version: 66.08
glider: 503
mission: 7
dive: 103
start: 12 7 110 0 44 45
data:
$ID,503
$MISSION,7
$DIVE,103
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,2
$SURFACE_URGENCY_TRY,2
$SURFACE_URGENCY_FORCE,4
$T_DIVE,125
$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,0.0099999998
$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,2
$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,4
$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,1
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,4
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-19373.055
$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,2800
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2780
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$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,134.3
$AH0_10V,102.9
$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
$GPS1,071210,003655,-7648.309,17043.400,78,1.1,79,132.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-59.4
$GPS2,071210,004419,-7648.300,17043.053,8,1.6,13,132.9
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,POLYNYA1
$TGT_LATLONG,-7630.000,17100.000
$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,239.3,34675,-18.2,-13.333
$D_GRID,766
$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,16,-0.84,-219.0,0.0,0.0,0,167,0.00,0.00,-148.27,0.000,2,0.000,0.000,182,2787,3472,0,0,0,0,0,0
$GC,171,-0.84,-219.0,3.6,-7.4,24,192,9.07,1.62,-7.93,0.000,4,0.229,0.068,2514,3766,3855,0,0,0,0,0,0
$GC,199,-0.84,-219.0,15.2,-35.7,28,205,0.00,1.58,0.00,0.000,6,0.000,0.031,2514,2774,3857,0,0,0,0,0,0
$GC,340,-0.84,-219.0,43.9,-20.6,53,347,0.00,1.62,0.00,0.000,4,0.000,0.051,2507,3752,3859,0,0,0,0,0,0
$GC,597,-0.84,-219.0,93.2,-19.3,99,604,0.00,1.52,0.00,0.000,6,0.000,0.031,2507,2779,3859,0,0,0,0,0,0
$GC,739,-0.84,-219.0,120.6,-19.1,115,743,0.00,1.62,0.00,0.000,4,0.000,0.052,2500,3764,3860,0,0,0,0,0,0
$GC,765,-0.84,-219.0,126.3,-20.7,117,773,0.00,1.55,0.00,0.000,6,0.000,0.031,2500,2781,3859,0,0,0,0,0,0
$GC,899,-0.84,-219.0,152.1,-19.0,130,901,0.10,0.00,0.00,0.000,6,0.182,0.000,2525,2780,3859,0,0,0,0,0,0
$GC,1027,-0.84,-219.0,174.7,-17.3,142,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2780,3859,0,0,0,0,0,0
$GC,1154,-0.84,-219.0,196.6,-17.0,154,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2780,3859,0,0,0,0,0,0
$GC,1282,-0.84,-219.0,217.8,-16.1,166,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2780,3859,0,0,0,0,0,0
$GC,1409,-0.84,-219.0,239.2,-17.0,178,1413,0.00,1.60,0.00,0.000,4,0.000,0.053,2518,3757,3859,0,0,1,0,0,0
$GC,1435,-0.84,-219.0,244.4,-18.1,180,1443,0.00,1.50,0.00,0.000,6,0.000,0.031,2518,2793,3859,0,0,0,0,0,0
$GC,1570,-0.84,-219.0,268.1,-18.0,193,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2793,3859,0,0,0,0,0,0
$GC,1762,-0.84,-219.0,302.8,-18.1,211,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2793,3859,0,0,0,0,0,0
$GC,1953,-0.84,-219.0,336.0,-16.8,229,1954,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2793,3859,0,0,0,0,0,0
$GC,2146,-0.84,-219.0,368.2,-16.5,247,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2793,3859,0,0,0,0,0,0
$GC,2336,-0.84,-219.0,400.6,-17.3,265,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2793,3859,0,0,0,0,0,0
$GC,2527,-0.84,-219.0,433.2,-17.0,283,2530,0.00,1.58,0.00,0.000,4,0.000,0.051,2510,3764,3859,0,0,0,0,0,0
$GC,2564,-0.84,-219.0,440.4,-18.2,286,2573,0.00,1.52,0.00,0.000,6,0.000,0.031,2510,2772,3859,0,0,0,0,0,0
$GC,2763,-0.84,-219.0,474.4,-17.1,305,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2773,3859,0,0,0,0,0,0
$STATE,2923,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2923,begin apogee
$GC,2927,-0.16,0.0,501.5,16.9,320,3115,0.70,0.00,177.18,1.009,4,0.129,0.000,2742,2688,2959,0,0,0,0,0,0
$STATE,3116,end apogee,CONTROL_FINISHED_OK
$STATE,3116,begin climb
$GC,3117,0.84,219.0,510.0,0.0,326,3313,0.95,0.00,190.52,0.957,6,0.077,0.000,3065,2687,2067,0,0,0,0,0,0
