version: 66.08
glider: 502
mission: 3
dive: 272
start: 12 20 110 0 45 59
data:
$ID,502
$MISSION,3
$DIVE,272
$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,-30480.721
$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,32
$R_STBD_OVSHOOT,20
$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
$GPS1,201210,003902,-7640.614,17244.441,21,2.0,22,129.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-74.2
$GPS2,201210,004532,-7640.607,17244.525,11,1.3,11,129.3
$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,278.9,189295,-17.5,-10.000
$D_GRID,570
$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,-146.0,0.0,0.0,0,80,0.00,0.00,-63.17,0.000,2,0.000,0.000,411,2625,2837,0,0,0,0,0,0
$GC,82,-0.76,-146.0,3.0,-2.7,9,133,8.90,2.22,-33.12,0.000,4,0.198,0.061,2809,1240,3558,0,0,0,0,0,0
$GC,293,-0.76,-146.0,28.0,-15.2,45,300,0.00,2.30,0.00,0.000,6,0.000,0.057,2800,2653,3562,0,0,0,0,0,0
$GC,428,-0.76,-146.0,52.1,-18.7,70,436,0.00,1.83,0.00,0.000,4,0.000,0.062,2792,3765,3562,0,0,0,0,0,0
$GC,461,-0.76,-146.0,57.9,-19.0,75,469,0.00,1.77,0.00,0.000,6,0.000,0.044,2792,2631,3562,0,0,0,0,0,0
$GC,600,-0.76,-146.0,83.6,-18.7,100,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2630,3562,0,0,0,0,0,0
$GC,739,-0.76,-146.0,108.0,-18.3,121,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2630,3562,0,0,0,0,0,0
$GC,867,-0.76,-146.0,130.1,-17.2,133,870,0.00,1.85,0.00,0.000,4,0.000,0.065,2784,3765,3562,0,0,0,0,0,0
$GC,915,-0.76,-146.0,139.7,-18.1,137,925,0.08,1.77,0.00,0.000,6,0.149,0.043,2809,2644,3562,0,0,0,0,0,0
$GC,1053,-0.76,-146.0,160.9,-15.4,150,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2644,3562,0,0,0,0,0,0
$GC,1188,-0.76,-146.0,182.1,-15.3,163,1192,0.00,1.83,0.00,0.000,4,0.000,0.063,2802,3772,3562,0,0,0,0,0,0
$GC,1225,-0.76,-146.0,188.6,-16.8,166,1234,0.00,1.77,0.00,0.000,6,0.000,0.043,2802,2656,3562,0,0,0,0,0,0
$GC,1361,-0.76,-146.0,209.5,-16.0,179,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2656,3562,0,0,0,0,0,0
$GC,1489,-0.76,-146.0,229.1,-15.2,191,1492,0.00,1.80,0.00,0.000,4,0.000,0.065,2794,3763,3562,0,0,0,0,0,0
$GC,1526,-0.76,-146.0,235.8,-16.4,194,1535,0.00,1.75,0.00,0.000,6,0.000,0.042,2794,2663,3563,0,0,0,0,0,0
$GC,1661,-0.76,-146.0,257.2,-15.9,207,1662,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2663,3562,0,0,0,0,0,0
$GC,1852,-0.76,-146.0,287.7,-16.0,225,1856,0.00,1.83,0.00,0.000,4,0.000,0.063,2785,3760,3562,0,0,0,0,0,0
$GC,1897,-0.76,-146.0,295.2,-16.5,229,1901,0.12,1.70,0.00,0.000,6,0.168,0.043,2819,2664,3562,0,0,0,0,0,0
$GC,2101,-0.76,-146.0,323.5,-13.4,248,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2662,3562,0,0,0,0,0,0
$GC,2291,-0.76,-146.0,349.6,-13.9,266,2296,0.00,1.80,0.00,0.000,4,0.000,0.063,2811,3773,3562,0,0,0,0,0,0
$GC,2328,-0.76,-146.0,355.5,-14.5,269,2336,0.00,1.75,0.00,0.000,6,0.000,0.044,2812,2677,3562,0,0,0,0,0,0
$GC,2527,-0.76,-146.0,383.2,-14.0,288,2531,0.00,1.80,0.00,0.000,4,0.000,0.065,2803,3754,3562,0,0,0,0,0,0
$GC,2562,-0.76,-146.0,388.4,-15.7,291,2566,0.00,1.70,0.00,0.000,6,0.000,0.044,2803,2691,3562,0,0,0,0,0,0
$GC,2764,-0.76,-146.0,417.2,-14.0,310,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2690,3562,0,0,0,0,0,0
