version: 66.08
glider: 502
mission: 3
dive: 595
start: 1 11 111 9 29 48
data:
$ID,502
$MISSION,3
$DIVE,595
$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,275
$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,-30889.768
$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,38
$R_STBD_OVSHOOT,35
$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
$GPS1,110111,091138,-7629.730,17456.432,14,1.9,15,125.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-59.9
$GPS2,110111,092919,-7629.738,17456.072,18,1.9,35,125.2
$SPEED_LIMITS,0.157,0.251
$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,183.3,128005,-16.0,-9.091
$D_GRID,387
$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,-0.71,-146.0,0.0,0.0,0,155,0.00,0.00,-137.05,0.000,2,0.000,0.000,356,2681,3179,0,0,0,0,0,0
$GC,160,-0.71,-146.0,3.1,-1.8,20,190,9.27,2.38,-11.32,0.000,4,0.196,0.060,2825,1247,3561,0,0,0,0,0,0
$GC,327,-0.71,-146.0,26.1,-14.1,48,336,0.00,2.35,0.00,0.000,6,0.000,0.055,2816,2641,3564,0,0,0,0,0,0
$GC,473,-0.71,-146.0,49.8,-16.5,73,480,0.00,1.85,0.00,0.000,4,0.000,0.058,2808,3757,3564,0,0,0,0,0,0
$GC,505,-0.71,-146.0,55.2,-16.5,78,513,0.00,1.77,0.00,0.000,6,0.000,0.039,2808,2651,3564,0,0,0,0,0,0
$GC,648,-0.71,-146.0,78.4,-16.3,103,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2650,3564,0,0,0,0,0,0
$GC,788,-0.71,-146.0,100.8,-15.8,128,792,0.00,1.90,0.00,0.000,4,0.000,0.060,2799,3760,3564,0,0,0,0,0,0
$GC,824,-0.71,-146.0,106.8,-17.2,131,828,0.12,1.73,0.00,0.000,6,0.157,0.038,2833,2655,3564,0,0,0,0,0,0
$GC,965,-0.71,-146.0,126.5,-13.7,144,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2653,3565,0,0,0,0,0,0
$GC,1093,-0.71,-146.0,143.6,-13.4,156,1097,0.00,1.85,0.00,0.000,4,0.000,0.059,2826,3771,3565,0,0,0,0,0,0
$GC,1142,-0.71,-146.0,151.1,-14.4,160,1151,0.00,1.77,0.00,0.000,6,0.000,0.039,2825,2671,3565,0,0,0,0,0,0
$GC,1280,-0.71,-146.0,169.6,-14.2,173,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2671,3565,0,0,0,0,0,0
$GC,1416,-0.71,-146.0,188.6,-13.7,186,1420,0.00,1.80,0.00,0.000,4,0.000,0.058,2817,3763,3565,0,0,0,0,0,0
$GC,1465,-0.71,-146.0,196.5,-14.7,190,1473,0.00,1.75,0.00,0.000,6,0.000,0.038,2817,2675,3564,0,0,0,0,0,0
$GC,1602,-0.71,-146.0,215.6,-14.6,203,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2674,3564,0,0,0,0,0,0
$GC,1738,-0.71,-146.0,235.4,-14.4,216,1742,0.00,1.83,0.00,0.000,4,0.000,0.059,2808,3770,3565,0,0,0,0,0,0
$GC,1776,-0.71,-146.0,241.6,-14.9,219,1784,0.00,1.77,0.00,0.000,6,0.000,0.039,2808,2673,3565,0,0,0,0,0,0
$GC,1910,-0.71,-146.0,261.3,-15.3,232,1914,0.00,1.83,0.00,0.000,4,0.000,0.058,2800,3771,3565,0,0,0,0,0,0
$GC,1938,-0.71,-146.0,265.7,-16.4,234,1946,0.12,1.75,0.00,0.000,6,0.154,0.039,2833,2687,3564,0,0,0,0,0,0
$GC,2138,-0.71,-146.0,292.0,-13.5,253,2139,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2685,3565,0,0,0,0,0,0
