version: 66.08
glider: 502
mission: 3
dive: 205
start: 12 11 110 16 42 16
data:
$ID,502
$MISSION,3
$DIVE,205
$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,-28597.744
$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,31
$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
$GPS1,111210,163345,-7641.649,16658.605,269,3.3,288,138.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-70.3
$GPS2,111210,164152,-7641.567,16658.686,14,3.2,33,138.7
$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,309.2,77494,-17.5,-10.000
$D_GRID,571
$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,15,-0.76,-146.0,0.0,0.0,0,123,0.00,0.00,-105.18,0.000,2,0.000,0.000,425,2641,3250,0,0,0,0,0,0
$GC,125,-0.76,-146.0,3.1,-1.2,16,154,8.88,2.30,-9.38,0.000,4,0.201,0.067,2805,1245,3560,0,0,0,0,0,0
$GC,402,-0.76,-146.0,47.3,-16.1,65,409,0.00,2.33,0.00,0.000,6,0.000,0.061,2797,2654,3563,0,0,0,0,0,0
$GC,538,-0.76,-146.0,70.4,-16.5,90,547,0.00,2.30,0.00,0.000,4,0.000,0.054,2797,1239,3563,0,0,0,0,0,0
$GC,582,-0.76,-146.0,77.3,-16.1,97,589,0.12,2.35,0.00,0.000,6,0.161,0.060,2820,2668,3563,0,0,0,0,0,0
$GC,721,-0.76,-146.0,98.5,-14.8,122,730,0.00,1.80,0.00,0.000,4,0.000,0.063,2813,3764,3563,0,0,0,0,0,0
$GC,772,-0.76,-146.0,107.1,-15.8,127,781,0.00,1.75,0.00,0.000,6,0.000,0.044,2813,2663,3563,0,0,0,0,0,0
$GC,910,-0.76,-146.0,127.6,-15.4,140,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2662,3563,0,0,0,0,0,0
$GC,1036,-0.76,-146.0,147.6,-15.7,152,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2662,3563,0,0,0,0,0,0
$GC,1162,-0.76,-146.0,167.1,-15.7,164,1166,0.00,1.77,0.00,0.000,4,0.000,0.063,2805,3763,3563,0,0,0,0,0,0
$GC,1199,-0.76,-146.0,173.6,-16.5,167,1207,0.00,1.73,0.00,0.000,6,0.000,0.043,2804,2675,3563,0,0,0,0,0,0
$GC,1334,-0.76,-146.0,194.2,-15.5,180,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2674,3563,0,0,0,0,0,0
$GC,1462,-0.76,-146.0,214.2,-15.8,192,1463,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2675,3563,0,0,0,0,0,0
$GC,1589,-0.76,-146.0,233.8,-15.1,204,1592,0.00,1.77,0.00,0.000,4,0.000,0.063,2797,3769,3563,0,0,0,0,0,0
$GC,1623,-0.76,-146.0,239.2,-15.7,207,1627,0.00,1.67,0.00,0.000,6,0.000,0.044,2797,2686,3563,0,0,0,0,0,0
$GC,1762,-0.76,-146.0,261.3,-15.3,220,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2683,3562,0,0,0,0,0,0
$GC,1953,-0.76,-146.0,290.8,-15.3,238,1957,0.00,1.75,0.00,0.000,4,0.000,0.063,2789,3763,3563,0,0,0,0,0,0
$GC,1991,-0.76,-146.0,297.4,-17.2,241,1999,0.00,1.70,0.00,0.000,6,0.000,0.044,2789,2694,3563,0,0,0,0,0,0
$GC,2189,-0.76,-146.0,328.7,-16.1,260,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2693,3563,0,0,0,0,0,0
$GC,2380,-0.76,-146.0,359.6,-16.3,278,2384,0.00,1.75,0.00,0.000,4,0.000,0.063,2781,3774,3563,0,0,0,0,0,0
$GC,2426,-0.76,-146.0,367.5,-17.3,282,2430,0.12,1.67,0.00,0.000,6,0.168,0.045,2814,2696,3563,0,0,0,0,0,0
$GC,2629,-0.76,-146.0,397.0,-14.3,301,2630,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2694,3563,0,0,0,0,0,0
$GC,2819,-0.76,-146.0,423.8,-13.8,319,2823,0.00,1.73,0.00,0.000,4,0.000,0.063,2806,3763,3563,0,0,0,0,0,0
