version: 66.08
glider: 502
mission: 3
dive: 596
start: 1 11 111 11 36 29
data:
$ID,502
$MISSION,3
$DIVE,596
$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,275
$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,-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,623.29712
$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,-30891.025
$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,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
$GPS1,110111,112601,-7629.746,17452.828,35,1.4,36,125.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-58.9
$GPS2,110111,113601,-7629.745,17452.557,15,0.9,32,125.3
$SPEED_LIMITS,0.157,0.251
$TGT_NAME,POLYNYA1
$TGT_LATLONG,-7630.000,17000.000
$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,178.2,126485,-16.0,-9.091
$D_GRID,384
$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,-0.71,-146.0,0.0,0.0,0,155,0.00,0.00,-136.27,0.000,2,0.000,0.000,371,2670,3149,0,0,0,0,0,0
$GC,160,-0.71,-146.0,3.0,-1.6,20,190,9.02,1.88,-12.50,0.000,4,0.188,0.078,2814,3754,3560,0,0,0,0,0,0
$GC,445,-0.71,-146.0,50.6,-16.7,69,452,0.00,1.77,0.00,0.000,6,0.000,0.041,2814,2628,3564,0,0,0,0,0,0
$GC,586,-0.71,-146.0,72.0,-15.1,94,595,0.00,1.90,0.00,0.000,4,0.000,0.058,2806,3752,3564,0,0,0,0,0,0
$GC,697,-0.71,-146.0,90.3,-16.1,113,704,0.00,1.77,0.00,0.000,6,0.000,0.040,2805,2631,3564,0,0,0,0,0,0
$GC,837,-0.71,-146.0,112.7,-16.1,131,841,0.00,1.88,0.00,0.000,4,0.000,0.059,2797,3759,3564,0,0,0,0,0,0
$GC,874,-0.71,-146.0,118.6,-17.0,134,878,0.12,1.73,0.00,0.000,6,0.154,0.039,2830,2660,3564,0,0,0,0,0,0
$GC,1016,-0.71,-146.0,139.4,-13.9,147,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2659,3565,0,0,0,0,0,0
$GC,1152,-0.71,-146.0,159.0,-14.0,160,1155,0.00,1.83,0.00,0.000,4,0.000,0.060,2824,3760,3565,0,0,0,0,0,0
$GC,1190,-0.71,-146.0,165.2,-15.8,163,1198,0.00,1.75,0.00,0.000,6,0.000,0.040,2824,2676,3565,0,0,0,0,0,0
$GC,1326,-0.71,-146.0,185.2,-14.8,176,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2676,3565,0,0,0,0,0,0
$GC,1453,-0.71,-146.0,204.1,-14.9,188,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2676,3565,0,0,0,0,0,0
$GC,1581,-0.71,-146.0,222.3,-14.2,200,1584,0.00,1.80,0.00,0.000,4,0.000,0.059,2815,3761,3565,0,0,0,0,0,0
$GC,1618,-0.71,-146.0,228.7,-15.3,203,1627,0.00,1.75,0.00,0.000,6,0.000,0.039,2815,2677,3565,0,0,0,0,0,0
$GC,1756,-0.71,-146.0,247.8,-14.3,216,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2676,3564,0,0,0,0,0,0
$GC,1891,-0.71,-146.0,267.7,-14.5,229,1892,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2676,3564,0,0,0,0,0,0