$GC,2327,-0.71,-146.0,317.0,-13.1,271,2331,0.00,1.80,0.00,0.000,4,0.000,0.059,2827,3767,3565,0,0,0,0,0,0
$GC,2378,-0.71,-146.0,324.1,-14.2,275,2384,0.00,1.70,0.00,0.000,6,0.000,0.040,2827,2685,3565,0,0,0,0,0,0
$GC,2578,-0.71,-146.0,350.0,-13.1,294,2581,0.00,1.80,0.00,0.000,4,0.000,0.060,2818,3764,3565,0,0,0,0,0,0
$GC,2627,-0.71,-146.0,357.4,-14.2,298,2634,0.00,1.70,0.00,0.000,6,0.000,0.038,2818,2704,3565,0,0,0,0,0,0
$GC,2828,-0.71,-146.0,383.5,-13.1,317,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2704,3565,0,0,0,0,0,0
$STATE,2854,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2854,begin apogee
$GC,2860,-0.27,0.0,387.6,13.2,320,2998,0.47,0.00,131.15,1.055,4,0.120,0.000,2970,2490,2961,0,0,0,0,0,0
$STATE,2999,end apogee,CONTROL_FINISHED_OK
$STATE,2999,begin climb
$GC,3001,0.71,146.0,394.1,0.0,332,3171,1.08,2.58,151.38,1.005,4,0.080,0.047,3294,1109,2363,0,0,0,0,1,0
$GC,3268,0.71,146.0,374.4,9.6,355,3275,0.00,2.58,0.00,0.000,6,0.000,0.049,3293,2504,2355,0,0,0,0,0,0
$GC,3466,0.71,146.0,353.5,10.4,374,3470,0.00,2.45,0.00,0.000,4,0.000,0.047,3303,1109,2351,0,0,0,0,0,0
$GC,3597,0.71,146.0,339.9,10.5,385,3601,0.00,2.45,0.00,0.000,6,0.000,0.050,3303,2518,2349,0,0,0,0,0,0
$GC,3797,0.71,146.0,318.4,10.4,403,3800,0.00,2.10,0.00,0.000,4,0.000,0.055,3302,3772,2348,0,0,0,0,0,0
$GC,3931,0.71,146.0,300.7,13.6,414,3937,0.00,2.00,0.00,0.000,6,0.000,0.039,3312,2527,2346,0,0,0,0,0,0
$GC,4129,0.71,146.0,278.0,11.4,433,4133,0.00,2.05,0.00,0.000,4,0.000,0.056,3312,3767,2346,0,0,0,0,0,0
$GC,4208,0.71,146.0,267.6,13.6,440,4212,0.00,1.98,0.00,0.000,6,0.000,0.037,3321,2542,2345,0,0,0,0,0,0
$GC,4413,0.71,146.0,243.1,11.4,459,4416,0.00,2.03,0.00,0.000,4,0.000,0.055,3321,3775,2345,0,0,0,0,0,0
$GC,4470,0.71,146.0,235.4,13.7,464,4475,0.12,1.95,0.00,0.000,6,0.158,0.038,3299,2539,2345,0,0,0,0,0,0
$GC,4606,0.71,146.0,221.0,10.0,476,4610,0.00,2.03,0.00,0.000,4,0.000,0.056,3299,3771,2344,0,0,0,0,0,0
$GC,4633,0.71,146.0,217.8,11.5,478,4641,0.00,1.95,0.00,0.000,6,0.000,0.039,3306,2559,2344,0,0,0,0,0,0
$GC,4769,0.71,146.0,203.4,10.6,491,4773,0.00,2.00,0.00,0.000,4,0.000,0.057,3307,3773,2344,0,0,0,0,0,0
$GC,4805,0.71,146.0,199.0,12.8,494,4809,0.00,1.90,0.00,0.000,6,0.000,0.038,3316,2562,2343,0,0,0,0,0,0
$GC,4946,0.71,146.0,183.0,11.0,507,4950,0.00,2.00,0.00,0.000,4,0.000,0.057,3315,3774,2343,0,0,0,0,0,0
$GC,4995,0.71,146.0,176.5,13.0,511,5003,0.00,1.92,0.00,0.000,6,0.000,0.038,3324,2573,2343,0,0,0,0,0,0
$GC,5131,0.71,146.0,160.8,11.8,524,5133,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2572,2343,0,0,0,0,0,0
$GC,5258,0.71,146.0,146.0,11.9,536,5261,0.00,1.98,0.00,0.000,4,0.000,0.057,3324,3774,2343,0,0,0,0,0,0
$GC,5316,0.71,146.0,138.4,14.1,541,5320,0.15,1.88,0.00,0.000,6,0.148,0.038,3293,2580,2342,0,0,0,0,0,0
