version: 66.08
glider: 502
mission: 3
dive: 211
start: 12 12 110 7 38 58
data:
$ID,502
$MISSION,3
$DIVE,211
$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,-28602.871
$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,29
$R_STBD_OVSHOOT,28
$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
$GPS1,121210,073006,-7640.719,16735.338,86,1.1,86,137.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-69.6
$GPS2,121210,073834,-7640.741,16735.250,16,2.5,35,137.6
$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,311.1,61838,-17.5,-10.000
$D_GRID,674
$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,-146.0,0.0,0.0,0,122,0.00,0.00,-104.72,0.000,2,0.000,0.000,430,2666,3263,0,0,0,0,0,0
$GC,125,-0.76,-146.0,3.3,-1.5,16,148,9.00,1.88,-8.68,0.000,4,0.207,0.081,2800,3764,3560,0,0,0,0,0,0
$GC,268,-0.76,-146.0,29.2,-17.6,41,275,0.00,1.77,0.00,0.000,6,0.000,0.045,2800,2641,3562,0,0,0,0,0,0
$GC,406,-0.76,-146.0,51.8,-15.7,66,414,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2640,3563,0,0,0,0,0,0
$GC,547,-0.76,-146.0,74.1,-16.3,91,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2640,3563,0,0,0,0,0,0
$GC,684,-0.76,-146.0,96.5,-16.2,116,692,0.00,1.88,0.00,0.000,4,0.000,0.066,2793,3760,3563,0,0,0,0,0,0
$GC,713,-0.76,-146.0,101.8,-17.5,120,722,0.00,1.77,0.00,0.000,6,0.000,0.044,2793,2648,3563,0,0,0,0,0,0
$GC,849,-0.76,-146.0,124.1,-16.8,133,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2647,3563,0,0,0,0,0,0
$GC,976,-0.76,-146.0,145.5,-16.7,145,979,0.00,1.83,0.00,0.000,4,0.000,0.064,2783,3769,3563,0,0,0,0,0,0
$GC,1012,-0.76,-146.0,152.4,-17.4,148,1022,0.08,1.80,0.00,0.000,6,0.152,0.045,2808,2640,3563,0,0,0,0,0,0
$GC,1148,-0.76,-146.0,172.7,-14.9,161,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2638,3564,0,0,0,0,0,0
$GC,1275,-0.76,-146.0,192.1,-15.3,173,1279,0.00,1.83,0.00,0.000,4,0.000,0.064,2801,3764,3564,0,0,0,0,0,0
$GC,1311,-0.76,-146.0,197.6,-16.1,176,1315,0.00,1.73,0.00,0.000,6,0.000,0.044,2802,2652,3564,0,0,0,0,0,0
$GC,1453,-0.76,-146.0,220.5,-16.0,189,1457,0.00,1.83,0.00,0.000,4,0.000,0.065,2794,3761,3564,0,0,0,0,0,0
$GC,1477,-0.76,-146.0,224.6,-16.1,191,1480,0.00,1.70,0.00,0.000,6,0.000,0.044,2794,2667,3564,0,0,0,0,0,0
$GC,1618,-0.76,-146.0,247.5,-16.2,204,1622,0.00,1.77,0.00,0.000,4,0.000,0.065,2785,3759,3564,0,0,0,0,0,0
$GC,1643,-0.76,-146.0,252.5,-18.0,206,1652,0.08,1.73,0.00,0.000,6,0.151,0.044,2810,2676,3564,0,0,0,0,0,0
$GC,1842,-0.76,-146.0,281.7,-14.6,225,1846,0.00,1.75,0.00,0.000,4,0.000,0.064,2803,3757,3564,0,0,0,0,0,0
