version: 66.08
glider: 503
mission: 7
dive: 43
start: 12 2 110 2 6 43
data:
$ID,503
$MISSION,7
$DIVE,43
$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,-17317.652
$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,43
$R_STBD_OVSHOOT,23
$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,-7727.986,17011.598,181,99.0,181,136.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.52
$_SM_ANGLEo,2.3
$GPS2,301110,224308,-7727.986,17011.598,181,99.0,181,136.2
$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,-219.0,0.0,0.0,0,25,0.00,0.00,-8.20,0.000,2,0.000,0.000,2821,3773,3401,0,0,0,0,0,0
$GC,27,-0.84,-219.0,9.9,-0.0,1,48,0.77,4.65,-9.62,0.000,4,0.096,0.041,2550,889,3856,0,0,0,0,0,0
$GC,104,-0.87,-219.0,20.3,-15.0,14,112,0.00,2.33,0.00,0.000,6,0.000,0.044,2547,2304,3858,0,0,0,0,0,0
$GC,246,-0.84,-219.0,42.9,-16.6,39,253,0.00,2.28,0.00,0.000,4,0.000,0.052,2547,3713,3858,0,0,0,0,0,0
$GC,362,-0.84,-219.0,64.8,-18.2,60,370,0.00,2.25,0.00,0.000,6,0.000,0.030,2547,2289,3859,0,0,0,0,0,0
$GC,504,-0.81,-219.0,87.9,-17.2,85,511,0.00,2.30,0.00,0.000,4,0.000,0.050,2547,3712,3858,0,0,0,0,0,0
$GC,606,-0.79,-219.0,106.5,-19.1,100,610,0.00,2.17,0.00,0.000,6,0.000,0.030,2547,2302,3859,0,0,0,0,0,0
$GC,741,-0.77,-219.0,129.4,-16.4,112,745,0.00,2.28,0.00,0.000,4,0.000,0.051,2547,3712,3858,0,0,0,0,0,0
$GC,814,-0.74,-219.0,141.9,-16.9,118,818,0.12,2.20,0.00,0.000,6,0.161,0.030,2582,2291,3858,0,0,0,0,0,0
$GC,949,-0.78,-219.0,162.3,-14.1,130,953,0.00,2.30,0.00,0.000,4,0.000,0.051,2572,3720,3858,0,0,0,0,0,0
$GC,1054,-0.81,-219.0,177.2,-13.5,139,1058,0.00,2.20,0.00,0.000,6,0.000,0.030,2571,2296,3859,0,0,0,0,0,0
$GC,1191,-0.84,-219.0,194.0,-11.9,151,1195,0.00,2.28,0.00,0.000,4,0.000,0.050,2563,3712,3859,0,0,0,0,0,0
$GC,1296,-0.84,-219.0,208.5,-13.6,160,1300,0.00,2.17,0.00,0.000,6,0.000,0.030,2563,2303,3859,0,0,0,0,0,0
$GC,1431,-0.86,-219.0,226.3,-12.8,172,1435,0.00,2.30,0.00,0.000,4,0.000,0.053,2563,3715,3859,0,0,0,0,0,0
$GC,1537,-0.88,-219.0,241.0,-13.7,181,1541,0.00,2.17,0.00,0.000,6,0.000,0.031,2563,2302,3858,0,0,0,0,0,0
$GC,1671,-0.91,-219.0,258.5,-13.0,193,1676,0.10,2.30,0.00,0.000,4,0.117,0.053,2510,3718,3858,0,0,0,0,0,0
$GC,1756,-0.83,-219.0,273.6,-18.9,200,1761,0.15,2.20,0.00,0.000,6,0.164,0.031,2552,2290,3858,0,0,0,0,0,0
$GC,1955,-0.83,-219.0,301.6,-13.8,218,1959,0.00,2.28,0.00,0.000,4,0.000,0.051,2542,3713,3859,0,0,0,0,0,0
$GC,2097,-0.83,-219.0,322.9,-14.7,230,2101,0.00,2.17,0.00,0.000,6,0.000,0.030,2542,2297,3858,0,0,0,0,0,0
$GC,2294,-0.83,-219.0,351.9,-14.5,248,2298,0.00,2.28,0.00,0.000,4,0.000,0.051,2531,3712,3858,0,0,0,0,0,0
$GC,2423,-0.80,-219.0,373.1,-16.5,259,2430,0.00,2.17,0.00,0.000,6,0.000,0.030,2531,2294,3858,0,0,0,0,0,0
$STATE,2598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2598,begin apogee
$GC,2603,-0.16,0.0,401.6,15.8,276,2782,0.70,0.00,173.60,0.926,6,0.130,0.000,2762,2510,2960,0,0,0,0,0,0
$STATE,2783,end apogee,CONTROL_FINISHED_OK
$STATE,2783,begin climb
$GC,2784,0.84,219.0,413.1,0.0,292,2982,0.95,2.53,183.88,0.874,4,0.069,0.036,3101,1108,2065,0,0,1,0,0,0
$GC,3043,0.74,219.0,390.3,15.1,315,3051,0.17,2.38,0.00,0.000,6,0.159,0.041,3057,2490,2059,0,0,1,0,0,0
$GC,3242,0.67,219.0,363.1,14.0,334,3246,0.00,2.15,0.00,0.000,4,0.000,0.050,3057,3767,2053,0,0,0,0,0,0
$GC,3354,0.55,219.0,344.9,16.3,344,3359,0.25,2.03,0.00,0.000,6,0.148,0.031,2996,2507,2051,0,0,0,0,0,0
$GC,3554,0.70,308.7,324.3,9.7,362,3643,0.15,2.25,77.07,0.842,4,0.081,0.050,3062,3769,1700,0,0,1,0,0,0