$GC,3504,0.84,219.0,465.7,14.6,352,3508,0.00,1.83,0.00,0.000,4,0.000,0.048,3065,3758,2055,0,0,0,0,0,0
$GC,3564,0.84,219.0,455.5,16.5,357,3572,0.00,1.70,0.00,0.000,6,0.000,0.030,3073,2724,2053,0,0,1,0,0,0
$GC,3764,0.84,219.0,424.2,16.1,376,3766,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2724,2051,0,0,0,0,0,0
$GC,3954,0.84,219.0,394.2,15.6,394,3957,0.00,1.70,0.00,0.000,4,0.000,0.048,3073,3760,2050,0,0,0,0,0,0
$GC,4026,0.84,219.0,381.5,17.6,400,4033,0.00,1.67,0.00,0.000,6,0.000,0.030,3081,2721,2049,0,0,0,0,0,0
$GC,4224,0.84,219.0,349.2,16.0,419,4228,0.00,1.70,0.00,0.000,4,0.000,0.050,3081,3761,2049,0,0,0,0,0,0
$GC,4273,0.84,219.0,340.0,18.9,423,4281,0.00,1.65,0.00,0.000,6,0.000,0.031,3089,2730,2049,0,0,0,0,0,0
$GC,4472,0.84,219.0,306.2,17.1,442,4475,0.00,1.67,0.00,0.000,4,0.000,0.050,3089,3764,2048,0,0,0,0,0,0
$GC,4532,0.84,219.0,294.6,19.7,447,4540,0.00,1.62,0.00,0.000,6,0.000,0.032,3097,2746,2048,0,0,0,0,0,0
$GC,4730,0.84,219.0,260.4,16.9,466,4733,0.00,1.62,0.00,0.000,4,0.000,0.050,3097,3760,2048,0,0,0,0,0,0
$GC,4779,0.84,219.0,250.5,20.7,470,4788,0.12,1.60,0.00,0.000,6,0.156,0.032,3066,2751,2047,0,0,0,0,0,0
$GC,4977,0.84,219.0,220.4,14.8,489,4978,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2752,2047,0,0,0,0,0,0
$GC,5105,0.84,219.0,201.4,14.6,501,5106,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2752,2047,0,0,0,0,0,0
$GC,5232,0.84,219.0,182.6,14.8,513,5236,0.00,1.65,0.00,0.000,4,0.000,0.050,3066,3754,2047,0,0,0,0,0,0
$GC,5288,0.84,219.0,173.6,16.6,518,5291,0.00,1.58,0.00,0.000,6,0.000,0.031,3073,2750,2046,0,0,0,0,0,0
$GC,5428,0.84,219.0,152.7,15.2,531,5429,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2750,2046,0,0,0,0,0,0
$GC,5555,0.84,219.0,133.8,14.5,543,5559,0.00,1.65,0.00,0.000,4,0.000,0.050,3073,3758,2046,0,0,0,0,0,0
$GC,5593,0.84,219.0,127.4,15.9,546,5601,0.00,1.58,0.00,0.000,6,0.000,0.031,3081,2749,2046,0,0,0,0,0,0
$GC,5728,0.84,219.0,106.8,15.5,559,5729,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2749,2046,0,0,0,0,0,0
$GC,5858,0.84,219.0,86.6,15.7,578,5865,0.00,1.65,0.00,0.000,4,0.000,0.050,3081,3760,2046,0,0,0,0,0,0
$GC,5911,0.84,219.0,77.5,17.6,587,5918,0.00,1.55,0.00,0.000,6,0.000,0.032,3089,2771,2046,0,0,0,0,0,0
$GC,6054,0.84,219.0,53.8,16.8,612,6060,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2771,2046,0,0,0,0,0,0
$GC,6194,0.84,219.0,31.4,14.5,637,6201,0.00,1.60,0.00,0.000,4,0.000,0.050,3089,3753,2046,0,0,0,0,0,0
$GC,6295,0.84,219.0,13.6,18.1,655,6302,0.00,1.52,0.00,0.000,6,0.000,0.032,3096,2778,2045,0,0,0,0,0,0
$FREEZE,8.85,-1.846,-1.902,2,1,0
$FREEZE,7.80,-1.836,-1.901,2,1,0
$FREEZE,6.91,-1.833,-1.900,2,1,0
$FREEZE,6.05,-1.835,-1.900,2,1,0
$FREEZE,5.12,-1.833,-1.899,2,1,0
$FREEZE,4.18,-1.833,-1.898,2,1,0
$FREEZE,3.24,-1.832,-1.897,2,1,0
$FREEZE,2.33,-1.829,-1.896,2,1,0
$STATE,6357,end climb,SURFACE_DEPTH_REACHED
$STATE,6357,begin surface coast
$FREEZE,1.16,-1.826,-1.895,2,1,0
$FREEZE,0.24,-1.815,-1.894,2,1,0
$FREEZE,0.10,-1.792,-0.759,2,1,0
$FINISH,0.1,1.011143
$STATE,6375,end surface coast,FINISH_DEPTH_REACHED
$STATE,6375,begin surface
$SM_CCo,6390,201.32,0.102,0,0,444,616.92
$SM_GC,0.81,0.00,0.00,201.32,0.000,0.000,0.102,187,2775,444,-8.16,-0.11,616.92
$IRIDIUM_FIX,-7603.11,17049.36,061210,222250
$TT8_MAMPS,0.027713
$HUMID,48.54
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.8
$24V_AH,22.3,4.561
$10V_AH,10.0,1.921
$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,18.625,45.350,367.700,201.325,0.000,53.886,63.735,167.854,1.750,0.000,16.220,1680.768,3063.948,693.680,1476.170,133.161,0.000,1371.929,0.000,1117.218,0.000,12.905,0.000
$DEVICE_MAMPS,228.735,100.980,1009.035,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,469.439,808.219,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258388
$DATA_FILE_SIZE,43766,669
$CAP_FILE_SIZE,92149,0
$CFSIZE,260165632,245260288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.199,229.3,1
$GPS,071210,023604,-7647.767,17041.768,28,2.9,48,132.9