version: 66.08
glider: 502
mission: 3
dive: 274
start: 12 20 110 5 46 58
data:
$ID,502
$MISSION,3
$DIVE,274
$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,-30483.33
$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,30
$R_STBD_OVSHOOT,34
$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
$GPS1,201210,053904,-7640.519,17253.777,15,4.0,35,129.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-72.6
$GPS2,201210,054632,-7640.551,17253.801,13,1.1,13,129.1
$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,274.6,185296,-17.5,-10.000
$D_GRID,543
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
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$GC,102,-0.76,-146.0,3.1,-0.7,12,132,8.93,2.35,-11.88,0.000,4,0.200,0.063,2808,1209,3560,0,0,0,0,0,0
$GC,352,-0.76,-146.0,39.3,-14.9,55,359,0.00,2.35,0.00,0.000,6,0.000,0.057,2799,2645,3564,0,0,0,0,0,0
$GC,493,-0.76,-146.0,63.2,-17.7,80,502,0.00,1.83,0.00,0.000,4,0.000,0.063,2790,3757,3564,0,0,0,0,0,0
$GC,554,-0.76,-146.0,74.2,-18.0,90,563,0.00,1.75,0.00,0.000,6,0.000,0.043,2790,2661,3564,0,0,0,0,0,0
$GC,699,-0.76,-146.0,99.0,-17.6,115,706,0.00,1.83,0.00,0.000,4,0.000,0.064,2783,3772,3565,0,0,0,0,0,0
$GC,736,-0.76,-146.0,106.0,-19.4,119,740,0.12,1.73,0.00,0.000,6,0.168,0.044,2816,2664,3565,0,0,0,0,0,0
$GC,878,-0.76,-146.0,128.6,-15.7,132,882,0.00,2.22,0.00,0.000,4,0.000,0.050,2817,1244,3565,0,0,0,0,0,0
$GC,898,-0.76,-146.0,131.9,-16.2,133,902,0.00,2.33,0.00,0.000,6,0.000,0.057,2806,2679,3565,0,0,0,0,0,0
$GC,1032,-0.76,-146.0,154.1,-16.4,145,1036,0.00,1.73,0.00,0.000,4,0.000,0.062,2799,3764,3565,0,0,0,0,0,0
$GC,1090,-0.76,-146.0,163.8,-16.7,150,1094,0.00,1.67,0.00,0.000,6,0.000,0.042,2799,2683,3565,0,0,0,0,0,0
$GC,1233,-0.76,-146.0,187.7,-17.3,163,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2681,3565,0,0,0,0,0,0
$GC,1368,-0.76,-146.0,210.8,-16.8,176,1369,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2681,3565,0,0,0,0,0,0
$GC,1496,-0.76,-146.0,231.2,-15.5,188,1499,0.00,1.77,0.00,0.000,4,0.000,0.064,2791,3773,3565,0,0,0,0,0,0
$GC,1521,-0.76,-146.0,236.2,-17.0,190,1531,0.00,1.73,0.00,0.000,6,0.000,0.043,2791,2690,3565,0,0,0,0,0,0
$GC,1656,-0.76,-146.0,258.4,-17.0,203,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2690,3565,0,0,0,0,0,0
$GC,1849,-0.76,-146.0,290.4,-16.3,221,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2690,3565,0,0,0,0,0,0
$GC,2038,-0.76,-146.0,321.4,-15.6,239,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2690,3565,0,0,0,0,0,0
$GC,2230,-0.76,-146.0,351.7,-16.4,257,2234,0.00,1.75,0.00,0.000,4,0.000,0.063,2783,3769,3565,0,0,0,0,0,0
$GC,2267,-0.76,-146.0,358.6,-17.5,260,2275,0.08,1.70,0.00,0.000,6,0.146,0.042,2808,2701,3564,0,0,0,0,0,0
$GC,2468,-0.76,-146.0,388.3,-15.0,279,2469,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2701,3564,0,0,0,0,0,0
$GC,2657,-0.76,-146.0,416.0,-14.6,297,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2701,3564,0,0,0,0,0,0
