version: 66.08
glider: 502
mission: 3
dive: 291
start: 12 21 110 19 25 52
data:
$ID,502
$MISSION,3
$DIVE,291
$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,-30505.852
$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,31
$R_STBD_OVSHOOT,28
$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
$GPS1,211210,191907,-7633.357,17345.418,47,0.9,48,127.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-72.6
$GPS2,211210,192526,-7633.348,17345.477,13,1.0,13,127.3
$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,273.8,8825,-17.5,-10.000
$D_GRID,470
$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,-0.76,-146.0,0.0,0.0,0,99,0.00,0.00,-81.43,0.000,2,0.000,0.000,409,2670,3214,0,0,0,0,0,0
$GC,102,-0.76,-146.0,3.2,-1.4,12,132,8.85,2.35,-10.98,0.000,4,0.197,0.063,2810,1245,3560,0,0,0,0,0,0
$GC,312,-0.76,-146.0,33.3,-14.1,49,320,0.00,2.30,0.00,0.000,6,0.000,0.057,2801,2651,3563,0,0,0,0,0,0
$GC,452,-0.76,-146.0,56.5,-16.5,74,460,0.00,1.83,0.00,0.000,4,0.000,0.062,2793,3764,3564,0,0,0,0,0,0
$GC,495,-0.76,-146.0,64.0,-18.0,81,503,0.00,1.77,0.00,0.000,6,0.000,0.044,2793,2630,3564,0,0,0,0,0,0
$GC,634,-0.76,-146.0,89.2,-17.7,106,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2628,3564,0,0,0,0,0,0
$GC,772,-0.76,-146.0,112.5,-16.5,124,776,0.00,1.85,0.00,0.000,4,0.000,0.063,2785,3768,3564,0,0,0,0,0,0
$GC,799,-0.76,-146.0,117.8,-17.9,126,808,0.08,1.77,0.00,0.000,6,0.145,0.043,2810,2656,3564,0,0,0,0,0,0
$GC,935,-0.76,-146.0,139.1,-15.7,139,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2655,3564,0,0,0,0,0,0
$GC,1062,-0.76,-146.0,158.6,-15.0,151,1066,0.00,1.80,0.00,0.000,4,0.000,0.063,2803,3767,3564,0,0,0,0,0,0
$GC,1086,-0.76,-146.0,162.4,-15.8,153,1090,0.00,1.73,0.00,0.000,6,0.000,0.044,2803,2659,3564,0,0,0,0,0,0
$GC,1227,-0.76,-146.0,184.4,-15.4,166,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2656,3564,0,0,0,0,0,0
$GC,1354,-0.76,-146.0,203.4,-14.7,178,1358,0.00,1.80,0.00,0.000,4,0.000,0.063,2795,3769,3564,0,0,0,0,0,0
$GC,1391,-0.76,-146.0,209.8,-16.1,181,1400,0.00,1.75,0.00,0.000,6,0.000,0.043,2795,2673,3564,0,0,0,0,0,0
$GC,1529,-0.76,-146.0,231.2,-16.2,194,1536,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2672,3564,0,0,0,0,0,0
$GC,1662,-0.76,-146.0,253.4,-16.3,207,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2671,3564,0,0,0,0,0,0
$GC,1854,-0.76,-146.0,284.1,-16.1,225,1857,0.00,1.77,0.00,0.000,4,0.000,0.063,2786,3770,3564,0,0,0,0,0,0
$GC,1899,-0.76,-146.0,291.8,-16.9,229,1904,0.08,1.75,0.00,0.000,6,0.145,0.043,2812,2676,3564,0,0,0,0,0,0
$GC,2103,-0.76,-146.0,321.3,-14.2,248,2104,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2674,3564,0,0,0,0,0,0
$GC,2293,-0.76,-146.0,348.3,-14.2,266,2297,0.00,1.77,0.00,0.000,4,0.000,0.063,2804,3771,3564,0,0,0,0,0,0