$GC,1879,-0.76,-146.0,288.0,-16.0,228,1887,0.00,1.70,0.00,0.000,6,0.000,0.044,2802,2690,3564,0,0,0,0,0,0
$GC,2079,-0.76,-146.0,318.1,-15.3,247,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2689,3564,0,0,0,0,0,0
$GC,2269,-0.76,-146.0,347.3,-15.3,265,2273,0.00,1.75,0.00,0.000,4,0.000,0.066,2796,3767,3564,0,0,0,0,0,0
$GC,2296,-0.76,-146.0,352.0,-16.9,267,2304,0.00,1.70,0.00,0.000,6,0.000,0.044,2796,2699,3564,0,0,0,0,0,0
$GC,2495,-0.76,-146.0,382.3,-15.1,286,2496,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2697,3563,0,0,0,0,0,0
$GC,2688,-0.76,-146.0,411.5,-14.9,304,2691,0.00,1.73,0.00,0.000,4,0.000,0.064,2787,3763,3564,0,0,0,0,0,0
$GC,2714,-0.76,-146.0,416.3,-16.3,306,2722,0.08,1.70,0.00,0.000,6,0.151,0.044,2811,2696,3563,0,0,0,0,0,0
$GC,2913,-0.76,-146.0,444.0,-13.9,325,2914,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2695,3564,0,0,0,0,0,0
$GC,3103,-0.76,-146.0,470.1,-13.9,343,3107,0.00,1.77,0.00,0.000,4,0.000,0.064,2805,3763,3563,0,0,0,0,0,0
$GC,3137,-0.76,-146.0,475.0,-15.3,346,3141,0.00,1.70,0.00,0.000,6,0.000,0.044,2805,2697,3563,0,0,0,0,0,0
$GC,3350,-0.76,-146.0,504.8,-14.1,364,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2695,3563,0,0,0,0,0,0
$GC,3533,-0.76,-146.0,530.5,-14.0,370,3537,0.00,1.73,0.00,0.000,4,0.000,0.064,2797,3759,3563,0,0,0,0,0,0
$GC,3569,-0.76,-146.0,535.6,-15.0,371,3572,0.00,1.65,0.00,0.000,6,0.000,0.045,2797,2696,3563,0,0,0,0,0,0
$GC,3787,-0.76,-146.0,566.6,-14.1,378,3788,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2695,3563,0,0,0,0,0,0
$GC,3970,-0.76,-146.0,592.4,-14.0,384,3974,0.00,1.73,0.00,0.000,4,0.000,0.064,2789,3759,3563,0,0,0,0,0,0
$GC,3996,-0.76,-146.0,596.6,-14.8,384,4004,0.00,1.67,0.00,0.000,6,0.000,0.044,2789,2705,3563,0,0,0,0,0,0
$GC,4187,-0.76,-146.0,624.2,-14.6,391,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2704,3563,0,0,0,0,0,0
$GC,4372,-0.76,-146.0,650.2,-14.0,397,4376,0.10,1.75,0.00,0.000,4,0.184,0.067,2806,3768,3563,0,0,0,0,0,0
$GC,4398,-0.76,-146.0,654.4,-14.3,397,4406,0.00,1.67,0.00,0.000,6,0.000,0.044,2806,2716,3563,0,0,0,0,0,0
$STATE,4557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4557,begin apogee
$GC,4561,-0.17,0.0,674.8,12.9,403,4704,0.60,0.00,138.00,1.238,4,0.132,0.000,3000,2491,2960,0,0,0,0,0,0
$STATE,4705,end apogee,CONTROL_FINISHED_OK
$STATE,4705,begin climb
$GC,4707,0.76,146.0,678.9,0.0,407,4876,0.98,2.58,152.32,1.154,4,0.073,0.051,3307,1096,2364,0,0,0,0,1,0
$GC,4948,0.76,146.0,656.0,13.1,415,4953,0.00,2.47,0.00,0.000,6,0.000,0.054,3307,2492,2355,0,0,0,0,0,0
$GC,5162,0.76,146.0,626.4,14.1,422,5166,0.00,2.30,0.00,0.000,4,0.000,0.052,3317,1093,2350,0,0,0,0,0,0
