version: 66.08
glider: 502
mission: 3
dive: 558
start: 1 8 111 11 2 40
data:
$ID,502
$MISSION,3
$DIVE,558
$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,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,-30843.234
$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,37
$R_STBD_OVSHOOT,27
$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
$GPS1,080111,105246,-7628.901,17644.002,15,4.9,34,122.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-74.1
$GPS2,080111,110214,-7628.910,17644.006,14,2.0,14,122.6
$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,170.6,174680,-17.5,-10.000
$D_GRID,383
$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,-146.0,0.0,0.0,0,106,0.00,0.00,-85.68,0.000,2,0.000,0.000,417,2662,3336,0,0,0,0,0,0
$GC,109,-0.76,-146.0,3.4,-2.0,13,131,8.95,1.88,-5.93,0.000,4,0.194,0.075,2803,3770,3561,0,0,0,0,0,0
$GC,376,-0.76,-146.0,51.0,-16.2,61,383,0.00,1.77,0.00,0.000,6,0.000,0.040,2803,2631,3563,0,0,0,0,0,0
$GC,512,-0.76,-146.0,72.2,-15.9,86,520,0.00,1.88,0.00,0.000,4,0.000,0.060,2795,3753,3564,0,0,0,0,0,0
$GC,603,-0.76,-146.0,87.0,-16.7,102,611,0.00,1.75,0.00,0.000,6,0.000,0.041,2794,2654,3564,0,0,0,0,0,0
$GC,747,-0.76,-146.0,110.4,-16.2,122,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2654,3564,0,0,0,0,0,0
$GC,874,-0.76,-146.0,131.5,-16.5,134,878,0.00,1.80,0.00,0.000,4,0.000,0.060,2786,3759,3564,0,0,0,0,0,0
$GC,922,-0.76,-146.0,139.8,-17.7,138,926,0.12,1.73,0.00,0.000,6,0.159,0.040,2819,2646,3565,0,0,0,0,0,0
$GC,1063,-0.76,-146.0,161.2,-14.7,151,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2644,3565,0,0,0,0,0,0
$GC,1191,-0.76,-146.0,179.6,-14.3,163,1194,0.00,1.83,0.00,0.000,4,0.000,0.059,2812,3764,3565,0,0,0,0,0,0
$GC,1237,-0.76,-146.0,186.6,-15.2,167,1241,0.00,1.73,0.00,0.000,6,0.000,0.039,2812,2650,3565,0,0,0,0,0,0
$GC,1381,-0.76,-146.0,207.3,-14.6,180,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2649,3565,0,0,0,0,0,0
$GC,1517,-0.76,-146.0,227.7,-14.8,193,1520,0.00,1.83,0.00,0.000,4,0.000,0.059,2803,3769,3565,0,0,0,0,0,0
$GC,1566,-0.76,-146.0,235.7,-15.2,197,1574,0.00,1.75,0.00,0.000,6,0.000,0.041,2803,2674,3565,0,0,0,0,0,0
$GC,1700,-0.76,-146.0,255.8,-15.1,210,1701,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2673,3565,0,0,0,0,0,0
$GC,1892,-0.76,-146.0,285.4,-15.4,228,1895,0.00,1.77,0.00,0.000,4,0.000,0.060,2795,3760,3565,0,0,0,0,0,0
$GC,1926,-0.76,-146.0,291.2,-16.6,231,1930,0.00,1.70,0.00,0.000,6,0.000,0.040,2795,2667,3565,0,0,0,0,0,0
$GC,2131,-0.76,-146.0,323.4,-15.7,250,2134,0.00,1.77,0.00,0.000,4,0.000,0.059,2786,3759,3565,0,0,0,0,0,0
$GC,2158,-0.76,-146.0,328.5,-16.5,252,2165,0.05,1.73,0.00,0.000,6,0.119,0.040,2815,2678,3565,0,0,0,0,0,0
$GC,2356,-0.76,-146.0,355.8,-13.4,271,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2677,3564,0,0,0,0,0,0
$GC,2549,-0.76,-146.0,381.5,-13.2,289,2553,0.00,1.77,0.00,0.000,4,0.000,0.060,2807,3759,3565,0,0,0,0,0,0
$STATE,2559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2559,begin apogee
$GC,2567,-0.27,0.0,383.5,14.0,290,2704,0.50,0.00,131.00,1.049,4,0.123,0.000,2969,2486,2961,0,0,0,0,0,0
$STATE,2704,end apogee,CONTROL_FINISHED_OK
$STATE,2705,begin climb
$GC,2707,0.76,146.0,390.2,0.0,302,2867,1.10,2.55,148.82,0.965,4,0.079,0.047,3305,1092,2364,0,0,0,0,0,0
$GC,2982,0.76,146.0,368.3,10.6,326,2987,0.00,2.55,0.00,0.000,6,0.000,0.050,3305,2493,2354,0,0,0,0,0,0
$GC,3182,0.76,146.0,346.0,11.3,344,3186,0.00,2.38,0.00,0.000,4,0.000,0.047,3315,1091,2350,0,0,0,0,0,0
$GC,3329,0.76,146.0,329.2,11.0,356,3336,0.00,2.40,0.00,0.000,6,0.000,0.051,3314,2528,2348,0,0,0,0,0,0
$GC,3528,0.76,146.0,306.0,11.9,375,3531,0.00,1.98,0.00,0.000,4,0.000,0.057,3315,3762,2347,0,0,0,0,0,0
$GC,3622,0.76,146.0,292.8,13.7,383,3630,0.00,1.95,0.00,0.000,6,0.000,0.038,3324,2526,2346,0,0,0,0,0,0
