version: 66.08
glider: 502
mission: 3
dive: 365
start: 12 27 110 9 46 34
data:
$ID,502
$MISSION,3
$DIVE,365
$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,-30601.41
$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,39
$R_STBD_OVSHOOT,27
$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
$GPS1,271210,094031,-7631.660,17725.342,11,1.6,29,121.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-71.4
$GPS2,271210,094608,-7631.666,17725.299,13,1.2,13,121.9
$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,305.1,66955,-17.5,-10.000
$D_GRID,375
$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,-63.75,0.000,2,0.000,0.000,423,2666,2867,0,0,0,0,0,0
$GC,85,-0.76,-146.0,3.0,-3.0,9,135,8.85,1.85,-32.08,0.000,4,0.197,0.078,2803,3763,3559,0,0,0,0,0,0
$GC,256,-0.76,-146.0,24.6,-18.4,37,262,0.00,1.77,0.00,0.000,6,0.000,0.042,2803,2625,3562,0,0,0,0,0,0
$GC,396,-0.76,-146.0,50.0,-16.9,62,405,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2624,3563,0,0,0,0,0,0
$GC,541,-0.76,-146.0,74.2,-16.5,87,548,0.00,1.85,0.00,0.000,4,0.000,0.061,2794,3760,3563,0,0,0,0,0,0
$GC,582,-0.76,-146.0,81.9,-17.9,94,592,0.00,1.75,0.00,0.000,6,0.000,0.042,2794,2660,3563,0,0,0,0,0,0
$GC,730,-0.76,-146.0,107.2,-16.6,116,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2659,3563,0,0,0,0,0,0
$GC,859,-0.76,-146.0,128.4,-16.3,128,862,0.00,1.80,0.00,0.000,4,0.000,0.060,2785,3770,3563,0,0,0,0,0,0
$GC,897,-0.76,-146.0,135.8,-17.6,131,905,0.08,1.77,0.00,0.000,6,0.145,0.041,2811,2650,3563,0,0,0,0,0,0
$GC,1033,-0.76,-146.0,156.4,-15.4,144,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2649,3563,0,0,0,0,0,0
$GC,1168,-0.76,-146.0,177.3,-15.0,157,1172,0.00,1.80,0.00,0.000,4,0.000,0.060,2803,3765,3564,0,0,0,0,0,0
$GC,1204,-0.76,-146.0,182.8,-16.1,160,1208,0.00,1.70,0.00,0.000,6,0.000,0.041,2803,2663,3564,0,0,0,0,0,0
$GC,1345,-0.76,-146.0,204.4,-14.7,173,1348,0.00,1.77,0.00,0.000,4,0.000,0.060,2795,3760,3563,0,0,0,0,0,0
$GC,1369,-0.76,-146.0,208.0,-15.5,175,1373,0.00,1.67,0.00,0.000,6,0.000,0.041,2795,2676,3563,0,0,0,0,0,0
$GC,1511,-0.76,-146.0,229.7,-15.1,188,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2674,3563,0,0,0,0,0,0
$GC,1637,-0.76,-146.0,248.5,-14.8,200,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2674,3564,0,0,0,0,0,0
$GC,1763,-0.76,-146.0,267.2,-14.9,212,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2674,3564,0,0,0,0,0,0
$GC,1955,-0.76,-146.0,295.4,-14.8,230,1959,0.00,1.77,0.00,0.000,4,0.000,0.061,2787,3769,3564,0,0,0,0,0,0
$GC,2027,-0.76,-146.0,306.8,-15.7,236,2035,0.08,1.73,0.00,0.000,6,0.143,0.041,2812,2681,3563,0,0,0,0,0,0
$GC,2228,-0.76,-146.0,334.1,-13.9,255,2234,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2680,3564,0,0,0,0,0,0
$GC,2426,-0.76,-146.0,360.7,-10.7,274,2430,0.00,2.25,0.00,0.000,4,0.000,0.048,2812,1246,3564,0,0,0,0,0,0
$STATE,2565,end dive,NO_VERTICAL_VELOCITY
$STATE,2565,begin apogee
$GC,2572,-0.17,0.0,360.7,0.0,286,2712,0.55,0.00,131.48,1.009,4,0.081,0.000,3014,2497,2959,0,0,0,0,0,0
$STATE,2713,end apogee,CONTROL_FINISHED_OK
$STATE,2713,begin climb
$GC,2715,0.76,146.0,360.6,0.0,299,2872,0.88,0.00,147.20,0.929,6,0.078,0.000,3302,2497,2364,0,0,0,0,0,0
$GC,3064,0.76,146.0,328.9,11.8,331,3068,0.00,2.15,0.00,0.000,4,0.000,0.055,3302,3764,2353,0,0,0,0,0,0
$GC,3117,0.76,146.0,321.1,14.6,335,3125,0.00,2.03,0.00,0.000,6,0.000,0.039,3312,2515,2351,0,0,0,0,0,0
$GC,3317,0.76,146.0,297.8,11.3,354,3320,0.00,2.05,0.00,0.000,4,0.000,0.058,3312,3774,2349,0,0,0,0,0,0
$GC,3385,0.76,146.0,288.5,14.3,360,3389,0.00,1.98,0.00,0.000,6,0.000,0.041,3320,2541,2348,0,0,0,0,0,0
$GC,3588,0.76,146.0,262.1,13.1,379,3592,0.00,1.98,0.00,0.000,4,0.000,0.058,3321,3764,2347,0,0,0,0,0,0