$GC,2082,-0.71,-146.0,295.4,-14.2,247,2085,0.00,1.80,0.00,0.000,4,0.000,0.059,2806,3762,3565,0,0,0,0,0,0
$GC,2150,-0.71,-146.0,305.9,-15.4,253,2154,0.00,1.70,0.00,0.000,6,0.000,0.039,2807,2679,3565,0,0,0,0,0,0
$GC,2354,-0.71,-146.0,335.7,-14.7,272,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2677,3565,0,0,0,0,0,0
$GC,2545,-0.71,-146.0,363.1,-14.2,290,2548,0.00,1.80,0.00,0.000,4,0.000,0.060,2798,3758,3565,0,0,0,0,0,0
$GC,2590,-0.71,-146.0,370.2,-15.5,294,2595,0.12,1.67,0.00,0.000,6,0.153,0.040,2832,2689,3564,0,0,0,0,0,0
$STATE,2696,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2696,begin apogee
$GC,2702,-0.27,0.0,384.0,12.4,304,2841,0.43,0.00,130.68,1.047,4,0.119,0.000,2971,2488,2961,0,0,0,0,0,0
$STATE,2841,end apogee,CONTROL_FINISHED_OK
$STATE,2842,begin climb
$GC,2844,0.71,146.0,390.2,0.0,316,3003,1.08,2.58,147.93,0.959,4,0.080,0.047,3295,1102,2363,0,0,0,0,0,0
$GC,3101,0.71,146.0,370.1,11.1,338,3109,0.00,2.58,0.00,0.000,6,0.000,0.049,3295,2494,2355,0,0,0,0,0,0
$GC,3299,0.71,146.0,348.5,11.1,357,3303,0.00,2.42,0.00,0.000,4,0.000,0.047,3300,1106,2350,0,0,0,0,0,0
$GC,3421,0.71,146.0,335.4,10.4,367,3428,0.00,2.47,0.00,0.000,6,0.000,0.050,3300,2527,2349,0,0,0,0,0,0
$GC,3619,0.71,146.0,313.8,10.9,386,3623,0.00,2.08,0.00,0.000,4,0.000,0.056,3300,3765,2348,0,0,0,0,0,0
$GC,3716,0.71,146.0,301.7,12.8,394,3720,0.00,1.95,0.00,0.000,6,0.000,0.037,3309,2541,2346,0,0,0,0,0,0
$GC,3921,0.71,146.0,278.6,10.6,413,3925,0.00,2.03,0.00,0.000,4,0.000,0.057,3308,3767,2346,0,0,0,0,0,0
$GC,4001,0.71,146.0,268.0,13.1,420,4004,0.00,1.92,0.00,0.000,6,0.000,0.037,3318,2545,2345,0,0,0,0,0,0
$GC,4208,0.71,146.0,244.6,11.2,439,4212,0.00,2.00,0.00,0.000,4,0.000,0.056,3318,3766,2345,0,0,0,0,0,0
$GC,4255,0.71,146.0,238.4,12.9,443,4259,0.12,1.90,0.00,0.000,6,0.158,0.037,3295,2555,2344,0,0,0,0,0,0
$GC,4396,0.71,146.0,223.6,10.1,456,4397,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,2552,2344,0,0,0,0,0,0
$GC,4522,0.71,146.0,210.8,10.1,468,4526,0.00,2.00,0.00,0.000,4,0.000,0.057,3295,3770,2344,0,0,0,0,0,0
$GC,4569,0.71,146.0,205.6,12.1,472,4573,0.00,1.90,0.00,0.000,6,0.000,0.038,3303,2560,2344,0,0,0,0,0,0
$GC,4713,0.71,146.0,190.2,10.5,485,4716,0.00,2.00,0.00,0.000,4,0.000,0.057,3303,3773,2344,0,0,0,0,0,0
$GC,4749,0.71,146.0,185.7,12.4,488,4752,0.00,1.90,0.00,0.000,6,0.000,0.039,3311,2563,2343,0,0,0,0,0,0
$GC,4891,0.71,146.0,169.8,11.0,501,4899,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2562,2343,0,0,0,0,0,0
$GC,5027,0.71,146.0,154.8,10.9,514,5031,0.00,2.00,0.00,0.000,4,0.000,0.057,3311,3774,2343,0,0,0,0,0,0
$GC,5109,0.71,146.0,144.0,12.9,521,5117,0.00,1.92,0.00,0.000,6,0.000,0.039,3320,2579,2343,0,0,0,0,0,0
