version: 66.08
glider: 502
mission: 3
dive: 269
start: 12 19 110 17 12 29
data:
$ID,502
$MISSION,3
$DIVE,269
$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,-2
$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,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,300
$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,-30476.945
$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,30
$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
$GPS1,191210,170544,-7640.233,17225.129,16,1.4,17,129.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-74.0
$GPS2,191210,171202,-7640.219,17225.340,11,1.6,11,129.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,POLYNYA
$TGT_LATLONG,-7630.000,18000.000
$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,324.9,197477,-17.5,-10.000
$D_GRID,577
$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,-146.0,0.0,0.0,0,77,0.00,0.00,-60.05,0.000,2,0.000,0.000,418,2664,2774,0,0,0,0,0,0
$GC,79,-0.76,-146.0,3.0,-2.5,9,137,8.90,2.35,-37.60,0.000,4,0.200,0.063,2805,1237,3560,0,0,0,0,0,0
$GC,246,-0.76,-146.0,20.2,-15.8,37,253,0.00,2.30,0.00,0.000,6,0.000,0.057,2797,2644,3562,0,0,0,0,0,0
$GC,382,-0.76,-146.0,43.8,-18.2,62,390,0.00,1.85,0.00,0.000,4,0.000,0.063,2789,3766,3563,0,0,0,0,0,0
$GC,429,-0.76,-146.0,52.4,-18.7,70,437,0.00,1.77,0.00,0.000,6,0.000,0.044,2788,2655,3563,0,0,0,0,0,0
$GC,569,-0.76,-146.0,78.1,-17.9,95,577,0.10,0.00,0.00,0.000,6,0.182,0.000,2813,2654,3563,0,0,0,0,0,0
$GC,708,-0.76,-146.0,100.1,-16.0,120,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2654,3563,0,0,0,0,0,0
$GC,839,-0.76,-146.0,120.2,-16.1,132,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2654,3563,0,0,0,0,0,0
$GC,974,-0.76,-146.0,141.6,-15.6,145,977,0.00,1.80,0.00,0.000,4,0.000,0.065,2807,3762,3563,0,0,0,0,0,0
$GC,1009,-0.76,-146.0,147.3,-16.8,148,1012,0.00,1.70,0.00,0.000,6,0.000,0.043,2807,2667,3563,0,0,0,0,0,0
$GC,1150,-0.76,-146.0,170.3,-15.9,161,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2664,3563,0,0,0,0,0,0
$GC,1276,-0.76,-146.0,190.5,-15.9,173,1280,0.00,1.77,0.00,0.000,4,0.000,0.063,2798,3762,3564,0,0,0,0,0,0
$GC,1324,-0.76,-146.0,199.0,-16.9,177,1333,0.00,1.73,0.00,0.000,6,0.000,0.043,2798,2678,3564,0,0,0,0,0,0
$GC,1463,-0.76,-146.0,220.6,-15.9,190,1466,0.00,1.77,0.00,0.000,4,0.000,0.064,2790,3770,3562,0,0,0,0,0,0
$GC,1500,-0.76,-146.0,227.6,-16.5,193,1508,0.00,1.73,0.00,0.000,6,0.000,0.043,2789,2688,3564,0,0,0,0,0,0
$GC,1635,-0.76,-146.0,249.1,-16.0,206,1636,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2688,3563,0,0,0,0,0,0
$GC,1762,-0.76,-146.0,270.2,-16.9,218,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2688,3563,0,0,0,0,0,0
$GC,1954,-0.76,-146.0,301.2,-16.1,236,1957,0.00,1.75,0.00,0.000,4,0.000,0.063,2781,3769,3563,0,0,0,0,0,0
$GC,1980,-0.76,-146.0,306.2,-16.9,238,1989,0.08,1.70,0.00,0.000,6,0.149,0.043,2807,2699,3563,0,0,0,0,0,0
$GC,2181,-0.76,-146.0,335.5,-15.0,257,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2698,3563,0,0,0,0,0,0
$GC,2369,-0.76,-146.0,364.4,-15.1,275,2373,0.00,1.73,0.00,0.000,4,0.000,0.064,2799,3761,3563,0,0,0,0,0,0
$GC,2418,-0.76,-146.0,372.6,-16.2,279,2427,0.00,1.67,0.00,0.000,6,0.000,0.042,2799,2703,3563,0,0,0,0,0,0
$GC,2616,-0.76,-146.0,403.7,-16.3,298,2618,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2702,3563,0,0,0,0,0,0
