version: 66.08
glider: 502
mission: 3
dive: 381
start: 12 28 110 11 27 57
data:
$ID,502
$MISSION,3
$DIVE,381
$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,-30621.537
$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,36
$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
$GPS1,281210,112144,-7631.793,17756.266,7,1.2,7,121.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-71.5
$GPS2,281210,112732,-7631.813,17756.178,11,1.6,11,121.1
$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,285.9,53639,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,100,0.00,0.00,-80.97,0.000,2,0.000,0.000,423,2661,3229,0,0,0,0,0,0
$GC,102,-0.76,-146.0,3.1,-0.4,12,127,8.80,1.88,-10.30,0.000,4,0.195,0.078,2803,3767,3559,0,0,0,0,0,0
$GC,230,-0.76,-146.0,24.6,-17.2,34,238,0.00,1.77,0.00,0.000,6,0.000,0.041,2803,2648,3563,0,0,0,0,0,0
$GC,369,-0.76,-146.0,47.8,-16.7,59,376,0.00,1.80,0.00,0.000,4,0.000,0.060,2794,3760,3562,0,0,0,0,0,0
$GC,406,-0.76,-146.0,54.4,-18.2,65,414,0.00,1.75,0.00,0.000,6,0.000,0.041,2794,2655,3562,0,0,0,0,0,0
$GC,545,-0.76,-146.0,78.0,-17.2,90,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2654,3562,0,0,0,0,0,0
$GC,684,-0.76,-146.0,101.9,-16.9,114,687,0.00,1.80,0.00,0.000,4,0.000,0.061,2786,3767,3563,0,0,0,0,0,0
$GC,709,-0.76,-146.0,106.2,-17.8,116,713,0.12,1.70,0.00,0.000,6,0.167,0.041,2819,2666,3564,0,0,0,0,0,0
$GC,852,-0.76,-146.0,128.4,-14.9,129,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2665,3563,0,0,0,0,0,0
$GC,987,-0.76,-146.0,148.5,-14.5,142,991,0.00,1.77,0.00,0.000,4,0.000,0.060,2812,3767,3564,0,0,0,0,0,0
$GC,1023,-0.76,-146.0,154.6,-15.6,145,1033,0.00,1.73,0.00,0.000,6,0.000,0.041,2812,2679,3564,0,0,0,0,0,0
$GC,1161,-0.76,-146.0,174.2,-14.6,158,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2679,3564,0,0,0,0,0,0
$GC,1287,-0.76,-146.0,191.7,-14.0,170,1291,0.00,1.75,0.00,0.000,4,0.000,0.061,2804,3759,3564,0,0,0,0,0,0
$GC,1324,-0.76,-146.0,197.7,-14.5,173,1334,0.00,1.70,0.00,0.000,6,0.000,0.041,2804,2683,3564,0,0,0,0,0,0
$GC,1462,-0.76,-146.0,216.7,-14.6,186,1469,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2683,3564,0,0,0,0,0,0
$GC,1597,-0.76,-146.0,236.4,-14.3,199,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2683,3564,0,0,0,0,0,0
$GC,1723,-0.76,-146.0,254.3,-14.4,211,1726,0.00,1.75,0.00,0.000,4,0.000,0.061,2796,3765,3564,0,0,0,0,0,0
$GC,1761,-0.76,-146.0,260.5,-15.4,214,1768,0.00,1.70,0.00,0.000,6,0.000,0.041,2796,2693,3564,0,0,0,0,0,0
$GC,1959,-0.76,-146.0,290.3,-15.1,233,1963,0.00,1.73,0.00,0.000,4,0.000,0.060,2788,3760,3564,0,0,0,0,0,0
$GC,1986,-0.76,-146.0,295.2,-17.0,235,1994,0.08,1.67,0.00,0.000,6,0.145,0.041,2812,2698,3564,0,0,0,0,0,0
$STATE,2141,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2141,begin apogee
$GC,2146,-0.17,0.0,318.2,15.3,250,2283,0.57,0.00,130.57,0.988,4,0.124,0.000,3002,2487,2962,0,0,0,0,0,0
$STATE,2283,end apogee,CONTROL_FINISHED_OK
$STATE,2284,begin climb
$GC,2286,0.76,146.0,324.3,0.0,262,2440,0.98,2.47,146.15,0.908,4,0.073,0.048,3314,1101,2364,0,0,0,0,0,0
$GC,2581,0.76,146.0,298.6,11.0,289,2586,0.00,2.45,0.00,0.000,6,0.000,0.050,3314,2504,2354,0,0,0,0,0,0
$GC,2779,0.76,146.0,274.7,12.1,307,2783,0.00,2.25,0.00,0.000,4,0.000,0.048,3325,1099,2351,0,0,0,0,0,0
$GC,2914,0.76,146.0,258.5,11.8,319,2918,0.00,2.28,0.00,0.000,6,0.000,0.051,3325,2515,2348,0,0,0,0,0,0
$GC,3113,0.76,146.0,233.9,12.0,337,3117,0.00,1.98,0.00,0.000,4,0.000,0.057,3324,3761,2348,0,0,0,0,0,0
