version: 66.08
glider: 502
mission: 3
dive: 293
start: 12 21 110 23 37 15
data:
$ID,502
$MISSION,3
$DIVE,293
$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,-30508.367
$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,35
$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
$GPS1,211210,233100,-7631.748,17351.664,39,1.1,45,127.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-71.8
$GPS2,211210,233649,-7631.740,17351.670,12,1.1,12,127.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,POLYNYA2
$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,327.8,159277,-17.5,-10.000
$D_GRID,465
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,81,0.00,0.00,-62.65,0.000,2,0.000,0.000,422,2665,2834,0,0,0,0,0,0
$GC,84,-0.76,-146.0,3.1,-2.9,9,134,8.77,1.80,-34.12,0.000,4,0.197,0.078,2801,3756,3558,0,0,0,0,0,0
$GC,369,-0.76,-146.0,42.7,-17.0,58,378,0.00,1.77,0.00,0.000,6,0.000,0.044,2801,2647,3560,0,0,0,0,0,0
$GC,513,-0.76,-146.0,65.3,-14.7,83,520,0.00,1.80,0.00,0.000,4,0.000,0.062,2793,3753,3561,0,0,0,0,0,0
$GC,540,-0.76,-146.0,69.5,-16.0,87,547,0.00,1.73,0.00,0.000,6,0.000,0.044,2793,2674,3561,0,0,0,0,0,0
$GC,680,-0.76,-146.0,93.6,-17.1,112,688,0.00,2.30,0.00,0.000,4,0.000,0.050,2793,1239,3561,0,0,0,0,0,0
$GC,706,-0.76,-146.0,98.2,-16.9,116,715,0.08,2.35,0.00,0.000,6,0.135,0.057,2811,2658,3561,0,0,0,0,0,0
$GC,851,-0.76,-146.0,120.4,-15.9,130,854,0.00,1.77,0.00,0.000,4,0.000,0.061,2805,3772,3562,0,0,0,0,0,0
$GC,888,-0.76,-146.0,126.9,-16.3,133,898,0.00,1.75,0.00,0.000,6,0.000,0.042,2805,2670,3562,0,0,0,0,0,0
$GC,1025,-0.76,-146.0,147.7,-15.2,146,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2670,3562,0,0,0,0,0,0
$GC,1161,-0.76,-146.0,168.6,-15.6,159,1165,0.00,2.25,0.00,0.000,4,0.000,0.050,2805,1238,3562,0,0,0,0,0,0
$GC,1179,-0.76,-146.0,171.6,-15.9,160,1183,0.00,2.35,0.00,0.000,6,0.000,0.057,2795,2688,3562,0,0,0,0,0,0
$GC,1316,-0.76,-146.0,193.1,-15.8,172,1319,0.00,1.73,0.00,0.000,4,0.000,0.063,2787,3769,3562,0,0,0,0,0,0
$GC,1353,-0.76,-146.0,199.1,-17.3,175,1357,0.10,1.70,0.00,0.000,6,0.175,0.043,2813,2676,3562,0,0,0,0,0,0
$GC,1494,-0.76,-146.0,220.1,-14.1,188,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2673,3562,0,0,0,0,0,0
$GC,1629,-0.76,-146.0,239.9,-14.4,201,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2673,3562,0,0,0,0,0,0
$GC,1756,-0.76,-146.0,257.8,-13.8,213,1759,0.00,1.77,0.00,0.000,4,0.000,0.063,2806,3764,3562,0,0,0,0,0,0
$GC,1783,-0.76,-146.0,262.1,-15.0,215,1790,0.00,1.70,0.00,0.000,6,0.000,0.042,2807,2692,3562,0,0,0,0,0,0
$GC,1980,-0.76,-146.0,291.0,-14.8,234,1984,0.00,2.28,0.00,0.000,4,0.000,0.050,2806,1243,3562,0,0,0,0,0,0
$GC,2002,-0.76,-146.0,294.4,-14.7,235,2009,0.00,2.35,0.00,0.000,6,0.000,0.057,2798,2691,3562,0,0,0,0,0,0
$GC,2201,-0.76,-146.0,324.1,-14.6,254,2205,0.00,1.73,0.00,0.000,4,0.000,0.062,2790,3770,3562,0,0,0,0,0,0
$GC,2227,-0.76,-146.0,328.8,-15.7,256,2235,0.00,1.73,0.00,0.000,6,0.000,0.042,2790,2691,3562,0,0,0,0,0,0
