version: 66.08
glider: 502
mission: 3
dive: 276
start: 12 20 110 10 28 53
data:
$ID,502
$MISSION,3
$DIVE,276
$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,-30485.85
$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,31
$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
$GPS1,201210,102201,-7640.251,17301.816,40,1.4,41,128.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-71.3
$GPS2,201210,102826,-7640.283,17301.799,14,1.4,14,128.9
$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,287.3,181806,-17.5,-10.000
$D_GRID,511
$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,-146.0,0.0,0.0,0,99,0.00,0.00,-81.75,0.000,2,0.000,0.000,414,2658,3208,0,0,0,0,0,0
$GC,101,-0.76,-146.0,3.1,-1.5,12,131,8.93,2.35,-11.35,0.000,4,0.202,0.063,2803,1233,3560,0,0,0,0,0,0
$GC,307,-0.76,-146.0,34.1,-15.0,47,314,0.00,2.33,0.00,0.000,6,0.000,0.057,2795,2651,3563,0,0,0,0,0,0
$GC,448,-0.76,-146.0,58.3,-17.1,72,456,0.00,1.83,0.00,0.000,4,0.000,0.063,2786,3762,3564,0,0,0,0,0,0
$GC,504,-0.76,-146.0,68.6,-19.4,81,511,0.12,1.75,0.00,0.000,6,0.168,0.043,2820,2664,3564,0,0,0,0,0,0
$GC,648,-0.76,-146.0,91.4,-15.8,106,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2662,3564,0,0,0,0,0,0
$GC,788,-0.76,-146.0,113.0,-15.4,123,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2662,3564,0,0,0,0,0,0
$GC,916,-0.76,-146.0,131.5,-14.2,135,920,0.00,1.80,0.00,0.000,4,0.000,0.063,2813,3773,3564,0,0,0,0,0,0
$GC,942,-0.76,-146.0,136.3,-15.3,137,952,0.00,1.75,0.00,0.000,6,0.000,0.042,2813,2673,3564,0,0,0,0,0,0
$GC,1080,-0.76,-146.0,156.3,-14.9,150,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2672,3564,0,0,0,0,0,0
$GC,1206,-0.76,-146.0,175.3,-15.1,162,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2672,3564,0,0,0,0,0,0
$GC,1333,-0.76,-146.0,194.2,-14.7,174,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2672,3564,0,0,0,0,0,0
$GC,1460,-0.76,-146.0,213.5,-15.2,186,1463,0.00,1.77,0.00,0.000,4,0.000,0.063,2804,3767,3565,0,0,0,0,0,0
$GC,1497,-0.76,-146.0,220.1,-16.1,189,1506,0.00,1.73,0.00,0.000,6,0.000,0.043,2804,2685,3564,0,0,0,0,0,0
$GC,1634,-0.76,-146.0,241.4,-15.9,202,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2684,3564,0,0,0,0,0,0
$GC,1768,-0.76,-146.0,263.0,-15.7,215,1772,0.00,1.75,0.00,0.000,4,0.000,0.063,2798,3764,3564,0,0,0,0,0,0
$GC,1802,-0.76,-146.0,268.6,-16.6,218,1806,0.00,1.65,0.00,0.000,6,0.000,0.043,2798,2696,3564,0,0,0,0,0,0
$GC,2007,-0.76,-146.0,300.8,-15.6,237,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2694,3564,0,0,0,0,0,0
$GC,2197,-0.76,-146.0,330.9,-15.8,255,2201,0.00,1.75,0.00,0.000,4,0.000,0.063,2790,3773,3564,0,0,0,0,0,0
$GC,2235,-0.76,-146.0,337.5,-17.3,258,2243,0.00,1.73,0.00,0.000,6,0.000,0.044,2789,2694,3564,0,0,0,0,0,0
$GC,2433,-0.76,-146.0,368.5,-15.2,277,2434,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2693,3564,0,0,0,0,0,0
$GC,2625,-0.76,-146.0,398.3,-15.7,295,2629,0.00,1.75,0.00,0.000,4,0.000,0.063,2782,3773,3564,0,0,0,0,0,0
