version: 66.08
glider: 502
mission: 3
dive: 612
start: 1 12 111 23 6 1
data:
$ID,502
$MISSION,3
$DIVE,612
$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,-30912.869
$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,38
$R_STBD_OVSHOOT,22
$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
$GPS1,120111,225525,-7629.782,17350.188,39,2.0,40,126.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-58.0
$GPS2,120111,230532,-7629.772,17350.117,12,2.0,12,126.9
$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,158.0,99490,-16.0,-9.091
$D_GRID,490
$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,-0.71,-146.0,0.0,0.0,0,156,0.00,0.00,-137.00,0.000,2,0.000,0.000,360,2657,3150,0,0,0,0,0,0
$GC,161,-0.71,-146.0,3.2,-2.6,20,191,10.02,2.40,-11.77,0.000,4,0.203,0.057,2825,1246,3560,0,0,0,0,0,0
$GC,298,-0.71,-146.0,22.3,-12.2,43,305,0.00,2.42,0.00,0.000,6,0.000,0.054,2816,2653,3563,0,0,0,0,0,0
$GC,437,-0.71,-146.0,42.1,-13.1,68,445,0.00,1.88,0.00,0.000,4,0.000,0.056,2808,3759,3563,0,0,0,0,0,0
$GC,513,-0.71,-146.0,53.1,-15.0,81,521,0.00,1.80,0.00,0.000,6,0.000,0.039,2808,2660,3563,0,0,0,0,0,0
$GC,652,-0.71,-146.0,74.3,-15.5,106,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2659,3564,0,0,0,0,0,0
$GC,792,-0.71,-146.0,96.2,-16.5,131,798,0.00,1.85,0.00,0.000,4,0.000,0.058,2799,3764,3564,0,0,0,0,0,0
$GC,820,-0.71,-146.0,102.1,-17.5,135,829,0.10,1.77,0.00,0.000,6,0.135,0.038,2832,2668,3564,0,0,0,0,0,0
$GC,956,-0.71,-146.0,121.9,-14.5,148,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2667,3564,0,0,0,0,0,0
$GC,1084,-0.71,-146.0,139.9,-13.9,160,1087,0.00,1.83,0.00,0.000,4,0.000,0.057,2825,3767,3564,0,0,0,0,0,0
$GC,1121,-0.71,-146.0,146.0,-14.9,163,1130,0.00,1.77,0.00,0.000,6,0.000,0.039,2825,2671,3564,0,0,0,0,0,0
$GC,1257,-0.71,-146.0,164.4,-14.0,176,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2670,3564,0,0,0,0,0,0
$GC,1385,-0.71,-146.0,181.5,-13.5,188,1388,0.00,1.83,0.00,0.000,4,0.000,0.058,2816,3769,3564,0,0,0,0,0,0
$GC,1421,-0.71,-146.0,186.7,-14.8,191,1424,0.00,1.73,0.00,0.000,6,0.000,0.039,2816,2679,3564,0,0,0,0,0,0
$GC,1563,-0.71,-146.0,206.7,-14.2,204,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2677,3564,0,0,0,0,0,0
$GC,1700,-0.71,-146.0,225.9,-13.9,217,1703,0.00,1.83,0.00,0.000,4,0.000,0.059,2808,3771,3564,0,0,0,0,0,0
$GC,1727,-0.71,-146.0,230.3,-14.8,219,1735,0.00,1.77,0.00,0.000,6,0.000,0.040,2809,2683,3564,0,0,0,0,0,0
$GC,1863,-0.71,-146.0,249.6,-14.4,232,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2682,3564,0,0,0,0,0,0
$GC,1998,-0.71,-146.0,269.2,-14.3,245,2002,0.00,1.80,0.00,0.000,4,0.000,0.059,2799,3763,3564,0,0,0,0,0,0
$GC,2025,-0.71,-146.0,273.8,-15.2,247,2033,0.08,1.73,0.00,0.000,6,0.137,0.038,2824,2692,3564,0,0,0,0,0,0
$GC,2228,-0.71,-146.0,300.8,-13.6,266,2232,0.00,1.80,0.00,0.000,4,0.000,0.058,2817,3770,3564,0,0,0,0,0,0
$GC,2264,-0.71,-146.0,306.3,-14.8,269,2268,0.00,1.70,0.00,0.000,6,0.000,0.040,2817,2696,3564,0,0,0,0,0,0
$GC,2468,-0.71,-146.0,335.2,-13.9,288,2469,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2694,3564,0,0,0,0,0,0
