version: 66.08
glider: 503
mission: 7
dive: 262
start: 12 17 110 18 2 0
data:
$ID,503
$MISSION,7
$DIVE,262
$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,-5
$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,320
$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,-19818.004
$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,50
$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,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
$GPS1,171210,175424,-7634.052,17818.797,23,1.1,41,120.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-69.8
$GPS2,171210,180131,-7633.986,17818.879,11,1.7,11,120.8
$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,4.6,44337,-18.2,-13.333
$D_GRID,375
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.84,-219.0,0.0,0.0,0,109,0.00,0.00,-92.25,0.000,2,0.000,0.000,179,2772,3493,0,0,0,0,0,0
$GC,112,-0.84,-219.0,3.6,-8.0,15,133,8.85,2.30,-7.57,0.000,4,0.216,0.056,2525,1371,3856,0,0,0,0,0,0
$GC,384,-0.84,-219.0,57.8,-16.8,63,391,0.00,2.30,0.00,0.000,6,0.000,0.045,2513,2779,3860,0,0,0,0,0,0
$GC,525,-0.84,-219.0,85.3,-19.3,88,532,0.00,2.22,0.00,0.000,4,0.000,0.034,2514,1378,3860,0,0,0,0,0,0
$GC,577,-0.84,-219.0,95.0,-17.8,97,585,0.00,2.30,0.00,0.000,6,0.000,0.046,2504,2784,3860,0,0,0,0,0,0
$GC,715,-0.84,-219.0,123.1,-21.2,112,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2784,3860,0,0,0,0,0,0
$GC,842,-0.84,-219.0,149.8,-21.0,124,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2784,3860,0,0,0,0,0,0
$GC,969,-0.84,-219.0,175.7,-20.0,136,973,0.00,1.58,0.00,0.000,4,0.000,0.050,2496,3763,3860,0,0,0,0,0,0
$GC,1003,-0.84,-219.0,182.8,-21.5,139,1006,0.00,1.52,0.00,0.000,6,0.000,0.031,2496,2792,3860,0,0,0,0,0,0
$GC,1142,-0.84,-219.0,212.1,-21.5,152,1144,0.12,0.00,0.00,0.000,6,0.171,0.000,2528,2791,3860,0,0,0,0,0,0
$GC,1269,-0.84,-219.0,235.3,-17.8,164,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2791,3860,0,0,0,0,0,0
$GC,1397,-0.84,-219.0,258.4,-18.1,176,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2791,3860,0,0,0,0,0,0
$GC,1590,-0.84,-219.0,292.4,-18.7,194,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2791,3860,0,0,0,0,0,0
$GC,1779,-0.84,-219.0,299.8,-0.1,212,1783,0.00,1.60,0.00,0.000,4,0.000,0.054,2529,3766,3861,0,0,0,0,0,0
$STATE,1793,end dive,NO_VERTICAL_VELOCITY
$STATE,1793,begin apogee
$GC,1799,-0.16,0.0,299.8,0.0,213,1981,0.60,0.00,172.18,0.913,4,0.082,0.000,2751,2690,2959,0,0,0,0,0,0
$STATE,1982,end apogee,CONTROL_FINISHED_OK
$STATE,1982,begin climb
$GC,1984,0.84,219.0,299.7,0.0,230,2185,0.95,2.40,187.43,0.858,4,0.070,0.035,3074,1287,2066,0,0,0,0,0,0
$GC,2210,0.84,219.0,281.0,14.0,250,2215,0.00,2.50,0.00,0.000,6,0.000,0.043,3074,2698,2063,0,0,1,0,0,0
$GC,2409,0.84,219.0,253.3,13.6,268,2412,0.00,1.80,0.00,0.000,4,0.000,0.049,3074,3768,2057,0,0,0,0,0,0
$GC,2488,0.84,219.0,240.9,15.3,275,2491,0.00,1.70,0.00,0.000,6,0.000,0.030,3082,2700,2055,0,0,1,0,0,0
$GC,2627,0.84,219.0,221.5,13.9,288,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2700,2054,0,0,0,0,0,0
