version: 66.08
glider: 503
mission: 7
dive: 115
start: 12 8 110 2 27 3
data:
$ID,503
$MISSION,7
$DIVE,115
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,720
$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,180
$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,-19388.162
$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,42
$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
$GPS1,081210,022010,-7646.210,17048.918,59,7.2,78,132.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-52.5
$GPS2,081210,022636,-7646.184,17048.740,48,0.8,48,132.6
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,POLYNYA3
$TGT_LATLONG,-7630.000,18000.000
$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,299.0,240209,-18.2,-13.333
$D_GRID,760
$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,-148.27,0.000,2,0.000,0.000,151,2756,3516,0,0,0,0,0,0
$GC,171,-0.84,-219.0,3.8,-8.0,24,192,8.98,1.70,-7.00,0.000,4,0.221,0.068,2513,3765,3856,0,0,0,0,0,0
$GC,402,-0.84,-219.0,63.6,-18.4,65,410,0.00,1.55,0.00,0.000,6,0.000,0.031,2513,2777,3859,0,0,0,0,0,0
$GC,546,-0.84,-219.0,91.1,-18.2,90,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2777,3860,0,0,0,0,0,0
$GC,682,-0.84,-219.0,115.3,-18.0,107,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2777,3860,0,0,0,0,0,0
$GC,809,-0.84,-219.0,138.8,-18.3,119,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2777,3860,0,0,0,0,0,0
$GC,937,-0.84,-219.0,162.4,-18.6,131,941,0.00,2.17,0.00,0.000,4,0.000,0.033,2513,1380,3860,0,0,0,0,0,0
$GC,969,-0.84,-219.0,168.3,-17.0,133,977,0.00,2.28,0.00,0.000,6,0.000,0.045,2503,2760,3860,0,0,0,0,0,0
$GC,1103,-0.84,-219.0,192.6,-19.0,146,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2760,3860,0,0,0,0,0,0
$GC,1231,-0.84,-219.0,216.5,-18.4,158,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2760,3860,0,0,0,0,0,0
$GC,1359,-0.84,-219.0,240.0,-18.8,170,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2760,3860,0,0,0,0,0,0
$GC,1486,-0.84,-219.0,263.6,-18.5,182,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2760,3860,0,0,0,0,0,0
$GC,1676,-0.84,-219.0,298.1,-17.8,200,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2760,3860,0,0,0,0,0,0
$GC,1869,-0.84,-219.0,331.7,-17.3,218,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2760,3860,0,0,0,0,0,0
$GC,2059,-0.84,-219.0,364.7,-17.6,236,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2760,3860,0,0,0,0,0,0
$GC,2251,-0.84,-219.0,398.2,-17.3,254,2252,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2760,3860,0,0,0,0,0,0
$GC,2443,-0.84,-219.0,431.7,-17.7,272,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2760,3860,0,0,0,0,0,0
$GC,2633,-0.84,-219.0,465.0,-17.1,290,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2760,3859,0,0,0,0,0,0
$GC,2824,-0.84,-219.0,497.8,-16.7,308,2825,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2760,3860,0,0,0,0,0,0
$GC,3029,-0.84,-219.0,531.7,-16.4,316,3032,0.00,1.60,0.00,0.000,4,0.000,0.052,2495,3761,3860,0,0,0,0,0,0
$GC,3072,-0.84,-219.0,539.5,-17.6,317,3077,0.08,1.55,0.00,0.000,6,0.146,0.031,2521,2761,3859,0,0,0,0,0,0
$GC,3280,-0.84,-219.0,570.0,-14.7,324,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2761,3860,0,0,0,0,0,0
$GC,3463,-0.84,-219.0,596.6,-14.5,330,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2761,3860,0,0,0,0,0,0
$GC,3646,-0.84,-219.0,623.6,-14.7,336,3650,0.00,1.62,0.00,0.000,4,0.000,0.051,2515,3793,3859,0,0,0,0,0,0
$GC,3682,-0.84,-219.0,628.9,-15.9,337,3686,0.00,1.58,0.00,0.000,6,0.000,0.031,2514,2771,3860,0,0,0,0,0,0
$STATE,3842,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3842,begin apogee
$GC,3847,-0.16,0.0,654.2,16.0,342,4035,0.68,0.00,180.40,1.121,4,0.125,0.000,2741,2689,2960,0,0,0,0,0,0
$STATE,4036,end apogee,CONTROL_FINISHED_OK
$STATE,4036,begin climb
$GC,4037,0.84,219.0,663.9,0.0,348,4240,0.95,0.00,196.23,1.066,6,0.075,0.000,3065,2689,2066,0,0,0,0,0,0
$GC,4443,0.84,219.0,614.7,15.9,361,4446,0.00,1.83,0.00,0.000,4,0.000,0.047,3065,3758,2054,0,0,0,0,0,0
