version: 66.08
glider: 502
mission: 3
dive: 210
start: 12 12 110 5 6 40
data:
$ID,502
$MISSION,3
$DIVE,210
$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,-28601.615
$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,44
$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
$GPS1,121210,024507,-7640.002,16723.963,34,0.8,34,137.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.94
$_SM_ANGLEo,3.6
$GPS2,121210,024507,-7640.002,16723.963,34,0.8,34,137.9
$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,312.1,66643,-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,15,-0.76,-146.0,0.0,0.0,0,25,0.00,0.00,-8.45,0.000,2,0.000,0.000,3069,3767,3335,0,0,0,0,0,0
$GC,27,-0.76,-146.0,9.3,-0.0,1,42,0.68,4.05,-5.60,0.000,4,0.082,0.054,2822,1243,3560,0,0,0,0,0,0
$GC,81,-0.76,-146.0,14.7,-12.0,10,89,0.00,2.33,0.00,0.000,6,0.000,0.061,2812,2648,3562,0,0,0,0,0,0
$GC,222,-0.76,-146.0,34.4,-13.8,35,229,0.00,1.80,0.00,0.000,4,0.000,0.063,2803,3767,3563,0,0,0,0,0,0
$GC,280,-0.76,-146.0,43.2,-15.3,45,287,0.00,1.75,0.00,0.000,6,0.000,0.045,2803,2674,3563,0,0,0,0,0,0
$GC,417,-0.76,-146.0,62.7,-13.8,70,424,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2673,3564,0,0,0,0,0,0
$GC,557,-0.76,-146.0,82.1,-14.7,95,563,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2673,3564,0,0,0,0,0,0
$GC,694,-0.76,-146.0,102.2,-14.8,119,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2673,3564,0,0,0,0,0,0
$GC,821,-0.76,-146.0,121.3,-14.8,131,825,0.00,1.77,0.00,0.000,4,0.000,0.064,2797,3765,3564,0,0,0,0,0,0
$GC,844,-0.76,-146.0,125.1,-16.2,133,848,0.00,1.73,0.00,0.000,6,0.000,0.044,2797,2654,3564,0,0,0,0,0,0
$GC,985,-0.76,-146.0,147.0,-15.4,146,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2652,3564,0,0,0,0,0,0
$GC,1113,-0.76,-146.0,167.4,-16.5,158,1116,0.00,1.83,0.00,0.000,4,0.000,0.065,2788,3773,3564,0,0,0,0,0,0
$GC,1136,-0.76,-146.0,171.5,-17.0,160,1140,0.10,1.73,0.00,0.000,6,0.181,0.045,2813,2666,3564,0,0,0,0,0,0
$GC,1276,-0.76,-146.0,192.0,-14.5,173,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2664,3564,0,0,0,0,0,0
$GC,1403,-0.76,-146.0,210.3,-14.3,185,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2664,3564,0,0,0,0,0,0
$GC,1531,-0.76,-146.0,228.3,-13.9,197,1534,0.00,1.77,0.00,0.000,4,0.000,0.063,2806,3764,3565,0,0,0,0,0,0
$GC,1567,-0.76,-146.0,234.1,-14.9,200,1576,0.00,1.75,0.00,0.000,6,0.000,0.044,2806,2669,3564,0,0,0,0,0,0
$GC,1702,-0.76,-146.0,253.6,-14.6,213,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2667,3564,0,0,0,0,0,0
$GC,1892,-0.76,-146.0,280.9,-14.3,231,1896,0.00,1.83,0.00,0.000,4,0.000,0.064,2798,3761,3565,0,0,0,0,0,0
$GC,1919,-0.76,-146.0,285.2,-15.3,233,1926,0.00,1.73,0.00,0.000,6,0.000,0.044,2798,2680,3564,0,0,0,0,0,0
$GC,2117,-0.76,-146.0,314.6,-14.9,252,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2680,3564,0,0,0,0,0,0
$GC,2308,-0.76,-146.0,342.9,-14.6,270,2312,0.00,1.77,0.00,0.000,4,0.000,0.065,2790,3769,3564,0,0,0,0,0,0
$GC,2353,-0.76,-146.0,349.9,-15.6,274,2361,0.00,1.70,0.00,0.000,6,0.000,0.044,2790,2675,3564,0,0,0,0,0,0
$GC,2558,-0.76,-146.0,381.2,-15.0,293,2559,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2675,3564,0,0,0,0,0,0
