version: 66.08
glider: 502
mission: 3
dive: 613
start: 1 13 111 1 50 30
data:
$ID,502
$MISSION,3
$DIVE,613
$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,-30915.762
$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,20
$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
$GPS1,130111,012822,-7629.861,17346.312,21,5.0,41,127.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-59.7
$GPS2,130111,015002,-7629.938,17345.836,14,1.9,14,127.1
$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,160.9,97638,-16.0,-9.091
$D_GRID,515
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.71,-146.0,0.0,0.0,0,158,0.00,0.00,-139.20,0.000,2,0.000,0.000,341,2646,3176,0,0,0,0,0,0
$GC,164,-0.71,-146.0,3.2,-2.9,20,194,10.00,2.45,-10.77,0.000,4,0.192,0.057,2828,1243,3560,0,0,0,0,0,0
$GC,368,-0.71,-146.0,33.0,-12.3,55,375,0.00,2.45,0.00,0.000,6,0.000,0.054,2819,2652,3563,0,0,0,0,0,0
$GC,506,-0.71,-146.0,53.2,-13.8,80,514,0.00,1.90,0.00,0.000,4,0.000,0.056,2811,3762,3563,0,0,0,0,0,0
$GC,577,-0.71,-146.0,63.5,-14.8,92,585,0.00,1.83,0.00,0.000,6,0.000,0.037,2811,2653,3563,0,0,0,0,0,0
$GC,717,-0.71,-146.0,84.0,-15.2,117,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2652,3563,0,0,0,0,0,0
$GC,854,-0.71,-146.0,105.8,-16.1,139,858,0.00,1.88,0.00,0.000,4,0.000,0.058,2802,3769,3563,0,0,0,0,0,0
$GC,904,-0.71,-146.0,114.8,-17.9,143,913,0.08,1.80,0.00,0.000,6,0.137,0.039,2826,2667,3563,0,0,0,0,0,0
$GC,1039,-0.71,-146.0,134.8,-14.7,156,1043,0.00,1.83,0.00,0.000,4,0.000,0.057,2819,3763,3564,0,0,0,0,0,0
$GC,1066,-0.71,-146.0,139.5,-15.3,158,1074,0.00,1.75,0.00,0.000,6,0.000,0.038,2819,2684,3564,0,0,0,0,0,0
$GC,1202,-0.71,-146.0,159.5,-14.9,171,1206,0.00,1.80,0.00,0.000,4,0.000,0.058,2811,3766,3564,0,0,0,0,0,0
$GC,1228,-0.71,-146.0,163.5,-15.4,173,1232,0.00,1.70,0.00,0.000,6,0.000,0.038,2811,2687,3564,0,0,0,0,0,0
$GC,1371,-0.71,-146.0,185.2,-15.0,186,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2685,3564,0,0,0,0,0,0
$GC,1508,-0.71,-146.0,205.6,-14.3,199,1511,0.00,1.80,0.00,0.000,4,0.000,0.058,2803,3768,3564,0,0,0,0,0,0
$GC,1535,-0.71,-146.0,210.3,-15.0,201,1543,0.08,1.75,0.00,0.000,6,0.134,0.039,2827,2687,3564,0,0,0,0,0,0
$GC,1672,-0.71,-146.0,228.0,-13.1,214,1679,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2686,3564,0,0,0,0,0,0
$GC,1808,-0.71,-146.0,245.8,-12.9,227,1812,0.00,1.80,0.00,0.000,4,0.000,0.058,2820,3767,3563,0,0,0,0,0,0
$GC,1846,-0.71,-146.0,251.5,-14.3,230,1853,0.00,1.73,0.00,0.000,6,0.000,0.038,2820,2702,3564,0,0,0,0,0,0
$GC,2044,-0.71,-146.0,277.1,-13.2,249,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2702,3564,0,0,0,0,0,0