$GC,2427,-0.76,-146.0,359.3,-15.3,275,2431,0.00,2.28,0.00,0.000,4,0.000,0.050,2790,1243,3562,0,0,0,0,0,0
$GC,2455,-0.76,-146.0,363.8,-15.6,277,2460,0.12,2.38,0.00,0.000,6,0.163,0.057,2819,2702,3562,0,0,0,0,0,0
$GC,2654,-0.76,-146.0,389.8,-12.9,295,2658,0.00,1.70,0.00,0.000,4,0.000,0.062,2812,3767,3562,0,0,0,0,0,0
$GC,2689,-0.76,-146.0,394.7,-13.7,298,2692,0.00,1.67,0.00,0.000,6,0.000,0.044,2813,2690,3562,0,0,0,0,0,0
$GC,2892,-0.76,-146.0,421.3,-12.9,317,2893,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2688,3562,0,0,0,0,0,0
$GC,3085,-0.76,-146.0,446.3,-12.7,335,3089,0.00,1.75,0.00,0.000,4,0.000,0.063,2803,3764,3562,0,0,0,0,0,0
$GC,3123,-0.76,-146.0,452.2,-14.5,338,3131,0.00,1.70,0.00,0.000,6,0.000,0.042,2804,2697,3562,0,0,0,0,0,0
$STATE,3223,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3224,begin apogee
$GC,3229,-0.17,0.0,466.4,14.1,348,3372,0.62,0.00,132.95,1.082,4,0.128,0.000,3007,2486,2959,0,0,0,0,0,0
$STATE,3373,end apogee,CONTROL_FINISHED_OK
$STATE,3373,begin climb
$GC,3375,0.76,146.0,471.5,0.0,361,3534,0.95,2.50,147.52,1.002,4,0.071,0.049,3312,1103,2364,0,0,0,0,0,0
$GC,3640,0.76,146.0,447.6,11.4,384,3647,0.00,2.47,0.00,0.000,6,0.000,0.052,3312,2504,2354,0,0,0,0,0,0
$GC,3839,0.76,146.0,423.4,12.5,403,3843,0.00,2.30,0.00,0.000,4,0.000,0.050,3322,1098,2351,0,0,0,0,0,0
$GC,3966,0.76,146.0,407.5,12.7,414,3975,0.00,2.35,0.00,0.000,6,0.000,0.053,3322,2513,2348,0,0,0,0,0,0
$GC,4165,0.76,146.0,381.6,12.9,433,4168,0.00,2.03,0.00,0.000,4,0.000,0.060,3322,3778,2348,0,0,0,0,0,0
$GC,4244,0.76,146.0,369.6,15.6,440,4247,0.00,1.95,0.00,0.000,6,0.000,0.043,3330,2533,2348,0,0,0,0,0,0
$GC,4447,0.76,146.0,341.9,13.3,459,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2530,2346,0,0,0,0,0,0
$GC,4638,0.76,146.0,316.9,13.2,477,4642,0.00,2.00,0.00,0.000,4,0.000,0.059,3331,3772,2346,0,0,0,0,0,0
$GC,4694,0.76,146.0,308.5,15.6,482,4698,0.00,1.95,0.00,0.000,6,0.000,0.042,3340,2523,2346,0,0,0,0,0,0
$GC,4897,0.76,146.0,279.6,14.2,501,4901,0.00,2.03,0.00,0.000,4,0.000,0.060,3340,3777,2346,0,0,0,0,0,0
$GC,4923,0.76,146.0,275.4,14.6,503,4931,0.10,1.98,0.00,0.000,6,0.142,0.042,3316,2537,2346,0,0,0,0,0,0
$GC,5121,0.76,146.0,250.9,11.8,522,5125,0.00,2.00,0.00,0.000,4,0.000,0.060,3316,3777,2345,0,0,0,0,0,0
$GC,5156,0.76,146.0,246.5,13.2,525,5160,0.00,1.92,0.00,0.000,6,0.000,0.042,3324,2545,2345,0,0,0,0,0,0
$GC,5299,0.76,146.0,228.3,12.7,538,5302,0.00,2.00,0.00,0.000,4,0.000,0.061,3324,3779,2345,0,0,0,0,0,0
$GC,5323,0.76,146.0,224.7,13.7,540,5326,0.00,1.92,0.00,0.000,6,0.000,0.043,3334,2549,2345,0,0,0,0,0,0
$GC,5464,0.76,146.0,206.1,13.3,553,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2547,2345,0,0,0,0,0,0
$GC,5590,0.76,146.0,189.5,13.1,565,5594,0.00,1.98,0.00,0.000,4,0.000,0.060,3334,3770,2344,0,0,0,0,0,0
$GC,5628,0.76,146.0,183.5,15.3,568,5637,0.08,1.92,0.00,0.000,6,0.144,0.043,3317,2563,2344,0,0,0,0,0,0
