version: 66.08
glider: 502
mission: 3
dive: 572
start: 1 9 111 13 28 52
data:
$ID,502
$MISSION,3
$DIVE,572
$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,-8
$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,623.29712
$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,-30860.84
$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,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
$GPS1,090111,131856,-7628.860,17559.859,16,1.7,16,123.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-74.4
$GPS2,090111,132825,-7628.859,17600.006,11,1.5,16,123.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,POLYNYA1
$TGT_LATLONG,-7630.000,17000.000
$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,157.7,155659,-17.5,-10.000
$D_GRID,377
$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,17,-0.76,-146.0,0.0,0.0,0,100,0.00,0.00,-80.35,0.000,2,0.000,0.000,420,2676,3222,0,0,0,0,0,0
$GC,103,-0.76,-146.0,3.1,-1.1,11,133,8.93,2.38,-10.25,0.000,4,0.194,0.061,2809,1247,3561,0,0,0,0,0,0
$GC,375,-0.76,-146.0,44.4,-14.8,60,383,0.00,2.33,0.00,0.000,6,0.000,0.054,2799,2638,3563,0,0,0,0,0,0
$GC,515,-0.76,-146.0,67.0,-16.6,85,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2638,3563,0,0,0,0,0,0
$GC,655,-0.76,-146.0,90.7,-16.1,110,663,0.00,1.85,0.00,0.000,4,0.000,0.059,2791,3754,3563,0,0,0,0,0,0
$GC,700,-0.76,-146.0,98.3,-18.1,117,708,0.00,1.77,0.00,0.000,6,0.000,0.041,2791,2627,3564,0,0,0,0,0,0
$GC,845,-0.76,-146.0,123.3,-17.1,131,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2626,3564,0,0,0,0,0,0
$GC,981,-0.76,-146.0,146.9,-17.1,144,985,0.00,1.88,0.00,0.000,4,0.000,0.059,2783,3767,3564,0,0,0,0,0,0
$GC,1039,-0.76,-146.0,157.6,-18.4,149,1043,0.12,1.73,0.00,0.000,6,0.157,0.040,2816,2663,3564,0,0,0,0,0,0
$GC,1180,-0.76,-146.0,179.8,-15.4,162,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2661,3564,0,0,0,0,0,0
$GC,1307,-0.76,-146.0,199.0,-14.8,174,1311,0.00,1.80,0.00,0.000,4,0.000,0.059,2809,3763,3564,0,0,0,0,0,0
$GC,1342,-0.76,-146.0,204.7,-16.3,177,1346,0.00,1.73,0.00,0.000,6,0.000,0.039,2809,2657,3564,0,0,0,0,0,0
$GC,1484,-0.76,-146.0,226.3,-15.1,190,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2654,3564,0,0,0,0,0,0
$GC,1611,-0.76,-146.0,245.7,-15.0,202,1615,0.00,1.83,0.00,0.000,4,0.000,0.061,2801,3761,3564,0,0,0,0,0,0
$GC,1659,-0.76,-146.0,253.9,-15.4,206,1666,0.00,1.75,0.00,0.000,6,0.000,0.039,2801,2667,3564,0,0,0,0,0,0
$GC,1858,-0.76,-146.0,284.3,-15.5,225,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2667,3564,0,0,0,0,0,0
$GC,2049,-0.76,-146.0,312.7,-14.5,243,2053,0.00,1.85,0.00,0.000,4,0.000,0.060,2792,3764,3564,0,0,0,0,0,0
$GC,2106,-0.76,-146.0,321.5,-16.0,248,2109,0.00,1.70,0.00,0.000,6,0.000,0.041,2792,2677,3564,0,0,0,0,0,0
$GC,2310,-0.76,-146.0,351.9,-14.6,267,2311,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2676,3564,0,0,0,0,0,0
$STATE,2477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2477,begin apogee
$GC,2483,-0.27,0.0,377.2,14.9,283,2622,0.57,0.00,131.05,1.039,4,0.126,0.000,2973,2494,2961,0,0,0,0,0,0
$STATE,2623,end apogee,CONTROL_FINISHED_OK
$STATE,2623,begin climb
$GC,2625,0.76,146.0,383.5,0.0,295,2784,1.10,2.58,148.30,0.965,4,0.079,0.047,3308,1101,2364,0,0,0,0,0,0
$GC,2913,0.76,146.0,358.1,11.2,320,2921,0.00,2.55,0.00,0.000,6,0.000,0.049,3308,2497,2353,0,0,0,0,0,0
$GC,3112,0.76,146.0,335.7,11.4,339,3116,0.00,2.40,0.00,0.000,4,0.000,0.048,3317,1097,2351,0,0,0,0,0,0
$GC,3269,0.76,146.0,318.0,10.8,352,3276,0.00,2.40,0.00,0.000,6,0.000,0.050,3317,2517,2349,0,0,0,0,0,0
$GC,3467,0.76,146.0,294.7,11.7,371,3471,0.00,2.03,0.00,0.000,4,0.000,0.056,3317,3764,2348,0,0,0,0,0,0