$GC,3206,0.76,146.0,219.8,15.6,345,3215,0.00,1.92,0.00,0.000,6,0.000,0.040,3334,2536,2348,0,0,0,0,0,0
$GC,3343,0.76,146.0,201.6,13.7,358,3346,0.00,1.98,0.00,0.000,4,0.000,0.056,3334,3769,2347,0,0,0,0,0,0
$GC,3390,0.76,146.0,193.5,15.9,362,3400,0.08,1.95,0.00,0.000,6,0.146,0.041,3318,2542,2347,0,0,0,0,0,0
$GC,3527,0.76,146.0,176.7,12.3,375,3531,0.00,1.98,0.00,0.000,4,0.000,0.057,3318,3771,2347,0,0,0,0,0,0
$GC,3565,0.76,146.0,170.8,14.2,378,3574,0.00,1.95,0.00,0.000,6,0.000,0.040,3326,2539,2347,0,0,0,0,0,0
$GC,3703,0.76,146.0,154.0,12.8,391,3707,0.00,1.98,0.00,0.000,4,0.000,0.057,3326,3763,2346,0,0,0,0,0,0
$GC,3740,0.76,146.0,148.9,15.2,394,3744,0.00,1.88,0.00,0.000,6,0.000,0.040,3336,2550,2347,0,0,0,0,0,0
$GC,3883,0.76,146.0,128.9,13.6,407,3886,0.00,1.98,0.00,0.000,4,0.000,0.058,3335,3772,2347,0,0,0,0,0,0
$GC,3920,0.76,146.0,122.5,15.8,410,3929,0.10,1.90,0.00,0.000,6,0.138,0.040,3311,2572,2346,0,0,0,0,0,0
$GC,4058,0.76,146.0,106.4,11.9,423,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2572,2346,0,0,0,0,0,0
$GC,4194,0.76,146.0,90.5,11.3,443,4202,0.00,1.98,0.00,0.000,4,0.000,0.059,3311,3766,2346,0,0,0,0,0,0
$GC,4231,0.76,146.0,85.9,12.8,449,4238,0.00,1.85,0.00,0.000,6,0.000,0.039,3319,2568,2346,0,0,0,0,0,0
$GC,4371,0.76,146.0,68.9,12.0,474,4379,0.00,2.35,0.00,0.000,4,0.000,0.050,3328,1098,2345,0,0,0,0,0,0
$GC,4403,0.76,146.0,65.0,11.5,479,4409,0.00,2.40,0.00,0.000,6,0.000,0.051,3328,2586,2345,0,0,0,0,0,0
$GC,4540,0.76,146.0,48.1,13.0,504,4548,0.00,1.90,0.00,0.000,4,0.000,0.057,3328,3756,2345,0,0,0,0,0,0
$GC,4610,0.76,146.0,37.9,15.2,516,4618,0.00,1.85,0.00,0.000,6,0.000,0.040,3337,2582,2345,0,0,0,0,0,0
$GC,4753,0.76,146.0,19.0,13.5,541,4760,0.00,1.92,0.00,0.000,4,0.000,0.057,3337,3773,2345,0,0,0,0,0,0
$GC,4789,0.76,146.0,13.3,15.1,547,4797,0.12,1.85,0.00,0.000,6,0.168,0.041,3313,2585,2345,0,0,0,0,0,0
$FREEZE,8.27,-0.514,-1.893,2,1,0
$FREEZE,7.49,-0.514,-1.893,2,1,0
$FREEZE,6.87,-0.517,-1.893,2,1,0
$FREEZE,6.22,-0.518,-1.892,2,1,0
$FREEZE,5.65,-0.518,-1.892,2,1,0
$FREEZE,4.92,-0.517,-1.891,2,1,0
$FREEZE,4.31,-0.516,-1.891,2,1,0
$FREEZE,3.63,-0.514,-1.890,2,1,0
$FREEZE,2.95,-0.515,-1.890,2,1,0
$STATE,4872,end climb,SURFACE_DEPTH_REACHED
$STATE,4873,begin surface coast
$FREEZE,2.01,-0.514,-1.889,2,1,0
$FREEZE,1.40,-0.517,-1.889,2,1,0
$FREEZE,1.36,-0.534,-1.889,2,1,0
$FREEZE,1.38,-0.530,-1.889,2,1,0
$FREEZE,1.22,-0.586,-1.892,2,1,0
$FINISH,1.2,1.027699
$STATE,4906,end surface coast,CONTROL_FINISHED_OK
$STATE,4906,begin surface
$SM_CCo,4922,75.60,0.101,0,0,1737,300.24
$SM_GC,2.10,0.00,0.00,75.60,0.000,0.000,0.101,423,2661,1737,-8.26,0.31,300.24
$IRIDIUM_FIX,-7545.40,17751.03,281210,090932
$TT8_MAMPS,0.027713
$HUMID,52.55
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,18.6
$ALTIM_BOTTOM_PING,251.4,81.0
$24V_AH,20.3,62.915
$10V_AH,9.7,41.997
$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,18.275,69.950,276.725,75.600,0.000,22.549,37.386,183.773,1.500,0.000,11.849,1447.057,1571.214,471.266,1686.171,178.414,0.000,1083.611,0.000,955.255,0.000,7.264,0.000
$DEVICE_MAMPS,195.075,102.510,987.615,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,396.493,774.621,911.558,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258180
$DATA_FILE_SIZE,40454,566
$CAP_FILE_SIZE,84341,0
$CFSIZE,260165632,230404096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.144,169.5,1
$GPS,281210,125231,-7631.780,17758.408,38,1.3,38,121.1