version: 66.08
glider: 502
mission: 3
dive: 280
start: 12 20 110 19 20 46
data:
$ID,502
$MISSION,3
$DIVE,280
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,750
$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,5
$SURFACE_URGENCY_TRY,4
$SURFACE_URGENCY_FORCE,8
$T_DIVE,250
$T_MISSION,320
$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,0.025
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51763
$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,70
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,8
$TGT_DEFAULT_LAT,-7715
$TGT_DEFAULT_LON,16530
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-30490.883
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3944
$C_PITCH,3065
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$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,2650
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,420
$VBD_MAX,3960
$C_VBD,2961
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.546913
$PRESSURE_SLOPE,0.00011650941
$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,4
$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,0.0043373196
$SEABIRD_T_H,0.00062598457
$SEABIRD_T_I,2.5066851e-05
$SEABIRD_T_J,2.8555498e-06
$SEABIRD_C_G,-9.7998753
$SEABIRD_C_H,1.1362277
$SEABIRD_C_I,-0.00070417771
$SEABIRD_C_J,0.00014171835
$GPS1,201210,191400,-7639.309,17317.166,38,1.1,44,128.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-72.4
$GPS2,201210,192019,-7639.314,17317.123,11,1.3,11,128.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,POLYNYA_tmp
$TGT_LATLONG,-7630.000,17400.000
$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,293.8,25322,-17.5,-10.000
$D_GRID,475
$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
$STATE,13,begin dive
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$GC,87,-0.76,-146.0,3.0,-2.4,10,130,8.85,2.38,-27.95,0.000,4,0.199,0.062,2808,1229,3559,0,0,0,0,0,0
$GC,260,-0.76,-146.0,23.5,-14.3,39,267,0.00,2.33,0.00,0.000,6,0.000,0.057,2799,2646,3561,0,0,0,0,0,0
$GC,401,-0.76,-146.0,47.3,-17.1,64,410,0.00,1.83,0.00,0.000,4,0.000,0.062,2791,3759,3562,0,0,0,0,0,0
$GC,451,-0.76,-146.0,56.2,-18.5,72,459,0.00,1.75,0.00,0.000,6,0.000,0.044,2791,2665,3562,0,0,0,0,0,0
$GC,594,-0.76,-146.0,81.3,-17.1,97,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2665,3562,0,0,0,0,0,0
$GC,734,-0.76,-146.0,105.6,-17.1,119,737,0.00,1.80,0.00,0.000,4,0.000,0.063,2783,3773,3562,0,0,0,0,0,0
$GC,770,-0.76,-146.0,111.9,-18.6,122,774,0.12,1.73,0.00,0.000,6,0.165,0.043,2817,2667,3562,0,0,0,0,0,0
$GC,911,-0.76,-146.0,133.9,-15.1,135,915,0.00,2.22,0.00,0.000,4,0.000,0.050,2817,1245,3563,0,0,0,0,0,0
$GC,933,-0.76,-146.0,137.9,-15.4,136,943,0.00,2.35,0.00,0.000,6,0.000,0.057,2807,2668,3562,0,0,0,0,0,0
$GC,1071,-0.76,-146.0,158.7,-15.9,149,1074,0.00,1.77,0.00,0.000,4,0.000,0.063,2799,3778,3563,0,0,0,0,0,0
$GC,1107,-0.76,-146.0,165.8,-16.9,152,1117,0.00,1.75,0.00,0.000,6,0.000,0.043,2799,2678,3562,0,0,0,0,0,0
$GC,1244,-0.76,-146.0,187.3,-16.1,165,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2678,3562,0,0,0,0,0,0
$GC,1380,-0.76,-146.0,209.3,-15.7,178,1383,0.00,1.77,0.00,0.000,4,0.000,0.064,2791,3769,3562,0,0,0,0,0,0
