version: 66.08
glider: 502
mission: 3
dive: 300
start: 12 22 110 13 38 21
data:
$ID,502
$MISSION,3
$DIVE,300
$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,-30517.174
$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,20
$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
$GPS1,221210,133201,-7633.635,17411.098,10,1.3,15,126.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-70.8
$GPS2,221210,133756,-7633.659,17411.119,11,1.8,11,126.6
$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,275.8,150988,-17.5,-10.000
$D_GRID,388
$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,-146.0,0.0,0.0,0,87,0.00,0.00,-68.65,0.000,2,0.000,0.000,414,2641,2961,0,0,0,0,0,0
$GC,90,-0.76,-146.0,3.0,-2.9,10,133,8.82,2.25,-25.23,0.000,4,0.197,0.063,2808,1238,3560,0,0,0,0,0,0
$GC,355,-0.76,-146.0,38.1,-14.5,57,362,0.00,2.30,0.00,0.000,6,0.000,0.057,2799,2653,3563,0,0,0,0,0,0
$GC,492,-0.76,-146.0,61.0,-16.4,82,500,0.00,1.80,0.00,0.000,4,0.000,0.062,2790,3756,3563,0,0,0,0,0,0
$GC,517,-0.76,-146.0,65.5,-17.8,86,526,0.00,1.77,0.00,0.000,6,0.000,0.044,2790,2644,3563,0,0,0,0,0,0
$GC,655,-0.76,-146.0,89.5,-17.5,111,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2644,3563,0,0,0,0,0,0
$GC,792,-0.76,-146.0,113.4,-17.9,129,796,0.00,1.83,0.00,0.000,4,0.000,0.063,2783,3770,3563,0,0,0,0,0,0
$GC,818,-0.76,-146.0,118.6,-18.5,131,828,0.08,1.77,0.00,0.000,6,0.144,0.043,2809,2659,3563,0,0,0,0,0,0
$GC,955,-0.76,-146.0,140.1,-15.8,144,959,0.00,1.80,0.00,0.000,4,0.000,0.063,2801,3773,3563,0,0,0,0,0,0
$GC,991,-0.76,-146.0,146.2,-17.4,147,995,0.00,1.73,0.00,0.000,6,0.000,0.043,2802,2666,3563,0,0,0,0,0,0
$GC,1134,-0.76,-146.0,168.9,-16.2,160,1138,0.00,2.22,0.00,0.000,4,0.000,0.050,2802,1244,3563,0,0,0,0,0,0
$GC,1155,-0.76,-146.0,173.2,-15.9,161,1164,0.00,2.35,0.00,0.000,6,0.000,0.056,2792,2670,3563,0,0,0,0,0,0
$GC,1292,-0.76,-146.0,194.6,-16.0,174,1296,0.00,1.75,0.00,0.000,4,0.000,0.062,2784,3770,3564,0,0,0,0,0,0
$GC,1329,-0.76,-146.0,200.6,-17.3,177,1333,0.12,1.73,0.00,0.000,6,0.164,0.043,2818,2659,3563,0,0,0,0,0,0
$GC,1470,-0.76,-146.0,220.9,-13.8,190,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2657,3563,0,0,0,0,0,0
$GC,1606,-0.76,-146.0,239.5,-13.8,203,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2656,3563,0,0,0,0,0,0
$GC,1732,-0.76,-146.0,257.0,-13.7,215,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2657,3563,0,0,0,0,0,0
$GC,1923,-0.76,-146.0,283.1,-13.9,233,1926,0.00,1.80,0.00,0.000,4,0.000,0.063,2810,3769,3563,0,0,0,0,0,0
$GC,1960,-0.76,-146.0,289.0,-15.1,236,1968,0.00,1.73,0.00,0.000,6,0.000,0.041,2811,2683,3563,0,0,0,0,0,0