$GC,2808,-0.76,-146.0,434.3,-15.8,316,2812,0.00,1.73,0.00,0.000,4,0.000,0.063,2791,3767,3563,0,0,0,0,0,0
$GC,2835,-0.76,-146.0,439.0,-16.0,318,2842,0.00,1.67,0.00,0.000,6,0.000,0.043,2791,2710,3563,0,0,0,0,0,0
$GC,3033,-0.76,-146.0,468.7,-14.7,337,3034,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2710,3563,0,0,0,0,0,0
$GC,3224,-0.76,-146.0,497.4,-15.2,355,3228,0.00,1.70,0.00,0.000,4,0.000,0.063,2783,3763,3563,0,0,0,0,0,0
$GC,3246,-0.76,-146.0,500.9,-15.6,357,3250,0.12,1.65,0.00,0.000,6,0.166,0.043,2816,2692,3563,0,0,0,0,0,0
$GC,3442,-0.76,-146.0,527.7,-13.4,364,3443,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2691,3563,0,0,0,0,0,0
$GC,3629,-0.76,-146.0,551.8,-13.1,370,3633,0.00,1.75,0.00,0.000,4,0.000,0.063,2809,3767,3563,0,0,0,0,0,0
$GC,3668,-0.76,-146.0,557.8,-13.6,371,3671,0.00,1.67,0.00,0.000,6,0.000,0.043,2809,2714,3563,0,0,0,0,0,0
$STATE,3818,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3818,begin apogee
$GC,3822,-0.17,0.0,578.3,13.6,376,3963,0.60,0.00,135.40,1.154,4,0.127,0.000,3003,2487,2961,0,0,0,0,0,0
$STATE,3963,end apogee,CONTROL_FINISHED_OK
$STATE,3964,begin climb
$GC,3965,0.76,146.0,583.7,0.0,380,4124,0.98,2.55,150.52,1.073,4,0.073,0.049,3309,1095,2364,0,0,0,0,0,0
$GC,4213,0.76,146.0,562.4,11.9,388,4218,0.00,2.47,0.00,0.000,6,0.000,0.050,3309,2498,2355,0,0,0,0,0,0
$GC,4409,0.76,146.0,537.6,12.8,395,4413,0.00,2.30,0.00,0.000,4,0.000,0.050,3319,1094,2351,0,0,0,0,0,0
$GC,4520,0.76,146.0,523.6,11.8,398,4524,0.00,2.33,0.00,0.000,6,0.000,0.053,3319,2520,2348,0,0,0,0,0,0
$GC,4721,0.76,146.0,496.7,13.3,405,4725,0.00,2.00,0.00,0.000,4,0.000,0.059,3319,3771,2348,0,0,0,0,0,0
$GC,4812,0.76,146.0,482.7,15.4,413,4815,0.00,1.92,0.00,0.000,6,0.000,0.043,3328,2541,2347,0,0,0,0,0,0
$GC,5015,0.76,146.0,453.6,14.1,432,5017,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2538,2346,0,0,0,0,0,0
$GC,5205,0.76,146.0,426.8,14.1,450,5209,0.00,1.98,0.00,0.000,4,0.000,0.060,3328,3763,2346,0,0,0,0,0,0
$GC,5262,0.76,146.0,417.9,15.8,455,5266,0.00,1.95,0.00,0.000,6,0.000,0.042,3338,2542,2346,0,0,0,0,0,0
$GC,5465,0.76,146.0,387.9,14.2,474,5469,0.00,1.98,0.00,0.000,4,0.000,0.060,3337,3765,2345,0,0,0,0,0,0
$GC,5499,0.76,146.0,382.6,16.6,477,5504,0.12,1.92,0.00,0.000,6,0.171,0.042,3314,2529,2345,0,0,0,0,0,0
$GC,5697,0.76,146.0,356.2,13.1,495,5701,0.00,2.03,0.00,0.000,4,0.000,0.062,3314,3769,2345,0,0,0,0,0,0
$GC,5723,0.76,146.0,352.0,14.6,497,5731,0.00,1.95,0.00,0.000,6,0.000,0.043,3322,2546,2345,0,0,0,0,0,0
$GC,5924,0.76,146.0,324.0,14.4,516,5927,0.00,1.98,0.00,0.000,4,0.000,0.061,3322,3768,2344,0,0,0,0,0,0
$GC,5958,0.76,146.0,318.5,15.7,519,5962,0.00,1.90,0.00,0.000,6,0.000,0.041,3331,2543,2344,0,0,0,0,0,0
$GC,6161,0.76,146.0,289.6,13.9,538,6164,0.00,1.98,0.00,0.000,4,0.000,0.060,3331,3768,2344,0,0,0,0,0,0
$GC,6210,0.76,146.0,281.6,16.0,542,6217,0.00,1.92,0.00,0.000,6,0.000,0.042,3341,2555,2344,0,0,0,0,0,0
$GC,6408,0.76,146.0,253.1,13.9,561,6412,0.00,1.95,0.00,0.000,4,0.000,0.060,3341,3764,2344,0,0,0,0,0,0
$GC,6444,0.76,146.0,247.8,15.9,564,6448,0.15,1.88,0.00,0.000,6,0.163,0.042,3309,2558,2344,0,0,0,0,0,0
$GC,6585,0.76,146.0,230.8,11.6,577,6588,0.00,1.95,0.00,0.000,4,0.000,0.060,3309,3767,2343,0,0,0,0,0,0
