version: 66.08
glider: 502
mission: 3
dive: 537
start: 1 6 111 19 32 25
data:
$ID,502
$MISSION,3
$DIVE,537
$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,-2
$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,-30816.809
$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,41
$R_STBD_OVSHOOT,25
$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
$GPS1,060111,192320,-7627.578,17734.176,13,1.8,13,121.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-68.0
$GPS2,060111,193158,-7627.557,17734.143,15,6.2,34,121.4
$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,126.6,196396,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,162,0.00,0.00,-142.45,0.000,2,0.000,0.000,414,2657,3264,0,0,0,0,0,0
$GC,167,-0.76,-146.0,3.0,-1.2,21,190,8.77,2.33,-8.25,0.000,4,0.190,0.062,2810,1249,3559,0,0,0,0,0,0
$GC,436,-0.76,-146.0,45.8,-15.2,69,443,0.00,2.30,0.00,0.000,6,0.000,0.054,2802,2658,3563,0,0,0,0,0,0
$GC,575,-0.76,-146.0,68.8,-17.1,94,583,0.00,1.80,0.00,0.000,4,0.000,0.059,2794,3757,3563,0,0,0,0,0,0
$GC,622,-0.76,-146.0,77.4,-18.0,102,630,0.00,1.73,0.00,0.000,6,0.000,0.040,2793,2670,3563,0,0,0,0,0,0
$GC,767,-0.76,-146.0,102.0,-16.7,127,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2670,3563,0,0,0,0,0,0
$GC,893,-0.76,-146.0,123.5,-16.7,139,896,0.00,1.77,0.00,0.000,4,0.000,0.060,2785,3763,3563,0,0,0,0,0,0
$GC,929,-0.76,-146.0,129.9,-18.3,142,933,0.12,1.70,0.00,0.000,6,0.161,0.039,2819,2662,3563,0,0,0,0,0,0
$GC,1072,-0.76,-146.0,151.1,-14.6,155,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2660,3564,0,0,0,0,0,0
$GC,1207,-0.76,-146.0,170.8,-14.3,168,1211,0.00,1.80,0.00,0.000,4,0.000,0.059,2812,3770,3563,0,0,0,0,0,0
$GC,1242,-0.76,-146.0,176.2,-16.1,171,1246,0.00,1.70,0.00,0.000,6,0.000,0.040,2812,2674,3564,0,0,0,0,0,0
$GC,1384,-0.76,-146.0,197.3,-14.7,184,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2671,3564,0,0,0,0,0,0
$GC,1520,-0.76,-146.0,217.5,-14.6,197,1521,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2671,3564,0,0,0,0,0,0
$GC,1647,-0.76,-146.0,236.3,-14.9,209,1648,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2671,3564,0,0,0,0,0,0
$GC,1773,-0.76,-146.0,255.0,-14.9,221,1774,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2672,3563,0,0,0,0,0,0
$GC,1963,-0.76,-146.0,282.5,-13.9,239,1967,0.00,1.77,0.00,0.000,4,0.000,0.059,2803,3760,3564,0,0,0,0,0,0
$GC,2042,-0.76,-146.0,294.4,-14.9,246,2046,0.00,1.67,0.00,0.000,6,0.000,0.040,2803,2680,3564,0,0,0,0,0,0
$GC,2248,-0.76,-146.0,323.9,-14.3,265,2251,0.00,1.77,0.00,0.000,4,0.000,0.061,2798,3759,3564,0,0,0,0,0,0
$GC,2286,-0.76,-146.0,330.4,-15.7,268,2293,0.00,1.70,0.00,0.000,6,0.000,0.041,2798,2689,3564,0,0,0,0,0,0
$GC,2487,-0.76,-146.0,359.8,-14.9,287,2493,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2688,3564,0,0,0,0,0,0
$STATE,2588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2588,begin apogee
$GC,2594,-0.27,0.0,375.6,15.8,297,2733,0.52,0.00,131.68,1.043,4,0.124,0.000,2969,2491,2961,0,0,0,0,0,0
$STATE,2734,end apogee,CONTROL_FINISHED_OK
$STATE,2734,begin climb
$GC,2736,0.76,146.0,383.5,0.0,309,2894,1.08,0.00,150.73,0.967,6,0.086,0.000,3301,2491,2364,0,0,0,0,0,0
$GC,3085,0.76,146.0,351.7,11.4,341,3089,0.00,2.28,0.00,0.000,4,0.000,0.057,3301,3757,2352,0,0,0,0,0,0
$GC,3135,0.76,146.0,345.3,13.7,345,3139,0.00,2.08,0.00,0.000,6,0.000,0.038,3311,2523,2351,0,0,0,0,0,0
$GC,3335,0.76,146.0,322.4,11.4,363,3339,0.00,2.05,0.00,0.000,4,0.000,0.057,3311,3760,2348,0,0,0,0,0,0
$GC,3369,0.76,146.0,317.9,12.7,366,3373,0.00,1.95,0.00,0.000,6,0.000,0.039,3320,2517,2348,0,0,0,0,0,0
$GC,3572,0.76,146.0,293.9,11.8,385,3576,0.00,2.03,0.00,0.000,4,0.000,0.057,3320,3761,2346,0,0,0,0,0,0
$GC,3645,0.76,146.0,284.0,13.9,391,3652,0.00,1.90,0.00,0.000,6,0.000,0.039,3330,2536,2345,0,0,0,0,0,0