$GC,2648,-0.76,-146.0,402.4,-16.8,297,2653,0.12,1.67,0.00,0.000,6,0.164,0.044,2815,2694,3564,0,0,0,0,0,0
$GC,2851,-0.76,-146.0,431.5,-13.5,316,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2693,3564,0,0,0,0,0,0
$GC,3043,-0.76,-146.0,458.2,-13.9,334,3046,0.00,1.75,0.00,0.000,4,0.000,0.064,2809,3769,3564,0,0,0,0,0,0
$GC,3092,-0.76,-146.0,465.8,-14.9,338,3100,0.00,1.70,0.00,0.000,6,0.000,0.043,2809,2705,3564,0,0,0,0,0,0
$GC,3292,-0.76,-146.0,493.4,-13.9,357,3296,0.00,1.73,0.00,0.000,4,0.000,0.065,2800,3766,3564,0,0,0,0,0,0
$GC,3316,-0.76,-146.0,496.9,-14.1,359,3319,0.00,1.65,0.00,0.000,6,0.000,0.043,2800,2702,3563,0,0,0,0,0,0
$STATE,3428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3428,begin apogee
$GC,3433,-0.17,0.0,513.7,14.5,364,3572,0.62,0.00,134.02,1.108,4,0.129,0.000,3002,2489,2960,0,0,0,0,0,0
$STATE,3573,end apogee,CONTROL_FINISHED_OK
$STATE,3573,begin climb
$GC,3574,0.76,146.0,519.3,0.0,368,3731,0.98,2.53,148.25,1.021,4,0.073,0.050,3310,1104,2365,0,0,0,0,0,0
$GC,3847,0.76,146.0,495.0,11.6,379,3855,0.00,2.47,0.00,0.000,6,0.000,0.051,3310,2490,2353,0,0,0,0,0,0
$GC,4047,0.76,146.0,470.9,12.1,398,4051,0.00,2.28,0.00,0.000,4,0.000,0.050,3319,1093,2350,0,0,0,0,0,0
$GC,4167,0.76,146.0,456.4,12.1,408,4171,0.00,2.33,0.00,0.000,6,0.000,0.054,3319,2520,2348,0,0,0,0,0,0
$GC,4365,0.76,146.0,431.4,12.6,426,4368,0.00,2.00,0.00,0.000,4,0.000,0.060,3319,3771,2347,0,0,0,0,0,0
$GC,4467,0.76,146.0,416.1,15.5,435,4471,0.00,1.92,0.00,0.000,6,0.000,0.044,3328,2546,2347,0,0,0,0,0,0
$GC,4670,0.76,146.0,388.3,13.1,454,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2544,2346,0,0,0,0,0,0
$GC,4862,0.76,146.0,362.7,13.1,472,4865,0.00,1.98,0.00,0.000,4,0.000,0.061,3329,3765,2346,0,0,0,0,0,0
$GC,4906,0.76,146.0,356.1,15.3,476,4910,0.00,1.98,0.00,0.000,6,0.000,0.042,3338,2530,2346,0,0,0,0,0,0
$GC,5110,0.76,146.0,327.6,13.6,495,5114,0.00,2.00,0.00,0.000,4,0.000,0.060,3338,3768,2345,0,0,0,0,0,0
$GC,5144,0.76,146.0,322.3,15.8,498,5148,0.12,1.92,0.00,0.000,6,0.168,0.042,3314,2533,2345,0,0,0,0,0,0
$GC,5341,0.76,146.0,297.7,11.7,516,5345,0.00,2.00,0.00,0.000,4,0.000,0.060,3315,3771,2345,0,0,0,0,0,0
$GC,5379,0.76,146.0,292.3,13.9,519,5387,0.00,1.95,0.00,0.000,6,0.000,0.043,3322,2549,2345,0,0,0,0,0,0
$GC,5577,0.76,146.0,267.3,12.5,538,5581,0.00,1.98,0.00,0.000,4,0.000,0.061,3322,3767,2344,0,0,0,0,0,0
$GC,5605,0.76,146.0,263.3,15.0,540,5611,0.00,1.90,0.00,0.000,6,0.000,0.043,3332,2556,2344,0,0,0,0,0,0
$GC,5804,0.76,146.0,236.9,12.9,559,5808,0.00,1.95,0.00,0.000,4,0.000,0.060,3332,3765,2344,0,0,0,0,0,0
$GC,5851,0.76,146.0,229.9,15.6,563,5854,0.00,1.88,0.00,0.000,6,0.000,0.041,3341,2561,2344,0,0,0,0,0,0
$GC,5991,0.76,146.0,210.2,13.6,576,5992,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2559,2344,0,0,0,0,0,0
$GC,6119,0.76,146.0,193.0,13.7,588,6123,0.00,1.95,0.00,0.000,4,0.000,0.060,3341,3767,2344,0,0,0,0,0,0
$GC,6165,0.76,146.0,186.2,15.6,592,6169,0.15,1.88,0.00,0.000,6,0.158,0.042,3309,2570,2344,0,0,0,0,0,0
