version: 66.08
glider: 502
mission: 3
dive: 303
start: 12 22 110 19 5 10
data:
$ID,502
$MISSION,3
$DIVE,303
$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,-30520.945
$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,35
$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
$GPS1,221210,185637,-7633.059,17418.328,30,1.0,30,126.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-72.2
$GPS2,221210,190443,-7633.042,17418.373,11,1.0,16,126.4
$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,325.1,147807,-17.5,-10.000
$D_GRID,378
$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,14,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,100,0.00,0.00,-82.03,0.000,2,0.000,0.000,420,2672,3244,0,0,0,0,0,0
$GC,103,-0.76,-146.0,3.3,-1.5,12,127,8.98,2.38,-9.48,0.000,4,0.199,0.063,2807,1234,3560,0,0,0,0,0,0
$GC,367,-0.76,-146.0,43.3,-14.1,60,375,0.00,2.33,0.00,0.000,6,0.000,0.057,2798,2640,3564,0,0,0,0,0,0
$GC,507,-0.76,-146.0,65.6,-16.4,85,514,0.00,2.25,0.00,0.000,4,0.000,0.050,2798,1239,3564,0,0,0,0,0,0
$GC,539,-0.76,-146.0,71.0,-16.6,90,547,0.00,2.33,0.00,0.000,6,0.000,0.057,2788,2647,3564,0,0,0,0,0,0
$GC,679,-0.76,-146.0,94.4,-17.5,115,686,0.10,1.83,0.00,0.000,4,0.181,0.062,2806,3772,3564,0,0,0,0,0,0
$GC,727,-0.76,-146.0,102.3,-15.4,122,731,0.00,1.75,0.00,0.000,6,0.000,0.043,2806,2672,3565,0,0,0,0,0,0
$GC,867,-0.76,-146.0,125.0,-16.0,135,871,0.00,2.22,0.00,0.000,4,0.000,0.049,2806,1241,3564,0,0,0,0,0,0
$GC,887,-0.76,-146.0,128.8,-16.3,136,897,0.00,2.35,0.00,0.000,6,0.000,0.057,2797,2668,3564,0,0,0,0,0,0
$GC,1023,-0.76,-146.0,150.6,-16.9,149,1026,0.00,1.75,0.00,0.000,4,0.000,0.061,2789,3773,3564,0,0,0,0,0,0
$GC,1069,-0.76,-146.0,158.9,-18.4,153,1073,0.00,1.70,0.00,0.000,6,0.000,0.043,2788,2670,3564,0,0,0,0,0,0
$GC,1210,-0.76,-146.0,182.8,-16.6,166,1212,0.10,0.00,0.00,0.000,6,0.178,0.000,2814,2667,3564,0,0,0,0,0,0
$GC,1338,-0.76,-146.0,202.6,-15.4,178,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2667,3564,0,0,0,0,0,0
$GC,1465,-0.76,-146.0,221.3,-14.2,190,1468,0.00,1.77,0.00,0.000,4,0.000,0.063,2807,3767,3565,0,0,0,0,0,0
$GC,1490,-0.76,-146.0,225.6,-15.3,192,1499,0.00,1.73,0.00,0.000,6,0.000,0.042,2807,2675,3564,0,0,0,0,0,0
$GC,1626,-0.76,-146.0,245.3,-15.1,205,1628,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2674,3564,0,0,0,0,0,0
$GC,1752,-0.76,-146.0,264.4,-15.3,217,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2674,3564,0,0,0,0,0,0
$GC,1943,-0.76,-146.0,292.9,-14.5,235,1947,0.00,1.77,0.00,0.000,4,0.000,0.063,2799,3772,3564,0,0,0,0,0,0
$GC,1989,-0.76,-146.0,300.0,-16.0,239,1996,0.00,1.67,0.00,0.000,6,0.000,0.043,2798,2687,3564,0,0,0,0,0,0
$GC,2194,-0.76,-146.0,330.9,-15.2,258,2198,0.00,1.75,0.00,0.000,4,0.000,0.063,2790,3767,3564,0,0,0,0,0,0
$GC,2221,-0.76,-146.0,335.6,-15.9,260,2228,0.00,1.70,0.00,0.000,6,0.000,0.043,2791,2694,3564,0,0,0,0,0,0
$GC,2421,-0.76,-146.0,366.8,-16.0,279,2422,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2693,3564,0,0,0,0,0,0
$STATE,2491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2491,begin apogee
$GC,2496,-0.17,0.0,378.6,15.8,286,2634,0.65,0.00,131.27,1.026,4,0.130,0.000,3000,2492,2961,0,0,0,0,0,0
$STATE,2634,end apogee,CONTROL_FINISHED_OK
$STATE,2635,begin climb
$GC,2636,0.76,146.0,385.1,0.0,298,2794,0.98,2.50,145.62,0.947,4,0.075,0.049,3311,1093,2363,0,0,0,0,0,0
$GC,2919,0.76,146.0,362.2,10.9,323,2923,0.00,2.45,0.00,0.000,6,0.000,0.052,3311,2501,2353,0,0,0,0,0,0
$GC,3116,0.76,146.0,339.7,11.4,341,3120,0.00,2.25,0.00,0.000,4,0.000,0.050,3320,1103,2351,0,0,0,0,0,0
$GC,3249,0.76,146.0,323.8,11.9,352,3256,0.00,2.33,0.00,0.000,6,0.000,0.053,3320,2514,2348,0,0,0,0,0,0
$GC,3447,0.76,146.0,299.5,12.2,371,3451,0.00,2.00,0.00,0.000,4,0.000,0.060,3320,3768,2348,0,0,0,0,0,0
