.887,-1.894,2,2,0
$FREEZE,5.81,-0.884,-1.893,2,2,0
$FREEZE,5.18,-0.873,-1.893,2,2,0
$FREEZE,4.40,-0.880,-1.892,2,2,0
$FREEZE,3.71,-0.873,-1.892,2,2,0
$FREEZE,2.95,-0.862,-1.891,2,2,0
$STATE,4746,end climb,SURFACE_DEPTH_REACHED
$STATE,4746,begin surface coast
$FREEZE,2.17,-0.852,-1.890,2,2,0
$FREEZE,1.11,-0.864,-1.890,2,2,0
$FREEZE,1.28,-0.863,-1.890,2,2,0
$FREEZE,0.99,-0.905,-1.718,2,2,0
$FINISH,1.0,1.025237
$STATE,4772,end surface coast,CONTROL_FINISHED_OK
$STATE,4772,begin surface
$SM_CCo,4789,259.30,0.102,0,0,420,623.30
$SM_GC,1.70,0.00,0.00,259.30,0.000,0.000,0.102,419,2663,420,-8.26,0.37,623.30
$IRIDIUM_FIX,-7545.40,17837.51,050111,000025
$TT8_MAMPS,0.028462
$HUMID,50.66
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,18.1
$ALTIM_BOTTOM_PING,251.4,58.4
$24V_AH,20.2,75.481
$10V_AH,9.6,51.788
$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,18.350,55.950,275.200,259.300,0.000,77.629,225.323,0.000,1.000,0.000,12.959,1429.843,1584.847,630.267,1760.302,203.546,0.000,1223.176,0.000,942.967,0.000,7.202,0.000
$DEVICE_MAMPS,195.840,91.035,983.790,101.745,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,394.558,789.185,950.673,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267096
$DATA_FILE_SIZE,40473,562
$CAP_FILE_SIZE,77122,0
$CFSIZE,260165632,224636928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.231,261.6,1
$GPS,050111,014707,-7627.175,17835.900,33,0.8,33,119.9