$GC,5765,0.76,146.0,166.9,11.8,581,5773,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2562,2344,0,0,0,0,0,0
$GC,5900,0.76,146.0,150.4,12.2,594,5901,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2562,2344,0,0,0,0,0,0
$GC,6028,0.76,146.0,135.1,11.9,606,6031,0.00,1.95,0.00,0.000,4,0.000,0.061,3317,3770,2344,0,0,0,0,0,0
$GC,6074,0.76,146.0,129.0,14.5,610,6078,0.00,1.88,0.00,0.000,6,0.000,0.043,3325,2562,2344,0,0,0,0,0,0
$GC,6217,0.76,146.0,111.2,12.3,623,6221,0.00,2.33,0.00,0.000,4,0.000,0.051,3336,1080,2343,0,0,0,0,0,0
$GC,6245,0.76,146.0,107.3,12.8,625,6250,0.00,2.42,0.00,0.000,6,0.000,0.054,3336,2580,2343,0,0,0,0,0,0
$GC,6383,0.76,146.0,89.6,12.7,644,6391,0.00,1.95,0.00,0.000,4,0.000,0.061,3336,3774,2343,0,0,0,0,0,0
$GC,6449,0.76,146.0,80.0,14.9,655,6456,0.12,1.88,0.00,0.000,6,0.166,0.044,3311,2574,2343,0,0,0,0,0,0
$GC,6593,0.76,146.0,63.3,11.8,680,6601,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2573,2343,0,0,0,0,0,0
$GC,6736,0.76,146.0,47.5,10.5,705,6743,0.00,1.98,0.00,0.000,4,0.000,0.060,3311,3766,2343,0,0,0,0,0,0
$GC,6766,0.76,146.0,43.7,12.5,710,6775,0.00,1.90,0.00,0.000,6,0.000,0.043,3319,2573,2343,0,0,0,0,0,0
$GC,6913,0.76,146.0,26.8,11.4,735,6919,0.00,1.95,0.00,0.000,4,0.000,0.060,3319,3770,2343,0,0,0,0,0,0
$GC,6950,0.76,146.0,21.7,13.5,741,6956,0.00,1.85,0.00,0.000,6,0.000,0.043,3328,2591,2343,0,0,0,0,0,0
$FREEZE,8.76,-0.394,-1.896,2,1,0
$FREEZE,8.05,-0.378,-1.895,2,1,0
$FREEZE,7.17,-0.365,-1.895,2,1,0
$FREEZE,6.56,-0.344,-1.894,2,1,0
$FREEZE,5.77,-0.322,-1.894,2,1,0
$FREEZE,5.00,-0.323,-1.893,2,1,0
$FREEZE,4.00,-0.336,-1.893,2,1,0
$FREEZE,3.38,-0.348,-1.893,2,1,0
$FREEZE,2.60,-0.305,-1.891,2,1,0
$STATE,7095,end climb,SURFACE_DEPTH_REACHED
$STATE,7095,begin surface coast
$FREEZE,1.76,-0.294,-1.890,2,1,0
$FREEZE,1.36,-0.441,-0.961,2,1,0
$FREEZE,1.39,-0.442,-0.854,2,1,0
$FREEZE,1.33,-0.318,-0.290,2,1,0
$FINISH,1.3,1.004127
$STATE,7120,end surface coast,FINISH_DEPTH_REACHED
$STATE,7121,begin surface
$SM_CCo,7136,80.68,0.728,1,0,1736,300.24
$SM_GC,2.21,0.00,0.00,80.68,0.000,0.000,0.728,424,2666,1736,-8.25,0.48,300.24
$IRIDIUM_FIX,-7545.40,17358.01,211210,212141
$TT8_MAMPS,0.028462
$HUMID,53.38
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,18.2
$24V_AH,20.4,53.721
$10V_AH,9.8,34.670
$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,18.475,100.125,280.475,80.675,0.000,23.997,36.962,183.773,2.000,0.000,12.799,1976.520,2873.211,516.142,2030.182,181.997,0.000,1298.085,0.000,1274.244,0.000,11.211,0.000
$DEVICE_MAMPS,197.370,100.980,1081.710,727.515,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,541.479,933.382,914.227,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,257972
$DATA_FILE_SIZE,53704,770
$CAP_FILE_SIZE,110361,0
$CFSIZE,260165632,234987520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.017,262.7,1
$GPS,221210,013826,-7631.798,17355.289,11,1.3,12,126.9