$GC,3596,0.76,146.0,277.3,13.6,382,3603,0.00,1.92,0.00,0.000,6,0.000,0.038,3326,2542,2346,0,0,0,0,0,0
$GC,3794,0.76,146.0,253.3,12.4,401,3795,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2540,2346,0,0,0,0,0,0
$GC,3987,0.76,146.0,230.2,12.1,419,3990,0.00,2.00,0.00,0.000,4,0.000,0.057,3326,3770,2346,0,0,0,0,0,0
$GC,4058,0.76,146.0,220.0,14.0,425,4068,0.00,1.95,0.00,0.000,6,0.000,0.039,3336,2546,2345,0,0,0,0,0,0
$GC,4197,0.76,146.0,203.0,12.6,438,4204,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2546,2345,0,0,0,0,0,0
$GC,4332,0.76,146.0,185.3,13.0,451,4336,0.00,1.98,0.00,0.000,4,0.000,0.056,3336,3764,2344,0,0,0,0,0,0
$GC,4369,0.76,146.0,179.5,14.6,454,4379,0.10,1.95,0.00,0.000,6,0.139,0.038,3313,2548,2345,0,0,0,0,0,0
$GC,4506,0.76,146.0,164.0,11.0,467,4507,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2547,2344,0,0,0,0,0,0
$GC,4633,0.76,146.0,150.0,11.2,479,4636,0.00,1.98,0.00,0.000,4,0.000,0.056,3312,3765,2344,0,0,0,0,0,0
$GC,4701,0.76,146.0,141.1,13.5,485,4705,0.00,1.90,0.00,0.000,6,0.000,0.037,3320,2547,2344,0,0,0,0,0,0
$GC,4843,0.76,146.0,124.1,12.1,498,4846,0.00,2.00,0.00,0.000,4,0.000,0.057,3320,3771,2344,0,0,0,0,0,0
$GC,4878,0.76,146.0,119.4,13.0,501,4881,0.00,1.88,0.00,0.000,6,0.000,0.040,3329,2570,2344,0,0,0,0,0,0
$GC,5019,0.76,146.0,101.8,11.5,514,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2567,2344,0,0,0,0,0,0
$GC,5145,0.76,146.0,86.3,12.3,536,5153,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2567,2344,0,0,0,0,0,0
$GC,5284,0.76,146.0,69.8,11.3,561,5292,0.00,1.98,0.00,0.000,4,0.000,0.057,3330,3770,2343,0,0,0,0,0,0
$GC,5347,0.76,146.0,61.2,14.0,572,5355,0.00,1.90,0.00,0.000,6,0.000,0.038,3339,2576,2343,0,0,0,0,0,0
$GC,5485,0.76,146.0,43.9,12.2,597,5492,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2574,2343,0,0,0,0,0,0
$GC,5624,0.76,146.0,27.0,11.9,622,5632,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2574,2343,0,0,0,0,0,0
$GC,5763,0.76,146.0,9.8,13.1,647,5770,0.00,1.95,0.00,0.000,4,0.000,0.056,3339,3766,2343,0,0,0,0,0,0
$FREEZE,7.67,0.004,-1.891,2,2,0
$FREEZE,6.79,0.004,-1.890,2,2,0
$FREEZE,6.08,0.005,-1.890,2,2,0
$FREEZE,5.06,0.005,-1.889,2,2,0
$GC,5796,0.76,146.0,5.1,14.7,652,5804,0.10,1.90,0.00,0.000,6,0.135,0.037,3315,2570,2342,0,0,0,0,0,0
$FREEZE,2.79,-0.001,-1.887,2,2,0
$STATE,5811,end climb,SURFACE_DEPTH_REACHED
$STATE,5811,begin surface coast
$FREEZE,2.04,0.003,-1.886,2,2,0
$FREEZE,1.42,0.000,-1.886,2,2,0
$FREEZE,1.25,-0.058,-0.967,2,2,0
$FREEZE,1.18,-0.106,-1.012,2,2,0
$FINISH,1.2,1.014947
$STATE,5837,end surface coast,CONTROL_FINISHED_OK
$STATE,5837,begin surface
$SM_CCo,5854,302.83,0.721,7,0,420,623.30
$SM_GC,1.95,0.00,0.00,302.83,0.000,0.000,0.721,418,2663,420,-8.26,0.37,623.30
$IRIDIUM_FIX,-7545.40,17609.93,090111,131329
$TT8_MAMPS,0.028462
$HUMID,51.41
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,14.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.3,18.1
$24V_AH,20.3,82.435
$10V_AH,9.6,56.982
$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,18.525,60.200,279.350,302.825,0.000,79.423,225.325,0.000,2.000,0.000,17.437,1661.560,2237.722,726.467,1921.851,218.810,0.000,1395.924,0.000,1102.392,0.000,10.520,0.000
$DEVICE_MAMPS,194.310,91.800,1038.870,720.630,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,462.218,849.737,922.129,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258172
$DATA_FILE_SIZE,47281,658
$CAP_FILE_SIZE,85789,0
$CFSIZE,260165632,221560832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$CURRENT,0.081,117.0,1
$GPS,090111,151325,-7628.876,17558.082,41,1.0,42,123.7