$GC,2754,0.84,219.0,203.3,14.4,300,2755,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2700,2053,0,0,0,0,0,0
$GC,2882,0.84,219.0,186.2,13.6,312,2885,0.00,1.75,0.00,0.000,4,0.000,0.050,3082,3768,2053,0,0,0,0,0,0
$GC,2927,0.84,219.0,179.5,15.4,316,2931,0.00,1.62,0.00,0.000,6,0.000,0.031,3091,2713,2052,0,0,1,0,0,0
$GC,3066,0.84,219.0,158.9,14.7,329,3068,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2711,2052,0,0,0,0,0,0
$GC,3194,0.84,219.0,140.4,14.1,341,3198,0.00,1.75,0.00,0.000,4,0.000,0.050,3091,3766,2052,0,0,0,0,0,0
$GC,3232,0.84,219.0,134.3,16.1,344,3239,0.00,1.67,0.00,0.000,6,0.000,0.031,3099,2721,2051,0,0,0,0,0,0
$GC,3368,0.84,219.0,114.5,15.2,357,3369,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2721,2051,0,0,0,0,0,0
$GC,3494,0.84,219.0,95.2,15.0,371,3501,0.00,1.73,0.00,0.000,4,0.000,0.050,3099,3766,2051,0,0,0,0,0,0
$GC,3540,0.84,219.0,87.3,17.2,379,3548,0.10,1.62,0.00,0.000,6,0.150,0.032,3063,2731,2051,0,0,1,0,0,0
$GC,3683,0.87,244.3,68.7,12.3,404,3709,0.00,0.00,20.55,0.782,6,0.000,0.000,3064,2731,1965,0,0,0,0,0,0
$GC,3843,0.87,244.4,47.6,13.3,432,3850,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2731,1962,0,0,0,0,0,0
$GC,3983,0.87,244.5,29.1,13.3,457,3991,0.00,1.70,0.00,0.000,4,0.000,0.050,3063,3760,1962,0,0,0,0,0,0
$GC,4025,0.87,244.5,23.1,14.9,464,4032,0.00,1.62,0.00,0.000,6,0.000,0.031,3071,2735,1961,0,0,0,0,0,0
$FREEZE,8.62,-1.410,-1.903,2,1,0
$FREEZE,7.94,-1.411,-1.903,2,1,0
$FREEZE,7.21,-1.411,-1.902,2,1,0
$FREEZE,6.54,-1.411,-1.902,2,1,0
$FREEZE,5.77,-1.395,-1.901,2,1,0
$FREEZE,4.99,-1.396,-1.900,2,1,0
$FREEZE,4.43,-1.397,-1.900,2,1,0
$FREEZE,3.54,-1.402,-1.899,2,1,0
$GC,4165,0.89,260.0,4.4,12.7,489,4181,0.00,0.00,9.68,0.723,6,0.000,0.000,3071,2735,1900,0,0,0,0,0,0
$FREEZE,1.40,-1.396,-1.897,2,1,0
$STATE,4186,end climb,SURFACE_DEPTH_REACHED
$STATE,4186,begin surface coast
$FREEZE,0.70,-1.396,-1.897,2,1,0
$FREEZE,0.04,-1.391,-1.896,2,1,0
$FREEZE,0.03,-1.388,-1.897,2,1,0
$FREEZE,-0.06,-1.377,-0.997,2,1,0
$FINISH,-0.1,1.014719
$STATE,4211,end surface coast,FINISH_DEPTH_REACHED
$STATE,4211,begin surface
$SM_CCo,4227,29.40,0.103,0,0,1654,320.11
$SM_GC,1.16,0.00,0.00,29.40,0.000,0.000,0.103,180,2794,1654,-8.19,0.40,320.11
$IRIDIUM_FIX,-7554.21,17836.40,171210,171750
$TT8_MAMPS,0.027713
$HUMID,52.00
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,19.9
$24V_AH,22.6,22.137
$10V_AH,9.9,9.181
$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,18.300,37.475,389.825,29.400,0.000,61.939,111.416,94.240,1.000,0.000,14.070,1208.898,1770.289,471.996,1137.704,112.665,0.000,982.152,0.000,804.778,0.000,6.965,0.000
$DEVICE_MAMPS,216.495,109.395,912.645,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,345.386,681.393,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267248
$DATA_FILE_SIZE,30402,496
$CAP_FILE_SIZE,68153,0
$CFSIZE,260165632,238460928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.219,340.1,1
$GPS,171210,191404,-7633.805,17820.357,9,2.9,28,120.7