version: 66.08
glider: 502
mission: 3
dive: 637
start: 1 16 111 0 6 7
data:
$ID,502
$MISSION,3
$DIVE,637
$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,275
$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,-30946.27
$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,29
$R_STBD_OVSHOOT,19
$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
$GPS1,150111,234330,-7628.087,17208.797,49,1.4,55,129.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-64.7
$GPS2,160111,000538,-7627.872,17208.549,15,1.3,15,129.4
$SPEED_LIMITS,0.157,0.251
$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,113.3,55717,-16.0,-9.091
$D_GRID,622
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.71,-146.0,0.0,0.0,0,152,0.00,0.00,-133.70,0.000,2,0.000,0.000,356,2643,3094,0,0,0,0,0,0
$GC,156,-0.71,-146.0,3.0,-1.7,19,193,11.02,2.65,-15.50,0.000,4,0.194,0.056,2826,1247,3560,0,0,0,0,0,0
$GC,296,-0.71,-146.0,20.8,-13.9,42,305,0.00,2.70,0.00,0.000,6,0.000,0.051,2817,2646,3563,0,0,0,0,0,0
$GC,643,-0.71,-146.0,75.3,-15.2,103,650,0.00,2.10,0.00,0.000,4,0.000,0.057,2809,3766,3564,0,0,0,0,0,0
$GC,697,-0.71,-146.0,84.6,-16.5,112,705,0.00,2.03,0.00,0.000,6,0.000,0.037,2809,2653,3563,0,0,0,0,0,0
$GC,1030,-0.71,-146.0,136.9,-15.7,151,1034,0.00,2.08,0.00,0.000,4,0.000,0.058,2800,3763,3564,0,0,0,0,0,0
$GC,1071,-0.71,-146.0,143.5,-16.2,154,1076,0.12,1.95,0.00,0.000,6,0.151,0.037,2829,2658,3564,0,0,0,0,0,0
$GC,1399,-0.71,-146.0,187.4,-12.9,184,1403,0.00,2.08,0.00,0.000,4,0.000,0.057,2822,3771,3564,0,0,0,0,0,0
$GC,1442,-0.71,-146.0,193.2,-13.6,187,1446,0.00,1.95,0.00,0.000,6,0.000,0.037,2822,2665,3564,0,0,0,0,0,0
$GC,1776,-0.71,-146.0,238.3,-13.1,218,1779,0.00,2.05,0.00,0.000,4,0.000,0.057,2813,3770,3564,0,0,0,0,0,0
$GC,1823,-0.71,-146.0,245.0,-14.9,222,1826,0.00,1.92,0.00,0.000,6,0.000,0.037,2813,2670,3564,0,0,0,0,0,0
$GC,2154,-0.71,-146.0,291.6,-14.6,253,2158,0.00,2.03,0.00,0.000,4,0.000,0.058,2804,3770,3563,0,0,0,0,0,0
$GC,2212,-0.71,-146.0,300.4,-15.8,258,2215,0.00,1.90,0.00,0.000,6,0.000,0.038,2805,2677,3563,0,0,0,0,0,0
$GC,2544,-0.71,-146.0,351.1,-15.2,289,2548,0.10,2.03,0.00,0.000,4,0.165,0.060,2822,3763,3563,0,0,0,0,0,0
$GC,2606,-0.71,-146.0,360.4,-14.0,294,2609,0.00,1.88,0.00,0.000,6,0.000,0.037,2822,2678,3563,0,0,0,0,0,0
$GC,2937,-0.71,-146.0,406.2,-13.4,325,2940,0.00,1.98,0.00,0.000,4,0.000,0.060,2814,3763,3562,0,0,0,0,0,0
$GC,3006,-0.71,-146.0,416.2,-14.4,331,3010,0.00,1.88,0.00,0.000,6,0.000,0.038,2814,2693,3562,0,0,0,0,0,0
$GC,3337,-0.71,-146.0,464.4,-14.4,362,3340,0.00,1.92,0.00,0.000,4,0.000,0.058,2804,3764,3562,0,0,0,0,0,0
$GC,3375,-0.71,-146.0,470.5,-15.8,365,3382,0.00,1.88,0.00,0.000,6,0.000,0.038,2805,2692,3562,0,0,0,0,0,0
$GC,3709,-0.71,-146.0,518.2,-14.2,389,3713,0.00,1.95,0.00,0.000,4,0.000,0.059,2798,3771,3562,0,0,0,0,0,0
$GC,3764,-0.71,-146.0,527.2,-15.6,390,3769,0.08,1.88,0.00,0.000,6,0.128,0.038,2835,2695,3561,0,0,0,0,0,0
$GC,4083,-0.71,-146.0,564.3,-11.4,401,4086,0.00,1.92,0.00,0.000,4,0.000,0.060,2828,3768,3561,0,0,0,0,0,0
$GC,4118,-0.71,-146.0,568.6,-12.2,402,4122,0.00,1.80,0.00,0.000,6,0.000,0.039,2828,2704,3561,0,0,0,0,0,0
$GC,4459,-0.71,-146.0,609.1,-11.6,413,4463,0.00,1.90,0.00,0.000,4,0.000,0.060,2819,3764,3561,0,0,0,0,0,0
$GC,4487,-0.71,-146.0,612.7,-12.0,413,4494,0.00,1.80,0.00,0.000,6,0.000,0.038,2819,2704,3561,0,0,0,0,0,0
$STATE,4583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4583,begin apogee
$GC,4590,-0.27,0.0,624.6,12.3,417,4952,0.50,0.00,258.35,0.962,4,0.117,0.000,2969,2492,2962,0,0,0,0,19,0
$STATE,4955,end apogee,CONTROL_FINISHED_OK
$STATE,4955,begin climb
$GC,4957,0.71,146.0,638.7,0.0,428,5332,1.12,2.78,259.52,0.894,4,0.074,0.046,3290,1099,2398,0,0,0,0,20,1
$STATE,5336,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,5337,234.38,0.819,25,1,1931,252.65
$SM_CCo,5703,234.38,0.798,25,1,1447,371.38
$SM_CCo,6069,234.38,0.780,25,1,958,491.33
$FREEZE,8.82,-1.897,-1.936,2,7,0
$SM_CCo,10539,109.43,0.744,5,0,420,623.30
$SM_GC,2.05,8.95,0.00,0.00,0.033,0.000,0.000,434,2500,420,-8.12,0.00,623.30
$STATE,10794,begin surface
$IRIDIUM_FIX,-7545.40,17200.00,150111,232351
$TT8_MAMPS,0.027713
$HUMID,55.27
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,602.2,44.9
$24V_AH,19.7,91.459
$10V_AH,9.6,63.492
$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,21.900,54.175,517.875,812.550,0.000,69.204,153.092,657.954,2.250,0.000,16.136,1273.085,6623.774,1881.662,2023.137,417.990,0.000,2612.781,0.000,898.865,0.000,17.568,0.000
$DEVICE_MAMPS,193.545,59.670,962.370,818.550,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,307.635,549.688,453.452,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258100
$DATA_FILE_SIZE,30380,440
$CAP_FILE_SIZE,105492,32
$CFSIZE,260165632,217501696
$ERRORS,0,0,0,0,0,0,0,0,0,0,4,0,0,119,0
$CURRENT,32.824,251.2,1
$GPS,160111,000538,-7627.872,17208.549,15,1.3,15,129.4
$ESCAPE_REASON,MAX_VBD_ERRORS
$ESCAPE_STARTED_DIVE,637