$GC,3844,0.76,146.0,260.4,11.5,410,3848,0.00,1.98,0.00,0.000,4,0.000,0.056,3329,3761,2345,0,0,0,0,0,0
$GC,3916,0.76,146.0,250.3,13.9,416,3923,0.00,1.90,0.00,0.000,6,0.000,0.038,3339,2538,2344,0,0,0,0,0,0
$GC,4116,0.76,146.0,225.7,12.2,435,4119,0.00,1.98,0.00,0.000,4,0.000,0.056,3340,3761,2344,0,0,0,0,0,0
$GC,4153,0.76,146.0,219.8,15.5,438,4162,0.10,1.90,0.00,0.000,6,0.133,0.038,3316,2558,2343,0,0,0,0,0,0
$GC,4290,0.76,146.0,204.8,11.0,451,4298,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2556,2343,0,0,0,0,0,0
$GC,4427,0.76,146.0,190.2,10.6,464,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2556,2343,0,0,0,0,0,0
$GC,4563,0.76,146.0,175.7,10.5,477,4566,0.00,1.98,0.00,0.000,4,0.000,0.057,3316,3764,2342,0,0,0,0,0,0
$GC,4620,0.76,146.0,168.8,13.0,482,4624,0.00,1.88,0.00,0.000,6,0.000,0.038,3323,2553,2342,0,0,0,0,0,0
$GC,4762,0.76,146.0,153.2,10.9,495,4766,0.00,1.98,0.00,0.000,4,0.000,0.057,3323,3760,2342,0,0,0,0,0,0
$GC,4799,0.76,146.0,148.2,13.3,498,4808,0.00,1.90,0.00,0.000,6,0.000,0.039,3332,2563,2342,0,0,0,0,0,0
$GC,4936,0.76,146.0,132.9,11.3,511,4945,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2563,2342,0,0,0,0,0,0
$GC,5074,0.76,146.0,117.2,11.5,524,5078,0.00,1.95,0.00,0.000,4,0.000,0.057,3332,3761,2341,0,0,0,0,0,0
$GC,5133,0.76,146.0,108.7,13.7,529,5142,0.08,1.88,0.00,0.000,6,0.137,0.038,3317,2577,2341,0,0,0,0,0,0
$GC,5271,0.76,146.0,93.8,10.6,547,5279,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2576,2341,0,0,0,0,0,0
$GC,5410,0.76,146.0,78.8,10.8,572,5418,0.00,1.98,0.00,0.000,4,0.000,0.057,3316,3758,2341,0,0,0,0,0,0
$GC,5474,0.76,146.0,70.9,13.7,583,5482,0.00,1.83,0.00,0.000,6,0.000,0.039,3323,2588,2341,0,0,0,0,0,0
$GC,5617,0.76,146.0,54.0,11.8,608,5624,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2587,2341,0,0,0,0,0,0
$GC,5758,0.76,146.0,37.5,11.5,633,5765,0.00,1.95,0.00,0.000,4,0.000,0.059,3323,3757,2341,0,0,0,0,0,0
$GC,5853,0.76,146.0,24.9,13.2,650,5863,0.00,1.85,0.00,0.000,6,0.000,0.039,3332,2591,2340,0,0,0,0,0,0
$FREEZE,8.71,-0.170,-1.892,2,1,0
$FREEZE,7.92,-0.169,-1.891,2,1,0
$GC,5996,0.76,146.0,7.9,12.7,675,6004,0.00,1.92,0.00,0.000,4,0.000,0.057,3332,3764,2340,0,0,0,0,0,0
$FREEZE,5.62,-0.167,-1.890,2,1,0
$FREEZE,4.85,-0.159,-1.889,2,1,0
$FREEZE,4.10,-0.156,-1.888,2,1,0
$FREEZE,3.30,-0.159,-1.888,2,1,0
$GC,6031,0.76,146.0,3.3,13.2,680,6040,0.10,1.83,0.00,0.000,6,0.132,0.039,3308,2619,2340,0,0,0,0,0,0
$FREEZE,1.13,-0.154,-1.886,2,1,0
$STATE,6046,end climb,SURFACE_DEPTH_REACHED
$STATE,6046,begin surface coast
$FREEZE,1.11,-0.221,-1.664,2,1,0
$FREEZE,1.11,-0.202,-1.835,2,1,0
$FREEZE,1.14,-0.235,-1.316,2,1,0
$FREEZE,1.12,-0.294,-0.956,2,1,0
$FINISH,1.1,1.014121
$STATE,6070,end surface coast,CONTROL_FINISHED_OK
$STATE,6070,begin surface
$SM_CCo,6087,77.90,0.742,1,0,1736,300.24
$SM_GC,2.01,0.00,0.00,77.90,0.000,0.000,0.742,426,2616,1736,-8.25,-0.93,300.24
$IRIDIUM_FIX,-7545.40,17742.56,060111,171701
$TT8_MAMPS,0.028462
$HUMID,54.09
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,18.0
$ALTIM_BOTTOM_PING,300.8,91.2
$24V_AH,20.2,78.198
$10V_AH,9.6,53.908
$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,18.325,65.250,282.400,77.900,0.000,31.426,36.569,277.473,1.500,0.000,35.955,1707.315,2191.109,526.298,1996.878,274.456,0.000,1233.185,0.000,1115.663,0.000,9.010,0.000
$DEVICE_MAMPS,190.485,61.965,1043.460,742.050,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,480.780,894.364,977.845,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258132
$DATA_FILE_SIZE,47094,686
$CAP_FILE_SIZE,94518,0
$CFSIZE,260165632,223363072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.079, 13.6,1
$GPS,060111,211636,-7627.646,17731.256,36,0.9,42,121.5