$GC,2659,-0.71,-146.0,361.6,-13.8,306,2663,0.00,1.80,0.00,0.000,4,0.000,0.060,2808,3769,3564,0,0,0,0,0,0
$GC,2709,-0.71,-146.0,369.3,-14.7,310,2716,0.00,1.73,0.00,0.000,6,0.000,0.040,2809,2709,3563,0,0,0,0,0,0
$GC,2909,-0.71,-146.0,397.1,-14.0,329,2910,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2709,3563,0,0,0,0,0,0
$GC,3098,-0.71,-146.0,424.0,-13.8,347,3102,0.00,1.75,0.00,0.000,4,0.000,0.059,2801,3763,3563,0,0,0,0,0,0
$GC,3126,-0.71,-146.0,428.3,-15.4,349,3134,0.08,1.70,0.00,0.000,6,0.134,0.039,2826,2709,3563,0,0,0,0,0,0
$GC,3327,-0.71,-146.0,453.2,-12.1,368,3333,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2709,3563,0,0,0,0,0,0
$GC,3526,-0.71,-146.0,477.9,-12.0,387,3529,0.00,1.77,0.00,0.000,4,0.000,0.060,2819,3772,3563,0,0,0,0,0,0
$GC,3582,-0.71,-146.0,485.4,-12.6,392,3586,0.00,1.70,0.00,0.000,6,0.000,0.041,2819,2698,3562,0,0,0,0,0,0
$STATE,3624,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3624,begin apogee
$GC,3630,-0.27,0.0,491.0,12.7,396,3771,0.47,0.00,133.93,1.098,4,0.120,0.000,2970,2489,2961,0,0,0,0,0,0
$STATE,3772,end apogee,CONTROL_FINISHED_OK
$STATE,3772,begin climb
$GC,3774,0.71,146.0,497.2,0.0,408,3939,1.08,2.60,151.73,1.005,4,0.078,0.048,3293,1105,2365,0,0,0,0,1,0
$GC,4020,0.71,146.0,478.5,10.8,429,4025,0.00,2.60,0.00,0.000,6,0.000,0.049,3292,2506,2355,0,0,0,0,0,0
$GC,4219,0.71,146.0,456.0,11.6,447,4223,0.00,2.50,0.00,0.000,4,0.000,0.047,3300,1099,2350,0,0,0,0,0,0
$GC,4352,0.71,146.0,441.2,11.1,458,4359,0.00,2.53,0.00,0.000,6,0.000,0.050,3300,2518,2349,0,0,0,0,0,0
$GC,4551,0.71,146.0,419.2,11.4,477,4555,0.00,2.15,0.00,0.000,4,0.000,0.055,3300,3764,2347,0,0,0,0,0,0
$GC,4651,0.71,146.0,405.5,13.8,485,4659,0.00,2.05,0.00,0.000,6,0.000,0.037,3308,2522,2346,0,0,0,0,0,0
$GC,4852,0.71,146.0,382.1,11.7,504,4856,0.00,2.12,0.00,0.000,4,0.000,0.056,3308,3767,2345,0,0,0,0,0,0
$GC,4895,0.71,146.0,375.9,14.0,507,4902,0.00,2.03,0.00,0.000,6,0.000,0.037,3317,2520,2345,0,0,0,0,0,0
$GC,5094,0.71,146.0,351.9,11.9,526,5098,0.00,2.10,0.00,0.000,4,0.000,0.056,3317,3767,2344,0,0,0,0,0,0
$GC,5155,0.71,146.0,343.2,15.0,531,5162,0.12,1.95,0.00,0.000,6,0.157,0.037,3295,2550,2344,0,0,0,0,0,0
$GC,5355,0.71,146.0,321.3,10.6,550,5358,0.00,2.03,0.00,0.000,4,0.000,0.057,3295,3766,2344,0,0,0,0,0,0
$GC,5401,0.71,146.0,315.3,12.7,554,5405,0.00,1.92,0.00,0.000,6,0.000,0.037,3303,2554,2344,0,0,0,0,0,0
$GC,5607,0.71,146.0,291.4,11.6,573,5611,0.00,2.03,0.00,0.000,4,0.000,0.056,3303,3772,2343,0,0,0,0,0,0
$GC,5657,0.71,146.0,284.3,13.7,577,5665,0.00,1.95,0.00,0.000,6,0.000,0.039,3312,2567,2343,0,0,0,0,0,0
$GC,5857,0.71,146.0,260.2,12.0,596,5864,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2567,2343,0,0,0,0,0,0
$GC,6057,0.71,146.0,236.2,11.8,615,6061,0.00,2.00,0.00,0.000,4,0.000,0.056,3313,3771,2342,0,0,0,0,0,0
$GC,6160,0.71,146.0,222.4,14.0,624,6163,0.00,1.90,0.00,0.000,6,0.000,0.038,3321,2571,2342,0,0,0,0,0,0
$GC,6303,0.71,146.0,205.5,11.6,637,6311,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2569,2342,0,0,0,0,0,0
