version: 66.08
glider: 502
mission: 3
dive: 297
start: 12 22 110 8 3 19
data:
$ID,502
$MISSION,3
$DIVE,297
$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,-30513.402
$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,32
$R_STBD_OVSHOOT,29
$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
$GPS1,221210,075626,-7633.008,17403.869,19,1.4,19,126.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-73.0
$GPS2,221210,080254,-7633.067,17403.969,29,0.9,46,126.8
$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,276.1,154032,-17.5,-10.000
$D_GRID,412
$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,-146.0,0.0,0.0,0,82,0.00,0.00,-63.30,0.000,2,0.000,0.000,429,2670,2852,0,0,0,0,0,0
$GC,85,-0.76,-146.0,3.0,-2.6,9,135,8.77,2.33,-32.10,0.000,4,0.197,0.063,2808,1230,3559,0,0,0,0,0,0
$GC,380,-0.76,-146.0,40.0,-14.8,61,387,0.00,2.33,0.00,0.000,6,0.000,0.057,2800,2653,3563,0,0,0,0,0,0
$GC,516,-0.76,-146.0,62.2,-17.2,86,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2654,3563,0,0,0,0,0,0
$GC,657,-0.76,-146.0,84.9,-16.8,111,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2654,3563,0,0,0,0,0,0
$GC,794,-0.76,-146.0,107.9,-17.0,132,798,0.00,1.80,0.00,0.000,4,0.000,0.061,2791,3757,3563,0,0,0,0,0,0
$GC,818,-0.76,-146.0,112.1,-17.0,134,822,0.00,1.73,0.00,0.000,6,0.000,0.042,2791,2644,3563,0,0,0,0,0,0
$GC,961,-0.76,-146.0,136.3,-17.2,147,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2641,3563,0,0,0,0,0,0
$GC,1096,-0.76,-146.0,159.5,-16.8,160,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2641,3563,0,0,0,0,0,0
$GC,1224,-0.76,-146.0,180.2,-15.9,172,1227,0.00,1.83,0.00,0.000,4,0.000,0.063,2783,3770,3563,0,0,0,0,0,0
$GC,1258,-0.76,-146.0,186.2,-17.7,175,1263,0.12,1.73,0.00,0.000,6,0.164,0.043,2817,2657,3563,0,0,0,0,0,0
$GC,1400,-0.76,-146.0,206.9,-14.1,188,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2655,3563,0,0,0,0,0,0
$GC,1527,-0.76,-146.0,225.4,-14.4,200,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2654,3563,0,0,0,0,0,0
$GC,1655,-0.76,-146.0,243.3,-13.8,212,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2654,3563,0,0,0,0,0,0
$GC,1780,-0.76,-146.0,260.6,-13.2,224,1781,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2655,3563,0,0,0,0,0,0
$GC,1971,-0.76,-146.0,286.1,-13.4,242,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2655,3563,0,0,0,0,0,0
$GC,2163,-0.76,-146.0,312.1,-13.7,260,2167,0.00,1.80,0.00,0.000,4,0.000,0.064,2809,3764,3563,0,0,0,0,0,0
$GC,2197,-0.76,-146.0,317.3,-15.2,263,2201,0.00,1.73,0.00,0.000,6,0.000,0.043,2809,2652,3563,0,0,0,0,0,0
$GC,2401,-0.76,-146.0,346.6,-14.2,282,2404,0.00,1.80,0.00,0.000,4,0.000,0.063,2801,3764,3564,0,0,0,0,0,0
$GC,2416,-0.76,-146.0,349.4,-14.5,283,2425,0.00,1.75,0.00,0.000,6,0.000,0.042,2801,2662,3563,0,0,0,0,0,0
$GC,2616,-0.76,-146.0,378.5,-14.8,302,2617,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2662,3563,0,0,0,0,0,0
$GC,2806,-0.76,-146.0,406.0,-14.4,320,2810,0.00,1.80,0.00,0.000,4,0.000,0.063,2793,3771,3563,0,0,0,0,0,0
$GC,2832,-0.76,-146.0,410.5,-15.8,322,2840,0.00,1.75,0.00,0.000,6,0.000,0.043,2793,2671,3563,0,0,0,0,0,0
$STATE,2849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2849,begin apogee
$GC,2854,-0.17,0.0,412.7,15.1,324,2992,0.65,0.00,131.52,1.046,4,0.129,0.000,3003,2490,2960,0,0,0,0,0,0
$STATE,2992,end apogee,CONTROL_FINISHED_OK
$STATE,2993,begin climb
$GC,2994,0.76,146.0,418.2,0.0,336,3149,0.98,2.50,146.35,0.965,4,0.074,0.049,3313,1104,2365,0,0,0,0,0,0
$GC,3268,0.76,146.0,393.8,11.3,361,3272,0.00,2.45,0.00,0.000,6,0.000,0.051,3313,2504,2354,0,0,0,0,0,0
$GC,3467,0.76,146.0,370.0,11.8,379,3471,0.00,2.28,0.00,0.000,4,0.000,0.049,3324,1097,2351,0,0,0,0,0,0
$GC,3586,0.76,146.0,355.7,12.1,389,3591,0.00,2.30,0.00,0.000,6,0.000,0.053,3324,2515,2349,0,0,0,0,0,0
$GC,3784,0.76,146.0,331.1,12.2,407,3788,0.00,2.00,0.00,0.000,4,0.000,0.060,3324,3768,2347,0,0,0,0,0,0