$GC,2749,-0.76,-146.0,410.1,-15.0,311,2753,0.00,1.83,0.00,0.000,4,0.000,0.065,2782,3768,3564,0,0,0,0,0,0
$GC,2797,-0.76,-146.0,418.1,-16.2,315,2806,0.10,1.73,0.00,0.000,6,0.145,0.044,2815,2685,3565,0,0,0,0,0,0
$GC,2996,-0.76,-146.0,443.1,-12.5,334,2999,0.00,1.75,0.00,0.000,4,0.000,0.063,2808,3766,3564,0,0,0,0,0,0
$GC,3033,-0.76,-146.0,448.4,-14.1,337,3041,0.00,1.70,0.00,0.000,6,0.000,0.044,2808,2700,3564,0,0,0,0,0,0
$GC,3231,-0.76,-146.0,474.0,-13.0,356,3235,0.00,1.73,0.00,0.000,4,0.000,0.065,2800,3765,3564,0,0,0,0,0,0
$GC,3265,-0.76,-146.0,478.8,-14.6,359,3269,0.00,1.65,0.00,0.000,6,0.000,0.044,2800,2700,3564,0,0,0,0,0,0
$GC,3487,-0.76,-146.0,509.3,-13.7,376,3491,0.00,1.75,0.00,0.000,4,0.000,0.065,2792,3772,3564,0,0,0,0,0,0
$GC,3525,-0.76,-146.0,515.1,-14.5,377,3529,0.00,1.67,0.00,0.000,6,0.000,0.044,2791,2721,3564,0,0,0,0,0,0
$GC,3738,-0.76,-146.0,545.2,-14.2,384,3739,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2720,3564,0,0,0,0,0,0
$GC,3922,-0.76,-146.0,571.2,-14.1,390,3925,0.00,1.70,0.00,0.000,4,0.000,0.065,2784,3764,3564,0,0,0,0,0,0
$STATE,3947,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3947,begin apogee
$GC,3953,-0.17,0.0,575.6,15.5,390,4094,0.70,0.00,136.00,1.164,4,0.135,0.000,3006,2490,2961,0,0,0,0,0,0
$STATE,4094,end apogee,CONTROL_FINISHED_OK
$STATE,4095,begin climb
$GC,4096,0.76,146.0,580.2,0.0,395,4253,0.95,2.58,148.25,1.085,4,0.071,0.051,3308,1091,2365,0,0,0,0,0,0
$GC,4353,0.76,146.0,556.5,12.0,403,4358,0.00,2.50,0.00,0.000,6,0.000,0.054,3308,2490,2354,0,0,0,0,0,0
$GC,4549,0.76,146.0,530.8,13.2,410,4553,0.00,2.30,0.00,0.000,4,0.000,0.053,3318,1091,2350,0,0,0,0,0,0
$GC,4677,0.76,146.0,514.1,12.9,413,4684,0.00,2.38,0.00,0.000,6,0.000,0.056,3318,2512,2347,0,0,0,0,0,0
$GC,4870,0.76,146.0,487.5,13.8,424,4874,0.00,2.03,0.00,0.000,4,0.000,0.060,3318,3767,2346,0,0,0,0,0,0
$GC,4948,0.76,146.0,474.8,15.7,431,4953,0.00,1.98,0.00,0.000,6,0.000,0.044,3327,2539,2346,0,0,0,0,0,0
$GC,5151,0.76,146.0,444.5,14.9,450,5155,0.00,1.98,0.00,0.000,4,0.000,0.060,3327,3764,2345,0,0,0,0,0,0
$GC,5174,0.76,146.0,440.9,15.9,452,5178,0.00,1.92,0.00,0.000,6,0.000,0.044,3337,2532,2345,0,0,0,0,0,0
$GC,5377,0.76,146.0,409.5,15.4,471,5381,0.00,2.00,0.00,0.000,4,0.000,0.060,3337,3773,2344,0,0,0,0,0,0
$GC,5414,0.76,146.0,402.9,17.0,474,5423,0.10,1.98,0.00,0.000,6,0.149,0.044,3314,2542,2344,0,0,0,0,0,0
$GC,5614,0.76,146.0,375.7,13.6,493,5618,0.00,1.98,0.00,0.000,4,0.000,0.061,3314,3764,2343,0,0,0,0,0,0
$GC,5641,0.76,146.0,371.4,15.1,495,5648,0.00,1.95,0.00,0.000,6,0.000,0.044,3322,2543,2344,0,0,0,0,0,0
$GC,5839,0.76,146.0,343.6,13.9,514,5843,0.00,1.98,0.00,0.000,4,0.000,0.061,3321,3763,2343,0,0,0,0,0,0
$GC,5865,0.76,146.0,339.2,15.8,516,5873,0.00,1.92,0.00,0.000,6,0.000,0.044,3331,2558,2344,0,0,0,0,0,0
$GC,6064,0.76,146.0,310.2,14.8,535,6065,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2556,2343,0,0,0,0,0,0
$GC,6255,0.76,146.0,282.6,14.1,553,6259,0.00,1.98,0.00,0.000,4,0.000,0.061,3331,3771,2343,0,0,0,0,0,0
$GC,6303,0.76,146.0,274.3,17.5,557,6311,0.00,1.95,0.00,0.000,6,0.000,0.044,3341,2555,2343,0,0,0,0,0,0
$GC,6503,0.76,146.0,244.7,14.7,576,6507,0.00,1.95,0.00,0.000,4,0.000,0.060,3341,3765,2342,0,0,0,0,0,0
$GC,6539,0.76,146.0,238.1,18.2,579,6549,0.10,1.92,0.00,0.000,6,0.145,0.043,3317,2560,2342,0,0,0,0,0,0
