version: 66.08
glider: 503
mission: 7
dive: 118
start: 12 8 110 9 32 39
data:
$ID,503
$MISSION,7
$DIVE,118
$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,-19391.938
$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,46
$R_STBD_OVSHOOT,27
$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
$GPS1,081210,092455,-7646.132,17102.344,69,1.2,69,132.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-49.0
$GPS2,081210,093211,-7646.120,17102.283,35,1.9,38,132.3
$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,286.0,234386,-18.2,-13.333
$D_GRID,758
$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,-219.0,0.0,0.0,0,160,0.00,0.00,-141.62,0.000,2,0.000,0.000,145,2752,3421,0,0,0,0,0,0
$GC,163,-0.84,-219.0,3.8,-9.8,23,190,9.07,2.25,-8.82,0.000,4,0.222,0.047,2522,1366,3856,0,0,0,0,0,0
$GC,263,-0.84,-219.0,28.5,-15.8,40,270,0.00,2.33,0.00,0.000,6,0.000,0.045,2511,2778,3858,0,0,0,0,0,0
$GC,404,-0.84,-219.0,54.1,-17.7,65,411,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2778,3858,0,0,0,0,0,0
$GC,546,-0.84,-219.0,81.0,-18.4,90,553,0.00,1.60,0.00,0.000,4,0.000,0.050,2503,3760,3859,0,0,0,0,0,0
$GC,582,-0.84,-219.0,88.2,-20.1,96,589,0.00,1.55,0.00,0.000,6,0.000,0.031,2503,2777,3859,0,0,0,0,0,0
$GC,719,-0.84,-219.0,114.9,-20.3,114,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2777,3858,0,0,0,0,0,0
$GC,846,-0.84,-219.0,139.7,-19.5,126,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2777,3859,0,0,0,0,0,0
$GC,974,-0.84,-219.0,165.6,-21.0,138,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2777,3859,0,0,0,0,0,0
$GC,1101,-0.84,-219.0,191.7,-19.8,150,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2777,3859,0,0,0,0,0,0
$GC,1229,-0.84,-219.0,217.0,-19.6,162,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2777,3859,0,0,0,0,0,0
$GC,1356,-0.84,-219.0,240.7,-17.8,174,1360,0.00,2.17,0.00,0.000,4,0.000,0.033,2503,1377,3859,0,0,0,0,0,0
$GC,1388,-0.84,-219.0,246.9,-17.2,176,1397,0.08,2.33,0.00,0.000,6,0.142,0.045,2522,2789,3859,0,0,0,0,0,0
$GC,1525,-0.84,-219.0,268.2,-16.2,189,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2789,3859,0,0,0,0,0,0
$GC,1715,-0.84,-219.0,300.3,-16.9,207,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2789,3859,0,0,0,0,0,0
$GC,1905,-0.84,-219.0,333.6,-16.9,225,1906,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2789,3859,0,0,0,0,0,0
$GC,2097,-0.84,-219.0,365.4,-16.3,243,2098,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2789,3859,0,0,0,0,0,0
$GC,2289,-0.84,-219.0,396.9,-16.6,261,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2789,3859,0,0,0,0,0,0
$GC,2479,-0.84,-219.0,429.2,-16.7,279,2480,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2789,3859,0,0,0,0,0,0
$GC,2670,-0.84,-219.0,461.6,-17.0,297,2672,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2789,3859,0,0,0,0,0,0
$GC,2861,-0.84,-219.0,493.0,-16.2,315,2865,0.00,1.58,0.00,0.000,4,0.000,0.053,2515,3769,3859,0,0,0,0,0,0
$GC,2888,-0.84,-219.0,497.7,-16.9,317,2896,0.00,1.50,0.00,0.000,6,0.000,0.031,2516,2796,3859,0,0,0,0,0,0
$GC,3090,-0.84,-219.0,530.7,-16.5,325,3091,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2796,3859,0,0,0,0,0,0
$GC,3273,-0.84,-219.0,560.8,-16.5,331,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2796,3859,0,0,0,0,0,0
$GC,3457,-0.84,-219.0,591.0,-16.3,337,3458,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2796,3859,0,0,0,0,0,0
$GC,3642,-0.84,-219.0,620.7,-16.0,343,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2796,3859,0,0,0,0,0,0
$GC,3824,-0.84,-219.0,649.3,-15.4,349,3825,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2796,3858,0,0,0,0,0,0
$GC,4008,-0.84,-219.0,677.6,-15.4,355,4011,0.00,1.58,0.00,0.000,4,0.000,0.051,2508,3769,3858,0,0,0,0,0,0
$GC,4034,-0.84,-219.0,682.2,-17.2,355,4043,0.00,1.50,0.00,0.000,6,0.000,0.031,2508,2802,3858,0,0,0,0,0,0
$STATE,4165,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4165,begin apogee
$GC,4170,-0.16,0.0,701.9,15.5,360,4359,0.65,0.00,181.25,1.154,4,0.073,0.000,2756,2692,2960,0,0,0,0,0,0
$STATE,4360,end apogee,CONTROL_FINISHED_OK
$STATE,4360,begin climb
$GC,4362,0.84,219.0,701.9,0.0,366,4569,0.88,1.90,198.02,1.096,4,0.058,0.051,3077,3752,2067,0,0,1,0,0,0
$GC,4607,0.88,255.0,686.2,11.9,373,4648,0.00,1.80,34.22,1.047,6,0.000,0.029,3085,2718,1919,0,0,1,0,0,0
