version: 66.08
glider: 502
mission: 3
dive: 190
start: 12 10 110 0 57 51
data:
$ID,502
$MISSION,3
$DIVE,190
$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,-1
$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,0
$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,400
$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,-28581.389
$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,34
$R_STBD_OVSHOOT,23
$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
$GPS1,101210,004622,-7642.197,16536.227,17,2.3,37,141.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-72.6
$GPS2,101210,005726,-7642.164,16536.279,11,1.3,11,141.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,POLYNYA
$TGT_LATLONG,-7640.000,17000.000
$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,307.0,112706,-17.5,-10.000
$D_GRID,575
$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,14,-0.76,-146.0,0.0,0.0,0,121,0.00,0.00,-104.07,0.000,2,0.000,0.000,422,2657,3262,0,0,0,0,0,0
$GC,123,-0.76,-146.0,3.2,-1.0,16,152,9.00,2.35,-9.23,0.000,4,0.207,0.067,2806,1247,3560,0,0,0,0,0,0
$GC,381,-0.76,-146.0,40.9,-14.6,62,390,0.00,2.35,0.00,0.000,6,0.000,0.060,2798,2649,3563,0,0,0,0,0,0
$GC,523,-0.76,-146.0,63.5,-16.9,87,529,0.00,1.80,0.00,0.000,4,0.000,0.063,2790,3767,3563,0,0,0,0,0,0
$GC,565,-0.76,-146.0,71.1,-17.7,94,573,0.00,1.77,0.00,0.000,6,0.000,0.044,2790,2658,3563,0,0,0,0,0,0
$GC,706,-0.76,-146.0,95.9,-17.4,119,713,0.00,1.83,0.00,0.000,4,0.000,0.064,2782,3772,3563,0,0,0,0,0,0
$GC,743,-0.76,-146.0,102.3,-18.0,124,747,0.12,1.73,0.00,0.000,6,0.170,0.044,2815,2662,3563,0,0,0,0,0,0
$GC,882,-0.76,-146.0,123.4,-14.6,137,886,0.00,1.80,0.00,0.000,4,0.000,0.063,2808,3773,3563,0,0,0,0,0,0
$GC,917,-0.76,-146.0,128.7,-15.3,140,921,0.00,1.70,0.00,0.000,6,0.000,0.044,2808,2679,3563,0,0,0,0,0,0
$GC,1060,-0.76,-146.0,150.2,-15.3,153,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2677,3563,0,0,0,0,0,0
$GC,1194,-0.76,-146.0,171.3,-15.5,166,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2676,3563,0,0,0,0,0,0
$GC,1322,-0.76,-146.0,190.8,-15.3,178,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2677,3563,0,0,0,0,0,0
$GC,1450,-0.76,-146.0,210.7,-15.5,190,1453,0.00,1.77,0.00,0.000,4,0.000,0.065,2800,3770,3563,0,0,0,0,0,0
$GC,1476,-0.76,-146.0,215.6,-16.9,192,1485,0.00,1.73,0.00,0.000,6,0.000,0.044,2800,2685,3563,0,0,0,0,0,0
$GC,1613,-0.76,-146.0,236.9,-16.2,205,1614,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2684,3563,0,0,0,0,0,0
$GC,1738,-0.76,-146.0,257.0,-15.8,217,1742,0.00,1.80,0.00,0.000,4,0.000,0.064,2791,3765,3564,0,0,0,0,0,0
$GC,1760,-0.76,-146.0,260.7,-16.3,219,1764,0.00,1.65,0.00,0.000,6,0.000,0.044,2791,2694,3563,0,0,0,0,0,0
$GC,1963,-0.76,-146.0,293.4,-16.2,238,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2693,3563,0,0,0,0,0,0
$GC,2154,-0.76,-146.0,324.0,-15.9,256,2158,0.00,1.75,0.00,0.000,4,0.000,0.064,2783,3773,3563,0,0,0,0,0,0
$GC,2191,-0.76,-146.0,330.7,-17.3,259,2200,0.08,1.70,0.00,0.000,6,0.148,0.044,2808,2701,3563,0,0,0,0,0,0
$GC,2391,-0.76,-146.0,359.3,-14.2,278,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2700,3563,0,0,0,0,0,0
$GC,2581,-0.76,-146.0,386.7,-14.1,296,2584,0.00,1.73,0.00,0.000,4,0.000,0.066,2802,3767,3563,0,0,0,0,0,0
$GC,2618,-0.76,-146.0,392.7,-15.6,299,2626,0.00,1.67,0.00,0.000,6,0.000,0.044,2802,2711,3563,0,0,0,0,0,0
