version: 66.08
glider: 502
mission: 3
dive: 301
start: 12 22 110 15 27 39
data:
$ID,502
$MISSION,3
$DIVE,301
$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,-30518.432
$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,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
$GPS1,221210,152136,-7633.484,17413.404,42,0.8,47,126.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-71.2
$GPS2,221210,152714,-7633.493,17413.379,12,1.1,12,126.6
$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,292.8,149998,-17.5,-10.000
$D_GRID,382
$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,-146.0,0.0,0.0,0,86,0.00,0.00,-67.72,0.000,2,0.000,0.000,416,2664,2943,0,0,0,0,0,0
$GC,89,-0.76,-146.0,3.1,-2.6,10,133,8.82,1.83,-26.02,0.000,4,0.197,0.076,2800,3767,3559,0,0,0,0,0,0
$GC,372,-0.76,-146.0,44.2,-17.1,60,380,0.00,1.80,0.00,0.000,6,0.000,0.044,2800,2641,3561,0,0,0,0,0,0
$GC,511,-0.76,-146.0,67.3,-17.2,85,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2640,3562,0,0,0,0,0,0
$GC,645,-0.76,-146.0,89.7,-15.8,110,653,0.00,1.85,0.00,0.000,4,0.000,0.063,2792,3755,3562,0,0,0,0,0,0
$GC,677,-0.76,-146.0,95.2,-17.6,115,685,0.00,1.75,0.00,0.000,6,0.000,0.043,2792,2656,3562,0,0,0,0,0,0
$GC,815,-0.76,-146.0,118.2,-16.3,130,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2655,3562,0,0,0,0,0,0
$GC,943,-0.76,-146.0,139.4,-16.4,142,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2655,3562,0,0,0,0,0,0
$GC,1070,-0.76,-146.0,161.1,-17.2,154,1073,0.00,1.80,0.00,0.000,4,0.000,0.064,2784,3765,3563,0,0,0,0,0,0
$GC,1095,-0.76,-146.0,166.4,-18.3,156,1106,0.08,1.77,0.00,0.000,6,0.146,0.042,2809,2650,3563,0,0,0,0,0,0
$GC,1232,-0.76,-146.0,187.3,-15.4,169,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2649,3563,0,0,0,0,0,0
$GC,1359,-0.76,-146.0,206.8,-15.2,181,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2650,3563,0,0,0,0,0,0
$GC,1486,-0.76,-146.0,226.1,-14.8,193,1490,0.00,1.80,0.00,0.000,4,0.000,0.063,2803,3760,3563,0,0,0,0,0,0
$GC,1524,-0.76,-146.0,232.5,-16.2,196,1532,0.00,1.73,0.00,0.000,6,0.000,0.043,2803,2673,3563,0,0,0,0,0,0
$GC,1658,-0.76,-146.0,253.0,-15.4,209,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2672,3563,0,0,0,0,0,0
$GC,1849,-0.76,-146.0,282.1,-15.1,227,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2672,3563,0,0,0,0,0,0
$GC,2040,-0.76,-146.0,310.6,-15.3,245,2044,0.00,1.77,0.00,0.000,4,0.000,0.063,2795,3767,3563,0,0,0,0,0,0
$GC,2078,-0.76,-146.0,317.0,-16.4,248,2086,0.00,1.75,0.00,0.000,6,0.000,0.042,2795,2667,3563,0,0,0,0,0,0
$GC,2276,-0.76,-146.0,346.7,-14.6,267,2277,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2666,3563,0,0,0,0,0,0
$GC,2468,-0.76,-146.0,375.6,-15.3,285,2471,0.00,1.77,0.00,0.000,4,0.000,0.063,2786,3761,3563,0,0,0,0,0,0
$STATE,2503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2504,begin apogee
$GC,2510,-0.17,0.0,382.0,16.2,288,2650,0.68,0.00,130.52,1.027,4,0.130,0.000,3003,2486,2961,0,0,0,0,0,0
$STATE,2651,end apogee,CONTROL_FINISHED_OK
$STATE,2651,begin climb
$GC,2652,0.76,146.0,387.4,0.0,301,2811,0.95,2.50,145.30,0.946,4,0.074,0.049,3308,1093,2363,0,0,0,0,0,0
$GC,2917,0.76,146.0,364.5,11.2,324,2924,0.00,2.47,0.00,0.000,6,0.000,0.052,3308,2496,2354,0,0,0,0,0,0
$GC,3116,0.76,146.0,341.5,11.8,343,3120,0.00,2.28,0.00,0.000,4,0.000,0.050,3315,1092,2351,0,0,0,0,0,0
$GC,3239,0.76,146.0,326.9,11.5,353,3246,0.00,2.35,0.00,0.000,6,0.000,0.054,3315,2537,2349,0,0,0,0,0,0
$GC,3437,0.76,146.0,303.2,12.0,372,3441,0.00,1.98,0.00,0.000,4,0.000,0.060,3315,3773,2348,0,0,0,0,0,0
$GC,3519,0.76,146.0,291.2,14.7,379,3527,0.00,2.00,0.00,0.000,6,0.000,0.043,3324,2522,2347,0,0,0,0,0,0