$GC,1415,-0.76,-146.0,215.1,-17.1,181,1418,0.00,1.70,0.00,0.000,6,0.000,0.044,2791,2679,3562,0,0,0,0,0,0
$GC,1555,-0.76,-146.0,238.3,-16.2,194,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2677,3562,0,0,0,0,0,0
$GC,1682,-0.76,-146.0,259.0,-16.0,206,1685,0.00,1.80,0.00,0.000,4,0.000,0.065,2783,3780,3562,0,0,0,0,0,0
$GC,1704,-0.76,-146.0,262.9,-17.2,208,1709,0.10,1.75,0.00,0.000,6,0.143,0.043,2816,2684,3562,0,0,0,0,0,0
$GC,1907,-0.76,-146.0,291.7,-14.1,227,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2683,3562,0,0,0,0,0,0
$GC,2098,-0.76,-146.0,318.7,-14.1,245,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2683,3562,0,0,0,0,0,0
$GC,2290,-0.76,-146.0,344.9,-13.7,263,2294,0.00,1.77,0.00,0.000,4,0.000,0.064,2809,3774,3562,0,0,0,0,0,0
$GC,2328,-0.76,-146.0,350.8,-14.4,266,2335,0.00,1.73,0.00,0.000,6,0.000,0.044,2808,2693,3562,0,0,0,0,0,0
$GC,2527,-0.76,-146.0,378.1,-14.0,285,2530,0.00,1.80,0.00,0.000,4,0.000,0.063,2801,3773,3562,0,0,0,0,0,0
$GC,2553,-0.76,-146.0,382.6,-15.4,287,2561,0.00,1.73,0.00,0.000,6,0.000,0.043,2801,2692,3563,0,0,0,0,0,0
$GC,2752,-0.76,-146.0,410.8,-14.1,306,2755,0.00,1.75,0.00,0.000,4,0.000,0.063,2793,3770,3562,0,0,0,0,0,0
$GC,2786,-0.76,-146.0,416.0,-15.9,309,2790,0.00,1.65,0.00,0.000,6,0.000,0.043,2793,2703,3562,0,0,0,0,0,0
$GC,2989,-0.76,-146.0,446.4,-14.6,328,2993,0.00,1.75,0.00,0.000,4,0.000,0.065,2785,3777,3563,0,0,0,0,0,0
$GC,3023,-0.76,-146.0,451.7,-16.0,331,3027,0.08,1.70,0.00,0.000,6,0.145,0.044,2810,2714,3562,0,0,0,0,0,0
$STATE,3191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3192,begin apogee
$GC,3196,-0.17,0.0,475.5,13.7,347,3335,0.60,0.00,132.93,1.082,4,0.127,0.000,3006,2487,2960,0,0,0,0,0,0
$STATE,3336,end apogee,CONTROL_FINISHED_OK
$STATE,3336,begin climb
$GC,3338,0.76,146.0,480.9,0.0,359,3497,0.95,2.50,147.38,0.996,4,0.072,0.049,3309,1102,2363,0,0,0,0,0,0
$GC,3620,0.76,146.0,456.0,11.0,384,3625,0.00,2.45,0.00,0.000,6,0.000,0.052,3309,2507,2353,0,0,0,0,0,0
$GC,3820,0.76,146.0,432.2,12.4,402,3824,0.00,2.28,0.00,0.000,4,0.000,0.050,3318,1099,2350,0,0,0,0,0,0
$GC,3953,0.76,146.0,415.2,12.1,413,3960,0.00,2.35,0.00,0.000,6,0.000,0.053,3318,2516,2348,0,0,0,0,0,0
$GC,4152,0.76,146.0,389.5,13.1,432,4156,0.00,2.03,0.00,0.000,4,0.000,0.059,3318,3758,2347,0,0,0,0,0,0
$GC,4246,0.76,146.0,374.4,15.7,440,4254,0.00,1.95,0.00,0.000,6,0.000,0.042,3328,2535,2347,0,0,0,0,0,0
$GC,4444,0.76,146.0,347.0,13.8,459,4448,0.00,2.03,0.00,0.000,4,0.000,0.060,3328,3780,2346,0,0,0,0,0,0
$GC,4489,0.76,146.0,340.1,16.5,463,4493,0.00,1.95,0.00,0.000,6,0.000,0.043,3337,2533,2346,0,0,0,0,0,0
$GC,4692,0.76,146.0,311.8,13.6,482,4696,0.00,2.00,0.00,0.000,4,0.000,0.059,3338,3777,2346,0,0,0,0,0,0
$GC,4718,0.76,146.0,307.5,15.4,484,4728,0.10,1.98,0.00,0.000,6,0.142,0.042,3314,2546,2345,0,0,0,0,0,0
$GC,4919,0.76,146.0,283.6,11.7,503,4920,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2545,2345,0,0,0,0,0,0
$GC,5109,0.76,146.0,260.6,12.0,521,5112,0.00,1.98,0.00,0.000,4,0.000,0.061,3314,3768,2345,0,0,0,0,0,0
$GC,5155,0.76,146.0,254.0,14.0,525,5159,0.00,1.92,0.00,0.000,6,0.000,0.042,3322,2532,2345,0,0,0,0,0,0
$GC,5359,0.76,146.0,228.3,12.3,544,5363,0.00,2.00,0.00,0.000,4,0.000,0.060,3322,3765,2344,0,0,0,0,0,0