$GC,2817,-0.76,-146.0,422.3,-15.1,318,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2711,3563,0,0,0,0,0,0
$GC,3008,-0.76,-146.0,451.7,-15.6,336,3009,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2711,3563,0,0,0,0,0,0
$GC,3199,-0.76,-146.0,480.7,-15.1,354,3203,0.00,1.70,0.00,0.000,4,0.000,0.064,2794,3767,3563,0,0,0,0,0,0
$GC,3233,-0.76,-146.0,486.0,-16.1,357,3237,0.00,1.65,0.00,0.000,6,0.000,0.045,2794,2700,3562,0,0,0,0,0,0
$GC,3452,-0.76,-146.0,518.8,-15.0,370,3454,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2698,3563,0,0,0,0,0,0
$GC,3636,-0.76,-146.0,545.6,-14.6,376,3639,0.00,1.73,0.00,0.000,4,0.000,0.066,2786,3766,3563,0,0,0,0,0,0
$GC,3662,-0.76,-146.0,549.9,-15.6,376,3672,0.08,1.65,0.00,0.000,6,0.147,0.044,2811,2724,3563,0,0,0,0,0,0
$GC,3853,-0.76,-146.0,574.6,-12.8,383,3857,0.00,2.35,0.00,0.000,4,0.000,0.054,2811,1242,3563,0,0,0,0,0,0
$STATE,3860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3860,begin apogee
$GC,3867,-0.17,0.0,576.0,12.9,383,4005,0.62,0.00,133.62,1.157,4,0.128,0.000,3006,2508,2961,0,0,0,0,0,0
$STATE,4006,end apogee,CONTROL_FINISHED_OK
$STATE,4006,begin climb
$GC,4007,0.76,146.0,580.2,0.0,387,4165,0.95,2.60,145.45,1.078,4,0.073,0.051,3307,1099,2366,0,0,0,0,0,0
$GC,4267,0.76,146.0,555.4,12.2,395,4271,0.00,2.47,0.00,0.000,6,0.000,0.055,3307,2503,2356,0,0,0,0,0,0
$GC,4479,0.76,146.0,528.0,12.9,402,4483,0.00,2.30,0.00,0.000,4,0.000,0.054,3317,1097,2352,0,0,0,0,0,0
$GC,4589,0.76,146.0,513.8,12.1,405,4594,0.00,2.38,0.00,0.000,6,0.000,0.055,3317,2516,2350,0,0,0,0,0,0
$GC,4784,0.76,146.0,488.2,13.0,417,4788,0.00,2.00,0.00,0.000,4,0.000,0.060,3317,3768,2348,0,0,0,0,0,0
$GC,4878,0.76,146.0,473.7,15.7,425,4886,0.00,1.98,0.00,0.000,6,0.000,0.043,3327,2528,2348,0,0,0,0,0,0
$GC,5076,0.76,146.0,447.7,13.0,444,5080,0.00,2.00,0.00,0.000,4,0.000,0.060,3326,3768,2347,0,0,0,0,0,0
$GC,5144,0.76,146.0,437.7,15.7,450,5148,0.00,1.95,0.00,0.000,6,0.000,0.043,3336,2546,2347,0,0,0,0,0,0
$GC,5346,0.76,146.0,410.6,13.3,469,5350,0.00,1.98,0.00,0.000,4,0.000,0.063,3336,3765,2346,0,0,0,0,0,0
$GC,5391,0.76,146.0,403.8,15.9,473,5396,0.12,1.90,0.00,0.000,6,0.170,0.043,3312,2544,2346,0,0,0,0,0,0
$GC,5594,0.76,146.0,379.9,11.5,492,5598,0.00,1.98,0.00,0.000,4,0.000,0.063,3312,3765,2346,0,0,0,0,0,0
$GC,5643,0.76,146.0,373.2,13.6,496,5651,0.00,1.92,0.00,0.000,6,0.000,0.042,3319,2555,2345,0,0,0,0,0,0
$GC,5843,0.76,146.0,349.4,12.1,515,5847,0.00,1.95,0.00,0.000,4,0.000,0.062,3319,3765,2345,0,0,0,0,0,0
$GC,5910,0.76,146.0,339.7,14.6,521,5914,0.00,1.90,0.00,0.000,6,0.000,0.044,3328,2567,2345,0,0,0,0,0,0
$GC,6112,0.76,146.0,313.6,12.7,540,6116,0.00,1.92,0.00,0.000,4,0.000,0.063,3328,3765,2344,0,0,0,0,0,0
$GC,6173,0.76,146.0,304.4,15.2,545,6180,0.00,1.88,0.00,0.000,6,0.000,0.043,3337,2573,2344,0,0,0,0,0,0
$GC,6370,0.76,146.0,277.9,13.8,564,6374,0.00,1.92,0.00,0.000,4,0.000,0.063,3337,3767,2344,0,0,0,0,0,0
$GC,6427,0.76,146.0,269.1,15.9,569,6432,0.10,1.85,0.00,0.000,6,0.142,0.044,3313,2598,2344,0,0,0,0,0,0
$GC,6631,0.76,146.0,243.6,12.4,588,6634,0.00,1.88,0.00,0.000,4,0.000,0.063,3313,3764,2344,0,0,0,0,0,0
$GC,6656,0.76,146.0,240.4,13.5,590,6659,0.00,1.83,0.00,0.000,6,0.000,0.043,3321,2584,2344,0,0,0,0,0,0
$GC,6798,0.76,146.0,221.9,12.9,603,6802,0.00,1.90,0.00,0.000,4,0.000,0.061,3321,3766,2344,0,0,0,0,0,0
