version: 66.08
glider: 502
mission: 3
dive: 520
start: 1 5 111 13 1 52
data:
$ID,502
$MISSION,3
$DIVE,520
$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,-30795.316
$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,38
$R_STBD_OVSHOOT,33
$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
$GPS1,050111,125155,-7628.508,17818.131,38,2.0,38,120.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-70.5
$GPS2,050111,130126,-7628.485,17818.162,13,1.6,13,120.4
$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,162.0,215394,-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,18,-0.76,-146.0,0.0,0.0,0,102,0.00,0.00,-81.95,0.000,2,0.000,0.000,397,2665,3233,0,0,0,0,0,0
$GC,105,-0.76,-146.0,3.1,-1.7,12,129,8.82,2.35,-9.85,0.000,4,0.190,0.062,2810,1241,3560,0,0,0,0,0,0
$GC,239,-0.76,-146.0,24.0,-14.5,35,246,0.00,2.30,0.00,0.000,6,0.000,0.055,2801,2646,3563,0,0,0,0,0,0
$GC,376,-0.76,-146.0,45.7,-16.1,60,384,0.00,1.83,0.00,0.000,4,0.000,0.060,2793,3757,3563,0,0,0,0,0,0
$GC,430,-0.76,-146.0,55.0,-17.5,69,438,0.00,1.75,0.00,0.000,6,0.000,0.041,2793,2656,3563,0,0,0,0,0,0
$GC,572,-0.76,-146.0,78.1,-17.0,94,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2655,3563,0,0,0,0,0,0
$GC,710,-0.76,-146.0,100.1,-15.1,119,713,0.00,1.80,0.00,0.000,4,0.000,0.062,2785,3761,3563,0,0,0,0,0,0
$GC,757,-0.76,-146.0,107.7,-16.3,123,761,0.12,1.70,0.00,0.000,6,0.160,0.041,2818,2662,3563,0,0,0,0,0,0
$GC,899,-0.76,-146.0,126.8,-13.1,136,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2661,3563,0,0,0,0,0,0
$GC,1034,-0.76,-146.0,145.4,-13.9,149,1038,0.00,1.80,0.00,0.000,4,0.000,0.060,2811,3768,3563,0,0,0,0,0,0
$GC,1062,-0.76,-146.0,149.9,-15.5,151,1070,0.00,1.73,0.00,0.000,6,0.000,0.041,2811,2682,3564,0,0,0,0,0,0
$GC,1199,-0.76,-146.0,170.2,-15.4,164,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2681,3564,0,0,0,0,0,0
$GC,1334,-0.76,-146.0,191.0,-15.2,177,1338,0.00,1.77,0.00,0.000,4,0.000,0.062,2802,3769,3564,0,0,0,0,0,0
$GC,1360,-0.76,-146.0,194.7,-15.2,179,1364,0.00,1.67,0.00,0.000,6,0.000,0.041,2802,2684,3564,0,0,0,0,0,0
$GC,1503,-0.76,-146.0,216.9,-16.0,192,1508,0.00,2.28,0.00,0.000,4,0.000,0.048,2802,1239,3564,0,0,0,0,0,0
$GC,1534,-0.76,-146.0,221.9,-15.5,194,1538,0.00,2.38,0.00,0.000,6,0.000,0.055,2793,2692,3564,0,0,0,0,0,0
$GC,1672,-0.76,-146.0,242.7,-15.4,206,1675,0.00,1.73,0.00,0.000,4,0.000,0.060,2785,3767,3564,0,0,0,0,0,0
$GC,1721,-0.76,-146.0,251.6,-16.1,210,1729,0.08,1.70,0.00,0.000,6,0.137,0.040,2811,2690,3564,0,0,0,0,0,0
$GC,1919,-0.76,-146.0,279.1,-13.6,229,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2690,3564,0,0,0,0,0,0
$GC,2111,-0.76,-146.0,305.2,-13.5,247,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2690,3564,0,0,0,0,0,0
$STATE,2151,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2151,begin apogee
$GC,2157,-0.27,0.0,310.9,13.6,251,2296,0.50,0.00,129.70,0.992,4,0.123,0.000,2974,2491,2961,0,0,0,0,0,0
$STATE,2296,end apogee,CONTROL_FINISHED_OK
$STATE,2296,begin climb
$GC,2299,0.76,146.0,317.6,0.0,263,2457,1.08,2.50,146.98,0.915,4,0.080,0.047,3309,1102,2365,0,0,0,0,0,0
$GC,2575,0.76,146.0,294.6,11.8,287,2582,0.00,2.53,0.00,0.000,6,0.000,0.049,3309,2499,2355,0,0,0,0,0,0
$GC,2775,0.76,146.0,271.3,12.5,306,2779,0.00,2.33,0.00,0.000,4,0.000,0.048,3315,1096,2352,0,0,0,0,0,0
$GC,2933,0.76,146.0,252.1,12.1,319,2939,0.00,2.33,0.00,0.000,6,0.000,0.051,3315,2528,2349,0,0,0,0,0,0
