version: 66.08
glider: 503
mission: 7
dive: 123
start: 12 8 110 18 13 47
data:
$ID,503
$MISSION,7
$DIVE,123
$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,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,4
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-19640.707
$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,41
$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,49
$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
$GPS1,081210,180737,-7645.833,17114.467,45,1.3,45,131.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-59.2
$GPS2,081210,181302,-7645.814,17114.432,19,1.3,19,131.9
$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,310.8,229104,-18.2,-13.333
$D_GRID,753
$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,-219.0,0.0,0.0,0,170,0.00,0.00,-151.30,0.000,2,0.000,0.000,190,2782,3433,0,0,0,0,0,0
$GC,173,-0.84,-219.0,3.2,-5.5,25,200,8.75,1.60,-9.35,0.000,4,0.223,0.083,2516,3750,3856,0,0,0,0,0,0
$GC,300,-0.84,-219.0,36.6,-20.6,47,307,0.00,1.52,0.00,0.000,6,0.000,0.030,2516,2773,3858,0,0,0,0,0,0
$GC,442,-0.84,-219.0,64.6,-20.0,72,448,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2772,3859,0,0,0,0,0,0
$GC,582,-0.84,-219.0,90.8,-18.5,97,588,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2772,3859,0,0,0,0,0,0
$GC,718,-0.84,-219.0,117.8,-19.8,114,722,0.00,2.17,0.00,0.000,4,0.000,0.032,2516,1370,3859,0,0,0,0,0,0
$GC,772,-0.84,-219.0,128.7,-18.3,118,779,0.00,2.28,0.00,0.000,6,0.000,0.044,2506,2758,3859,0,0,0,0,0,0
$GC,907,-0.84,-219.0,154.0,-18.7,131,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2758,3859,0,0,0,0,0,0
$GC,1034,-0.84,-219.0,178.0,-18.7,143,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2758,3859,0,0,0,0,0,0
$GC,1161,-0.84,-219.0,201.8,-18.6,155,1165,0.00,2.15,0.00,0.000,4,0.000,0.034,2506,1377,3859,0,0,0,0,0,0
$GC,1192,-0.84,-219.0,207.9,-18.2,157,1200,0.08,2.28,0.00,0.000,6,0.143,0.044,2523,2768,3859,0,0,0,0,0,0
$GC,1327,-0.84,-219.0,230.0,-16.6,170,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2769,3859,0,0,0,0,0,0
$GC,1455,-0.84,-219.0,250.8,-16.2,182,1456,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2769,3859,0,0,0,0,0,0
$GC,1647,-0.84,-219.0,282.2,-16.6,200,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2769,3859,0,0,0,0,0,0
$GC,1836,-0.84,-219.0,313.6,-16.4,218,1837,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2769,3859,0,0,0,0,0,0
$GC,2028,-0.84,-219.0,344.9,-16.2,236,2029,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2769,3859,0,0,0,0,0,0
$GC,2221,-0.84,-219.0,375.9,-16.3,254,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2769,3858,0,0,0,0,0,0
$GC,2410,-0.84,-219.0,407.0,-16.4,272,2414,0.00,2.15,0.00,0.000,4,0.000,0.033,2523,1378,3858,0,0,0,0,0,0
$GC,2439,-0.84,-219.0,411.5,-16.1,274,2443,0.00,2.22,0.00,0.000,6,0.000,0.044,2514,2774,3858,0,0,0,0,0,0
$GC,2636,-0.84,-219.0,443.9,-16.6,292,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2774,3859,0,0,0,0,0,0
$GC,2829,-0.84,-219.0,476.0,-17.0,310,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2774,3859,0,0,0,0,0,0
$GC,3038,-0.84,-219.0,511.5,-17.1,326,3039,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2774,3858,0,0,0,0,0,0
$GC,3222,-0.84,-219.0,542.6,-16.8,332,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2774,3858,0,0,0,0,0,0
$GC,3405,-0.84,-219.0,573.4,-16.8,338,3406,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2774,3859,0,0,0,0,0,0
$GC,3592,-0.84,-219.0,604.1,-16.7,344,3593,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2774,3858,0,0,0,0,0,0
$GC,3772,-0.84,-219.0,634.2,-16.5,350,3773,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2774,3858,0,0,0,0,0,0
$STATE,3896,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3896,begin apogee
$GC,3901,-0.16,0.0,654.5,16.5,354,4090,0.68,0.00,180.95,1.130,4,0.129,0.000,2740,2688,2959,0,0,0,0,0,0
$STATE,4091,end apogee,CONTROL_FINISHED_OK
$STATE,4091,begin climb
$GC,4093,0.84,219.0,664.4,0.0,360,4295,0.95,0.00,196.65,1.071,6,0.075,0.000,3064,2687,2067,0,0,0,0,0,0
$GC,4491,0.84,219.0,616.5,15.6,373,4494,0.00,1.85,0.00,0.000,4,0.000,0.047,3064,3764,2053,0,0,0,0,0,0
$GC,4593,0.84,219.0,598.3,17.9,376,4597,0.00,1.67,0.00,0.000,6,0.000,0.031,3072,2717,2050,0,0,1,0,0,0