$GC,3634,0.76,146.0,255.5,14.8,383,3637,0.00,1.90,0.00,0.000,6,0.000,0.041,3328,2545,2347,0,0,0,0,0,0
$GC,3839,0.76,146.0,229.3,12.2,402,3843,0.00,1.98,0.00,0.000,4,0.000,0.057,3328,3768,2346,0,0,0,0,0,0
$GC,3887,0.76,146.0,222.0,15.3,406,3897,0.00,1.92,0.00,0.000,6,0.000,0.040,3337,2554,2346,0,0,0,0,0,0
$GC,4024,0.76,146.0,204.7,12.9,419,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2552,2345,0,0,0,0,0,0
$GC,4150,0.76,146.0,188.2,12.7,431,4154,0.00,1.95,0.00,0.000,4,0.000,0.057,3337,3766,2345,0,0,0,0,0,0
$GC,4229,0.76,146.0,176.7,15.0,438,4233,0.12,1.85,0.00,0.000,6,0.162,0.040,3313,2563,2345,0,0,0,0,0,0
$GC,4370,0.76,146.0,160.7,11.3,451,4371,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2562,2345,0,0,0,0,0,0
$GC,4496,0.76,146.0,146.8,10.7,463,4500,0.00,1.95,0.00,0.000,4,0.000,0.058,3313,3772,2345,0,0,0,0,0,0
$GC,4531,0.76,146.0,142.6,12.9,466,4534,0.00,1.88,0.00,0.000,6,0.000,0.041,3320,2561,2344,0,0,0,0,0,0
$GC,4673,0.76,146.0,126.9,11.1,479,4676,0.00,1.95,0.00,0.000,4,0.000,0.059,3320,3764,2344,0,0,0,0,0,0
$GC,4709,0.76,146.0,122.0,12.0,482,4719,0.00,1.88,0.00,0.000,6,0.000,0.041,3329,2578,2344,0,0,0,0,0,0
$GC,4845,0.76,146.0,106.3,11.7,495,4849,0.00,2.35,0.00,0.000,4,0.000,0.048,3339,1079,2344,0,0,0,0,0,0
$GC,4866,0.76,146.0,104.1,11.6,496,4870,0.00,2.45,0.00,0.000,6,0.000,0.052,3339,2605,2343,0,0,0,0,0,0
$GC,5006,0.76,146.0,87.5,11.7,517,5013,0.00,1.85,0.00,0.000,4,0.000,0.056,3339,3768,2343,0,0,0,0,0,0
$GC,5056,0.76,146.0,80.8,13.8,525,5064,0.12,1.83,0.00,0.000,6,0.163,0.040,3314,2591,2343,0,0,0,0,0,0
$GC,5200,0.77,150.2,65.0,9.8,550,5209,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2590,2343,0,0,0,0,0,0
$GC,5345,0.78,156.9,50.4,9.7,575,5360,0.00,1.95,6.88,0.760,4,0.000,0.057,3314,3768,2321,0,0,0,0,0,0
$GC,5385,0.78,156.9,45.9,11.6,581,5392,0.00,1.85,0.00,0.000,6,0.000,0.041,3321,2581,2321,0,0,0,0,0,0
$GC,5528,0.78,156.9,30.3,11.1,606,5536,0.00,2.40,0.00,0.000,4,0.000,0.050,3328,1088,2320,0,0,0,0,0,0
$GC,5550,0.78,156.9,28.0,10.8,609,5557,0.00,2.45,0.00,0.000,6,0.000,0.051,3328,2604,2320,0,0,0,0,0,0
$GC,5695,0.78,156.9,11.0,12.2,634,5704,0.00,1.88,0.00,0.000,4,0.000,0.056,3329,3764,2320,0,0,0,0,0,0
$FREEZE,8.75,-0.688,-1.893,2,1,0
$FREEZE,8.15,-0.677,-1.892,2,1,0
$FREEZE,7.29,-0.649,-1.891,2,1,0
$FREEZE,6.45,-0.642,-1.891,2,1,0
$FREEZE,5.52,-0.641,-1.891,2,1,0
$FREEZE,4.76,-0.642,-1.890,2,1,0
$FREEZE,3.82,-0.642,-1.890,2,1,0
$FREEZE,3.16,-0.644,-1.889,2,1,0
$FREEZE,2.19,-0.645,-1.889,2,1,0
$STATE,5758,end climb,SURFACE_DEPTH_REACHED
$STATE,5758,begin surface coast
$FREEZE,1.36,-0.644,-1.888,2,1,0
$FREEZE,1.41,-0.649,-1.888,2,1,0
$FREEZE,1.33,-0.675,-1.890,2,1,0
$FINISH,1.3,1.027666
$STATE,5780,end surface coast,CONTROL_FINISHED_OK
$STATE,5780,begin surface
$SM_CCo,5798,79.45,0.723,1,0,1737,300.24
$SM_GC,2.19,0.00,0.00,79.45,0.000,0.000,0.723,422,2636,1737,-8.26,-0.40,300.24
$IRIDIUM_FIX,-7545.40,17723.43,271210,080859
$TT8_MAMPS,0.028462
$HUMID,52.83
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,18.2
$24V_AH,20.3,61.366
$10V_AH,9.7,40.728
$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,18.225,73.775,285.550,79.450,0.000,30.761,35.339,164.381,1.750,0.000,14.387,1645.779,2099.699,489.867,1808.750,183.334,0.000,1156.277,0.000,1072.726,0.000,13.107,0.000
$DEVICE_MAMPS,197.370,78.030,1009.035,722.925,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,454.471,844.935,926.688,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258096
$DATA_FILE_SIZE,43852,647
$CAP_FILE_SIZE,92053,0
$CFSIZE,260165632,231178240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.073,182.0,1
$GPS,271210,112526,-7631.597,17728.305,12,1.7,12,121.8