version: 66.08
glider: 502
mission: 3
dive: 398
start: 12 29 110 12 27 58
data:
$ID,502
$MISSION,3
$DIVE,398
$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,-5
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.025
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$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,-30643.014
$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,37
$R_STBD_OVSHOOT,24
$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
$GPS1,291210,122136,-7631.225,17843.268,41,0.8,41,120.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-74.4
$GPS2,291210,122732,-7631.154,17843.506,11,2.0,11,120.0
$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,359.3,33141,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,98,0.00,0.00,-80.05,0.000,2,0.000,0.000,420,2643,3196,0,0,0,0,0,0
$GC,100,-0.76,-146.0,3.1,-1.1,12,130,8.95,1.90,-11.38,0.000,4,0.202,0.076,2801,3762,3560,0,0,0,0,0,0
$GC,333,-0.76,-146.0,41.9,-16.9,52,341,0.00,1.77,0.00,0.000,6,0.000,0.041,2801,2644,3562,0,0,0,0,0,0
$GC,476,-0.76,-146.0,65.2,-15.2,77,483,0.00,1.85,0.00,0.000,4,0.000,0.060,2792,3763,3563,0,0,0,0,0,0
$GC,503,-0.76,-146.0,69.7,-17.3,81,510,0.00,1.75,0.00,0.000,6,0.000,0.041,2792,2661,3562,0,0,0,0,0,0
$GC,645,-0.76,-146.0,93.7,-16.7,106,653,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2660,3562,0,0,0,0,0,0
$GC,786,-0.76,-146.0,116.3,-16.0,122,789,0.00,1.80,0.00,0.000,4,0.000,0.060,2785,3771,3563,0,0,0,0,0,0
$GC,845,-0.76,-146.0,127.6,-17.4,127,854,0.08,1.75,0.00,0.000,6,0.144,0.041,2810,2666,3563,0,0,0,0,0,0
$GC,982,-0.76,-146.0,148.8,-15.9,140,986,0.00,1.77,0.00,0.000,4,0.000,0.060,2803,3767,3563,0,0,0,0,0,0
$GC,1028,-0.76,-146.0,157.0,-17.4,144,1032,0.00,1.70,0.00,0.000,6,0.000,0.041,2803,2669,3563,0,0,0,0,0,0
$GC,1170,-0.76,-146.0,180.7,-17.0,157,1173,0.00,1.77,0.00,0.000,4,0.000,0.060,2795,3767,3563,0,0,0,0,0,0
$GC,1205,-0.76,-146.0,187.1,-18.3,160,1209,0.00,1.67,0.00,0.000,6,0.000,0.041,2795,2683,3563,0,0,0,0,0,0
$GC,1348,-0.76,-146.0,211.0,-16.4,173,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2681,3563,0,0,0,0,0,0
$GC,1483,-0.76,-146.0,233.3,-16.1,186,1487,0.00,1.75,0.00,0.000,4,0.000,0.061,2787,3764,3563,0,0,0,0,0,0
$GC,1529,-0.76,-146.0,241.0,-17.6,190,1534,0.12,1.65,0.00,0.000,6,0.164,0.041,2820,2693,3563,0,0,0,0,0,0
$GC,1669,-0.76,-146.0,260.8,-13.5,203,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2691,3563,0,0,0,0,0,0
$GC,1860,-0.76,-146.0,286.8,-13.4,221,1864,0.00,1.73,0.00,0.000,4,0.000,0.061,2813,3763,3563,0,0,0,0,0,0
$STATE,1874,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1874,begin apogee
$GC,1881,-0.27,0.0,289.4,13.2,222,2017,0.50,0.00,129.90,0.973,4,0.129,0.000,2974,2495,2961,0,0,0,0,0,0
$STATE,2018,end apogee,CONTROL_FINISHED_OK
$STATE,2018,begin climb
$GC,2020,0.76,146.0,296.8,0.0,234,2178,1.08,2.50,145.62,0.896,4,0.084,0.048,3309,1091,2364,0,0,0,0,0,0
$GC,2262,0.76,146.0,278.7,11.5,255,2269,0.00,2.53,0.00,0.000,6,0.000,0.050,3309,2503,2357,0,0,0,0,0,0
$GC,2459,0.76,146.0,255.6,11.7,274,2464,0.00,2.30,0.00,0.000,4,0.000,0.048,3314,1097,2353,0,0,0,0,0,0
$GC,2603,0.76,146.0,239.2,11.3,286,2612,0.00,2.33,0.00,0.000,6,0.000,0.052,3315,2508,2350,0,0,0,0,0,0
$GC,2740,0.76,146.0,223.3,11.9,299,2743,0.00,2.00,0.00,0.000,4,0.000,0.057,3315,3768,2350,0,0,0,0,0,0