$GC,6676,0.76,146.0,220.1,13.0,592,6679,0.00,1.95,0.00,0.000,4,0.000,0.062,3317,3767,2342,0,0,0,0,0,0
$GC,6699,0.76,146.0,216.8,13.9,594,6703,0.00,1.85,0.00,0.000,6,0.000,0.044,3324,2573,2342,0,0,0,0,0,0
$GC,6840,0.76,146.0,197.7,13.5,607,6841,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2570,2342,0,0,0,0,0,0
$GC,6967,0.76,146.0,180.7,13.2,619,6969,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2570,2342,0,0,0,0,0,0
$GC,7095,0.76,146.0,163.6,13.5,631,7096,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2570,2341,0,0,0,0,0,0
$GC,7222,0.76,146.0,146.8,13.0,643,7226,0.00,1.92,0.00,0.000,4,0.000,0.063,3324,3764,2341,0,0,0,0,0,0
$GC,7258,0.76,146.0,141.8,15.4,646,7262,0.00,1.85,0.00,0.000,6,0.000,0.044,3333,2570,2342,0,0,0,0,0,0
$GC,7400,0.76,146.0,122.1,13.6,659,7407,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2568,2341,0,0,0,0,0,0
$GC,7535,0.76,146.0,103.6,13.7,672,7538,0.00,1.95,0.00,0.000,4,0.000,0.063,3334,3774,2341,0,0,0,0,0,0
$GC,7573,0.76,146.0,97.8,15.1,676,7582,0.08,1.90,0.00,0.000,6,0.147,0.044,3318,2583,2341,0,0,0,0,0,0
$GC,7715,0.76,146.0,80.1,11.4,701,7721,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2582,2341,0,0,0,0,0,0
$GC,7852,0.76,146.0,63.0,13.0,726,7860,0.00,1.95,0.00,0.000,4,0.000,0.061,3318,3763,2341,0,0,0,0,0,0
$GC,7877,0.76,146.0,59.5,14.4,730,7885,0.00,1.88,0.00,0.000,6,0.000,0.044,3325,2585,2341,0,0,0,0,0,0
$GC,8016,0.76,146.0,40.9,13.2,755,8022,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2584,2341,0,0,0,0,0,0
$GC,8153,0.76,146.0,23.0,12.4,780,8161,0.00,2.40,0.00,0.000,4,0.000,0.054,3336,1087,2341,0,0,0,0,0,0
$GC,8185,0.76,146.0,19.4,12.0,785,8192,0.00,2.45,0.00,0.000,6,0.000,0.056,3336,2597,2341,0,0,0,0,0,0
$FREEZE,8.44,-1.500,-1.895,2,2,0
$FREEZE,7.60,-1.500,-1.895,2,2,0
$FREEZE,6.80,-1.498,-1.894,2,2,0
$FREEZE,5.98,-1.498,-1.893,2,2,0
$FREEZE,5.36,-1.499,-1.893,2,2,0
$FREEZE,4.53,-1.498,-1.892,2,2,0
$FREEZE,4.01,-1.496,-1.892,2,2,0
$FREEZE,3.26,-1.494,-1.891,2,2,0
$FREEZE,2.47,-1.495,-1.890,2,2,0
$STATE,8310,end climb,SURFACE_DEPTH_REACHED
$STATE,8310,begin surface coast
$FREEZE,1.63,-1.492,-1.890,2,2,0
$FREEZE,1.24,-1.504,-1.297,2,2,0
$FINISH,1.2,1.019139
$STATE,8324,end surface coast,FINISH_DEPTH_REACHED
$STATE,8324,begin surface
$SM_CCo,8339,138.77,0.744,1,0,1329,400.08
$SM_GC,2.15,0.00,0.00,138.77,0.000,0.000,0.744,429,2666,1329,-8.24,0.45,400.08
$IRIDIUM_FIX,-7554.21,16719.18,121210,020248
$TT8_MAMPS,0.028462
$HUMID,51.10
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,13.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,20.0,18.7
$24V_AH,20.6,43.023
$10V_AH,9.9,26.391
$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,10.375,102.525,284.250,138.775,0.000,0.000,0.000,0.000,2.750,0.000,0.000,2040.866,3955.161,506.808,1909.834,124.060,0.000,1334.200,0.000,1400.517,0.000,14.633,0.000
$DEVICE_MAMPS,181.305,114.750,1163.565,743.580,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,573.185,989.700,896.278,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276640
$DATA_FILE_SIZE,53689,809
$CAP_FILE_SIZE,112938,0
$CFSIZE,260165632,240689152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,121210,073006,-7640.719,16735.338,86,1.1,86,137.6