$GC,2331,-0.76,-146.0,354.4,-15.8,269,2339,0.00,1.73,0.00,0.000,6,0.000,0.043,2805,2684,3564,0,0,0,0,0,0
$GC,2530,-0.76,-146.0,383.1,-14.5,288,2533,0.00,1.75,0.00,0.000,4,0.000,0.063,2797,3763,3565,0,0,0,0,0,0
$GC,2553,-0.76,-146.0,386.7,-15.3,290,2556,0.00,1.67,0.00,0.000,6,0.000,0.043,2797,2686,3564,0,0,0,0,0,0
$GC,2756,-0.76,-146.0,417.4,-14.9,309,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2684,3564,0,0,0,0,0,0
$GC,2949,-0.76,-146.0,444.9,-14.0,327,2953,0.00,1.75,0.00,0.000,4,0.000,0.063,2789,3764,3564,0,0,0,0,0,0
$GC,2984,-0.76,-146.0,450.5,-15.7,329,2991,0.00,1.70,0.00,0.000,6,0.000,0.043,2789,2684,3564,0,0,0,0,0,0
$STATE,3116,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3116,begin apogee
$GC,3121,-0.17,0.0,470.5,14.8,342,3265,0.68,0.00,133.43,1.083,4,0.130,0.000,3006,2488,2960,0,0,0,0,0,0
$STATE,3266,end apogee,CONTROL_FINISHED_OK
$STATE,3266,begin climb
$GC,3268,0.76,146.0,475.3,0.0,355,3426,0.95,2.50,147.90,1.002,4,0.070,0.048,3311,1099,2364,0,0,0,0,0,0
$GC,3533,0.76,146.0,450.3,12.4,378,3540,0.00,2.47,0.00,0.000,6,0.000,0.052,3311,2500,2354,0,0,0,0,0,0
$GC,3731,0.76,146.0,425.0,13.0,397,3735,0.00,2.30,0.00,0.000,4,0.000,0.050,3316,1088,2351,0,0,0,0,0,0
$GC,3847,0.76,146.0,409.8,12.9,407,3855,0.00,2.38,0.00,0.000,6,0.000,0.054,3316,2517,2348,0,0,0,0,0,0
$GC,4046,0.76,146.0,383.7,13.1,426,4050,0.00,2.00,0.00,0.000,4,0.000,0.059,3316,3773,2347,0,0,0,0,0,0
$GC,4128,0.76,146.0,371.0,15.7,433,4136,0.00,1.98,0.00,0.000,6,0.000,0.042,3324,2532,2347,0,0,0,0,0,0
$GC,4328,0.76,146.0,343.4,13.8,452,4332,0.00,2.00,0.00,0.000,4,0.000,0.059,3324,3774,2346,0,0,0,0,0,0
$GC,4365,0.76,146.0,337.1,16.3,455,4373,0.00,1.98,0.00,0.000,6,0.000,0.043,3334,2536,2346,0,0,0,0,0,0
$GC,4564,0.76,146.0,309.0,14.2,474,4568,0.00,2.00,0.00,0.000,4,0.000,0.060,3334,3774,2346,0,0,0,0,0,0
$GC,4598,0.76,146.0,303.6,16.5,477,4603,0.12,1.92,0.00,0.000,6,0.165,0.043,3310,2543,2346,0,0,0,0,0,0
$GC,4797,0.76,146.0,279.0,12.0,495,4798,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2542,2346,0,0,0,0,0,0
$GC,4986,0.76,146.0,256.8,11.2,513,4990,0.00,1.98,0.00,0.000,4,0.000,0.062,3310,3768,2345,0,0,0,0,0,0
$GC,5066,0.76,146.0,246.4,13.8,520,5070,0.00,1.90,0.00,0.000,6,0.000,0.042,3318,2548,2345,0,0,0,0,0,0
$GC,5207,0.76,146.0,229.1,12.0,533,5208,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2546,2345,0,0,0,0,0,0
$GC,5335,0.76,146.0,213.9,11.5,545,5338,0.00,1.98,0.00,0.000,4,0.000,0.060,3318,3768,2345,0,0,0,0,0,0
$GC,5382,0.76,146.0,207.2,14.0,549,5392,0.00,1.92,0.00,0.000,6,0.000,0.042,3327,2557,2345,0,0,0,0,0,0
$GC,5520,0.76,146.0,191.0,11.9,562,5528,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2556,2345,0,0,0,0,0,0
$GC,5656,0.76,146.0,174.5,12.2,575,5659,0.00,1.95,0.00,0.000,4,0.000,0.059,3327,3767,2344,0,0,0,0,0,0