$GC,3718,0.76,146.0,265.9,12.3,398,3721,0.00,2.00,0.00,0.000,4,0.000,0.060,3324,3764,2346,0,0,0,0,0,0
$GC,3741,0.76,146.0,262.8,13.9,400,3745,0.00,1.92,0.00,0.000,6,0.000,0.042,3334,2530,2346,0,0,0,0,0,0
$GC,3947,0.76,146.0,235.7,12.9,419,3951,0.00,2.00,0.00,0.000,4,0.000,0.060,3334,3764,2346,0,0,0,0,0,0
$GC,3993,0.76,146.0,228.8,15.0,423,3997,0.12,1.92,0.00,0.000,6,0.164,0.041,3310,2529,2346,0,0,0,0,0,0
$GC,4130,0.76,146.0,213.0,11.1,435,4133,0.00,2.00,0.00,0.000,4,0.000,0.061,3310,3763,2346,0,0,0,0,0,0
$GC,4165,0.76,146.0,208.4,13.1,438,4169,0.00,1.90,0.00,0.000,6,0.000,0.042,3318,2545,2346,0,0,0,0,0,0
$GC,4307,0.76,146.0,191.6,11.8,451,4315,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2543,2346,0,0,0,0,0,0
$GC,4443,0.76,146.0,176.2,11.5,464,4447,0.00,1.98,0.00,0.000,4,0.000,0.061,3318,3765,2345,0,0,0,0,0,0
$GC,4500,0.76,146.0,168.6,13.7,469,4503,0.00,1.90,0.00,0.000,6,0.000,0.042,3327,2546,2345,0,0,0,0,0,0
$GC,4640,0.76,146.0,152.1,11.6,482,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2545,2345,0,0,0,0,0,0
$GC,4768,0.76,146.0,137.1,11.5,494,4769,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2545,2344,0,0,0,0,0,0
$GC,4895,0.76,146.0,122.4,11.6,506,4899,0.00,1.98,0.00,0.000,4,0.000,0.060,3327,3768,2344,0,0,0,0,0,0
$GC,4943,0.76,146.0,115.8,13.8,510,4952,0.00,1.92,0.00,0.000,6,0.000,0.041,3337,2560,2344,0,0,0,0,0,0
$GC,5081,0.76,146.0,99.7,11.7,523,5088,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2559,2344,0,0,0,0,0,0
$GC,5216,0.76,146.0,82.8,12.3,548,5225,0.00,2.00,0.00,0.000,4,0.000,0.060,3337,3769,2344,0,0,0,0,0,0
$GC,5281,0.76,146.0,73.7,14.6,559,5289,0.12,1.90,0.00,0.000,6,0.162,0.041,3312,2557,2344,0,0,0,0,0,0
$GC,5423,0.76,146.0,57.9,10.6,584,5431,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2555,2344,0,0,0,0,0,0
$GC,5563,0.76,146.0,42.1,11.2,609,5570,0.00,1.98,0.00,0.000,4,0.000,0.060,3312,3770,2344,0,0,0,0,0,0
$GC,5590,0.76,146.0,39.2,11.5,613,5596,0.00,1.88,0.00,0.000,6,0.000,0.043,3319,2567,2344,0,0,0,0,0,0
$GC,5726,0.76,146.0,22.9,11.6,638,5734,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2566,2344,0,0,0,0,0,0
$FREEZE,8.83,-0.365,-1.893,2,1,0
$FREEZE,8.10,-0.359,-1.892,2,1,0
$FREEZE,7.56,-0.359,-1.892,2,1,0
$FREEZE,6.93,-0.359,-1.892,2,1,0
$GC,5868,0.76,146.0,6.9,11.3,663,5876,0.00,1.95,0.00,0.000,4,0.000,0.061,3319,3763,2343,0,0,0,0,0,0
$FREEZE,4.83,-0.356,-1.890,2,1,0
$FREEZE,4.10,-0.356,-1.890,2,1,0
$FREEZE,3.35,-0.356,-1.889,2,1,0
$FREEZE,2.36,-0.355,-1.888,2,1,0
$STATE,5900,end climb,SURFACE_DEPTH_REACHED
$STATE,5900,begin surface coast
$FREEZE,1.35,-0.355,-1.888,2,1,0
$FREEZE,1.24,-0.481,-1.821,2,1,0
$FINISH,1.2,1.026687
$STATE,5914,end surface coast,CONTROL_FINISHED_OK
$STATE,5914,begin surface
$SM_CCo,5932,83.07,0.728,1,0,1737,300.24
$SM_GC,2.22,0.00,0.00,83.07,0.000,0.000,0.728,422,2643,1737,-8.26,-0.17,300.24
$IRIDIUM_FIX,-7545.40,17407.22,221210,131330
$TT8_MAMPS,0.028462
$HUMID,52.52
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.3,17.8
$24V_AH,20.5,54.619
$10V_AH,9.7,35.368
$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,18.300,66.275,275.825,83.075,0.000,24.233,39.179,169.264,1.750,0.000,13.641,1691.296,2175.423,488.869,1853.316,156.673,0.000,1160.735,0.000,1099.112,0.000,7.774,0.000
$DEVICE_MAMPS,197.370,76.500,1026.630,727.515,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,470.756,867.369,938.114,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,257996
$DATA_FILE_SIZE,47146,670
$CAP_FILE_SIZE,90982,0
$CFSIZE,260165632,234549248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.055,193.7,1
$GPS,221210,170850,-7633.319,17415.924,14,1.4,14,126.5