version: 66.08
glider: 502
mission: 3
dive: 575
start: 1 9 111 19 8 17
data:
$ID,502
$MISSION,3
$DIVE,575
$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,-30864.615
$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,28
$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
$GPS1,090111,185907,-7628.770,17553.602,33,1.0,33,123.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-67.4
$GPS2,090111,190750,-7628.762,17553.617,14,1.0,14,123.8
$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,144.5,152900,-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,17,-0.76,-146.0,0.0,0.0,0,162,0.00,0.00,-142.20,0.000,2,0.000,0.000,411,2668,3289,0,0,0,0,0,0
$GC,167,-0.76,-146.0,3.1,-1.1,21,190,8.93,2.38,-7.30,0.000,4,0.191,0.061,2805,1248,3561,0,0,0,0,0,0
$GC,437,-0.76,-146.0,46.7,-14.9,69,444,0.00,2.30,0.00,0.000,6,0.000,0.054,2798,2647,3565,0,0,0,0,0,0
$GC,573,-0.76,-146.0,68.8,-16.0,94,581,0.00,1.85,0.00,0.000,4,0.000,0.058,2789,3766,3565,0,0,0,0,0,0
$GC,631,-0.76,-146.0,78.9,-17.4,104,639,0.00,1.77,0.00,0.000,6,0.000,0.040,2789,2657,3565,0,0,0,0,0,0
$GC,770,-0.76,-146.0,102.5,-17.3,128,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2657,3565,0,0,0,0,0,0
$GC,906,-0.76,-146.0,125.8,-16.8,141,909,0.00,1.83,0.00,0.000,4,0.000,0.060,2781,3770,3565,0,0,0,0,0,0
$GC,943,-0.76,-146.0,133.0,-18.0,144,953,0.10,1.77,0.00,0.000,6,0.135,0.040,2812,2663,3565,0,0,0,0,0,0
$GC,1080,-0.76,-146.0,153.4,-14.7,157,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2662,3565,0,0,0,0,0,0
$GC,1216,-0.76,-146.0,173.9,-14.9,170,1219,0.00,1.80,0.00,0.000,4,0.000,0.058,2806,3766,3566,0,0,0,0,0,0
$GC,1251,-0.76,-146.0,179.5,-16.3,173,1255,0.00,1.70,0.00,0.000,6,0.000,0.039,2805,2673,3566,0,0,0,0,0,0
$GC,1393,-0.76,-146.0,201.2,-15.7,186,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2670,3565,0,0,0,0,0,0
$GC,1519,-0.76,-146.0,220.4,-15.3,198,1523,0.00,1.80,0.00,0.000,4,0.000,0.059,2798,3770,3566,0,0,0,0,0,0
$GC,1555,-0.76,-146.0,225.9,-16.1,201,1558,0.00,1.73,0.00,0.000,6,0.000,0.040,2798,2669,3565,0,0,0,0,0,0
$GC,1697,-0.76,-146.0,248.0,-15.5,214,1700,0.00,1.80,0.00,0.000,4,0.000,0.058,2789,3766,3565,0,0,0,0,0,0
$GC,1724,-0.76,-146.0,253.1,-16.4,216,1731,0.00,1.73,0.00,0.000,6,0.000,0.039,2789,2690,3566,0,0,0,0,0,0
$GC,1922,-0.76,-146.0,285.3,-16.5,235,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2688,3565,0,0,0,0,0,0
$GC,2114,-0.76,-146.0,316.7,-16.0,253,2117,0.00,1.77,0.00,0.000,4,0.000,0.059,2781,3770,3565,0,0,0,0,0,0
$GC,2152,-0.76,-146.0,323.6,-17.1,256,2160,0.10,1.75,0.00,0.000,6,0.136,0.041,2814,2679,3565,0,0,0,0,0,0
$GC,2353,-0.76,-146.0,351.1,-13.6,275,2356,0.00,1.77,0.00,0.000,4,0.000,0.060,2807,3761,3565,0,0,0,0,0,0
$GC,2380,-0.76,-146.0,355.6,-14.3,277,2387,0.00,1.70,0.00,0.000,6,0.000,0.039,2807,2694,3565,0,0,0,0,0,0
$STATE,2523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2523,begin apogee
$GC,2529,-0.27,0.0,376.4,14.5,291,2666,0.52,0.00,130.73,1.038,4,0.125,0.000,2974,2480,2961,0,0,0,0,0,0
$STATE,2667,end apogee,CONTROL_FINISHED_OK
$STATE,2667,begin climb
$GC,2669,0.76,146.0,383.1,0.0,303,2829,1.10,2.53,148.65,0.968,4,0.078,0.047,3309,1106,2364,0,0,0,0,0,0
$GC,2933,0.76,146.0,362.5,11.1,326,2937,0.00,2.55,0.00,0.000,6,0.000,0.048,3310,2497,2354,0,0,0,0,0,0
$GC,3132,0.76,146.0,339.7,11.5,344,3136,0.00,2.40,0.00,0.000,4,0.000,0.047,3315,1105,2350,0,0,0,0,0,0
$GC,3277,0.76,146.0,322.9,11.3,356,3284,0.00,2.40,0.00,0.000,6,0.000,0.050,3315,2512,2348,0,0,0,0,0,0
$GC,3476,0.76,146.0,299.4,12.0,375,3479,0.00,2.03,0.00,0.000,4,0.000,0.057,3315,3764,2347,0,0,0,0,0,0
$GC,3567,0.76,146.0,286.6,14.6,383,3571,0.00,1.95,0.00,0.000,6,0.000,0.039,3324,2517,2346,0,0,0,0,0,0