$GC,3823,0.76,146.0,268.3,12.5,402,3826,0.00,2.00,0.00,0.000,4,0.000,0.056,3324,3768,2346,0,0,0,0,0,0
$GC,3849,0.76,146.0,264.2,13.2,404,3857,0.00,1.95,0.00,0.000,6,0.000,0.038,3333,2533,2345,0,0,0,0,0,0
$GC,4050,0.76,146.0,238.8,12.7,423,4058,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2532,2345,0,0,0,0,0,0
$GC,4186,0.76,146.0,221.7,12.5,436,4190,0.00,1.98,0.00,0.000,4,0.000,0.055,3334,3764,2345,0,0,0,0,0,0
$GC,4243,0.76,146.0,213.6,15.0,441,4248,0.12,1.92,0.00,0.000,6,0.164,0.038,3310,2524,2344,0,0,0,0,0,0
$GC,4381,0.76,146.0,197.7,11.2,453,4385,0.00,2.00,0.00,0.000,4,0.000,0.057,3310,3764,2344,0,0,0,0,0,0
$GC,4418,0.76,146.0,192.5,12.7,456,4427,0.00,1.95,0.00,0.000,6,0.000,0.039,3318,2535,2344,0,0,0,0,0,0
$GC,4556,0.76,146.0,177.2,11.3,469,4563,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2534,2344,0,0,0,0,0,0
$GC,4692,0.76,146.0,162.4,10.6,482,4696,0.00,1.98,0.00,0.000,4,0.000,0.056,3318,3763,2343,0,0,0,0,0,0
$GC,4750,0.76,146.0,155.1,12.7,487,4753,0.00,1.88,0.00,0.000,6,0.000,0.038,3327,2551,2343,0,0,0,0,0,0
$GC,4891,0.76,146.0,138.3,11.7,500,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2549,2343,0,0,0,0,0,0
$GC,5019,0.76,146.0,123.4,11.5,512,5022,0.00,1.98,0.00,0.000,4,0.000,0.057,3327,3769,2343,0,0,0,0,0,0
$GC,5087,0.76,146.0,113.9,15.2,518,5091,0.00,1.88,0.00,0.000,6,0.000,0.039,3337,2556,2343,0,0,0,0,0,0
$GC,5222,0.76,146.0,97.0,11.8,532,5229,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2555,2342,0,0,0,0,0,0
$GC,5362,0.76,146.0,79.9,12.3,557,5368,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2554,2343,0,0,0,0,0,0
$GC,5496,0.76,146.0,62.8,12.6,582,5504,0.00,2.00,0.00,0.000,4,0.000,0.056,3337,3764,2342,0,0,0,0,0,0
$GC,5540,0.76,146.0,56.9,14.5,589,5548,0.10,1.90,0.00,0.000,6,0.132,0.038,3313,2563,2342,0,0,0,0,0,0
$GC,5681,0.76,146.0,41.1,11.1,614,5688,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2562,2342,0,0,0,0,0,0
$GC,5822,0.76,146.0,26.4,10.8,639,5830,0.00,1.98,0.00,0.000,4,0.000,0.057,3313,3773,2342,0,0,0,0,0,0
$GC,5877,0.76,146.0,19.3,13.1,648,5885,0.00,1.92,0.00,0.000,6,0.000,0.039,3321,2562,2342,0,0,0,0,0,0
$FREEZE,8.74,-0.288,-1.893,2,2,0
$FREEZE,8.14,-0.218,-1.892,2,2,0
$FREEZE,7.45,-0.193,-1.891,2,2,0
$FREEZE,6.92,-0.189,-1.891,2,2,0
$FREEZE,6.21,-0.188,-1.891,2,2,0
$FREEZE,5.55,-0.186,-1.890,2,2,0
$FREEZE,4.87,-0.187,-1.890,2,2,0
$FREEZE,4.13,-0.186,-1.890,2,2,0
$FREEZE,3.39,-0.184,-1.889,2,2,0
$FREEZE,2.84,-0.186,-1.889,2,2,0
$STATE,6020,end climb,SURFACE_DEPTH_REACHED
$STATE,6020,begin surface coast
$FREEZE,2.04,-0.185,-1.888,2,2,0
$FREEZE,1.29,-0.186,-1.888,2,2,0
$FREEZE,1.20,-0.260,-0.143,2,2,0
$FINISH,1.2,1.001923
$STATE,6040,end surface coast,FINISH_DEPTH_REACHED
$STATE,6040,begin surface
$SM_CCo,6058,302.55,0.718,6,0,420,623.30
$SM_GC,1.82,0.00,0.00,302.55,0.000,0.000,0.718,413,2668,420,-8.28,0.54,623.30
$IRIDIUM_FIX,-7545.40,17647.17,080111,101021
$TT8_MAMPS,0.028462
$HUMID,50.59
$INTERNAL_PRESSURE,8.68197
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,17.8
$ALTIM_BOTTOM_PING,301.6,106.7
$24V_AH,20.3,80.638
$10V_AH,9.6,55.755
$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,18.625,70.000,279.825,302.550,0.000,80.168,225.327,0.000,1.000,0.000,15.200,1722.295,2329.412,720.921,1957.037,233.335,0.000,1409.343,0.000,1128.318,0.000,9.054,0.000
$DEVICE_MAMPS,193.545,78.795,1048.815,718.335,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,475.028,871.039,943.989,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258172
$DATA_FILE_SIZE,47016,676
$CAP_FILE_SIZE,90186,0
$CFSIZE,260165632,222269440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$CURRENT,0.077,159.6,1
$GPS,080111,125030,-7628.828,17641.635,40,1.4,40,122.7