$GC,6823,0.76,146.0,217.7,14.9,605,6833,0.00,1.83,0.00,0.000,6,0.000,0.042,3329,2611,2344,0,0,0,0,0,0
$GC,6960,0.76,146.0,200.1,12.9,618,6961,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2610,2343,0,0,0,0,0,0
$GC,7087,0.76,146.0,183.4,13.2,630,7090,0.00,1.88,0.00,0.000,4,0.000,0.063,3329,3768,2343,0,0,0,0,0,0
$GC,7124,0.76,146.0,177.4,15.5,633,7133,0.00,1.83,0.00,0.000,6,0.000,0.043,3338,2617,2343,0,0,0,0,0,0
$GC,7262,0.76,146.0,158.8,14.1,646,7269,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2617,2343,0,0,0,0,0,0
$GC,7397,0.76,146.0,140.1,13.2,659,7400,0.00,1.85,0.00,0.000,4,0.000,0.061,3338,3764,2344,0,0,0,0,0,0
$GC,7442,0.76,146.0,133.3,16.5,663,7446,0.12,1.77,0.00,0.000,6,0.171,0.043,3314,2614,2344,0,0,0,0,0,0
$GC,7583,0.76,146.0,115.2,12.7,676,7587,0.00,1.88,0.00,0.000,4,0.000,0.063,3314,3772,2343,0,0,0,0,0,0
$GC,7630,0.76,146.0,108.0,14.0,680,7640,0.00,1.80,0.00,0.000,6,0.000,0.044,3321,2632,2343,0,0,0,0,0,0
$GC,7765,0.76,146.0,90.0,12.8,700,7773,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2632,2343,0,0,0,0,0,0
$GC,7905,0.76,146.0,72.1,12.3,725,7912,0.00,1.85,0.00,0.000,4,0.000,0.063,3321,3766,2343,0,0,0,0,0,0
$GC,7956,0.76,146.0,65.3,14.1,734,7964,0.00,1.80,0.00,0.000,6,0.000,0.043,3330,2628,2343,0,0,0,0,0,0
$GC,8096,0.76,146.0,47.9,13.0,759,8103,0.00,1.85,0.00,0.000,4,0.000,0.062,3330,3765,2343,0,0,0,0,0,0
$GC,8147,0.76,146.0,39.3,18.2,768,8155,0.00,1.77,0.00,0.000,6,0.000,0.042,3338,2641,2343,0,0,0,0,0,0
$GC,8287,0.76,146.0,17.6,15.6,793,8293,0.00,2.47,0.00,0.000,4,0.000,0.054,3350,1081,2343,0,0,0,0,0,0
$GC,8323,0.76,146.0,12.4,14.7,799,8330,0.15,2.55,0.00,0.000,6,0.161,0.057,3309,2652,2343,0,0,0,0,0,0
$FREEZE,8.44,-1.183,-1.903,2,1,0
$FREEZE,7.89,-1.113,-1.902,2,1,0
$FREEZE,7.23,-1.124,-1.902,2,1,0
$FREEZE,6.57,-1.115,-1.901,2,1,0
$FREEZE,5.75,-1.141,-1.901,2,1,0
$FREEZE,5.23,-1.140,-1.901,2,1,0
$FREEZE,4.50,-1.098,-1.899,2,1,0
$FREEZE,3.98,-1.045,-1.899,2,1,0
$FREEZE,3.17,-0.947,-1.897,2,1,0
$FREEZE,2.65,-0.926,-1.897,2,1,0
$STATE,8405,end climb,SURFACE_DEPTH_REACHED
$STATE,8405,begin surface coast
$FREEZE,1.76,-0.880,-1.896,2,1,0
$FREEZE,1.31,-0.709,-1.896,2,1,0
$FREEZE,1.36,-0.545,-0.915,2,1,0
$FREEZE,1.30,-0.524,-0.909,2,1,0
$FREEZE,1.32,-0.773,-0.911,2,1,0
$FINISH,1.3,1.013439
$STATE,8436,end surface coast,CONTROL_FINISHED_OK
$STATE,8436,begin surface
$SM_CCo,8450,135.62,0.752,1,0,1329,400.08
$SM_GC,2.23,0.00,0.00,135.62,0.000,0.000,0.752,426,2653,1329,-8.25,0.08,400.08
$IRIDIUM_FIX,-7554.21,16422.54,101210,000040
$TT8_MAMPS,0.028462
$HUMID,51.65
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,20.0,18.5
$24V_AH,20.8,40.481
$10V_AH,9.9,24.469
$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,18.825,107.900,279.075,135.625,0.000,81.778,186.805,173.470,2.750,0.000,13.619,2050.527,4074.369,568.901,2385.878,180.957,0.000,1446.648,0.000,1432.863,0.000,14.633,0.000
$DEVICE_MAMPS,206.550,66.555,1157.445,751.995,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,577.640,994.165,893.804,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276708
$DATA_FILE_SIZE,56942,818
$CAP_FILE_SIZE,123688,0
$CFSIZE,260165632,241979392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101210,032224,-7642.047,16540.535,27,1.1,45,140.9