$GC,3540,0.76,146.0,286.0,14.2,379,3547,0.00,1.95,0.00,0.000,6,0.000,0.042,3329,2542,2347,0,0,0,0,0,0
$GC,3739,0.76,146.0,261.1,12.1,398,3742,0.00,1.98,0.00,0.000,4,0.000,0.060,3329,3770,2346,0,0,0,0,0,0
$GC,3773,0.76,146.0,256.3,14.8,401,3776,0.00,1.92,0.00,0.000,6,0.000,0.042,3338,2528,2346,0,0,0,0,0,0
$GC,3977,0.76,146.0,229.1,13.4,420,3978,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2525,2346,0,0,0,0,0,0
$GC,4104,0.76,146.0,212.4,13.3,432,4108,0.00,2.00,0.00,0.000,4,0.000,0.060,3338,3771,2346,0,0,0,0,0,0
$GC,4162,0.76,146.0,204.0,16.2,437,4166,0.12,1.88,0.00,0.000,6,0.163,0.042,3314,2557,2346,0,0,0,0,0,0
$GC,4303,0.76,146.0,187.6,11.1,450,4306,0.00,1.95,0.00,0.000,4,0.000,0.060,3314,3768,2345,0,0,0,0,0,0
$GC,4338,0.76,146.0,183.1,12.7,453,4341,0.00,1.88,0.00,0.000,6,0.000,0.041,3322,2552,2345,0,0,0,0,0,0
$GC,4481,0.76,146.0,166.3,11.7,466,4488,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2550,2345,0,0,0,0,0,0
$GC,4616,0.76,146.0,149.7,12.1,479,4619,0.00,1.98,0.00,0.000,4,0.000,0.061,3321,3776,2345,0,0,0,0,0,0
$GC,4652,0.76,146.0,144.2,15.0,482,4662,0.00,1.90,0.00,0.000,6,0.000,0.042,3331,2577,2345,0,0,0,0,0,0
$GC,4789,0.76,146.0,126.5,13.2,495,4790,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2576,2345,0,0,0,0,0,0
$GC,4916,0.76,146.0,109.4,13.5,507,4919,0.00,1.92,0.00,0.000,4,0.000,0.060,3331,3774,2345,0,0,0,0,0,0
$GC,4952,0.76,146.0,104.2,15.9,510,4956,0.00,1.85,0.00,0.000,6,0.000,0.042,3340,2577,2344,0,0,0,0,0,0
$GC,5086,0.76,146.0,85.0,14.0,532,5093,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2574,2344,0,0,0,0,0,0
$GC,5224,0.76,146.0,66.1,13.3,557,5232,0.00,1.92,0.00,0.000,4,0.000,0.060,3340,3765,2344,0,0,0,0,0,0
$GC,5276,0.76,146.0,58.0,15.9,566,5285,0.10,1.88,0.00,0.000,6,0.138,0.041,3316,2578,2344,0,0,0,0,0,0
$GC,5417,0.76,146.0,41.9,10.4,591,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2577,2344,0,0,0,0,0,0
$GC,5553,0.76,146.0,26.8,10.1,616,5561,0.00,1.95,0.00,0.000,4,0.000,0.060,3316,3763,2344,0,0,0,0,0,0
$GC,5585,0.76,146.0,23.2,12.3,621,5593,0.00,1.83,0.00,0.000,6,0.000,0.043,3323,2588,2343,0,0,0,0,0,0
$FREEZE,8.44,-0.499,-1.893,2,1,0
$FREEZE,7.84,-0.491,-1.893,2,1,0
$FREEZE,7.10,-0.490,-1.892,2,1,0
$GC,5728,0.76,146.0,7.1,11.3,646,5736,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2587,2344,0,0,0,0,0,0
$FREEZE,5.28,-0.481,-1.891,2,1,0
$FREEZE,4.67,-0.480,-1.891,2,1,0
$FREEZE,4.05,-0.484,-1.890,2,1,0
$FREEZE,3.42,-0.479,-1.890,2,1,0
$FREEZE,2.64,-0.475,-1.889,2,1,0
$STATE,5764,end climb,SURFACE_DEPTH_REACHED
$STATE,5764,begin surface coast
$FREEZE,2.12,-0.482,-1.889,2,1,0
$FREEZE,1.34,-0.502,-1.889,2,1,0
$FREEZE,1.29,-0.502,-1.074,2,1,0
$FREEZE,1.38,-0.519,-1.890,2,1,0
$FREEZE,1.23,-0.541,-1.279,2,1,0
$FINISH,1.2,1.018886
$STATE,5797,end surface coast,CONTROL_FINISHED_OK
$STATE,5797,begin surface
$SM_CCo,5813,79.88,0.728,1,0,1737,300.24
$SM_GC,2.20,0.00,0.00,79.88,0.000,0.000,0.728,422,2666,1737,-8.26,0.48,300.24
$IRIDIUM_FIX,-7545.40,17427.46,221210,181817
$TT8_MAMPS,0.027713
$HUMID,52.67
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,18.3
$24V_AH,20.5,54.823
$10V_AH,9.7,35.537
$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,18.550,71.975,276.900,79.875,0.000,57.516,73.387,186.121,1.750,0.000,17.418,1677.149,2156.677,471.679,1927.685,159.769,0.000,1148.030,0.000,1095.418,0.000,7.766,0.000
$DEVICE_MAMPS,198.900,100.980,1025.865,727.515,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,461.892,850.261,919.910,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,257928
$DATA_FILE_SIZE,47159,657
$CAP_FILE_SIZE,93328,0
$CFSIZE,260165632,234446848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.095,327.9,1
$GPS,221210,204419,-7632.754,17420.680,9,1.3,14,126.3