version: 66.08
glider: 502
mission: 3
dive: 579
start: 1 10 111 2 37 52
data:
$ID,502
$MISSION,3
$DIVE,579
$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,-30869.641
$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,39
$R_STBD_OVSHOOT,23
$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
$GPS1,100111,022837,-7628.773,17542.980,25,2.0,25,124.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-66.3
$GPS2,100111,023726,-7628.777,17543.092,14,1.5,14,124.1
$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,150.7,148350,-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,-141.82,0.000,2,0.000,0.000,418,2634,3276,0,0,0,0,0,0
$GC,167,-0.76,-146.0,3.0,-0.9,21,190,8.90,1.95,-7.88,0.000,4,0.192,0.073,2803,3773,3560,0,0,0,0,0,0
$GC,269,-0.76,-146.0,22.2,-17.4,38,278,0.00,1.80,0.00,0.000,6,0.000,0.040,2803,2649,3563,0,0,0,0,0,0
$GC,414,-0.76,-146.0,45.2,-16.0,63,420,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2647,3564,0,0,0,0,0,0
$GC,555,-0.76,-146.0,68.3,-16.3,88,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2648,3565,0,0,0,0,0,0
$GC,701,-0.76,-146.0,91.8,-15.8,113,708,0.00,1.85,0.00,0.000,4,0.000,0.060,2795,3764,3565,0,0,0,0,0,0
$GC,742,-0.76,-146.0,99.5,-18.4,120,751,0.00,1.77,0.00,0.000,6,0.000,0.039,2794,2660,3565,0,0,0,0,0,0
$GC,878,-0.76,-146.0,122.3,-17.2,133,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2659,3565,0,0,0,0,0,0
$GC,1005,-0.76,-146.0,143.9,-17.1,145,1008,0.00,1.83,0.00,0.000,4,0.000,0.059,2786,3767,3565,0,0,0,0,0,0
$GC,1043,-0.76,-146.0,151.1,-18.4,148,1052,0.08,1.77,0.00,0.000,6,0.138,0.040,2811,2663,3565,0,0,0,0,0,0
$GC,1179,-0.76,-146.0,171.8,-15.2,161,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2662,3565,0,0,0,0,0,0
$GC,1306,-0.76,-146.0,191.3,-15.2,173,1310,0.00,1.83,0.00,0.000,4,0.000,0.059,2804,3773,3565,0,0,0,0,0,0
$GC,1344,-0.76,-146.0,198.0,-16.1,176,1352,0.00,1.77,0.00,0.000,6,0.000,0.041,2804,2669,3565,0,0,0,0,0,0
$GC,1482,-0.76,-146.0,219.0,-15.8,189,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2667,3565,0,0,0,0,0,0
$GC,1617,-0.76,-146.0,240.5,-15.4,202,1621,0.00,1.80,0.00,0.000,4,0.000,0.058,2795,3763,3565,0,0,0,0,0,0
$GC,1655,-0.76,-146.0,247.2,-16.5,205,1663,0.00,1.77,0.00,0.000,6,0.000,0.039,2795,2662,3565,0,0,0,0,0,0
$GC,1791,-0.76,-146.0,268.3,-15.9,218,1794,0.00,1.83,0.00,0.000,4,0.000,0.058,2786,3769,3565,0,0,0,0,0,0
$GC,1825,-0.76,-146.0,274.5,-17.7,221,1830,0.12,1.70,0.00,0.000,6,0.158,0.040,2820,2679,3565,0,0,0,0,0,0
$GC,2032,-0.76,-146.0,303.2,-13.8,240,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2677,3565,0,0,0,0,0,0
$GC,2231,-0.76,-146.0,331.3,-14.0,259,2234,0.00,1.80,0.00,0.000,4,0.000,0.060,2813,3766,3565,0,0,0,0,0,0
$GC,2278,-0.76,-146.0,338.1,-15.2,263,2281,0.00,1.70,0.00,0.000,6,0.000,0.040,2813,2681,3565,0,0,0,0,0,0
$GC,2483,-0.76,-146.0,367.6,-14.5,282,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2678,3565,0,0,0,0,0,0
$STATE,2543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2543,begin apogee
$GC,2549,-0.27,0.0,376.3,13.6,288,2688,0.50,0.00,130.77,1.045,4,0.124,0.000,2973,2495,2960,0,0,0,0,0,0
$STATE,2688,end apogee,CONTROL_FINISHED_OK
$STATE,2689,begin climb
$GC,2691,0.76,146.0,383.5,0.0,300,2850,1.10,2.58,148.38,0.972,4,0.079,0.047,3307,1106,2364,0,0,0,0,0,0
$GC,2946,0.76,146.0,363.5,11.2,322,2954,0.00,2.58,0.00,0.000,6,0.000,0.048,3307,2500,2355,0,0,0,0,0,0
$GC,3145,0.76,146.0,340.7,11.0,341,3149,0.00,2.42,0.00,0.000,4,0.000,0.047,3315,1102,2351,0,0,0,0,0,0
$GC,3288,0.76,146.0,325.4,10.9,353,3292,0.00,2.42,0.00,0.000,6,0.000,0.050,3315,2520,2349,0,0,0,0,0,0
$GC,3487,0.76,146.0,302.4,11.9,371,3490,0.00,2.03,0.00,0.000,4,0.000,0.055,3315,3763,2348,0,0,0,0,0,0
$GC,3581,0.76,146.0,288.9,14.0,379,3588,0.00,1.98,0.00,0.000,6,0.000,0.037,3325,2532,2347,0,0,0,0,0,0