$GC,2956,-0.76,-146.0,444.3,-14.4,328,2960,0.00,1.75,0.00,0.000,4,0.000,0.064,2796,3767,3563,0,0,0,0,0,0
$GC,2983,-0.76,-146.0,448.7,-15.5,330,2991,0.00,1.73,0.00,0.000,6,0.000,0.043,2796,2686,3562,0,0,0,0,0,0
$GC,3182,-0.76,-146.0,477.2,-14.8,349,3183,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2686,3562,0,0,0,0,0,0
$GC,3371,-0.76,-146.0,505.1,-14.4,365,3375,0.00,1.75,0.00,0.000,4,0.000,0.063,2787,3766,3562,0,0,0,0,0,0
$GC,3414,-0.76,-146.0,512.2,-16.2,366,3420,0.08,1.70,0.00,0.000,6,0.145,0.043,2812,2694,3561,0,0,0,0,0,0
$GC,3623,-0.76,-146.0,540.5,-13.7,373,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2693,3561,0,0,0,0,0,0
$GC,3806,-0.76,-146.0,565.4,-13.6,379,3809,0.00,1.75,0.00,0.000,4,0.000,0.063,2804,3772,3561,0,0,0,0,0,0
$GC,3832,-0.76,-146.0,569.4,-14.5,379,3841,0.00,1.70,0.00,0.000,6,0.000,0.043,2804,2704,3561,0,0,0,0,0,0
$STATE,3868,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3868,begin apogee
$GC,3873,-0.17,0.0,574.4,13.9,381,4013,0.62,0.00,135.02,1.153,4,0.130,0.000,3005,2493,2961,0,0,0,0,0,0
$STATE,4014,end apogee,CONTROL_FINISHED_OK
$STATE,4014,begin climb
$GC,4016,0.76,146.0,579.7,0.0,385,4172,0.93,0.00,151.25,1.069,6,0.076,0.000,3304,2493,2365,0,0,0,0,0,0
$GC,4368,0.76,146.0,543.8,12.4,397,4372,0.00,2.17,0.00,0.000,4,0.000,0.060,3303,3762,2351,0,0,0,0,0,0
$GC,4450,0.76,146.0,531.9,14.5,399,4455,0.00,2.05,0.00,0.000,6,0.000,0.041,3313,2523,2350,0,0,0,0,0,0
$GC,4647,0.76,146.0,505.3,13.7,406,4650,0.00,2.03,0.00,0.000,4,0.000,0.060,3313,3764,2347,0,0,0,0,0,0
$GC,4684,0.76,146.0,499.3,15.6,407,4689,0.00,2.00,0.00,0.000,6,0.000,0.042,3322,2518,2347,0,0,0,0,0,0
$GC,4886,0.76,146.0,470.9,14.2,424,4890,0.00,2.03,0.00,0.000,4,0.000,0.060,3322,3767,2346,0,0,0,0,0,0
$GC,4943,0.76,146.0,461.6,16.0,429,4946,0.00,1.92,0.00,0.000,6,0.000,0.043,3332,2535,2347,0,0,0,0,0,0
$GC,5146,0.76,146.0,431.6,14.8,448,5150,0.00,2.00,0.00,0.000,4,0.000,0.060,3332,3773,2345,0,0,0,0,0,0
$GC,5195,0.76,146.0,423.2,16.4,452,5203,0.08,1.95,0.00,0.000,6,0.147,0.043,3317,2552,2345,0,0,0,0,0,0
$GC,5395,0.76,146.0,397.1,12.8,471,5399,0.00,1.98,0.00,0.000,4,0.000,0.060,3317,3775,2344,0,0,0,0,0,0
$GC,5429,0.76,146.0,392.0,14.3,474,5433,0.00,1.92,0.00,0.000,6,0.000,0.043,3325,2544,2344,0,0,0,0,0,0
$GC,5632,0.76,146.0,364.7,13.0,493,5636,0.00,2.00,0.00,0.000,4,0.000,0.061,3325,3769,2343,0,0,0,0,0,0
$GC,5667,0.76,146.0,359.7,15.1,496,5671,0.00,1.92,0.00,0.000,6,0.000,0.043,3334,2562,2344,0,0,0,0,0,0
$GC,5870,0.76,146.0,331.5,13.6,515,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2560,2343,0,0,0,0,0,0
$GC,6061,0.76,146.0,305.4,13.8,533,6064,0.00,1.95,0.00,0.000,4,0.000,0.061,3334,3767,2343,0,0,0,0,0,0
$GC,6117,0.76,146.0,297.0,16.0,538,6121,0.12,1.88,0.00,0.000,6,0.167,0.043,3310,2563,2343,0,0,0,0,0,0
$GC,6319,0.76,146.0,272.2,11.9,557,6323,0.00,1.98,0.00,0.000,4,0.000,0.063,3310,3777,2342,0,0,0,0,0,0
$GC,6368,0.76,146.0,265.3,14.4,561,6376,0.00,1.92,0.00,0.000,6,0.000,0.043,3318,2565,2342,0,0,0,0,0,0
$GC,6570,0.76,146.0,240.8,12.1,580,6574,0.00,1.95,0.00,0.000,4,0.000,0.062,3318,3768,2342,0,0,0,0,0,0
$GC,6616,0.76,146.0,234.3,14.6,584,6620,0.00,1.85,0.00,0.000,6,0.000,0.043,3327,2579,2342,0,0,0,0,0,0
