version: 66.08
glider: 503
mission: 7
dive: 32
start: 12 1 110 7 52 6
data:
$ID,503
$MISSION,7
$DIVE,32
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$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,7
$SURFACE_URGENCY_TRY,4
$SURFACE_URGENCY_FORCE,10
$T_DIVE,100
$T_MISSION,200
$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,0.050000001
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51780
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,10
$TGT_DEFAULT_LAT,-7700
$TGT_DEFAULT_LON,17100
$TGT_AUTO_DEFAULT,0
$SM_CC,616.91943
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-16947.678
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,203
$PITCH_MAX,3889
$C_PITCH,2820
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,445
$VBD_MAX,3956
$C_VBD,2960
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$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,-51.009045
$PRESSURE_SLOPE,0.00011732637
$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,1
$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,0.0043281103
$SEABIRD_T_H,0.00062152545
$SEABIRD_T_I,2.1491383e-05
$SEABIRD_T_J,2.0368557e-06
$SEABIRD_C_G,-10.162479
$SEABIRD_C_H,1.1594115
$SEABIRD_C_I,4.3937558e-05
$SEABIRD_C_J,0.00011023274
$GPS1,301110,224308,-7727.986,17011.598,13,1.9,13,136.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,69.71
$_SM_ANGLEo,1.9
$GPS2,301110,224308,-7727.986,17011.598,13,1.9,13,136.2
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,POLYNYA
$TGT_LATLONG,-7700.000,17100.000
$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,245.1,55614,-18.2,-13.333
$D_GRID,742
$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,15,-0.84,-219.0,0.0,0.0,0,26,0.00,0.00,-8.80,0.000,2,0.000,0.000,2818,2498,2080,0,0,0,0,0,0
$GC,28,-0.84,-219.0,69.8,-0.0,1,50,0.77,2.70,-14.48,0.000,4,0.085,0.047,2550,892,3862,0,0,0,0,0,0
$GC,101,-0.84,-219.0,75.8,-12.1,13,108,0.00,2.35,0.00,0.000,6,0.000,0.042,2550,2300,3864,0,0,0,0,0,0
$GC,238,-0.84,-219.0,94.5,-13.6,38,246,0.00,2.38,0.00,0.000,4,0.000,0.051,2548,3708,3864,0,0,0,0,0,0
$GC,353,-0.84,-219.0,111.6,-14.1,52,362,0.00,2.28,0.00,0.000,6,0.000,0.029,2549,2294,3864,0,0,0,0,0,0
$GC,490,-0.84,-219.0,130.4,-14.2,65,495,0.00,2.35,0.00,0.000,4,0.000,0.050,2548,3718,3864,0,0,0,0,0,0
$GC,565,-0.84,-219.0,142.1,-14.8,71,574,0.00,2.28,0.00,0.000,6,0.000,0.029,2548,2303,3863,0,0,0,0,0,0
$GC,701,-0.84,-219.0,160.6,-13.5,84,705,0.00,2.33,0.00,0.000,4,0.000,0.051,2537,3717,3863,0,0,0,0,0,0
$GC,786,-0.84,-219.0,173.7,-14.8,91,795,0.00,2.28,0.00,0.000,6,0.000,0.030,2537,2296,3864,0,0,0,0,0,0
$GC,923,-0.84,-219.0,193.0,-14.1,104,927,0.00,2.33,0.00,0.000,4,0.000,0.051,2527,3718,3864,0,0,0,0,0,0
$GC,998,-0.81,-219.0,205.6,-16.3,110,1008,0.08,2.28,0.00,0.000,6,0.139,0.031,2552,2296,3864,0,0,0,0,0,0
$GC,1134,-0.81,-219.0,223.5,-13.1,123,1138,0.00,2.30,0.00,0.000,4,0.000,0.050,2550,3710,3864,0,0,0,0,0,0
$GC,1208,-0.81,-219.0,234.7,-14.1,129,1217,0.00,2.25,0.00,0.000,6,0.000,0.030,2550,2294,3864,0,0,0,0,0,0
$GC,1343,-0.81,-219.0,252.6,-13.8,142,1347,0.00,2.30,0.00,0.000,4,0.000,0.050,2547,3711,3864,0,0,0,0,0,0
$GC,1419,-0.81,-219.0,263.9,-13.7,148,1427,0.00,2.22,0.00,0.000,6,0.000,0.030,2547,2309,3864,0,0,0,0,0,0
$GC,1618,-0.81,-219.0,289.8,-13.0,167,1622,0.00,2.30,0.00,0.000,4,0.000,0.052,2547,3717,3864,0,0,0,0,0,0
$GC,1737,-0.81,-219.0,306.1,-13.9,177,1744,0.00,2.20,0.00,0.000,6,0.000,0.029,2547,2299,3863,0,0,0,0,0,0
$GC,1934,-0.81,-219.0,331.5,-12.9,196,1939,0.00,2.28,0.00,0.000,4,0.000,0.051,2547,3710,3863,0,0,0,0,0,0
$GC,2053,-0.81,-219.0,347.4,-13.1,206,2057,0.00,2.17,0.00,0.000,6,0.000,0.030,2547,2298,3864,0,0,0,0,0,0