$GC,4811,0.84,219.0,561.8,16.6,383,4815,0.00,1.77,0.00,0.000,4,0.000,0.047,3071,3754,2048,0,0,0,0,0,0
$GC,4854,0.84,219.0,553.6,18.8,384,4859,0.00,1.67,0.00,0.000,6,0.000,0.030,3080,2717,2048,0,0,1,0,0,0
$GC,5061,0.84,219.0,518.3,17.2,391,5062,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2718,2047,0,0,0,0,0,0
$GC,5247,0.84,219.0,486.8,16.9,401,5251,0.00,1.75,0.00,0.000,4,0.000,0.048,3081,3761,2046,0,0,0,0,0,0
$GC,5315,0.84,219.0,474.3,18.6,407,5318,0.00,1.65,0.00,0.000,6,0.000,0.031,3089,2703,2046,0,0,0,0,0,0
$GC,5518,0.84,219.0,439.0,17.1,426,5521,0.00,1.70,0.00,0.000,4,0.000,0.049,3089,3763,2045,0,0,0,0,0,0
$GC,5544,0.84,219.0,433.7,18.9,428,5552,0.00,1.65,0.00,0.000,6,0.000,0.031,3097,2727,2045,0,0,0,0,0,0
$GC,5743,0.84,219.0,398.4,17.5,447,5746,0.00,1.67,0.00,0.000,4,0.000,0.051,3097,3767,2045,0,0,0,0,0,0
$GC,5781,0.84,219.0,390.9,19.3,450,5789,0.10,1.62,0.00,0.000,6,0.155,0.032,3073,2749,2044,0,0,0,0,0,0
$GC,5980,0.84,219.0,359.2,15.9,469,5981,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2749,2044,0,0,0,0,0,0
$GC,6170,0.84,219.0,328.6,16.3,487,6171,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2749,2044,0,0,0,0,0,0
$GC,6361,0.84,219.0,298.0,16.2,505,6362,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2749,2043,0,0,0,0,0,0
$GC,6552,0.84,219.0,268.0,16.0,523,6553,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2749,2043,0,0,0,0,0,0
$GC,6744,0.84,219.0,237.3,16.4,541,6748,0.00,1.65,0.00,0.000,4,0.000,0.050,3073,3758,2043,0,0,0,0,0,0
$GC,6792,0.84,219.0,228.2,18.4,545,6800,0.00,1.60,0.00,0.000,6,0.000,0.031,3081,2740,2043,0,0,0,0,0,0
$GC,6927,0.84,219.0,205.6,16.9,558,6928,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2740,2043,0,0,0,0,0,0
$GC,7054,0.84,219.0,184.1,16.8,570,7058,0.00,1.62,0.00,0.000,4,0.000,0.050,3081,3764,2043,0,0,0,0,0,0
$GC,7088,0.84,219.0,177.8,18.9,573,7092,0.00,1.58,0.00,0.000,6,0.000,0.032,3089,2761,2043,0,0,0,0,0,0
$GC,7228,0.84,219.0,153.9,16.5,586,7229,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2759,2043,0,0,0,0,0,0
$GC,7355,0.84,219.0,132.6,16.9,598,7359,0.00,1.62,0.00,0.000,4,0.000,0.050,3089,3788,2042,0,0,0,0,0,0
$GC,7392,0.84,219.0,125.6,19.0,601,7400,0.00,1.60,0.00,0.000,6,0.000,0.031,3097,2766,2042,0,0,0,0,0,0
$GC,7527,0.84,219.0,102.8,16.9,614,7528,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2765,2042,0,0,0,0,0,0
$GC,7659,0.84,219.0,80.2,19.6,636,7665,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2765,2042,0,0,0,0,0,0
$GC,7800,0.84,219.0,56.0,17.5,661,7806,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2765,2042,0,0,0,0,0,0
$GC,7940,0.84,219.0,31.3,17.3,686,7946,0.00,1.62,0.00,0.000,4,0.000,0.050,3097,3764,2042,0,0,0,0,0,0
$GC,7985,0.84,219.0,23.4,16.7,694,7993,0.10,1.58,0.00,0.000,6,0.158,0.032,3072,2761,2042,0,0,0,0,0,0
$FREEZE,8.30,-1.842,-1.903,2,1,0
$FREEZE,7.48,-1.845,-1.902,2,1,0
$FREEZE,6.25,-1.844,-1.901,2,1,0
$FREEZE,5.52,-1.842,-1.900,2,1,0
$FREEZE,4.65,-1.840,-1.900,2,1,0
$FREEZE,3.97,-1.838,-1.899,2,1,0
$FREEZE,3.52,-1.839,-1.899,2,1,0
$FREEZE,2.89,-1.839,-1.898,2,1,0
$STATE,8119,end climb,SURFACE_DEPTH_REACHED
$STATE,8119,begin surface coast
$FREEZE,2.22,-1.839,-1.898,2,1,0
$FREEZE,1.38,-1.838,-1.897,2,1,0
$FREEZE,0.49,-1.836,-1.897,2,1,0
$FREEZE,0.16,-1.839,-1.897,2,1,0
$FINISH,0.2,1.027817
$STATE,8141,end surface coast,CONTROL_FINISHED_OK
$STATE,8141,begin surface
$SM_CCo,8156,198.40,0.101,0,0,445,616.92
$SM_GC,0.88,0.00,0.00,198.40,0.000,0.000,0.101,191,2759,445,-8.13,-0.59,616.92
$IRIDIUM_FIX,-7603.11,17110.94,081210,151555
$TT8_MAMPS,0.027713
$HUMID,49.80
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,19.4
$ALTIM_BOTTOM_PING,654.5,7.0
$24V_AH,22.0,6.727
$10V_AH,10.0,2.923
$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,18.275,46.375,377.600,198.400,0.000,25.006,36.782,155.505,3.250,0.000,23.229,1847.262,4470.116,689.803,1543.016,171.989,0.000,1432.361,0.000,1229.841,0.000,23.592,0.000
$DEVICE_MAMPS,222.615,83.385,1129.905,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,507.635,884.670,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258672
$DATA_FILE_SIZE,47061,722
$CAP_FILE_SIZE,102045,0
$CFSIZE,260165632,244379648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1
$CURRENT,0.045,353.4,1
$GPS,081210,203437,-7645.368,17121.043,56,1.7,56,131.8