$GC,6756,0.76,146.0,216.3,12.6,597,6758,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2576,2342,0,0,0,0,0,0
$GC,6884,0.76,146.0,199.9,12.9,609,6888,0.00,1.92,0.00,0.000,4,0.000,0.062,3327,3768,2342,0,0,0,0,0,0
$GC,6929,0.76,146.0,193.1,15.6,613,6933,0.00,1.83,0.00,0.000,6,0.000,0.042,3336,2594,2342,0,0,0,0,0,0
$GC,7071,0.76,146.0,173.5,13.8,626,7075,0.00,1.90,0.00,0.000,4,0.000,0.062,3336,3768,2341,0,0,0,0,0,0
$GC,7109,0.76,146.0,168.0,15.8,629,7113,0.12,1.83,0.00,0.000,6,0.168,0.044,3312,2598,2342,0,0,0,0,0,0
$GC,7250,0.76,146.0,150.8,11.5,642,7258,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2596,2341,0,0,0,0,0,0
$GC,7385,0.76,146.0,135.7,10.9,655,7389,0.00,1.90,0.00,0.000,4,0.000,0.062,3312,3773,2341,0,0,0,0,0,0
$GC,7412,0.76,146.0,132.2,12.7,657,7420,0.00,1.85,0.00,0.000,6,0.000,0.044,3319,2610,2341,0,0,0,0,0,0
$GC,7547,0.76,146.0,116.1,12.0,670,7548,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2609,2341,0,0,0,0,0,0
$GC,7675,0.76,146.0,101.2,11.5,682,7678,0.00,1.88,0.00,0.000,4,0.000,0.063,3319,3767,2341,0,0,0,0,0,0
$GC,7709,0.76,146.0,96.8,13.0,687,7717,0.00,1.80,0.00,0.000,6,0.000,0.043,3328,2614,2341,0,0,0,0,0,0
$GC,7847,0.76,146.0,80.1,12.2,712,7854,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2613,2341,0,0,0,0,0,0
$GC,7988,0.76,146.0,63.0,12.4,737,7994,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2613,2340,0,0,0,0,0,0
$GC,8123,0.76,146.0,46.0,13.1,762,8131,0.00,1.90,0.00,0.000,4,0.000,0.061,3328,3761,2340,0,0,0,0,0,0
$GC,8165,0.76,146.0,40.2,15.2,769,8172,0.00,1.80,0.00,0.000,6,0.000,0.042,3337,2611,2340,0,0,0,0,0,0
$GC,8303,0.76,146.0,21.6,13.0,794,8311,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2610,2340,0,0,0,0,0,0
$FREEZE,8.94,-1.150,-1.895,2,1,0
$FREEZE,8.09,-1.121,-1.894,2,1,0
$FREEZE,7.49,-1.106,-1.894,2,1,0
$FREEZE,6.64,-0.873,-1.890,2,1,0
$FREEZE,5.95,-0.749,-1.889,2,1,0
$FREEZE,5.10,-0.619,-1.888,2,1,0
$FREEZE,4.35,-0.552,-1.887,2,1,0
$FREEZE,3.61,-0.501,-1.887,2,1,0
$FREEZE,2.95,-0.428,-1.887,2,1,0
$STATE,8445,end climb,SURFACE_DEPTH_REACHED
$STATE,8445,begin surface coast
$FREEZE,1.99,-0.411,-1.887,2,1,0
$FREEZE,1.43,-0.408,-1.887,2,1,0
$FREEZE,1.42,-0.365,-0.393,2,1,0
$FREEZE,1.48,-0.343,-0.170,2,1,0
$FINISH,1.5,1.002318
$STATE,8470,end surface coast,FINISH_DEPTH_REACHED
$STATE,8470,begin surface
$SM_CCo,8486,80.32,0.731,1,0,1737,300.24
$SM_GC,2.30,0.00,0.00,80.32,0.000,0.000,0.731,422,2668,1737,-8.26,0.51,300.24
$IRIDIUM_FIX,-7554.21,17240.94,191210,222234
$TT8_MAMPS,0.028462
$HUMID,52.59
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,18.1
$ALTIM_BOTTOM_PING,553.0,50.6
$24V_AH,20.3,51.296
$10V_AH,9.8,32.744
$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,18.600,94.350,286.275,80.325,0.000,30.800,43.801,208.558,2.750,0.000,12.576,2173.317,3881.256,499.038,2223.225,189.194,0.000,1359.659,0.000,1415.270,0.000,17.483,0.000
$DEVICE_MAMPS,198.135,109.395,1152.855,731.340,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,581.896,1005.023,909.892,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258296
$DATA_FILE_SIZE,57216,823
$CAP_FILE_SIZE,120824,0
$CFSIZE,260165632,236322816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.182,162.7,1
$GPS,201210,031025,-7640.583,17249.496,56,1.0,57,129.2