$GC,4830,0.93,293.5,660.5,11.8,381,4871,0.00,2.53,35.33,1.056,4,0.000,0.034,3095,1302,1762,0,0,0,0,0,0
$GC,5000,1.00,349.5,640.8,11.0,386,5060,0.00,2.47,52.05,1.055,6,0.000,0.042,3095,2711,1535,0,0,1,0,0,0
$GC,5244,1.00,349.5,609.1,13.3,394,5247,0.00,1.77,0.00,0.000,4,0.000,0.049,3095,3764,1528,0,0,0,0,0,0
$GC,5292,1.00,349.5,601.2,15.3,395,5297,0.00,1.73,0.00,0.000,6,0.000,0.030,3103,2718,1526,0,0,1,0,0,0
$GC,5495,1.00,349.5,572.2,14.3,402,5496,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2718,1525,0,0,0,0,0,0
$GC,5678,1.00,349.5,545.3,14.6,408,5679,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2718,1524,0,0,0,0,0,0
$GC,5863,1.00,349.5,518.5,14.5,414,5864,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2718,1524,0,0,0,0,0,0
$GC,6047,1.00,349.5,491.5,14.7,422,6051,0.00,1.73,0.00,0.000,4,0.000,0.050,3103,3773,1523,0,0,0,0,0,0
$GC,6085,1.00,349.5,485.0,16.8,425,6094,0.00,1.67,0.00,0.000,6,0.000,0.031,3110,2727,1523,0,0,0,0,0,0
$GC,6285,1.00,349.5,453.3,17.0,444,6286,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2727,1523,0,0,0,0,0,0
$GC,6475,1.00,349.5,420.1,17.9,462,6476,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2727,1522,0,0,0,0,0,0
$GC,6665,1.00,349.5,386.5,18.0,480,6667,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2727,1522,0,0,0,0,0,0
$GC,6857,1.00,349.5,352.1,18.1,498,6859,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2727,1522,0,0,0,0,0,0
$GC,7049,1.00,349.5,318.8,17.5,516,7050,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2727,1522,0,0,0,0,0,0
$GC,7240,1.00,349.5,285.6,18.0,534,7241,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2727,1522,0,0,0,0,0,0
$GC,7430,1.00,349.5,252.5,17.5,552,7434,0.00,2.25,0.00,0.000,4,0.000,0.036,3121,1295,1522,0,0,0,0,0,0
$GC,7469,1.00,349.5,245.8,16.6,555,7474,0.00,2.30,0.00,0.000,6,0.000,0.044,3121,2727,1521,0,0,0,0,0,0
$GC,7603,1.00,349.5,221.5,18.5,567,7604,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2727,1520,0,0,0,0,0,0
$GC,7730,1.00,349.5,196.7,19.8,579,7731,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2727,1521,0,0,0,0,0,0
$GC,7858,1.00,349.5,171.6,19.3,591,7862,0.00,2.25,0.00,0.000,4,0.000,0.037,3132,1296,1521,0,0,0,0,0,0
$GC,7886,1.00,349.5,166.1,19.1,593,7890,0.00,2.30,0.00,0.000,6,0.000,0.044,3132,2724,1521,0,0,0,0,0,0
$GC,8020,1.00,349.5,139.6,20.1,605,8024,0.00,1.67,0.00,0.000,4,0.000,0.052,3132,3762,1521,0,0,0,0,0,0
$GC,8058,1.00,349.5,130.6,22.4,608,8065,0.00,1.62,0.00,0.000,6,0.000,0.031,3140,2729,1521,0,0,0,0,0,0
$GC,8192,1.00,349.5,103.7,19.5,621,8194,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2729,1521,0,0,0,0,0,0
$GC,8324,1.00,349.5,76.2,19.7,643,8330,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2729,1520,0,0,0,0,0,0
$GC,8464,1.00,349.5,46.7,19.9,668,8470,0.00,1.67,0.00,0.000,4,0.000,0.050,3140,3762,1521,0,0,0,0,0,0
$GC,8488,1.00,349.5,40.9,24.5,672,8495,0.00,1.62,0.00,0.000,6,0.000,0.032,3148,2727,1520,0,0,0,0,0,0
$FREEZE,8.75,-1.848,-1.903,2,1,0
$FREEZE,7.65,-1.848,-1.902,2,1,0
$FREEZE,6.06,-1.848,-1.901,2,1,0
$GC,8629,1.00,349.5,6.1,25.6,697,8636,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2726,1520,0,0,0,0,0,0
$FREEZE,2.88,-1.848,-1.898,2,1,0
$STATE,8642,end climb,SURFACE_DEPTH_REACHED
$STATE,8642,begin surface coast
$FREEZE,2.13,-1.849,-1.898,2,1,0
$FREEZE,0.90,-1.846,-1.897,2,1,0
$FINISH,0.9,1.027812
$STATE,8653,end surface coast,CONTROL_FINISHED_OK
$STATE,8654,begin surface
$SM_CCo,8669,140.48,0.103,0,0,445,616.92
$SM_GC,0.74,0.00,0.00,140.48,0.000,0.000,0.103,193,2796,445,-8.14,0.45,616.92
$IRIDIUM_FIX,-7603.11,17053.84,081210,070732
$TT8_MAMPS,0.027713
$HUMID,49.40
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.5,17.5
$ALTIM_BOTTOM_PING,701.9,6.5
$24V_AH,22.0,6.567
$10V_AH,10.0,2.794
$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,18.450,49.900,500.875,140.475,0.000,24.157,40.083,245.106,3.500,0.000,40.620,1793.764,4939.299,725.972,1646.466,152.149,0.000,1487.411,0.000,1219.366,0.000,27.898,0.000
$DEVICE_MAMPS,221.850,99.450,1153.620,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,492.319,859.323,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258364
$DATA_FILE_SIZE,43791,701
$CAP_FILE_SIZE,105167,0
$CFSIZE,260165632,244490240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.119,171.5,1
$GPS,081210,120136,-7645.847,17108.418,83,1.8,88,132.1