$GC,2848,-0.76,-146.0,442.8,-13.6,315,2852,0.00,1.73,0.00,0.000,4,0.000,0.065,2802,3764,3564,0,0,0,0,0,0
$GC,2886,-0.76,-146.0,448.6,-14.5,318,2895,0.00,1.70,0.00,0.000,6,0.000,0.042,2802,2696,3564,0,0,0,0,0,0
$GC,3085,-0.76,-146.0,475.8,-13.7,337,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2696,3564,0,0,0,0,0,0
$GC,3296,-0.76,-146.0,505.0,-13.9,355,3300,0.00,1.75,0.00,0.000,4,0.000,0.064,2795,3773,3564,0,0,0,0,0,0
$GC,3334,-0.76,-146.0,510.6,-14.6,356,3338,0.00,1.70,0.00,0.000,6,0.000,0.043,2795,2711,3564,0,0,0,0,0,0
$GC,3548,-0.76,-146.0,541.4,-14.4,363,3552,0.00,1.75,0.00,0.000,4,0.000,0.063,2787,3761,3564,0,0,0,0,0,0
$STATE,3556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3556,begin apogee
$GC,3562,-0.17,0.0,543.1,14.6,363,3702,0.68,0.00,134.98,1.126,4,0.135,0.000,3001,2496,2961,0,0,0,0,0,0
$STATE,3702,end apogee,CONTROL_FINISHED_OK
$STATE,3703,begin climb
$GC,3704,0.76,146.0,548.4,0.0,367,3863,0.98,2.58,149.62,1.043,4,0.073,0.048,3309,1091,2365,0,0,0,0,0,0
$GC,3979,0.76,146.0,523.0,11.7,375,3984,0.00,2.50,0.00,0.000,6,0.000,0.052,3309,2493,2353,0,0,0,0,0,0
$GC,4181,0.76,146.0,497.1,13.0,382,4185,0.00,2.28,0.00,0.000,4,0.000,0.050,3317,1094,2350,0,0,0,0,0,0
$GC,4311,0.76,146.0,481.0,12.9,393,4315,0.00,2.30,0.00,0.000,6,0.000,0.053,3317,2514,2348,0,0,0,0,0,0
$GC,4510,0.76,146.0,455.1,12.9,411,4514,0.00,2.00,0.00,0.000,4,0.000,0.060,3317,3767,2347,0,0,0,0,0,0
$GC,4601,0.76,146.0,441.0,16.0,419,4605,0.00,1.95,0.00,0.000,6,0.000,0.043,3327,2516,2346,0,0,0,0,0,0
$GC,4804,0.76,146.0,412.7,13.5,438,4807,0.00,2.03,0.00,0.000,4,0.000,0.060,3327,3773,2346,0,0,0,0,0,0
$GC,4842,0.76,146.0,406.4,16.4,441,4849,0.00,2.00,0.00,0.000,6,0.000,0.044,3337,2522,2346,0,0,0,0,0,0
$GC,5040,0.76,146.0,378.0,14.2,460,5041,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2521,2346,0,0,0,0,0,0
$GC,5232,0.76,146.0,350.8,13.9,478,5235,0.00,2.00,0.00,0.000,4,0.000,0.060,3337,3764,2345,0,0,0,0,0,0
$GC,5288,0.76,146.0,341.9,16.2,483,5293,0.12,1.92,0.00,0.000,6,0.171,0.043,3313,2529,2346,0,0,0,0,0,0
$GC,5486,0.76,146.0,317.0,12.4,501,5489,0.00,2.00,0.00,0.000,4,0.000,0.060,3313,3763,2344,0,0,0,0,0,0
$GC,5520,0.76,146.0,312.4,13.7,504,5523,0.00,1.90,0.00,0.000,6,0.000,0.043,3321,2541,2345,0,0,0,0,0,0
$GC,5724,0.76,146.0,286.6,12.8,523,5727,0.00,1.98,0.00,0.000,4,0.000,0.061,3321,3763,2344,0,0,0,0,0,0
$GC,5758,0.76,146.0,281.7,14.8,526,5762,0.00,1.90,0.00,0.000,6,0.000,0.043,3330,2546,2344,0,0,0,0,0,0
$GC,5961,0.76,146.0,253.8,13.7,545,5965,0.00,2.00,0.00,0.000,4,0.000,0.061,3331,3770,2344,0,0,0,0,0,0
$GC,5994,0.76,146.0,248.8,15.5,548,5998,0.00,1.95,0.00,0.000,6,0.000,0.044,3340,2549,2344,0,0,0,0,0,0
$GC,6135,0.76,146.0,228.7,14.4,561,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2546,2344,0,0,0,0,0,0
$GC,6262,0.76,146.0,210.9,14.2,573,6266,0.00,1.98,0.00,0.000,4,0.000,0.060,3340,3770,2344,0,0,0,0,0,0
$GC,6309,0.76,146.0,203.8,15.6,577,6313,0.15,1.90,0.00,0.000,6,0.161,0.044,3309,2553,2344,0,0,0,0,0,0