$GC,6610,0.76,146.0,227.0,13.3,579,6620,0.00,1.90,0.00,0.000,6,0.000,0.042,3317,2566,2343,0,0,0,0,0,0
$GC,6747,0.76,146.0,210.3,12.6,592,6750,0.00,1.95,0.00,0.000,4,0.000,0.061,3317,3771,2343,0,0,0,0,0,0
$GC,6773,0.76,146.0,206.2,13.9,594,6781,0.00,1.88,0.00,0.000,6,0.000,0.043,3326,2591,2343,0,0,0,0,0,0
$GC,6908,0.76,146.0,188.2,13.2,607,6909,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2590,2343,0,0,0,0,0,0
$GC,7035,0.76,146.0,171.2,13.3,619,7039,0.00,1.90,0.00,0.000,4,0.000,0.062,3326,3765,2343,0,0,0,0,0,0
$GC,7107,0.76,146.0,160.4,15.0,625,7115,0.00,1.85,0.00,0.000,6,0.000,0.042,3335,2603,2343,0,0,0,0,0,0
$GC,7244,0.76,146.0,142.6,12.9,638,7248,0.00,1.88,0.00,0.000,4,0.000,0.060,3335,3769,2343,0,0,0,0,0,0
$GC,7281,0.76,146.0,137.4,14.6,641,7285,0.12,1.80,0.00,0.000,6,0.166,0.043,3311,2610,2343,0,0,0,0,0,0
$GC,7423,0.76,146.0,120.6,11.8,654,7431,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2608,2343,0,0,0,0,0,0
$GC,7558,0.76,146.0,105.1,11.7,667,7562,0.00,1.88,0.00,0.000,4,0.000,0.063,3311,3767,2343,0,0,0,0,0,0
$GC,7593,0.76,146.0,100.7,13.4,670,7596,0.00,1.80,0.00,0.000,6,0.000,0.043,3318,2609,2343,0,0,0,0,0,0
$GC,7728,0.76,146.0,84.0,12.7,694,7736,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2607,2343,0,0,0,0,0,0
$GC,7866,0.76,146.0,66.8,12.7,719,7874,0.00,1.90,0.00,0.000,4,0.000,0.062,3319,3773,2343,0,0,0,0,0,0
$GC,7903,0.76,146.0,61.6,14.7,725,7910,0.00,1.83,0.00,0.000,6,0.000,0.043,3327,2609,2343,0,0,0,0,0,0
$GC,8043,0.76,146.0,43.1,13.5,750,8051,0.00,1.92,0.00,0.000,4,0.000,0.061,3327,3767,2343,0,0,0,0,0,0
$GC,8074,0.76,146.0,38.6,14.0,755,8083,0.00,1.80,0.00,0.000,6,0.000,0.042,3336,2614,2343,0,0,0,0,0,0
$GC,8217,0.76,146.0,19.3,13.4,780,8224,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2614,2342,0,0,0,0,0,0
$FREEZE,8.96,-0.858,-1.899,2,1,0
$FREEZE,8.08,-0.758,-1.897,2,1,0
$FREEZE,7.33,-0.674,-1.896,2,1,0
$FREEZE,6.44,-0.646,-1.896,2,1,0
$FREEZE,5.70,-0.463,-1.893,2,1,0
$FREEZE,4.89,-0.436,-1.893,2,1,0
$FREEZE,4.26,-0.414,-1.893,2,1,0
$FREEZE,3.37,-0.350,-1.893,2,1,0
$FREEZE,2.64,-0.257,-1.891,2,1,0
$STATE,8338,end climb,SURFACE_DEPTH_REACHED
$STATE,8338,begin surface coast
$FREEZE,1.61,-0.230,-1.891,2,1,0
$FREEZE,1.42,-0.126,-0.791,2,1,0
$FREEZE,1.43,-0.163,-0.785,2,1,0
$FREEZE,1.32,-0.475,-0.779,2,1,0
$FINISH,1.3,1.011481
$STATE,8364,end surface coast,CONTROL_FINISHED_OK
$STATE,8364,begin surface
$SM_CCo,8380,80.85,0.729,1,0,1735,300.24
$SM_GC,2.31,0.00,0.00,80.85,0.000,0.000,0.729,424,2652,1735,-8.26,0.06,300.24
$IRIDIUM_FIX,-7554.21,17222.48,191210,141437
$TT8_MAMPS,0.028462
$HUMID,53.03
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.3,17.8
$ALTIM_BOTTOM_PING,551.8,82.4
$24V_AH,20.4,50.924
$10V_AH,9.8,32.456
$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,18.775,99.400,285.925,80.850,0.000,27.596,35.877,206.629,3.000,0.000,12.255,2132.725,3828.391,505.552,2187.215,193.764,0.000,1363.047,0.000,1403.249,0.000,18.707,0.000
$DEVICE_MAMPS,200.430,126.990,1153.620,729.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,568.785,991.982,903.918,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258304
$DATA_FILE_SIZE,57205,805
$CAP_FILE_SIZE,120837,0
$CFSIZE,260165632,236523520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.116, 96.6,1
$GPS,191210,193506,-7640.324,17232.561,48,0.8,54,129.6