$GC,5272,0.76,146.0,610.8,13.6,425,5277,0.00,2.38,0.00,0.000,6,0.000,0.056,3317,2514,2348,0,0,0,0,0,0
$GC,5474,0.76,146.0,581.6,14.7,432,5478,0.00,2.00,0.00,0.000,4,0.000,0.061,3317,3764,2347,0,0,0,0,0,0
$GC,5563,0.76,146.0,566.6,16.7,434,5567,0.00,1.98,0.00,0.000,6,0.000,0.044,3327,2539,2346,0,0,0,0,0,0
$GC,5759,0.76,146.0,536.2,15.5,441,5763,0.00,1.98,0.00,0.000,4,0.000,0.061,3327,3766,2345,0,0,0,0,0,0
$GC,5802,0.76,146.0,528.5,17.5,442,5807,0.00,1.95,0.00,0.000,6,0.000,0.043,3336,2543,2345,0,0,0,0,0,0
$GC,6001,0.76,146.0,496.3,16.2,450,6005,0.00,1.98,0.00,0.000,4,0.000,0.062,3337,3767,2344,0,0,0,0,0,0
$GC,6039,0.76,146.0,489.4,18.0,453,6047,0.10,1.95,0.00,0.000,6,0.150,0.044,3313,2549,2344,0,0,0,0,0,0
$GC,6238,0.76,146.0,461.3,13.8,472,6242,0.00,1.98,0.00,0.000,4,0.000,0.062,3313,3770,2344,0,0,0,0,0,0
$GC,6265,0.76,146.0,456.7,15.6,474,6273,0.00,1.95,0.00,0.000,6,0.000,0.045,3321,2550,2343,0,0,0,0,0,0
$GC,6463,0.76,146.0,428.2,14.5,493,6467,0.00,1.98,0.00,0.000,4,0.000,0.062,3321,3770,2343,0,0,0,0,0,0
$GC,6489,0.76,146.0,423.8,16.8,495,6497,0.00,1.92,0.00,0.000,6,0.000,0.044,3330,2558,2343,0,0,0,0,0,0
$GC,6688,0.76,146.0,394.4,14.8,514,6692,0.00,1.95,0.00,0.000,4,0.000,0.060,3330,3768,2343,0,0,0,0,0,0
$GC,6714,0.76,146.0,389.8,16.7,516,6723,0.08,1.92,0.00,0.000,6,0.152,0.044,3316,2562,2343,0,0,0,0,0,0
$GC,6915,0.76,146.0,362.3,13.6,535,6918,0.00,1.95,0.00,0.000,4,0.000,0.061,3315,3766,2342,0,0,0,0,0,0
$GC,6941,0.76,146.0,357.7,15.3,537,6949,0.00,1.90,0.00,0.000,6,0.000,0.044,3323,2567,2342,0,0,0,0,0,0
$GC,7139,0.76,146.0,330.0,14.0,556,7143,0.00,1.95,0.00,0.000,4,0.000,0.063,3323,3768,2342,0,0,0,0,0,0
$GC,7166,0.76,146.0,325.7,15.4,558,7173,0.00,1.90,0.00,0.000,6,0.000,0.044,3332,2573,2343,0,0,0,0,0,0
$GC,7364,0.76,146.0,297.2,14.1,577,7368,0.00,1.92,0.00,0.000,4,0.000,0.062,3332,3766,2342,0,0,0,0,0,0
$GC,7390,0.76,146.0,292.7,15.5,579,7399,0.08,1.88,0.00,0.000,6,0.154,0.043,3317,2583,2342,0,0,0,0,0,0
$GC,7590,0.76,146.0,266.1,13.2,598,7594,0.00,1.92,0.00,0.000,4,0.000,0.062,3317,3774,2342,0,0,0,0,0,0
$GC,7617,0.76,146.0,261.8,14.8,600,7625,0.00,1.90,0.00,0.000,6,0.000,0.044,3324,2583,2342,0,0,0,0,0,0
$GC,7816,0.76,146.0,234.6,13.6,619,7818,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2582,2342,0,0,0,0,0,0
$GC,7944,0.76,146.0,217.2,13.9,631,7948,0.00,1.92,0.00,0.000,4,0.000,0.062,3324,3775,2342,0,0,0,0,0,0
$GC,7980,0.76,146.0,211.0,16.0,634,7990,0.00,1.88,0.00,0.000,6,0.000,0.044,3333,2600,2342,0,0,0,0,0,0
$GC,8117,0.76,146.0,192.0,14.3,647,8118,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2599,2342,0,0,0,0,0,0
