version: 66.08
glider: 502
mission: 3
dive: 354
start: 12 26 110 14 57 40
data:
$ID,502
$MISSION,3
$DIVE,354
$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,-30587.572
$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,35
$R_STBD_OVSHOOT,32
$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
$GPS1,261210,145122,-7632.135,17657.635,13,2.2,32,122.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-71.9
$GPS2,261210,145714,-7632.139,17657.730,10,2.0,10,122.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,POLYNYA2
$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,303.9,78902,-17.5,-10.000
$D_GRID,375
$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
$GC,16,-0.76,-146.0,0.0,0.0,0,97,0.00,0.00,-77.78,0.000,2,0.000,0.000,410,2667,3158,0,0,0,0,0,0
$GC,99,-0.76,-146.0,3.1,-1.3,11,129,8.77,1.83,-13.07,0.000,4,0.194,0.078,2800,3752,3559,0,0,0,0,0,0
$GC,278,-0.76,-146.0,33.3,-17.6,41,285,0.00,1.75,0.00,0.000,6,0.000,0.043,2800,2652,3560,0,0,0,0,0,0
$GC,419,-0.76,-146.0,57.8,-16.8,66,426,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2652,3561,0,0,0,0,0,0
$GC,562,-0.76,-146.0,81.3,-16.0,91,568,0.00,1.80,0.00,0.000,4,0.000,0.062,2791,3757,3561,0,0,0,0,0,0
$GC,599,-0.76,-146.0,87.9,-17.5,97,606,0.00,1.75,0.00,0.000,6,0.000,0.042,2791,2659,3561,0,0,0,0,0,0
$GC,744,-0.76,-146.0,112.8,-17.1,116,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2658,3561,0,0,0,0,0,0
$GC,871,-0.76,-146.0,134.2,-16.8,128,875,0.00,1.77,0.00,0.000,4,0.000,0.062,2783,3754,3562,0,0,0,0,0,0
$GC,907,-0.76,-146.0,140.3,-17.8,131,911,0.12,1.70,0.00,0.000,6,0.161,0.041,2817,2657,3562,0,0,0,0,0,0
$GC,1049,-0.76,-146.0,161.5,-15.0,144,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2655,3562,0,0,0,0,0,0
$GC,1185,-0.76,-146.0,181.2,-14.0,157,1189,0.00,1.77,0.00,0.000,4,0.000,0.061,2810,3753,3562,0,0,0,0,0,0
$GC,1211,-0.76,-146.0,185.6,-14.9,159,1219,0.00,1.73,0.00,0.000,6,0.000,0.041,2810,2664,3562,0,0,0,0,0,0
$GC,1347,-0.76,-146.0,205.3,-14.6,172,1348,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2663,3562,0,0,0,0,0,0
$GC,1474,-0.76,-146.0,224.2,-15.1,184,1477,0.00,1.77,0.00,0.000,4,0.000,0.060,2801,3762,3562,0,0,0,0,0,0
$GC,1511,-0.76,-146.0,230.4,-15.7,187,1520,0.00,1.73,0.00,0.000,6,0.000,0.041,2801,2671,3562,0,0,0,0,0,0
$GC,1648,-0.76,-146.0,250.3,-14.8,200,1652,0.00,1.75,0.00,0.000,4,0.000,0.061,2793,3756,3562,0,0,0,0,0,0
$GC,1675,-0.76,-146.0,255.2,-16.5,202,1682,0.00,1.70,0.00,0.000,6,0.000,0.041,2793,2687,3562,0,0,0,0,0,0