$GC,6444,0.76,146.0,187.3,11.7,589,6445,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,2550,2344,0,0,0,0,0,0
$GC,6571,0.76,146.0,172.4,12.2,601,6572,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,2551,2343,0,0,0,0,0,0
$GC,6698,0.76,146.0,157.3,11.7,613,6702,0.00,1.95,0.00,0.000,4,0.000,0.060,3308,3762,2343,0,0,0,0,0,0
$GC,6725,0.76,146.0,153.6,14.0,615,6733,0.00,1.92,0.00,0.000,6,0.000,0.044,3316,2557,2343,0,0,0,0,0,0
$GC,6861,0.76,146.0,137.0,12.2,628,6864,0.00,1.95,0.00,0.000,4,0.000,0.060,3316,3764,2343,0,0,0,0,0,0
$GC,6886,0.76,146.0,133.9,13.3,630,6889,0.00,1.85,0.00,0.000,6,0.000,0.043,3325,2569,2343,0,0,0,0,0,0
$GC,7029,0.76,146.0,115.9,12.3,643,7036,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2567,2343,0,0,0,0,0,0
$GC,7164,0.76,146.0,98.9,12.3,656,7172,0.00,1.98,0.00,0.000,4,0.000,0.060,3325,3757,2343,0,0,0,0,0,0
$GC,7197,0.76,146.0,94.5,13.8,661,7204,0.00,1.85,0.00,0.000,6,0.000,0.043,3335,2570,2343,0,0,0,0,0,0
$GC,7338,0.76,146.0,76.2,12.3,686,7347,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2568,2343,0,0,0,0,0,0
$GC,7483,0.76,146.0,58.2,12.7,711,7490,0.00,1.95,0.00,0.000,4,0.000,0.060,3335,3771,2343,0,0,0,0,0,0
$GC,7514,0.76,146.0,53.7,14.6,716,7522,0.08,1.90,0.00,0.000,6,0.145,0.043,3318,2580,2343,0,0,0,0,0,0
$GC,7659,0.76,146.0,36.5,11.9,741,7665,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2580,2342,0,0,0,0,0,0
$GC,7801,0.76,146.0,19.7,11.6,766,7809,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2580,2342,0,0,0,0,0,0
$FREEZE,8.72,-0.605,-1.890,2,1,0
$FREEZE,8.17,-0.639,-1.893,2,1,0
$FREEZE,7.32,-0.620,-1.893,2,1,0
$FREEZE,6.65,-0.624,-1.893,2,1,0
$FREEZE,6.01,-0.594,-1.893,2,1,0
$FREEZE,5.29,-0.588,-1.893,2,1,0
$FREEZE,4.51,-0.595,-1.894,2,1,0
$FREEZE,3.84,-0.571,-1.893,2,1,0
$FREEZE,3.06,-0.568,-1.892,2,1,0
$FREEZE,2.27,-0.560,-1.891,2,1,0
$STATE,7947,end climb,SURFACE_DEPTH_REACHED
$STATE,7947,begin surface coast
$FREEZE,1.47,-0.561,-1.892,2,1,0
$FREEZE,1.48,-0.632,-0.969,2,1,0
$FREEZE,1.34,-0.632,-0.181,2,1,0
$FINISH,1.3,1.002463
$STATE,7965,end surface coast,FINISH_DEPTH_REACHED
$STATE,7965,begin surface
$SM_CCo,7981,80.45,0.724,1,0,1736,300.24
$SM_GC,2.31,0.00,0.00,80.45,0.000,0.000,0.724,420,2659,1736,-8.27,0.25,300.24
$IRIDIUM_FIX,-7554.21,17240.94,201210,030345
$TT8_MAMPS,0.028462
$HUMID,52.36
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,18.2
$24V_AH,20.4,51.543
$10V_AH,9.8,32.933
$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,18.625,90.000,284.600,80.450,0.000,30.314,44.067,252.513,2.250,0.000,14.510,2089.360,3548.213,484.089,2211.171,185.613,0.000,1305.180,0.000,1364.618,0.000,12.927,0.000
$DEVICE_MAMPS,199.665,102.510,1126.080,724.455,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,561.401,964.017,891.728,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53690,794
$CAP_FILE_SIZE,113843,0
$CFSIZE,260165632,236204032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.151,161.5,1
$GPS,201210,080237,-7640.429,17257.768,34,1.4,35,129.0