$GC,2252,-0.81,-219.0,373.1,-13.4,224,2256,0.00,2.28,0.00,0.000,4,0.000,0.050,2538,3711,3863,0,0,0,0,0,0
$GC,2362,-0.81,-219.0,389.6,-14.9,233,2370,0.00,2.22,0.00,0.000,6,0.000,0.029,2538,2300,3864,0,0,0,0,0,0
$STATE,2443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2443,begin apogee
$GC,2448,-0.16,0.0,401.2,14.4,241,2634,0.70,0.00,175.60,0.922,6,0.132,0.000,2765,2513,2958,0,0,0,0,0,0
$STATE,2634,end apogee,CONTROL_FINISHED_OK
$STATE,2635,begin climb
$GC,2636,0.84,219.0,413.2,0.0,258,2833,0.93,2.53,183.95,0.874,4,0.068,0.036,3097,1109,2065,0,0,1,0,0,0
$GC,2869,0.74,219.0,393.4,16.2,279,2874,0.15,2.40,0.00,0.000,6,0.164,0.041,3061,2493,2059,0,0,1,0,0,0
$GC,3069,0.66,219.0,363.1,15.4,297,3073,0.00,2.12,0.00,0.000,4,0.000,0.050,3062,3763,2052,0,0,0,0,0,0
$GC,3180,0.52,219.0,343.2,17.4,306,3189,0.25,2.08,0.00,0.000,6,0.137,0.031,2993,2506,2050,0,0,0,0,0,0
$GC,3380,0.68,317.9,323.0,9.3,325,3472,0.12,2.22,83.32,0.840,4,0.091,0.051,3044,3755,1664,0,0,1,0,0,0
$GC,3572,0.64,317.9,292.8,17.4,342,3580,0.00,2.10,0.00,0.000,6,0.000,0.031,3051,2501,1656,0,0,0,0,0,0
$GC,3770,0.64,317.9,262.2,15.2,361,3774,0.00,2.12,0.00,0.000,4,0.000,0.050,3051,3764,1653,0,0,0,0,0,0
$GC,3862,0.60,317.9,246.9,16.7,369,3867,0.17,2.03,0.00,0.000,6,0.150,0.031,3011,2497,1652,0,0,0,0,0,0
$GC,3998,0.73,371.7,230.6,11.1,381,4050,0.12,2.17,44.88,0.799,4,0.091,0.050,3067,3766,1444,0,0,1,0,0,0
$GC,4099,0.70,371.7,213.8,18.1,389,4108,0.08,2.10,0.00,0.000,6,0.143,0.031,3051,2504,1440,0,0,0,0,0,0
$GC,4236,0.72,371.7,193.3,14.8,402,4240,0.00,2.10,0.00,0.000,4,0.000,0.051,3051,3763,1438,0,0,0,0,0,0
$GC,4298,0.72,371.7,182.7,17.0,407,4302,0.00,2.03,0.00,0.000,6,0.000,0.031,3059,2497,1436,0,0,0,0,0,0
$GC,4440,0.72,371.7,159.9,16.4,420,4444,0.00,2.10,0.00,0.000,4,0.000,0.051,3059,3766,1436,0,0,0,0,0,0
$GC,4512,0.72,371.7,147.2,17.9,426,4516,0.00,2.03,0.00,0.000,6,0.000,0.031,3063,2495,1435,0,0,0,0,0,0
$GC,4653,0.72,371.7,125.0,15.7,439,4657,0.00,2.08,0.00,0.000,4,0.000,0.050,3064,3763,1434,0,0,0,0,0,0
$GC,4716,0.72,371.7,113.7,17.2,444,4725,0.00,2.03,0.00,0.000,6,0.000,0.031,3072,2501,1433,0,0,0,0,0,0
$GC,4853,0.72,371.7,91.9,16.0,461,4860,0.00,2.08,0.00,0.000,4,0.000,0.050,3072,3764,1433,0,0,0,0,0,0
$GC,4915,0.68,371.7,80.6,18.0,472,4924,0.12,2.03,0.00,0.000,6,0.138,0.031,3039,2505,1433,0,0,0,0,0,0
$GC,5057,0.73,371.7,61.1,13.5,497,5064,0.00,2.08,0.00,0.000,4,0.000,0.053,3039,3768,1432,0,0,0,0,0,0
$STATE,5267,end climb,NO_VERTICAL_VELOCITY
$STATE,5267,begin subsurface finish
$SM_CCo,5269,196.20,0.686,0,0,445,616.92
$FINISH1,50.4,1.027822,-16
$GC,5631,-0.02,-15.8,50.4,-0.1,536,5640,0.65,0.00,-6.40,0.000,2,0.085,0.000,2814,2498,1059,0,0,0,0,0,0
$FINISH2,50.5
$STATE,5641,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,5641,begin surface
$IRIDIUM_FIX,-7639.69,17014.40,301110,222204
$TT8_MAMPS,0.026964
$HUMID,50.86
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,14.10
$XPDR_PINGS,1
$24V_AH,23.0,41.640
$10V_AH,10.0,60.280
$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,4.150,88.925,487.750,196.200,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1314.114,2186.128,681.428,1414.544,95.785,0.000,1350.979,0.000,1046.260,0.000,7.848,0.000
$DEVICE_MAMPS,164.475,55.080,921.825,686.205,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,374.759,644.028,687.010,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,259000
$DATA_FILE_SIZE,37063,537
$CAP_FILE_SIZE,82881,0
$CFSIZE,260165632,248979456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,301110,224308,-7727.986,17011.598,13,1.9,13,136.2