$GC,1874,-0.76,-146.0,284.8,-15.0,221,1875,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2686,3562,0,0,0,0,0,0
$GC,2064,-0.76,-146.0,313.0,-14.6,239,2067,0.00,1.75,0.00,0.000,4,0.000,0.061,2785,3760,3562,0,0,0,0,0,0
$GC,2088,-0.76,-146.0,316.5,-15.3,241,2092,0.08,1.70,0.00,0.000,6,0.141,0.042,2811,2691,3562,0,0,0,0,0,0
$GC,2290,-0.76,-146.0,344.3,-13.7,260,2291,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2690,3562,0,0,0,0,0,0
$STATE,2480,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2480,begin apogee
$GC,2486,-0.17,0.0,371.3,14.1,278,2622,0.57,0.00,130.82,1.021,4,0.123,0.000,3000,2494,2962,0,0,0,0,0,0
$STATE,2623,end apogee,CONTROL_FINISHED_OK
$STATE,2623,begin climb
$GC,2625,0.76,146.0,376.5,0.0,290,2780,0.98,2.50,147.00,0.939,4,0.073,0.048,3312,1102,2365,0,0,0,0,0,0
$GC,2928,0.76,146.0,349.2,11.6,317,2932,0.00,2.42,0.00,0.000,6,0.000,0.050,3312,2498,2354,0,0,0,0,0,0
$GC,3126,0.76,146.0,325.0,12.0,335,3130,0.00,2.25,0.00,0.000,4,0.000,0.048,3322,1092,2351,0,0,0,0,0,0
$GC,3236,0.76,146.0,311.5,11.7,344,3244,0.00,2.35,0.00,0.000,6,0.000,0.052,3323,2517,2349,0,0,0,0,0,0
$GC,3435,0.76,146.0,286.9,12.2,363,3438,0.00,2.00,0.00,0.000,4,0.000,0.057,3322,3765,2348,0,0,0,0,0,0
$GC,3514,0.76,146.0,275.2,15.8,370,3518,0.00,1.95,0.00,0.000,6,0.000,0.041,3332,2538,2348,0,0,0,0,0,0
$GC,3719,0.76,146.0,248.4,12.8,389,3723,0.00,2.03,0.00,0.000,4,0.000,0.057,3332,3766,2347,0,0,0,0,0,0
$GC,3753,0.76,146.0,243.4,14.7,392,3757,0.00,1.90,0.00,0.000,6,0.000,0.040,3341,2536,2347,0,0,0,0,0,0
$GC,3894,0.76,146.0,224.1,13.0,405,3898,0.00,1.98,0.00,0.000,4,0.000,0.058,3341,3764,2347,0,0,0,0,0,0
$GC,3910,0.76,146.0,221.3,13.6,406,3919,0.10,1.92,0.00,0.000,6,0.135,0.041,3317,2550,2347,0,0,0,0,0,0
$GC,4047,0.76,146.0,205.1,11.7,419,4051,0.00,1.98,0.00,0.000,4,0.000,0.059,3316,3771,2347,0,0,0,0,0,0
$GC,4074,0.76,146.0,200.9,13.3,421,4083,0.00,1.92,0.00,0.000,6,0.000,0.041,3324,2555,2347,0,0,0,0,0,0
$GC,4211,0.76,146.0,183.9,12.7,434,4212,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2553,2347,0,0,0,0,0,0
$GC,4338,0.76,146.0,168.3,12.0,446,4341,0.00,1.95,0.00,0.000,4,0.000,0.057,3324,3764,2346,0,0,0,0,0,0
$GC,4385,0.76,146.0,161.3,14.6,450,4394,0.00,1.90,0.00,0.000,6,0.000,0.039,3333,2563,2346,0,0,0,0,0,0
$GC,4522,0.76,146.0,144.4,12.4,463,4526,0.00,1.95,0.00,0.000,4,0.000,0.057,3333,3772,2346,0,0,0,0,0,0
$GC,4548,0.76,146.0,140.4,13.6,465,4558,0.08,1.90,0.00,0.000,6,0.140,0.041,3316,2576,2346,0,0,0,0,0,0
$GC,4684,0.76,146.0,125.2,10.8,478,4687,0.00,1.92,0.00,0.000,4,0.000,0.058,3317,3767,2346,0,0,0,0,0,0