$GC,5735,0.76,146.0,163.4,14.6,582,5738,0.00,1.88,0.00,0.000,6,0.000,0.042,3337,2560,2344,0,0,0,0,0,0
$GC,5875,0.76,146.0,145.0,12.6,595,5876,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2558,2344,0,0,0,0,0,0
$GC,6003,0.76,146.0,128.6,13.1,607,6007,0.00,1.95,0.00,0.000,4,0.000,0.060,3336,3768,2344,0,0,0,0,0,0
$GC,6038,0.76,146.0,123.3,15.5,610,6042,0.12,1.88,0.00,0.000,6,0.164,0.043,3312,2562,2344,0,0,0,0,0,0
$GC,6178,0.76,146.0,106.2,11.6,623,6181,0.00,1.95,0.00,0.000,4,0.000,0.061,3312,3767,2344,0,0,0,0,0,0
$GC,6202,0.76,146.0,103.2,12.8,625,6205,0.00,1.85,0.00,0.000,6,0.000,0.042,3319,2577,2344,0,0,0,0,0,0
$GC,6339,0.76,146.0,86.5,11.9,647,6345,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2575,2343,0,0,0,0,0,0
$GC,6474,0.76,146.0,69.9,11.8,672,6483,0.00,1.98,0.00,0.000,4,0.000,0.061,3320,3766,2343,0,0,0,0,0,0
$GC,6507,0.76,146.0,66.0,12.6,677,6514,0.00,1.85,0.00,0.000,6,0.000,0.041,3329,2577,2343,0,0,0,0,0,0
$GC,6645,0.76,146.0,48.6,12.5,702,6653,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2577,2343,0,0,0,0,0,0
$GC,6785,0.76,146.0,31.1,12.7,727,6792,0.00,1.95,0.00,0.000,4,0.000,0.060,3329,3774,2343,0,0,0,0,0,0
$GC,6835,0.76,146.0,23.8,14.1,736,6844,0.00,1.90,0.00,0.000,6,0.000,0.043,3338,2583,2343,0,0,0,0,0,0
$FREEZE,8.93,-0.831,-1.897,2,1,0
$FREEZE,8.34,-0.829,-1.897,2,1,0
$FREEZE,7.40,-0.828,-1.896,2,1,0
$FREEZE,6.53,-0.823,-1.895,2,1,0
$FREEZE,5.65,-0.815,-1.894,2,1,0
$FREEZE,5.06,-0.817,-1.894,2,1,0
$GC,6979,0.76,146.0,5.1,13.1,761,6986,0.00,1.92,0.00,0.000,4,0.000,0.061,3338,3768,2343,0,0,0,0,0,0
$FREEZE,2.58,-0.789,-1.892,2,1,0
$STATE,6993,end climb,SURFACE_DEPTH_REACHED
$STATE,6993,begin surface coast
$FREEZE,1.55,-0.754,-1.891,2,1,0
$FREEZE,1.34,-0.791,-1.892,2,1,0
$FREEZE,1.35,-0.798,-1.116,2,1,0
$FINISH,1.3,1.016487
$STATE,7013,end surface coast,CONTROL_FINISHED_OK
$STATE,7013,begin surface
$SM_CCo,7030,80.55,0.731,1,0,1737,300.24
$SM_GC,2.20,0.00,0.00,80.55,0.000,0.000,0.731,422,2649,1737,-8.26,-0.03,300.24
$IRIDIUM_FIX,-7554.21,17347.79,211210,171720
$TT8_MAMPS,0.028462
$HUMID,52.36
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,17.9
$24V_AH,20.4,53.494
$10V_AH,9.8,34.491
$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,18.450,85.275,281.325,80.550,0.000,28.130,41.524,200.655,1.750,0.000,14.649,1948.172,2809.024,505.958,2050.818,185.909,0.000,1274.475,0.000,1267.370,0.000,11.209,0.000
$DEVICE_MAMPS,197.370,63.495,1083.240,730.575,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,538.960,928.135,915.757,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258004
$DATA_FILE_SIZE,53678,766
$CAP_FILE_SIZE,106353,0
$CFSIZE,260165632,235106304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.040, 42.6,1
$GPS,211210,212514,-7632.507,17348.441,9,1.7,10,127.2