$GC,2853,-0.76,-146.0,428.8,-15.2,322,2857,0.00,1.65,0.00,0.000,6,0.000,0.044,2806,2696,3563,0,0,0,0,0,0
$GC,3056,-0.76,-146.0,458.2,-14.5,341,3057,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2694,3563,0,0,0,0,0,0
$GC,3247,-0.76,-146.0,485.3,-14.0,359,3251,0.00,1.75,0.00,0.000,4,0.000,0.063,2798,3773,3563,0,0,0,0,0,0
$GC,3293,-0.76,-146.0,492.2,-14.9,363,3296,0.00,1.65,0.00,0.000,6,0.000,0.044,2798,2707,3563,0,0,0,0,0,0
$GC,3502,-0.76,-146.0,521.8,-14.1,373,3503,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2706,3563,0,0,0,0,0,0
$GC,3683,-0.76,-146.0,547.0,-13.6,379,3684,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2706,3563,0,0,0,0,0,0
$STATE,3866,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3866,begin apogee
$GC,3870,-0.17,0.0,572.2,13.6,385,4009,0.65,0.00,134.23,1.157,4,0.132,0.000,3007,2494,2961,0,0,0,0,0,0
$STATE,4010,end apogee,CONTROL_FINISHED_OK
$STATE,4010,begin climb
$GC,4012,0.76,146.0,575.9,0.0,389,4168,0.95,2.55,146.10,1.064,4,0.072,0.052,3309,1101,2365,0,0,0,0,0,0
$GC,4286,0.76,146.0,549.0,12.4,398,4291,0.00,2.45,0.00,0.000,6,0.000,0.055,3309,2502,2353,0,0,0,0,0,0
$GC,4499,0.76,146.0,521.0,13.2,405,4503,0.00,2.30,0.00,0.000,4,0.000,0.054,3318,1092,2349,0,0,0,0,0,0
$GC,4604,0.76,146.0,506.9,12.8,408,4609,0.00,2.40,0.00,0.000,6,0.000,0.057,3318,2518,2347,0,0,0,0,0,0
$GC,4807,0.76,146.0,479.4,13.6,424,4810,0.00,2.00,0.00,0.000,4,0.000,0.060,3318,3765,2346,0,0,0,0,0,0
$GC,4909,0.76,146.0,463.5,16.4,433,4912,0.00,1.92,0.00,0.000,6,0.000,0.043,3327,2536,2346,0,0,0,0,0,0
$GC,5111,0.76,146.0,434.4,14.2,452,5115,0.00,2.00,0.00,0.000,4,0.000,0.060,3328,3768,2345,0,0,0,0,0,0
$GC,5160,0.76,146.0,426.2,16.9,456,5168,0.00,1.98,0.00,0.000,6,0.000,0.044,3337,2537,2344,0,0,0,0,0,0
$GC,5360,0.76,146.0,397.2,14.7,475,5364,0.00,2.00,0.00,0.000,4,0.000,0.061,3337,3774,2344,0,0,0,0,0,0
$GC,5398,0.76,146.0,390.4,16.8,478,5406,0.10,1.95,0.00,0.000,6,0.150,0.044,3314,2552,2344,0,0,0,0,0,0
$GC,5596,0.76,146.0,363.6,13.4,497,5600,0.00,1.98,0.00,0.000,4,0.000,0.062,3314,3768,2344,0,0,0,0,0,0
$GC,5642,0.76,146.0,356.8,15.2,501,5645,0.00,1.92,0.00,0.000,6,0.000,0.044,3322,2560,2343,0,0,0,0,0,0
$GC,5844,0.76,146.0,329.0,13.3,520,5848,0.00,1.95,0.00,0.000,4,0.000,0.061,3321,3767,2343,0,0,0,0,0,0
$GC,5882,0.76,146.0,323.0,15.7,523,5889,0.00,1.90,0.00,0.000,6,0.000,0.043,3331,2570,2343,0,0,0,0,0,0
$GC,6082,0.76,146.0,295.7,13.9,542,6085,0.00,1.95,0.00,0.000,4,0.000,0.062,3331,3776,2342,0,0,0,0,0,0
$GC,6119,0.76,146.0,289.3,16.7,545,6127,0.00,1.92,0.00,0.000,6,0.000,0.043,3340,2566,2343,0,0,0,0,0,0
$GC,6318,0.76,146.0,260.3,15.1,564,6321,0.00,1.95,0.00,0.000,4,0.000,0.060,3340,3770,2342,0,0,0,0,0,0
$GC,6363,0.76,146.0,253.0,17.0,568,6367,0.10,1.88,0.00,0.000,6,0.151,0.044,3305,2591,2342,0,0,0,0,0,0
$GC,6568,0.76,146.0,228.4,11.8,587,6572,0.00,1.92,0.00,0.000,4,0.000,0.063,3305,3775,2342,0,0,0,0,0,0
$GC,6615,0.76,146.0,221.7,14.2,591,6624,0.00,1.88,0.00,0.000,6,0.000,0.044,3313,2598,2342,0,0,0,0,0,0
$GC,6751,0.76,146.0,205.4,12.0,604,6755,0.00,1.90,0.00,0.000,4,0.000,0.063,3313,3771,2342,0,0,0,0,0,0
$GC,6777,0.76,146.0,201.6,13.9,606,6786,0.00,1.85,0.00,0.000,6,0.000,0.043,3322,2604,2342,0,0,0,0,0,0