$GC,4721,0.76,146.0,120.1,12.8,481,4730,0.00,1.88,0.00,0.000,6,0.000,0.040,3324,2581,2345,0,0,0,0,0,0
$GC,4859,0.76,146.0,103.8,12.3,494,4867,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2580,2345,0,0,0,0,0,0
$GC,4998,0.76,146.0,86.4,12.1,516,5007,0.00,1.95,0.00,0.000,4,0.000,0.058,3324,3760,2345,0,0,0,0,0,0
$GC,5054,0.76,146.0,78.7,14.6,525,5061,0.00,1.83,0.00,0.000,6,0.000,0.041,3333,2589,2345,0,0,0,0,0,0
$GC,5196,0.76,146.0,60.4,12.2,550,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2588,2345,0,0,0,0,0,0
$GC,5340,0.76,146.0,42.6,12.7,575,5347,0.00,1.92,0.00,0.000,4,0.000,0.060,3333,3769,2345,0,0,0,0,0,0
$GC,5378,0.76,146.0,37.4,14.4,581,5385,0.12,1.83,0.00,0.000,6,0.161,0.041,3309,2603,2344,0,0,0,0,0,0
$GC,5521,0.76,146.0,21.0,10.2,606,5530,0.00,2.42,0.00,0.000,4,0.000,0.050,3315,1089,2344,0,0,0,0,0,0
$GC,5543,0.76,146.0,18.8,10.5,609,5550,0.00,2.47,0.00,0.000,6,0.000,0.051,3316,2625,2344,0,0,0,0,0,0
$FREEZE,8.49,-0.432,-1.893,2,1,0
$FREEZE,7.77,-0.432,-1.893,2,1,0
$FREEZE,7.02,-0.432,-1.892,2,1,0
$FREEZE,6.47,-0.433,-1.892,2,1,0
$FREEZE,5.82,-0.432,-1.891,2,1,0
$FREEZE,5.09,-0.428,-1.891,2,1,0
$FREEZE,4.47,-0.430,-1.890,2,1,0
$FREEZE,3.87,-0.429,-1.890,2,1,0
$FREEZE,3.03,-0.429,-1.889,2,1,0
$FREEZE,2.32,-0.427,-1.889,2,1,0
$STATE,5682,end climb,SURFACE_DEPTH_REACHED
$STATE,5682,begin surface coast
$FREEZE,1.45,-0.428,-1.888,2,1,0
$FREEZE,1.34,-0.442,-1.889,2,1,0
$FREEZE,1.38,-0.482,-0.309,2,1,0
$FINISH,1.4,1.004397
$STATE,5701,end surface coast,FINISH_DEPTH_REACHED
$STATE,5701,begin surface
$SM_CCo,5716,83.18,0.727,1,0,1736,300.24
$SM_GC,2.18,0.00,0.00,83.18,0.000,0.000,0.727,417,2628,1736,-8.27,-0.59,300.24
$IRIDIUM_FIX,-7545.40,17637.47,261210,131330
$TT8_MAMPS,0.028462
$HUMID,52.79
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.2,17.8
$ALTIM_BOTTOM_PING,300.5,85.0
$24V_AH,20.3,60.289
$10V_AH,9.7,39.822
$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,18.325,73.900,277.825,83.175,0.000,30.048,38.717,181.289,1.250,0.000,11.785,1618.669,2076.887,482.774,1808.745,178.039,0.000,1147.002,0.000,1055.203,0.000,8.992,0.000
$DEVICE_MAMPS,194.310,78.030,1020.510,726.750,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,446.480,824.909,910.309,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258096
$DATA_FILE_SIZE,43764,636
$CAP_FILE_SIZE,91624,0
$CFSIZE,260165632,231739392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.109,118.9,1
$GPS,261210,163536,-7632.021,17701.904,34,0.8,34,122.4