$GC,3771,0.76,146.0,260.9,12.4,402,3774,0.00,2.03,0.00,0.000,4,0.000,0.056,3324,3765,2346,0,0,0,0,0,0
$GC,3817,0.76,146.0,254.7,14.7,406,3821,0.00,1.98,0.00,0.000,6,0.000,0.037,3334,2530,2345,0,0,0,0,0,0
$GC,4021,0.76,146.0,229.0,12.2,425,4025,0.00,2.03,0.00,0.000,4,0.000,0.056,3334,3774,2345,0,0,0,0,0,0
$GC,4070,0.76,146.0,221.8,14.6,429,4079,0.00,1.98,0.00,0.000,6,0.000,0.038,3343,2537,2344,0,0,0,0,0,0
$GC,4207,0.76,146.0,204.4,12.7,442,4209,0.12,0.00,0.00,0.000,6,0.159,0.000,3309,2534,2344,0,0,0,0,0,0
$GC,4334,0.76,146.0,190.4,10.5,454,4337,0.00,2.00,0.00,0.000,4,0.000,0.056,3309,3768,2344,0,0,0,0,0,0
$GC,4383,0.76,146.0,184.1,13.0,458,4391,0.00,1.98,0.00,0.000,6,0.000,0.040,3318,2538,2343,0,0,0,0,0,0
$GC,4520,0.76,146.0,168.5,11.7,471,4529,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2537,2343,0,0,0,0,0,0
$GC,4656,0.76,146.0,153.2,10.8,484,4660,0.00,2.00,0.00,0.000,4,0.000,0.056,3318,3767,2343,0,0,0,0,0,0
$GC,4705,0.76,146.0,146.6,12.8,488,4713,0.00,1.95,0.00,0.000,6,0.000,0.038,3327,2549,2342,0,0,0,0,0,0
$GC,4843,0.76,146.0,130.4,11.8,501,4850,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2548,2343,0,0,0,0,0,0
$GC,4978,0.76,146.0,114.3,11.5,514,4982,0.00,1.98,0.00,0.000,4,0.000,0.056,3327,3764,2342,0,0,0,0,0,0
$GC,5036,0.76,146.0,106.5,13.7,519,5040,0.00,1.90,0.00,0.000,6,0.000,0.038,3336,2549,2342,0,0,0,0,0,0
$GC,5172,0.76,146.0,89.1,12.4,539,5179,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2547,2342,0,0,0,0,0,0
$GC,5312,0.76,146.0,71.7,12.1,564,5320,0.00,2.03,0.00,0.000,4,0.000,0.057,3337,3760,2342,0,0,0,0,0,0
$GC,5366,0.76,146.0,64.4,14.0,573,5373,0.12,1.90,0.00,0.000,6,0.161,0.039,3313,2555,2342,0,0,0,0,0,0
$GC,5508,0.76,146.0,48.9,10.1,598,5516,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2553,2341,0,0,0,0,0,0
$GC,5649,0.76,146.0,33.9,11.1,623,5657,0.00,2.03,0.00,0.000,4,0.000,0.056,3313,3764,2341,0,0,0,0,0,0
$GC,5724,0.76,146.0,24.5,12.7,636,5732,0.00,1.90,0.00,0.000,6,0.000,0.037,3320,2570,2341,0,0,0,0,0,0
$FREEZE,8.83,-0.017,-1.892,2,1,0
$FREEZE,8.14,-0.014,-1.891,2,1,0
$GC,5872,0.76,146.0,8.1,11.6,661,5878,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2569,2341,0,0,0,0,0,0
$FREEZE,6.03,-0.012,-1.890,2,1,0
$FREEZE,5.29,-0.013,-1.889,2,1,0
$FREEZE,4.64,-0.009,-1.889,2,1,0
$FREEZE,3.94,-0.007,-1.888,2,1,0
$FREEZE,3.33,-0.006,-1.888,2,1,0
$FREEZE,2.63,0.005,-1.887,2,1,0
$STATE,5914,end climb,SURFACE_DEPTH_REACHED
$STATE,5914,begin surface coast
$FREEZE,1.89,0.017,-1.886,2,1,0
$FREEZE,1.15,0.015,-1.886,2,1,0
$FREEZE,1.19,-0.082,-0.324,2,1,0
$FREEZE,1.18,-0.077,-1.886,2,1,0
$FREEZE,1.15,-0.011,-1.179,2,1,0
$FINISH,1.2,1.017410
$STATE,5947,end surface coast,CONTROL_FINISHED_OK
$STATE,5947,begin surface
$SM_CCo,5964,73.78,0.098,0,0,1737,300.24
$SM_GC,2.09,0.00,0.00,73.78,0.000,0.000,0.098,410,2664,1737,-8.29,0.40,300.24
$IRIDIUM_FIX,-7545.40,17550.92,090111,171720
$TT8_MAMPS,0.027713
$HUMID,54.56
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,18.4
$ALTIM_BOTTOM_PING,301.2,118.4
$24V_AH,20.4,82.807
$10V_AH,9.6,57.246
$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,18.700,71.400,279.375,73.775,0.000,24.229,40.830,300.655,1.750,0.000,15.680,1688.449,2092.646,508.658,1993.719,285.501,0.000,1214.529,0.000,1121.117,0.000,9.088,0.000
$DEVICE_MAMPS,191.250,91.800,1038.105,97.920,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,471.347,876.132,955.805,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258188
$DATA_FILE_SIZE,47138,673
$CAP_FILE_SIZE,94919,0
$CFSIZE,260165632,221396992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.045,112.2,1
$GPS,090111,205006,-7628.859,17551.051,15,1.8,31,123.9