$GC,5245,0.71,146.0,128.7,11.2,534,5246,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2578,2343,0,0,0,0,0,0
$GC,5372,0.71,146.0,114.7,11.1,546,5376,0.00,1.95,0.00,0.000,4,0.000,0.056,3320,3765,2343,0,0,0,0,0,0
$GC,5441,0.71,146.0,105.9,13.3,552,5446,0.12,1.85,0.00,0.000,6,0.157,0.037,3297,2589,2342,0,0,0,0,0,0
$GC,5579,0.71,146.0,91.8,9.2,572,5587,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,2586,2342,0,0,0,0,0,0
$GC,5724,0.71,146.0,78.1,9.7,597,5731,0.00,1.98,0.00,0.000,4,0.000,0.057,3297,3774,2342,0,0,0,0,0,0
$GC,5800,0.71,146.0,69.5,11.4,610,5809,0.00,1.90,0.00,0.000,6,0.000,0.038,3304,2597,2342,0,0,0,0,0,0
$GC,5948,0.71,146.0,53.8,10.9,635,5954,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,2596,2341,0,0,0,0,0,0
$GC,6088,0.71,146.0,38.3,10.6,660,6096,0.00,1.98,0.00,0.000,4,0.000,0.057,3304,3768,2341,0,0,0,0,0,0
$GC,6170,0.71,146.0,28.2,13.3,674,6179,0.00,1.88,0.00,0.000,6,0.000,0.038,3313,2605,2341,0,0,0,0,0,0
$GC,6318,0.71,146.0,9.2,13.4,699,6324,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2605,2341,0,0,0,0,0,0
$FREEZE,7.42,-0.262,-1.890,2,4,0
$FREEZE,7.09,-0.262,-1.890,2,4,0
$FREEZE,6.55,-0.263,-1.890,2,4,0
$FREEZE,5.87,-0.260,-1.889,2,4,0
$FREEZE,5.28,-0.263,-1.889,2,4,0
$FREEZE,4.52,-0.261,-1.888,2,4,0
$FREEZE,3.91,-0.263,-1.888,2,4,0
$FREEZE,3.19,-0.261,-1.887,2,4,0
$FREEZE,2.58,-0.268,-1.887,2,4,0
$STATE,6378,end climb,SURFACE_DEPTH_REACHED
$STATE,6378,begin surface coast
$FREEZE,2.04,-0.261,-1.886,2,4,0
$FREEZE,1.52,-0.265,-1.886,2,4,0
$FREEZE,1.24,-0.549,-1.193,2,4,0
$FREEZE,1.26,-0.341,-1.888,2,4,0
$FREEZE,1.16,-0.448,-1.895,2,4,0
$FINISH,1.2,1.027738
$STATE,6410,end surface coast,CONTROL_FINISHED_OK
$STATE,6410,begin surface
$SM_CCo,6428,296.67,0.721,5,0,419,623.30
$SM_GC,1.77,0.00,0.00,296.67,0.000,0.000,0.721,402,2684,419,-8.27,0.96,623.30
$IRIDIUM_FIX,-7545.40,17446.67,110111,111144
$TT8_MAMPS,0.027713
$HUMID,51.57
$INTERNAL_PRESSURE,8.68197
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.2,17.7
$24V_AH,20.5,85.339
$10V_AH,9.6,59.128
$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,18.750,70.575,278.600,296.675,0.000,82.542,225.325,0.000,1.750,0.000,33.534,1802.499,2471.517,746.860,2075.645,256.318,0.000,1481.395,0.000,1194.618,0.000,10.748,0.000
$DEVICE_MAMPS,188.190,87.210,1046.520,721.395,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,501.117,922.964,998.385,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50481,714
$CAP_FILE_SIZE,93969,0
$CFSIZE,260165632,220262400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.152,199.2,1
$GPS,110111,132950,-7629.804,17449.197,10,1.4,11,125.4