$GC,6439,0.71,146.0,189.7,11.5,650,6443,0.00,2.00,0.00,0.000,4,0.000,0.056,3321,3775,2342,0,0,0,0,0,0
$GC,6496,0.71,146.0,182.0,14.7,655,6501,0.12,1.88,0.00,0.000,6,0.155,0.038,3298,2586,2341,0,0,0,0,0,0
$GC,6638,0.71,146.0,166.9,10.6,668,6639,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,2583,2341,0,0,0,0,0,0
$GC,6765,0.71,146.0,153.6,10.7,680,6768,0.00,1.98,0.00,0.000,4,0.000,0.057,3297,3773,2341,0,0,0,0,0,0
$GC,6800,0.71,146.0,149.5,12.3,683,6804,0.00,1.88,0.00,0.000,6,0.000,0.039,3305,2592,2341,0,0,0,0,0,0
$GC,6942,0.71,146.0,134.0,10.6,696,6943,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,2590,2341,0,0,0,0,0,0
$GC,7068,0.71,146.0,120.6,10.3,708,7072,0.00,1.95,0.00,0.000,4,0.000,0.057,3305,3767,2341,0,0,0,0,0,0
$GC,7126,0.71,146.0,113.7,12.6,713,7129,0.00,1.85,0.00,0.000,6,0.000,0.037,3314,2597,2340,0,0,0,0,0,0
$GC,7261,0.71,146.0,98.4,10.8,726,7269,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2594,2341,0,0,0,0,0,0
$GC,7401,0.71,146.0,83.6,11.0,751,7407,0.00,1.98,0.00,0.000,4,0.000,0.057,3314,3774,2340,0,0,0,0,0,0
$GC,7457,0.71,146.0,76.3,13.0,761,7465,0.00,1.85,0.00,0.000,6,0.000,0.038,3323,2614,2340,0,0,0,0,0,0
$GC,7597,0.71,146.0,59.9,11.7,786,7604,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2613,2340,0,0,0,0,0,0
$GC,7736,0.71,146.0,44.5,10.6,811,7743,0.00,1.92,0.00,0.000,4,0.000,0.056,3323,3768,2340,0,0,0,0,0,0
$GC,7796,0.71,146.0,36.3,15.6,821,7804,0.12,1.83,0.00,0.000,6,0.155,0.037,3299,2618,2340,0,0,0,0,0,0
$GC,7937,0.71,146.0,20.1,11.1,846,7945,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2618,2340,0,0,0,0,0,0
$FREEZE,8.90,0.055,-1.896,2,4,0
$FREEZE,8.31,0.057,-1.896,2,4,0
$FREEZE,7.88,0.057,-1.895,2,4,0
$FREEZE,7.25,0.058,-1.895,2,4,0
$GC,8080,0.71,146.0,7.3,9.3,871,8087,0.00,1.92,0.00,0.000,4,0.000,0.057,3299,3768,2339,0,0,0,0,0,0
$FREEZE,5.11,0.058,-1.893,2,4,0
$FREEZE,4.15,0.059,-1.892,2,4,0
$FREEZE,3.42,0.059,-1.892,2,4,0
$FREEZE,2.72,0.059,-1.891,2,4,0
$STATE,8111,end climb,SURFACE_DEPTH_REACHED
$STATE,8111,begin surface coast
$FREEZE,2.04,0.061,-1.891,2,4,0
$FREEZE,1.40,0.063,-1.890,2,4,0
$FINISH,1.4,1.027636
$STATE,8126,end surface coast,CONTROL_FINISHED_OK
$STATE,8126,begin surface
$SM_CCo,8145,293.38,0.711,4,0,419,623.30
$SM_GC,1.88,0.00,0.00,293.38,0.000,0.000,0.711,397,2646,419,-8.30,-0.11,623.30
$IRIDIUM_FIX,-7545.40,17359.94,120111,232310
$TT8_MAMPS,0.028462
$HUMID,51.69
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.2,17.8
$24V_AH,20.6,87.423
$10V_AH,9.6,60.718
$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,19.825,97.975,285.650,293.375,0.000,80.578,225.324,0.000,2.000,0.000,12.831,2222.493,3377.109,798.347,2343.378,326.527,0.000,1685.031,0.000,1456.207,0.000,11.199,0.000
$DEVICE_MAMPS,203.490,59.670,1097.775,711.450,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,616.462,1053.659,1017.428,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258080
$DATA_FILE_SIZE,60526,878
$CAP_FILE_SIZE,117048,0
$CFSIZE,260165632,219230208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.084,158.1,1
$GPS,130111,012822,-7629.861,17346.312,21,5.0,41,127.0