$GC,2159,-0.76,-146.0,317.4,-14.6,255,2163,0.00,2.28,0.00,0.000,4,0.000,0.050,2811,1232,3563,0,0,0,0,0,0
$GC,2176,-0.76,-146.0,319.9,-14.6,256,2180,0.00,2.35,0.00,0.000,6,0.000,0.056,2799,2687,3563,0,0,0,0,0,0
$GC,2375,-0.76,-146.0,349.5,-14.8,274,2380,0.00,1.73,0.00,0.000,4,0.000,0.063,2791,3766,3563,0,0,0,0,0,0
$GC,2424,-0.76,-146.0,357.7,-15.5,278,2431,0.00,1.70,0.00,0.000,6,0.000,0.043,2791,2694,3563,0,0,0,0,0,0
$GC,2624,-0.76,-146.0,386.8,-14.9,297,2625,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2692,3563,0,0,0,0,0,0
$STATE,2631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2631,begin apogee
$GC,2636,-0.17,0.0,388.4,14.6,298,2773,0.65,0.00,130.80,1.032,4,0.130,0.000,3001,2494,2962,0,0,0,0,0,0
$STATE,2774,end apogee,CONTROL_FINISHED_OK
$STATE,2774,begin climb
$GC,2775,0.76,146.0,393.4,0.0,310,2929,0.98,2.50,145.62,0.950,4,0.074,0.048,3312,1105,2365,0,0,0,0,0,0
$GC,3067,0.76,146.0,365.3,12.9,336,3075,0.00,2.45,0.00,0.000,6,0.000,0.051,3312,2509,2353,0,0,0,0,0,0
$GC,3266,0.76,146.0,340.3,12.7,355,3270,0.00,2.28,0.00,0.000,4,0.000,0.050,3323,1101,2351,0,0,0,0,0,0
$GC,3384,0.76,146.0,325.8,11.8,365,3388,0.00,2.30,0.00,0.000,6,0.000,0.054,3323,2520,2348,0,0,0,0,0,0
$GC,3581,0.76,146.0,301.3,12.4,383,3585,0.00,2.03,0.00,0.000,4,0.000,0.060,3323,3762,2348,0,0,0,0,0,0
$GC,3664,0.76,146.0,289.1,15.1,390,3671,0.00,1.95,0.00,0.000,6,0.000,0.042,3332,2539,2347,0,0,0,0,0,0
$GC,3862,0.76,146.0,263.7,12.7,409,3866,0.00,1.98,0.00,0.000,4,0.000,0.059,3332,3768,2347,0,0,0,0,0,0
$GC,3889,0.76,146.0,259.7,14.3,411,3898,0.08,1.98,0.00,0.000,6,0.145,0.042,3317,2532,2346,0,0,0,0,0,0
$GC,4088,0.76,146.0,236.6,11.4,430,4092,0.00,2.00,0.00,0.000,4,0.000,0.060,3317,3777,2345,0,0,0,0,0,0
$GC,4135,0.76,146.0,230.5,13.2,434,4139,0.00,1.92,0.00,0.000,6,0.000,0.042,3325,2539,2346,0,0,0,0,0,0
$GC,4276,0.76,146.0,213.6,11.9,447,4277,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2536,2345,0,0,0,0,0,0
$GC,4403,0.76,146.0,197.8,12.4,459,4407,0.00,1.98,0.00,0.000,4,0.000,0.059,3325,3768,2346,0,0,0,0,0,0
$GC,4461,0.76,146.0,190.0,13.8,464,4465,0.00,1.90,0.00,0.000,6,0.000,0.042,3334,2550,2345,0,0,0,0,0,0
$GC,4602,0.76,146.0,171.3,13.2,477,4605,0.00,1.98,0.00,0.000,4,0.000,0.060,3333,3774,2345,0,0,0,0,0,0
$GC,4626,0.76,146.0,168.0,13.3,479,4630,0.12,1.90,0.00,0.000,6,0.164,0.043,3310,2557,2345,0,0,0,0,0,0
$GC,4767,0.76,146.0,151.6,11.0,492,4768,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2555,2345,0,0,0,0,0,0
$GC,4893,0.76,146.0,137.6,11.1,504,4895,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2555,2345,0,0,0,0,0,0