$GC,6913,0.76,146.0,184.8,12.4,619,6916,0.00,1.88,0.00,0.000,4,0.000,0.061,3322,3767,2342,0,0,0,0,0,0
$GC,6938,0.76,146.0,181.0,13.7,621,6947,0.00,1.83,0.00,0.000,6,0.000,0.043,3331,2617,2342,0,0,0,0,0,0
$GC,7075,0.76,146.0,163.4,13.3,634,7076,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2616,2342,0,0,0,0,0,0
$GC,7201,0.76,146.0,147.2,12.6,646,7205,0.00,1.85,0.00,0.000,4,0.000,0.062,3331,3767,2342,0,0,0,0,0,0
$GC,7237,0.76,146.0,142.2,15.0,649,7240,0.00,1.77,0.00,0.000,6,0.000,0.042,3339,2618,2341,0,0,0,0,0,0
$GC,7377,0.76,146.0,122.9,13.0,662,7381,0.00,1.88,0.00,0.000,4,0.000,0.062,3340,3777,2342,0,0,0,0,0,0
$GC,7411,0.76,146.0,118.0,14.9,665,7416,0.12,1.77,0.00,0.000,6,0.171,0.043,3315,2629,2342,0,0,0,0,0,0
$GC,7552,0.76,146.0,101.2,11.3,678,7553,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2628,2342,0,0,0,0,0,0
$GC,7682,0.76,146.0,86.3,11.7,701,7689,0.00,1.85,0.00,0.000,4,0.000,0.062,3315,3767,2342,0,0,0,0,0,0
$GC,7711,0.76,146.0,82.5,12.6,706,7719,0.00,1.80,0.00,0.000,6,0.000,0.042,3322,2631,2341,0,0,0,0,0,0
$GC,7853,0.76,146.0,65.6,12.2,731,7860,0.00,1.85,0.00,0.000,4,0.000,0.061,3322,3768,2341,0,0,0,0,0,0
$GC,7901,0.76,146.0,58.8,14.3,739,7908,0.00,1.77,0.00,0.000,6,0.000,0.044,3331,2629,2341,0,0,0,0,0,0
$GC,8038,0.76,146.0,39.7,13.7,764,8046,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2628,2341,0,0,0,0,0,0
$GC,8179,0.76,146.0,20.8,13.9,789,8187,0.00,2.45,0.00,0.000,4,0.000,0.055,3342,1084,2341,0,0,0,0,0,0
$GC,8260,0.76,146.0,10.3,12.7,803,8267,0.12,2.58,0.00,0.000,6,0.156,0.057,3309,2665,2340,0,0,0,0,0,0
$FREEZE,8.35,-1.478,-1.897,2,1,0
$FREEZE,7.60,-1.473,-1.896,2,1,0
$FREEZE,6.90,-1.463,-1.895,2,1,0
$FREEZE,6.15,-1.452,-1.894,2,1,0
$FREEZE,5.55,-1.440,-1.893,2,1,0
$FREEZE,4.82,-1.434,-1.892,2,1,0
$FREEZE,4.28,-1.421,-1.891,2,1,0
$FREEZE,3.57,-1.405,-1.890,2,1,0
$FREEZE,2.95,-1.399,-1.889,2,1,0
$STATE,8320,end climb,SURFACE_DEPTH_REACHED
$STATE,8320,begin surface coast
$FREEZE,2.16,-1.398,-1.888,2,1,0
$FREEZE,1.66,-1.384,-1.887,2,1,0
$FREEZE,1.22,-1.398,-1.849,2,1,0
$FREEZE,1.20,-1.541,-0.872,2,1,0
$FINISH,1.2,1.012841
$STATE,8346,end surface coast,FINISH_DEPTH_REACHED
$STATE,8347,begin surface
$SM_CCo,8361,136.00,0.740,1,0,1329,400.08
$SM_GC,2.17,0.00,0.00,136.00,0.000,0.000,0.740,429,2666,1329,-8.24,0.45,400.08
$IRIDIUM_FIX,-7554.21,16640.77,111210,111103
$TT8_MAMPS,0.028462
$HUMID,51.77
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,18.0
$24V_AH,20.7,42.427
$10V_AH,9.9,25.926
$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,18.675,101.550,280.325,136.000,0.000,29.496,39.633,282.727,2.250,0.000,35.480,2040.964,3889.399,560.492,2321.260,182.895,0.000,1421.406,0.000,1419.284,0.000,14.638,0.000
$DEVICE_MAMPS,201.195,66.555,1156.680,739.755,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,577.237,1005.578,921.467,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276688
$DATA_FILE_SIZE,53724,817
$CAP_FILE_SIZE,121926,0
$CFSIZE,260165632,240988160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111210,190507,-7641.033,16704.684,31,0.9,32,138.5