$GC,8244,0.76,146.0,173.6,14.5,659,8246,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2598,2341,0,0,0,0,0,0
$GC,8372,0.76,146.0,155.1,14.2,671,8375,0.00,1.88,0.00,0.000,4,0.000,0.062,3334,3765,2341,0,0,0,0,0,0
$GC,8407,0.76,146.0,149.8,15.8,674,8411,0.12,1.80,0.00,0.000,6,0.170,0.043,3309,2602,2341,0,0,0,0,0,0
$GC,8549,0.76,146.0,131.0,12.7,687,8557,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2600,2341,0,0,0,0,0,0
$GC,8684,0.76,146.0,113.7,12.7,700,8685,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2599,2341,0,0,0,0,0,0
$GC,8812,0.76,146.0,97.5,12.6,713,8819,0.00,1.90,0.00,0.000,4,0.000,0.063,3309,3768,2341,0,0,0,0,0,0
$GC,8838,0.76,146.0,94.1,13.6,717,8844,0.00,1.83,0.00,0.000,6,0.000,0.044,3317,2603,2341,0,0,0,0,0,0
$GC,8976,0.76,146.0,75.6,13.1,742,8983,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2601,2341,0,0,0,0,0,0
$GC,9114,0.76,146.0,57.2,13.7,767,9121,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2601,2340,0,0,0,0,0,0
$GC,9252,0.76,146.0,38.3,14.4,792,9259,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2601,2341,0,0,0,0,0,0
$GC,9392,0.76,146.0,21.1,12.7,817,9398,0.00,2.40,0.00,0.000,4,0.000,0.052,3328,1081,2341,0,0,0,0,0,0
$GC,9418,0.76,146.0,17.9,12.4,821,9425,0.00,2.47,0.00,0.000,6,0.000,0.055,3328,2612,2340,0,0,0,0,0,0
$FREEZE,8.63,-1.586,-1.897,2,1,0
$FREEZE,8.02,-1.588,-1.896,2,1,0
$FREEZE,7.27,-1.585,-1.896,2,1,0
$STATE,9501,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,9502,begin subsurface finish
$FINISH1,7.3,1.027722,-11
$GC,9507,-0.01,-10.9,7.3,-12.9,836,9543,0.82,2.22,-24.88,0.000,4,0.133,0.068,3063,1106,3010,0,0,0,0,0,0
$FINISH2,5.3
$STATE,9543,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9544,begin surface
$IRIDIUM_FIX,-7554.21,16730.29,121210,020251
$TT8_MAMPS,0.028462
$HUMID,52.83
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,13.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.2,16.2
$24V_AH,20.5,43.143
$10V_AH,9.7,26.490
$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,12.100,112.900,290.325,0.000,0.000,29.170,39.746,298.415,3.250,0.000,37.113,2090.282,4898.312,481.555,2386.886,194.071,0.000,1399.145,0.000,1477.475,0.000,18.074,0.000
$DEVICE_MAMPS,206.550,81.090,1237.770,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,592.861,1040.130,873.348,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,57102,841
$CAP_FILE_SIZE,130055,0
$CFSIZE,260165632,240611328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,121210,073834,-7640.741,16735.250,16,2.5,35,137.6