$GC,3716,0.65,308.7,298.7,17.5,376,3724,0.12,2.12,0.00,0.000,6,0.132,0.030,3032,2504,1696,0,0,0,0,0,0
$GC,3917,0.71,331.8,273.1,12.4,395,3943,0.00,2.17,19.85,0.812,4,0.000,0.051,3032,3754,1607,0,0,1,0,0,0
$GC,3972,0.71,331.8,265.3,14.0,400,3976,0.00,2.05,0.00,0.000,6,0.000,0.032,3040,2501,1605,0,0,0,0,0,0
$GC,4171,0.74,331.8,238.1,14.1,418,4175,0.00,2.10,0.00,0.000,4,0.000,0.050,3041,3764,1603,0,0,1,0,0,0
$GC,4213,0.74,331.8,231.1,15.6,421,4222,0.00,2.08,0.00,0.000,6,0.000,0.031,3048,2500,1602,0,0,0,0,0,0
$GC,4348,0.74,331.8,211.3,14.7,434,4352,0.00,2.10,0.00,0.000,4,0.000,0.050,3049,3769,1602,0,0,1,0,0,0
$GC,4380,0.74,331.8,205.8,17.0,436,4389,0.00,2.05,0.00,0.000,6,0.000,0.031,3057,2505,1602,0,0,0,0,0,0
$GC,4515,0.74,331.8,185.5,14.7,449,4517,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2506,1601,0,0,0,0,0,0
$GC,4643,0.74,331.8,167.0,14.5,461,4646,0.00,2.05,0.00,0.000,4,0.000,0.050,3057,3766,1601,0,0,0,0,0,0
$GC,4701,0.71,331.8,157.8,15.2,466,4710,0.00,2.05,0.00,0.000,6,0.000,0.032,3064,2502,1601,0,0,0,0,0,0
$GC,4837,0.71,331.8,138.0,17.4,479,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2501,1601,0,0,0,0,0,0
$GC,4964,0.68,331.8,116.8,16.0,491,4968,0.00,2.05,0.00,0.000,4,0.000,0.050,3064,3766,1600,0,0,1,0,0,0
$GC,5009,0.64,331.8,108.0,20.1,495,5014,0.17,2.00,0.00,0.000,6,0.156,0.031,3021,2490,1600,0,0,0,0,0,0
$GC,5145,0.76,372.7,91.0,11.7,514,5185,0.12,0.00,34.50,0.747,6,0.098,0.000,3080,2489,1439,0,0,0,0,0,0
$GC,5318,0.87,485.7,65.0,8.7,544,5418,0.00,2.20,91.00,0.695,4,0.000,0.047,3080,3765,979,0,0,0,0,0,0
$GC,5497,0.91,485.7,32.1,16.4,573,5504,0.00,2.08,0.00,0.000,6,0.000,0.031,3088,2494,977,0,0,0,0,0,0
$FREEZE,8.36,-1.902,-1.905,2,18,1
$FREEZE,7.33,-1.901,-1.904,2,18,1
$GC,5636,0.91,485.7,7.3,17.9,598,5643,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2494,974,0,0,0,0,0,0
$FREEZE,4.92,-1.899,-1.902,2,18,1
$FREEZE,4.21,-1.898,-1.902,2,18,1
$FREEZE,3.74,-1.901,-1.901,2,18,1
$FREEZE,3.54,-1.901,-1.901,2,18,1
$FREEZE,3.07,-1.901,-1.901,2,18,1
$FREEZE,2.51,-1.900,-1.900,2,18,1
$STATE,5678,end climb,SURFACE_DEPTH_REACHED
$STATE,5678,begin surface coast
$FREEZE,1.90,-1.899,-1.900,2,18,1
$FREEZE,1.02,-1.901,-1.899,2,18,1
$FREEZE,-0.18,-1.893,-1.898,2,18,1
$FREEZE,0.03,-1.893,-1.898,2,18,1
$FREEZE,0.28,-1.899,-1.898,2,18,1
$FREEZE,0.24,-1.898,-1.871,2,18,1
$FREEZE,-0.10,-1.902,-1.898,2,18,1
$FREEZE,-0.17,-1.920,-0.946,2,18,1
$FINISH,-0.2,1.013948
$STATE,5725,end surface coast,CONTROL_FINISHED_OK
$STATE,5725,begin surface
$SM_CCo,5740,68.30,0.098,0,0,445,616.92
$SM_GC,0.46,0.00,0.00,68.30,0.000,0.000,0.098,190,2286,445,-8.21,-0.37,616.92
$IRIDIUM_FIX,-7639.69,17024.14,301110,222221
$TT8_MAMPS,0.027713
$HUMID,49.92
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.6
$24V_AH,23.0,43.014
$10V_AH,10.1,61.119
$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,11.750,86.350,579.900,68.300,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1472.917,2122.471,601.199,1562.386,106.437,0.000,1322.828,0.000,1129.710,0.000,9.476,0.000
$DEVICE_MAMPS,164.475,55.080,926.415,97.920,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,427.553,762.973,801.195,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40511,613
$CAP_FILE_SIZE,91246,0
$CFSIZE,260165632,248410112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,301110,224308,-7727.986,17011.598,181,99.0,181,136.2