$GC,5457,0.71,146.0,123.8,9.9,554,5458,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2577,2342,0,0,0,0,0,0
$GC,5583,0.71,146.0,111.7,9.6,566,5587,0.00,1.95,0.00,0.000,4,0.000,0.056,3293,3766,2342,0,0,0,0,0,0
$GC,5632,0.71,146.0,106.1,11.2,570,5640,0.00,1.88,0.00,0.000,6,0.000,0.037,3300,2597,2342,0,0,0,0,0,0
$GC,5772,0.71,146.0,92.5,9.6,589,5779,0.00,1.95,0.00,0.000,4,0.000,0.056,3300,3777,2342,0,0,0,0,0,0
$GC,5810,0.71,146.0,88.3,11.2,595,5816,0.00,1.85,0.00,0.000,6,0.000,0.038,3308,2604,2342,0,0,0,0,0,0
$GC,5954,0.71,146.0,73.3,10.1,620,5963,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,2603,2341,0,0,0,0,0,0
$GC,6099,0.71,146.0,58.7,10.3,645,6106,0.00,1.95,0.00,0.000,4,0.000,0.056,3308,3774,2341,0,0,0,0,0,0
$GC,6159,0.71,146.0,51.5,12.5,655,6166,0.00,1.88,0.00,0.000,6,0.000,0.039,3317,2611,2341,0,0,0,0,0,0
$GC,6304,0.71,146.0,36.4,10.3,680,6312,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2610,2341,0,0,0,0,0,0
$GC,6448,0.71,146.0,20.2,11.4,705,6455,0.00,1.92,0.00,0.000,4,0.000,0.055,3317,3773,2341,0,0,0,0,0,0
$GC,6513,0.71,146.0,11.5,13.8,716,6523,0.08,1.85,0.00,0.000,6,0.140,0.038,3302,2622,2340,0,0,0,0,0,0
$FREEZE,8.47,-0.173,-1.891,2,3,0
$FREEZE,7.89,-0.169,-1.891,2,3,0
$FREEZE,7.23,-0.171,-1.890,2,3,0
$FREEZE,6.39,-0.169,-1.890,2,3,0
$FREEZE,5.73,-0.164,-1.889,2,3,0
$FREEZE,5.18,-0.162,-1.888,2,3,0
$FREEZE,4.62,-0.157,-1.888,2,3,0
$FREEZE,4.03,-0.156,-1.888,2,3,0
$FREEZE,3.49,-0.162,-1.887,2,3,0
$FREEZE,2.82,-0.166,-1.887,2,3,0
$STATE,6588,end climb,SURFACE_DEPTH_REACHED
$STATE,6588,begin surface coast
$FREEZE,1.92,-0.163,-1.886,2,3,0
$FREEZE,1.27,-0.175,-1.886,2,3,0
$FREEZE,1.20,-0.292,-1.771,2,3,0
$FREEZE,1.24,-0.312,-1.025,2,3,0
$FREEZE,1.15,-0.314,-1.292,2,3,0
$FINISH,1.2,1.019067
$STATE,6621,end surface coast,CONTROL_FINISHED_OK
$STATE,6621,begin surface
$SM_CCo,6639,257.30,0.101,0,0,419,623.30
$SM_GC,1.86,0.00,0.00,257.30,0.000,0.000,0.101,403,2668,419,-8.30,0.51,623.30
$IRIDIUM_FIX,-7545.40,17456.65,110111,090916
$TT8_MAMPS,0.026964
$HUMID,51.49
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,14.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.4,18.8
$24V_AH,20.5,85.188
$10V_AH,9.6,59.034
$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,18.925,86.725,282.525,257.300,0.000,85.321,157.518,435.772,1.750,0.000,36.487,1856.883,2525.125,722.942,2520.194,338.720,0.000,1499.783,0.000,1238.781,0.000,7.773,0.000
$DEVICE_MAMPS,195.840,116.280,1054.935,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,513.498,941.438,1015.169,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50441,733
$CAP_FILE_SIZE,113655,0
$CFSIZE,260165632,220311552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$CURRENT,0.142,191.1,1
$GPS,110111,112601,-7629.746,17452.828,35,1.4,36,125.3