$GC,5407,0.76,146.0,221.0,15.2,548,5417,0.00,1.92,0.00,0.000,6,0.000,0.042,3331,2555,2344,0,0,0,0,0,0
$GC,5543,0.76,146.0,203.3,13.3,561,5544,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2553,2345,0,0,0,0,0,0
$GC,5670,0.76,146.0,185.8,14.0,573,5673,0.00,1.98,0.00,0.000,4,0.000,0.060,3331,3776,2344,0,0,0,0,0,0
$GC,5718,0.76,146.0,177.7,16.1,577,5727,0.00,1.95,0.00,0.000,6,0.000,0.043,3341,2558,2344,0,0,0,0,0,0
$GC,5854,0.76,146.0,158.7,13.6,590,5855,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2556,2344,0,0,0,0,0,0
$GC,5981,0.76,146.0,141.0,14.1,602,5982,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2555,2343,0,0,0,0,0,0
$GC,6109,0.76,146.0,123.7,13.6,614,6113,0.00,1.95,0.00,0.000,4,0.000,0.059,3341,3766,2343,0,0,0,0,0,0
$GC,6145,0.76,146.0,118.5,15.6,617,6149,0.15,1.90,0.00,0.000,6,0.160,0.042,3309,2546,2343,0,0,0,0,0,0
$GC,6282,0.76,146.0,102.6,10.9,629,6289,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2543,2343,0,0,0,0,0,0
$GC,6419,0.76,146.0,86.7,11.6,652,6428,0.00,2.03,0.00,0.000,4,0.000,0.061,3309,3766,2343,0,0,0,0,0,0
$GC,6465,0.76,146.0,81.3,13.2,659,6473,0.00,1.90,0.00,0.000,6,0.000,0.042,3317,2553,2343,0,0,0,0,0,0
$GC,6608,0.76,146.0,63.7,11.9,684,6616,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2552,2343,0,0,0,0,0,0
$GC,6753,0.76,146.0,46.7,11.5,709,6760,0.00,1.98,0.00,0.000,4,0.000,0.060,3317,3766,2343,0,0,0,0,0,0
$GC,6816,0.76,146.0,37.9,14.1,720,6825,0.00,1.90,0.00,0.000,6,0.000,0.042,3326,2569,2343,0,0,0,0,0,0
$GC,6962,0.76,146.0,20.2,11.9,745,6970,0.00,1.98,0.00,0.000,4,0.000,0.061,3326,3762,2343,0,0,0,0,0,0
$GC,6989,0.76,146.0,16.6,13.0,749,6996,0.00,1.88,0.00,0.000,6,0.000,0.044,3336,2565,2343,0,0,0,0,0,0
$FREEZE,8.37,-0.800,-1.894,2,1,0
$FREEZE,7.62,-0.797,-1.895,2,1,0
$FREEZE,6.87,-0.796,-1.894,2,1,0
$FREEZE,6.22,-0.784,-1.894,2,1,0
$FREEZE,5.54,-0.783,-1.894,2,1,0
$FREEZE,4.88,-0.789,-1.893,2,1,0
$FREEZE,3.95,-0.783,-1.893,2,1,0
$FREEZE,3.21,-0.801,-1.892,2,1,0
$FREEZE,2.27,-0.820,-1.892,2,1,0
$STATE,7101,end climb,SURFACE_DEPTH_REACHED
$STATE,7101,begin surface coast
$FREEZE,1.42,-0.775,-1.891,2,1,0
$FREEZE,1.32,-0.809,-0.983,2,1,0
$FREEZE,1.37,-0.843,-1.254,2,1,0
$FREEZE,1.33,-0.770,-1.044,2,1,0
$FINISH,1.3,1.015416
$STATE,7126,end surface coast,CONTROL_FINISHED_OK
$STATE,7126,begin surface
$SM_CCo,7142,79.93,0.726,1,0,1737,300.24
$SM_GC,2.11,0.00,0.00,79.93,0.000,0.000,0.726,420,2674,1737,-8.26,0.71,300.24
$IRIDIUM_FIX,-7554.21,17317.96,201210,171759
$TT8_MAMPS,0.028462
$HUMID,52.36
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.2,17.4
$24V_AH,20.5,52.222
$10V_AH,9.7,33.482
$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,18.500,90.050,280.300,79.925,0.000,30.132,38.181,206.424,2.000,0.000,11.909,1974.753,2900.497,504.805,2058.029,174.958,0.000,1285.146,0.000,1280.295,0.000,12.361,0.000
$DEVICE_MAMPS,198.900,82.620,1081.710,725.985,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,543.369,925.150,889.813,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,257984
$DATA_FILE_SIZE,53951,772
$CAP_FILE_SIZE,108853,0
$CFSIZE,260165632,235819008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.084,322.7,1
$GPS,201210,212213,-7638.581,17319.822,17,1.7,23,128.3