$GC,2809,0.76,146.0,212.9,14.7,305,2818,0.00,1.98,0.00,0.000,6,0.000,0.041,3324,2516,2349,0,0,0,0,0,0
$GC,2945,0.76,146.0,196.0,12.5,318,2949,0.00,2.00,0.00,0.000,4,0.000,0.057,3324,3764,2348,0,0,0,0,0,0
$GC,3016,0.76,146.0,185.1,14.9,324,3025,0.00,1.92,0.00,0.000,6,0.000,0.040,3334,2548,2349,0,0,0,0,0,0
$GC,3153,0.76,146.0,167.3,13.6,337,3156,0.00,1.95,0.00,0.000,4,0.000,0.057,3334,3764,2348,0,0,0,0,0,0
$GC,3190,0.76,146.0,161.2,15.2,340,3200,0.08,1.88,0.00,0.000,6,0.138,0.039,3317,2574,2348,0,0,0,0,0,0
$GC,3328,0.76,146.0,144.8,11.8,353,3332,0.00,1.92,0.00,0.000,4,0.000,0.058,3317,3768,2348,0,0,0,0,0,0
$GC,3375,0.76,146.0,138.6,13.2,357,3378,0.00,1.83,0.00,0.000,6,0.000,0.040,3324,2582,2348,0,0,0,0,0,0
$GC,3515,0.76,146.0,121.4,11.9,370,3519,0.00,1.90,0.00,0.000,4,0.000,0.057,3324,3767,2347,0,0,0,0,0,0
$GC,3562,0.76,146.0,115.0,13.8,374,3565,0.00,1.80,0.00,0.000,6,0.000,0.039,3333,2599,2347,0,0,0,0,0,0
$GC,3697,0.76,146.0,97.5,12.8,388,3705,0.00,1.92,0.00,0.000,4,0.000,0.057,3333,3768,2347,0,0,0,0,0,0
$GC,3745,0.76,146.0,90.6,14.5,396,3754,0.08,1.80,0.00,0.000,6,0.143,0.040,3316,2628,2347,0,0,0,0,0,0
$GC,3892,0.76,146.0,73.4,11.4,421,3898,0.00,1.85,0.00,0.000,4,0.000,0.057,3316,3771,2347,0,0,0,0,0,0
$GC,3933,0.76,146.0,67.7,13.1,428,3941,0.00,1.80,0.00,0.000,6,0.000,0.040,3323,2631,2347,0,0,0,0,0,0
$GC,4077,0.76,146.0,50.6,11.7,453,4084,0.00,1.85,0.00,0.000,4,0.000,0.058,3323,3773,2347,0,0,0,0,0,0
$GC,4096,0.76,146.0,48.0,12.5,456,4105,0.00,1.80,0.00,0.000,6,0.000,0.040,3332,2634,2347,0,0,0,0,0,0
$GC,4240,0.76,146.0,30.3,12.1,481,4247,0.00,1.83,0.00,0.000,4,0.000,0.058,3332,3764,2347,0,0,0,0,0,0
$GC,4259,0.76,146.0,27.6,13.2,484,4267,0.00,1.75,0.00,0.000,6,0.000,0.039,3341,2653,2347,0,0,0,0,0,0
$GC,4405,0.76,146.0,9.3,12.7,509,4411,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2652,2346,0,0,0,0,0,0
$FREEZE,7.36,-0.687,-1.891,2,1,0
$FREEZE,6.55,-0.668,-1.890,2,1,0
$FREEZE,5.87,-0.642,-1.889,2,1,0
$FREEZE,5.06,-0.630,-1.889,2,1,0
$FREEZE,4.48,-0.615,-1.888,2,1,0
$FREEZE,3.59,-0.593,-1.888,2,1,0
$FREEZE,2.82,-0.555,-1.887,2,1,0
$STATE,4452,end climb,SURFACE_DEPTH_REACHED
$STATE,4452,begin surface coast
$FREEZE,1.93,-0.421,-1.885,2,1,0
$FREEZE,1.21,-0.416,-1.884,2,1,0
$FREEZE,1.30,-0.762,-0.940,2,1,0
$FREEZE,1.20,-1.065,-0.685,2,1,0
$FINISH,1.2,1.010042
$STATE,4480,end surface coast,FINISH_DEPTH_REACHED
$STATE,4480,begin surface
$SM_CCo,4496,76.57,0.101,0,0,1737,300.24
$SM_GC,2.04,0.00,0.00,76.57,0.000,0.000,0.101,417,2652,1737,-8.28,0.06,300.24
$IRIDIUM_FIX,-7545.40,17837.07,291210,101020
$TT8_MAMPS,0.028462
$HUMID,52.40
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,18.7
$ALTIM_BOTTOM_PING,250.7,53.3
$24V_AH,20.3,64.607
$10V_AH,9.7,43.298
$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,18.450,68.325,275.525,76.575,0.000,30.095,41.908,178.928,1.000,0.000,12.164,1326.596,1378.475,460.775,1613.577,158.732,0.000,1040.843,0.000,893.623,0.000,7.190,0.000
$DEVICE_MAMPS,201.960,76.500,973.080,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,364.795,730.528,883.123,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267044
$DATA_FILE_SIZE,37058,521
$CAP_FILE_SIZE,79137,0
$CFSIZE,260165632,229584896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.313, 38.0,1
$GPS,291210,134502,-7630.835,17847.473,13,1.4,13,119.9