$GC,4548,0.84,219.0,595.7,17.8,364,4553,0.00,1.70,0.00,0.000,6,0.000,0.030,3074,2723,2052,0,0,1,0,0,0
$GC,4761,0.84,219.0,559.6,17.0,371,4765,0.00,1.73,0.00,0.000,4,0.000,0.048,3073,3763,2050,0,0,0,0,0,0
$GC,4797,0.84,219.0,553.3,19.9,372,4800,0.00,1.65,0.00,0.000,6,0.000,0.031,3082,2714,2050,0,0,1,0,0,0
$GC,5015,0.84,219.0,513.9,17.7,379,5018,0.00,1.73,0.00,0.000,4,0.000,0.049,3082,3765,2049,0,0,0,0,0,0
$GC,5058,0.84,219.0,505.0,20.1,380,5063,0.00,1.67,0.00,0.000,6,0.000,0.031,3090,2729,2048,0,0,0,0,0,0
$GC,5261,0.84,219.0,468.3,17.6,396,5265,0.00,1.67,0.00,0.000,4,0.000,0.049,3090,3761,2048,0,0,0,0,0,0
$GC,5307,0.84,219.0,459.5,20.0,400,5311,0.00,1.65,0.00,0.000,6,0.000,0.031,3099,2735,2048,0,0,0,0,0,0
$GC,5510,0.84,219.0,421.8,18.4,419,5511,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2734,2047,0,0,0,0,0,0
$GC,5701,0.84,219.0,386.7,18.5,437,5704,0.00,1.65,0.00,0.000,4,0.000,0.050,3099,3761,2047,0,0,0,0,0,0
$GC,5758,0.84,219.0,375.4,19.7,442,5763,0.10,1.62,0.00,0.000,6,0.159,0.031,3075,2742,2047,0,0,0,0,0,0
$GC,5960,0.84,219.0,342.1,15.9,461,5962,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2741,2046,0,0,0,0,0,0
$GC,6152,0.84,219.0,311.9,15.9,479,6153,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2742,2046,0,0,0,0,0,0
$GC,6344,0.84,219.0,282.2,15.4,497,6346,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2742,2046,0,0,0,0,0,0
$GC,6534,0.84,219.0,253.0,15.3,515,6535,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2742,2046,0,0,0,0,0,0
$GC,6726,0.84,219.0,222.7,15.9,533,6729,0.00,1.67,0.00,0.000,4,0.000,0.050,3075,3763,2046,0,0,0,0,0,0
$GC,6763,0.84,219.0,215.7,18.0,536,6770,0.00,1.62,0.00,0.000,6,0.000,0.031,3083,2729,2046,0,0,0,0,0,0
$GC,6897,0.84,219.0,193.3,17.0,549,6898,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2729,2046,0,0,0,0,0,0
$GC,7025,0.84,219.0,172.1,16.4,561,7026,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2729,2045,0,0,0,0,0,0
$GC,7152,0.84,219.0,151.3,16.2,573,7156,0.00,1.70,0.00,0.000,4,0.000,0.049,3083,3764,2046,0,0,0,0,0,0
$GC,7208,0.84,219.0,141.5,18.1,578,7212,0.00,1.60,0.00,0.000,6,0.000,0.031,3091,2744,2045,0,0,0,0,0,0
$GC,7348,0.84,219.0,117.9,16.9,591,7349,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2743,2045,0,0,0,0,0,0
$GC,7475,0.84,219.0,95.2,17.6,605,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2743,2045,0,0,0,0,0,0
$GC,7617,0.84,219.0,71.8,17.3,630,7623,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2742,2045,0,0,0,0,0,0
$GC,7758,0.84,219.0,46.9,18.8,655,7764,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2742,2045,0,0,0,0,0,0
$GC,7898,0.92,281.9,22.9,10.8,680,7955,0.00,1.70,50.47,0.744,4,0.000,0.047,3091,3768,1810,0,0,0,0,0,0
$FREEZE,8.75,-1.836,-1.903,2,1,0
$FREEZE,7.83,-1.836,-1.902,2,1,0
$FREEZE,6.78,-1.836,-1.901,2,1,0
$FREEZE,5.60,-1.835,-1.900,2,1,0
$FREEZE,4.80,-1.836,-1.900,2,1,0
$FREEZE,3.37,-1.835,-1.898,2,1,0
$FREEZE,2.07,-1.833,-1.897,2,1,0
$STATE,7999,end climb,SURFACE_DEPTH_REACHED
$STATE,7999,begin surface coast
$FREEZE,0.94,-1.832,-1.896,2,1,0
$FREEZE,0.13,-1.835,-1.896,2,1,0
$FINISH,0.1,1.027805
$STATE,8012,end surface coast,CONTROL_FINISHED_OK
$STATE,8012,begin surface
$SM_CCo,8029,182.95,0.101,0,0,445,616.92
$SM_GC,0.84,0.00,0.00,182.95,0.000,0.000,0.101,193,2772,445,-8.13,-0.23,616.92
$IRIDIUM_FIX,-7603.11,17052.36,071210,232348
$TT8_MAMPS,0.027713
$HUMID,48.77
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,17.8
$ALTIM_BOTTOM_PING,654.2,7.0
$24V_AH,22.0,6.118
$10V_AH,10.0,2.614
$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,18.575,40.925,427.100,182.950,0.000,29.072,36.921,177.439,3.000,0.000,50.933,1782.865,4398.730,686.178,1571.931,166.548,0.000,1422.421,0.000,1217.684,0.000,23.595,0.000
$DEVICE_MAMPS,221.085,99.450,1121.490,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,491.126,862.587,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258248
$DATA_FILE_SIZE,43725,699
$CAP_FILE_SIZE,99547,0
$CFSIZE,260165632,244641792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.114,193.3,1
$GPS,081210,044524,-7646.140,17054.117,46,1.9,50,132.5