$GC,5020,0.76,146.0,123.5,11.0,516,5024,0.00,1.95,0.00,0.000,4,0.000,0.060,3310,3768,2345,0,0,0,0,0,0
$GC,5078,0.76,146.0,116.3,13.4,521,5081,0.00,1.88,0.00,0.000,6,0.000,0.042,3318,2559,2344,0,0,0,0,0,0
$GC,5218,0.76,146.0,100.0,11.2,534,5226,0.00,2.00,0.00,0.000,4,0.000,0.061,3318,3764,2344,0,0,0,0,0,0
$GC,5250,0.76,146.0,96.0,12.6,539,5258,0.00,1.85,0.00,0.000,6,0.000,0.042,3327,2575,2345,0,0,0,0,0,0
$GC,5388,0.76,146.0,79.1,12.2,564,5395,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2574,2344,0,0,0,0,0,0
$GC,5527,0.76,146.0,62.1,12.3,589,5534,0.00,1.95,0.00,0.000,4,0.000,0.062,3327,3772,2344,0,0,0,0,0,0
$GC,5564,0.76,146.0,57.3,14.3,595,5572,0.00,1.90,0.00,0.000,6,0.000,0.042,3336,2577,2343,0,0,0,0,0,0
$GC,5703,0.76,146.0,39.4,12.4,620,5710,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2576,2343,0,0,0,0,0,0
$GC,5843,0.76,146.0,21.3,13.4,645,5849,0.00,1.95,0.00,0.000,4,0.000,0.060,3336,3777,2343,0,0,0,0,0,0
$GC,5916,0.76,146.0,10.2,16.6,658,5925,0.10,1.88,0.00,0.000,6,0.138,0.043,3312,2598,2343,0,0,0,0,0,0
$FREEZE,7.94,-0.616,-1.893,2,1,0
$FREEZE,7.23,-0.617,-1.892,2,1,0
$FREEZE,6.48,-0.616,-1.892,2,1,0
$FREEZE,6.03,-0.616,-1.891,2,1,0
$FREEZE,5.14,-0.615,-1.891,2,1,0
$FREEZE,4.53,-0.615,-1.890,2,1,0
$FREEZE,3.70,-0.615,-1.890,2,1,0
$FREEZE,3.15,-0.615,-1.889,2,1,0
$FREEZE,2.49,-0.615,-1.889,2,1,0
$STATE,5977,end climb,SURFACE_DEPTH_REACHED
$STATE,5977,begin surface coast
$FREEZE,1.67,-0.625,-1.889,2,1,0
$FREEZE,1.28,-0.655,-1.890,2,1,0
$FREEZE,1.36,-0.639,-1.022,2,1,0
$FREEZE,1.24,-0.644,-1.878,2,1,0
$FREEZE,1.33,-0.678,-0.286,2,1,0
$FINISH,1.3,1.004044
$STATE,6009,end surface coast,FINISH_DEPTH_REACHED
$STATE,6010,begin surface
$SM_CCo,6026,80.28,0.724,1,0,1737,300.24
$SM_GC,2.14,0.00,0.00,80.28,0.000,0.000,0.724,419,2664,1737,-8.26,0.40,300.24
$IRIDIUM_FIX,-7554.21,17407.22,221210,111102
$TT8_MAMPS,0.028462
$HUMID,52.79
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.2,17.4
$24V_AH,20.5,54.512
$10V_AH,9.8,35.284
$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,18.450,79.725,276.425,80.275,0.000,29.022,36.747,186.628,1.750,0.000,12.661,1724.052,2213.279,483.779,1879.425,172.726,0.000,1175.713,0.000,1122.526,0.000,7.765,0.000
$DEVICE_MAMPS,197.370,113.985,1031.985,723.690,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,472.987,866.640,937.711,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47113,673
$CAP_FILE_SIZE,97035,0
$CFSIZE,260165632,234602496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.123,173.0,1
$GPS,221210,152136,-7633.484,17413.404,42,0.8,47,126.6