$GC,3878,0.76,146.0,317.4,14.6,415,3886,0.00,1.98,0.00,0.000,6,0.000,0.042,3333,2534,2347,0,0,0,0,0,0
$GC,4076,0.76,146.0,291.4,13.0,434,4080,0.00,2.00,0.00,0.000,4,0.000,0.059,3333,3773,2347,0,0,0,0,0,0
$GC,4121,0.76,146.0,284.6,15.7,438,4126,0.12,1.95,0.00,0.000,6,0.164,0.043,3310,2526,2346,0,0,0,0,0,0
$GC,4321,0.76,146.0,260.9,11.5,456,4324,0.00,2.00,0.00,0.000,4,0.000,0.060,3310,3764,2345,0,0,0,0,0,0
$GC,4355,0.76,146.0,256.0,14.0,459,4359,0.00,1.90,0.00,0.000,6,0.000,0.042,3318,2543,2346,0,0,0,0,0,0
$GC,4560,0.76,146.0,230.4,12.5,478,4561,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2540,2345,0,0,0,0,0,0
$GC,4686,0.76,146.0,214.5,12.4,490,4690,0.00,1.98,0.00,0.000,4,0.000,0.060,3318,3766,2345,0,0,0,0,0,0
$GC,4723,0.76,146.0,209.8,13.4,493,4727,0.00,1.90,0.00,0.000,6,0.000,0.041,3327,2540,2345,0,0,0,0,0,0
$GC,4865,0.76,146.0,191.7,12.6,506,4873,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2537,2345,0,0,0,0,0,0
$GC,5001,0.76,146.0,174.7,12.7,519,5005,0.00,2.00,0.00,0.000,4,0.000,0.060,3327,3775,2345,0,0,0,0,0,0
$GC,5060,0.76,146.0,166.0,14.6,524,5069,0.00,1.98,0.00,0.000,6,0.000,0.042,3337,2542,2345,0,0,0,0,0,0
$GC,5196,0.76,146.0,148.5,12.7,537,5200,0.00,1.98,0.00,0.000,4,0.000,0.061,3337,3765,2345,0,0,0,0,0,0
$GC,5232,0.76,146.0,143.5,14.8,540,5236,0.12,1.90,0.00,0.000,6,0.164,0.042,3312,2549,2345,0,0,0,0,0,0
$GC,5374,0.76,146.0,126.9,11.1,553,5382,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2547,2344,0,0,0,0,0,0
$GC,5509,0.76,146.0,111.7,11.1,566,5513,0.00,1.98,0.00,0.000,4,0.000,0.062,3312,3765,2344,0,0,0,0,0,0
$GC,5536,0.76,146.0,108.0,12.4,568,5544,0.00,1.92,0.00,0.000,6,0.000,0.042,3320,2552,2344,0,0,0,0,0,0
$GC,5673,0.76,146.0,92.6,10.8,587,5679,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2550,2344,0,0,0,0,0,0
$GC,5809,0.76,146.0,77.0,11.6,612,5818,0.00,2.00,0.00,0.000,4,0.000,0.061,3320,3759,2343,0,0,0,0,0,0
$GC,5862,0.76,146.0,70.2,13.5,621,5869,0.00,1.90,0.00,0.000,6,0.000,0.042,3329,2550,2343,0,0,0,0,0,0
$GC,6003,0.76,146.0,53.3,12.2,646,6011,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2550,2343,0,0,0,0,0,0
$GC,6142,0.76,146.0,36.7,12.3,671,6149,0.00,1.98,0.00,0.000,4,0.000,0.061,3329,3764,2343,0,0,0,0,0,0
$GC,6182,0.76,146.0,31.1,14.2,678,6190,0.00,1.90,0.00,0.000,6,0.000,0.041,3338,2568,2343,0,0,0,0,0,0
$GC,6321,0.76,146.0,13.8,12.6,703,6328,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2566,2343,0,0,0,0,0,0
$FREEZE,8.47,-0.360,-1.893,2,1,0
$FREEZE,7.79,-0.354,-1.893,2,1,0
$FREEZE,6.99,-0.352,-1.892,2,1,0
$FREEZE,6.32,-0.348,-1.892,2,1,0
$FREEZE,5.50,-0.336,-1.891,2,1,0
$FREEZE,4.82,-0.340,-1.891,2,1,0
$FREEZE,4.06,-0.340,-1.890,2,1,0
$FREEZE,3.40,-0.338,-1.890,2,1,0
$FREEZE,2.66,-0.340,-1.889,2,1,0
$STATE,6408,end climb,SURFACE_DEPTH_REACHED
$STATE,6408,begin surface coast
$FREEZE,1.69,-0.337,-1.889,2,1,0
$FREEZE,1.33,-0.355,-1.870,2,1,0
$FREEZE,1.39,-0.466,-0.462,2,1,0
$FINISH,1.4,1.006708
$STATE,6429,end surface coast,FINISH_DEPTH_REACHED
$STATE,6429,begin surface
$SM_CCo,6445,80.30,0.726,1,0,1737,300.24
$SM_GC,2.21,0.00,0.00,80.30,0.000,0.000,0.726,424,2661,1737,-8.25,0.31,300.24
$IRIDIUM_FIX,-7519.49,-17607.59,221210,050528
$TT8_MAMPS,0.028462
$HUMID,52.87
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,18.3
$24V_AH,20.5,54.189
$10V_AH,9.8,35.030
$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,18.325,67.500,277.875,80.300,0.000,30.241,37.381,182.658,2.000,0.000,47.594,1834.320,2455.467,476.799,1987.503,169.740,0.000,1193.900,0.000,1181.018,0.000,9.486,0.000
$DEVICE_MAMPS,197.370,88.740,1045.755,725.985,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,507.474,909.833,944.132,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,257952
$DATA_FILE_SIZE,50321,721
$CAP_FILE_SIZE,97278,0
$CFSIZE,260165632,234758144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.249,177.2,1
$GPS,221210,095301,-7633.315,17406.324,10,1.2,15,126.7