$GC,6306,0.76,146.0,169.0,11.9,605,6310,0.00,2.33,0.00,0.000,4,0.000,0.052,3316,1089,2344,0,0,0,0,0,0
$GC,6336,0.76,146.0,165.5,12.2,607,6340,0.00,2.40,0.00,0.000,6,0.000,0.054,3316,2576,2343,0,0,0,0,0,0
$GC,6474,0.76,146.0,148.7,12.4,619,6478,0.00,1.90,0.00,0.000,4,0.000,0.061,3316,3770,2343,0,0,0,0,0,0
$GC,6531,0.76,146.0,140.6,14.7,624,6534,0.00,1.88,0.00,0.000,6,0.000,0.043,3325,2563,2343,0,0,0,0,0,0
$GC,6673,0.76,146.0,122.9,12.5,637,6681,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2560,2343,0,0,0,0,0,0
$GC,6808,0.76,146.0,105.7,12.5,650,6812,0.00,1.95,0.00,0.000,4,0.000,0.061,3326,3765,2342,0,0,0,0,0,0
$GC,6845,0.76,146.0,100.1,14.3,653,6854,0.00,1.88,0.00,0.000,6,0.000,0.042,3334,2588,2343,0,0,0,0,0,0
$GC,6991,0.76,146.0,81.4,12.6,678,7000,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2587,2343,0,0,0,0,0,0
$GC,7136,0.76,146.0,63.0,13.0,703,7142,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2587,2342,0,0,0,0,0,0
$GC,7276,0.76,146.0,45.3,12.4,728,7284,0.00,1.95,0.00,0.000,4,0.000,0.062,3334,3764,2343,0,0,0,0,0,0
$GC,7309,0.76,146.0,40.7,14.3,733,7316,0.12,1.85,0.00,0.000,6,0.162,0.042,3310,2581,2343,0,0,0,0,0,0
$GC,7455,0.76,146.0,23.9,11.0,758,7463,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2580,2342,0,0,0,0,0,0
$FREEZE,8.88,-0.892,-1.891,2,1,0
$FREEZE,8.18,-0.803,-1.891,2,1,0
$FREEZE,7.63,-0.804,-1.892,2,1,0
$GC,7601,0.76,146.0,7.6,11.6,783,7607,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2580,2343,0,0,0,0,0,0
$FREEZE,5.86,-0.805,-1.893,2,1,0
$FREEZE,5.09,-0.820,-1.893,2,1,0
$FREEZE,4.44,-0.830,-1.893,2,1,0
$FREEZE,3.68,-0.836,-1.892,2,1,0
$FREEZE,3.08,-0.817,-1.892,2,1,0
$FREEZE,2.31,-0.811,-1.891,2,1,0
$STATE,7642,end climb,SURFACE_DEPTH_REACHED
$STATE,7642,begin surface coast
$FREEZE,1.71,-0.805,-1.891,2,1,0
$FREEZE,1.34,-0.845,-1.040,2,1,0
$FREEZE,1.43,-0.826,-1.890,2,1,0
$FREEZE,1.21,-0.854,-1.875,2,1,0
$FINISH,1.2,1.027467
$STATE,7670,end surface coast,CONTROL_FINISHED_OK
$STATE,7670,begin surface
$SM_CCo,7685,80.03,0.727,1,0,1736,300.24
$SM_GC,2.25,0.00,0.00,80.03,0.000,0.000,0.727,419,2664,1736,-8.27,0.40,300.24
$IRIDIUM_FIX,-7554.21,17250.19,201210,080812
$TT8_MAMPS,0.028462
$HUMID,52.44
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.3,17.6
$ALTIM_BOTTOM_PING,500.4,89.9
$24V_AH,20.4,51.778
$10V_AH,9.8,33.119
$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,18.625,85.850,282.275,80.025,0.000,29.414,38.555,202.455,2.250,0.000,15.534,2087.167,3252.472,487.065,2144.761,190.557,0.000,1303.694,0.000,1355.153,0.000,15.871,0.000
$DEVICE_MAMPS,201.960,100.215,1108.485,726.750,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,561.289,961.458,911.276,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258284
$DATA_FILE_SIZE,53602,794
$CAP_FILE_SIZE,113082,0
$CFSIZE,260165632,236072960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.083,154.3,1
$GPS,201210,123920,-7640.019,17306.059,18,1.2,19,128.7