$GC,3779,0.76,146.0,263.7,12.8,398,3783,0.00,2.00,0.00,0.000,4,0.000,0.057,3324,3764,2346,0,0,0,0,0,0
$GC,3848,0.76,146.0,253.8,15.5,404,3851,0.00,1.90,0.00,0.000,6,0.000,0.037,3334,2546,2346,0,0,0,0,0,0
$GC,4053,0.76,146.0,226.7,12.7,423,4057,0.00,2.00,0.00,0.000,4,0.000,0.057,3334,3772,2345,0,0,0,0,0,0
$GC,4101,0.76,146.0,220.0,14.6,427,4105,0.12,1.90,0.00,0.000,6,0.161,0.039,3310,2557,2345,0,0,0,0,0,0
$GC,4241,0.76,146.0,203.6,10.6,440,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2555,2345,0,0,0,0,0,0
$GC,4369,0.76,146.0,189.7,10.7,452,4372,0.00,1.98,0.00,0.000,4,0.000,0.055,3310,3768,2344,0,0,0,0,0,0
$GC,4418,0.76,146.0,183.5,12.1,456,4426,0.00,1.95,0.00,0.000,6,0.000,0.038,3318,2550,2344,0,0,0,0,0,0
$GC,4555,0.76,146.0,168.3,11.1,469,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2549,2344,0,0,0,0,0,0
$GC,4690,0.76,146.0,153.0,11.2,482,4694,0.00,2.00,0.00,0.000,4,0.000,0.057,3318,3773,2344,0,0,0,0,0,0
$GC,4751,0.76,146.0,145.0,13.7,487,4759,0.00,1.92,0.00,0.000,6,0.000,0.038,3327,2567,2343,0,0,0,0,0,0
$GC,4886,0.76,146.0,129.3,11.5,500,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2565,2344,0,0,0,0,0,0
$GC,5014,0.76,146.0,114.5,11.8,512,5017,0.00,1.98,0.00,0.000,4,0.000,0.057,3327,3774,2343,0,0,0,0,0,0
$GC,5072,0.76,146.0,107.0,13.4,517,5075,0.00,1.88,0.00,0.000,6,0.000,0.038,3336,2573,2343,0,0,0,0,0,0
$GC,5210,0.76,146.0,89.9,11.9,537,5216,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2570,2343,0,0,0,0,0,0
$GC,5351,0.76,146.0,72.7,12.1,562,5359,0.00,2.00,0.00,0.000,4,0.000,0.057,3336,3763,2343,0,0,0,0,0,0
$GC,5412,0.76,146.0,64.5,14.3,572,5421,0.10,1.90,0.00,0.000,6,0.132,0.039,3313,2575,2342,0,0,0,0,0,0
$GC,5559,0.77,150.4,48.6,9.8,597,5565,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2574,2342,0,0,0,0,0,0
$GC,5702,0.77,150.4,33.6,10.0,622,5711,0.00,1.98,0.00,0.000,4,0.000,0.056,3313,3756,2342,0,0,0,0,0,0
$GC,5747,0.77,150.4,28.2,12.9,629,5754,0.00,1.88,0.00,0.000,6,0.000,0.039,3320,2583,2342,0,0,0,0,0,0
$GC,5892,0.77,150.4,12.2,11.5,654,5900,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2582,2342,0,0,0,0,0,0
$FREEZE,8.94,0.044,-1.892,2,1,0
$FREEZE,8.40,0.107,-1.892,2,1,0
$FREEZE,7.68,0.182,-1.890,2,1,0
$FREEZE,7.02,0.248,-1.888,2,1,0
$FREEZE,6.31,0.376,-1.887,2,1,0
$FREEZE,5.79,0.395,-1.888,2,1,0
$FREEZE,4.83,0.386,-1.888,2,1,0
$FREEZE,4.31,0.383,-1.887,2,1,0
$FREEZE,3.61,0.394,-1.887,2,1,0
$FREEZE,3.05,0.411,-1.887,2,1,0
$FREEZE,2.12,0.395,-1.886,2,1,0
$STATE,5975,end climb,SURFACE_DEPTH_REACHED
$STATE,5975,begin surface coast
$FREEZE,1.37,0.401,-1.886,2,1,0
$FREEZE,1.22,0.418,-1.836,2,1,0
$FREEZE,1.16,0.407,-0.346,2,1,0
$FREEZE,1.20,0.420,-1.887,2,1,0
$FREEZE,1.22,0.443,-1.886,2,1,0
$FINISH,1.2,1.027551
$STATE,6008,end surface coast,CONTROL_FINISHED_OK
$STATE,6008,begin surface
$SM_CCo,6026,73.53,0.099,0,0,1736,300.24
$SM_GC,2.17,0.00,0.00,73.53,0.000,0.000,0.099,412,2661,1736,-8.29,0.31,300.24
$IRIDIUM_FIX,-7545.40,17550.92,100111,000039
$TT8_MAMPS,0.027713
$HUMID,54.88
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,19.1
$ALTIM_BOTTOM_PING,350.9,75.3
$24V_AH,20.4,83.278
$10V_AH,9.6,57.595
$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,18.625,66.800,279.150,73.525,0.000,27.349,40.610,301.264,1.750,0.000,15.589,1689.357,2144.475,509.176,2003.743,287.146,0.000,1218.356,0.000,1122.751,0.000,10.686,0.000
$DEVICE_MAMPS,192.015,103.275,1044.990,98.685,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,471.418,874.326,951.177,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258164
$DATA_FILE_SIZE,46924,673
$CAP_FILE_SIZE,95560,0
$CFSIZE,260165632,221192192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065,139.2,1
$GPS,100111,042019,-7628.871,17540.432,8,1.7,8,124.1