$GC,3134,0.76,146.0,228.0,12.0,338,3137,0.00,1.98,0.00,0.000,4,0.000,0.059,3315,3763,2349,0,0,0,0,0,0
$GC,3224,0.76,146.0,215.3,14.2,346,3228,0.00,1.90,0.00,0.000,6,0.000,0.039,3324,2534,2348,0,0,0,0,0,0
$GC,3365,0.76,146.0,197.8,12.1,359,3369,0.00,2.00,0.00,0.000,4,0.000,0.058,3324,3770,2347,0,0,0,0,0,0
$GC,3401,0.76,146.0,193.1,14.3,362,3405,0.00,1.92,0.00,0.000,6,0.000,0.040,3334,2532,2347,0,0,0,0,0,0
$GC,3544,0.76,146.0,175.1,12.5,375,3552,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2529,2346,0,0,0,0,0,0
$GC,3680,0.76,146.0,157.8,12.6,388,3683,0.00,2.00,0.00,0.000,4,0.000,0.057,3334,3764,2346,0,0,0,0,0,0
$GC,3728,0.76,146.0,150.4,15.3,392,3737,0.10,1.92,0.00,0.000,6,0.133,0.038,3310,2550,2346,0,0,0,0,0,0
$GC,3866,0.76,146.0,134.6,11.4,405,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2548,2346,0,0,0,0,0,0
$GC,4002,0.76,146.0,118.4,11.5,418,4005,0.00,1.98,0.00,0.000,4,0.000,0.059,3310,3768,2346,0,0,0,0,0,0
$GC,4061,0.76,146.0,110.0,14.3,423,4070,0.00,1.95,0.00,0.000,6,0.000,0.039,3318,2542,2345,0,0,0,0,0,0
$GC,4195,0.76,146.0,94.1,11.7,440,4203,0.00,2.03,0.00,0.000,4,0.000,0.058,3318,3761,2345,0,0,0,0,0,0
$GC,4227,0.76,146.0,90.0,13.0,445,4235,0.00,1.88,0.00,0.000,6,0.000,0.039,3327,2557,2345,0,0,0,0,0,0
$GC,4366,0.76,146.0,73.3,11.8,470,4374,0.00,2.00,0.00,0.000,4,0.000,0.057,3327,3758,2345,0,0,0,0,0,0
$GC,4414,0.76,146.0,66.8,13.9,478,4422,0.00,1.88,0.00,0.000,6,0.000,0.040,3337,2576,2345,0,0,0,0,0,0
$GC,4552,0.76,146.0,50.1,12.3,503,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2575,2345,0,0,0,0,0,0
$GC,4688,0.76,146.0,33.6,12.5,528,4696,0.00,1.98,0.00,0.000,4,0.000,0.058,3336,3763,2344,0,0,0,0,0,0
$GC,4736,0.76,146.0,27.0,14.6,536,4744,0.10,1.88,0.00,0.000,6,0.129,0.039,3312,2577,2344,0,0,0,0,0,0
$GC,4879,0.76,146.0,11.4,11.1,561,4887,0.00,1.92,0.00,0.000,4,0.000,0.057,3312,3760,2344,0,0,0,0,0,0
$FREEZE,8.96,-0.951,-1.895,2,2,0
$FREEZE,8.37,-0.953,-1.895,2,2,0
$FREEZE,7.66,-0.940,-1.895,2,2,0
$FREEZE,7.05,-0.946,-1.894,2,2,0
$FREEZE,6.45,-0.947,-1.894,2,2,0
$GC,4923,0.76,146.0,6.5,11.0,568,4931,0.00,1.85,0.00,0.000,6,0.000,0.040,3319,2598,2343,0,0,0,0,0,0
$FREEZE,4.48,-0.947,-1.893,2,2,0
$FREEZE,3.75,-0.949,-1.892,2,2,0
$FREEZE,3.06,-0.948,-1.892,2,2,0
$FREEZE,2.42,-0.942,-1.891,2,2,0
$STATE,4955,end climb,SURFACE_DEPTH_REACHED
$STATE,4955,begin surface coast
$FREEZE,1.60,-0.943,-1.891,2,2,0
$FREEZE,1.26,-1.079,-1.899,2,2,0
$FREEZE,1.10,-1.029,-0.822,2,2,0
$FINISH,1.1,1.012111
$STATE,4973,end surface coast,FINISH_DEPTH_REACHED
$STATE,4973,begin surface
$SM_CCo,4990,259.80,0.100,0,0,420,623.30
$SM_GC,1.79,0.00,0.00,259.80,0.000,0.000,0.100,408,2660,420,-8.30,0.28,623.30
$IRIDIUM_FIX,-7536.68,17611.16,050111,121234
$TT8_MAMPS,0.028462
$HUMID,50.70
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,17.9
$ALTIM_BOTTOM_PING,300.8,23.7
$24V_AH,20.2,76.266
$10V_AH,9.6,52.438
$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,18.300,67.875,276.675,259.800,0.000,92.747,225.326,0.000,1.250,0.000,14.508,1468.199,1705.773,657.518,1791.327,206.339,0.000,1276.357,0.000,968.958,0.000,8.826,0.000
$DEVICE_MAMPS,190.485,110.925,992.205,100.215,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,403.847,794.258,934.887,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267112
$DATA_FILE_SIZE,40333,576
$CAP_FILE_SIZE,81240,0
$CFSIZE,260165632,224243712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.127, 81.7,1
$GPS,050111,143015,-7628.306,17817.125,14,1.8,14,120.4