$GC,2236,-0.71,-146.0,301.4,-12.8,267,2240,0.00,1.80,0.00,0.000,4,0.000,0.060,2812,3754,3563,0,0,0,0,0,0
$GC,2292,-0.71,-146.0,309.1,-14.3,272,2296,0.00,1.67,0.00,0.000,6,0.000,0.040,2812,2695,3564,0,0,0,0,0,0
$GC,2499,-0.71,-146.0,336.8,-13.3,291,2505,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2694,3564,0,0,0,0,0,0
$GC,2697,-0.71,-146.0,364.1,-13.5,310,2700,0.00,1.80,0.00,0.000,4,0.000,0.059,2803,3766,3563,0,0,0,0,0,0
$GC,2743,-0.71,-146.0,370.8,-14.9,314,2746,0.00,1.73,0.00,0.000,6,0.000,0.039,2804,2708,3563,0,0,0,0,0,0
$GC,2947,-0.71,-146.0,399.4,-14.0,333,2949,0.10,0.00,0.00,0.000,6,0.169,0.000,2829,2706,3562,0,0,0,0,0,0
$GC,3138,-0.71,-146.0,422.7,-12.1,351,3142,0.00,1.77,0.00,0.000,4,0.000,0.060,2823,3764,3563,0,0,0,0,0,0
$GC,3176,-0.71,-146.0,428.0,-13.0,354,3183,0.00,1.70,0.00,0.000,6,0.000,0.039,2823,2717,3562,0,0,0,0,0,0
$GC,3375,-0.71,-146.0,452.9,-12.5,373,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2716,3562,0,0,0,0,0,0
$GC,3568,-0.71,-146.0,476.8,-12.9,391,3571,0.00,1.75,0.00,0.000,4,0.000,0.060,2815,3763,3562,0,0,0,0,0,0
$GC,3595,-0.71,-146.0,480.9,-13.6,393,3601,0.00,1.65,0.00,0.000,6,0.000,0.040,2815,2722,3561,0,0,0,0,0,0
$GC,3811,-0.71,-146.0,509.2,-13.1,410,3813,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2721,3562,0,0,0,0,0,0
$STATE,3871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3871,begin apogee
$GC,3877,-0.27,0.0,517.2,13.2,412,4017,0.50,0.00,134.82,1.115,4,0.121,0.000,2974,2495,2960,0,0,0,0,0,0
$STATE,4018,end apogee,CONTROL_FINISHED_OK
$STATE,4018,begin climb
$GC,4021,0.71,146.0,523.9,0.0,416,4181,1.08,2.65,150.05,1.031,4,0.077,0.047,3296,1098,2364,0,0,0,0,0,0
$GC,4276,0.71,146.0,503.3,10.4,424,4280,0.00,2.62,0.00,0.000,6,0.000,0.049,3296,2506,2355,0,0,0,0,0,0
$GC,4475,0.71,146.0,480.9,11.4,440,4479,0.00,2.50,0.00,0.000,4,0.000,0.047,3300,1101,2350,0,0,0,0,0,0
$GC,4620,0.71,146.0,464.8,10.9,452,4627,0.00,2.53,0.00,0.000,6,0.000,0.049,3300,2515,2347,0,0,0,0,0,0
$GC,4819,0.71,146.0,442.6,11.2,471,4823,0.00,2.15,0.00,0.000,4,0.000,0.055,3300,3761,2346,0,0,0,0,0,0
$GC,4918,0.71,146.0,429.0,13.7,479,4926,0.00,2.05,0.00,0.000,6,0.000,0.037,3309,2527,2345,0,0,0,0,0,0
$GC,5116,0.71,146.0,405.4,12.0,498,5120,0.00,2.12,0.00,0.000,4,0.000,0.056,3309,3767,2344,0,0,0,0,0,0
$GC,5167,0.71,146.0,398.5,14.2,502,5171,0.00,2.03,0.00,0.000,6,0.000,0.037,3318,2529,2344,0,0,0,0,0,0
$GC,5370,0.71,146.0,372.3,12.5,521,5374,0.00,2.08,0.00,0.000,4,0.000,0.055,3318,3762,2344,0,0,0,0,0,0
$GC,5421,0.71,146.0,365.2,15.0,525,5425,0.12,1.98,0.00,0.000,6,0.156,0.038,3296,2539,2343,0,0,0,0,0,0
$GC,5625,0.71,146.0,341.7,10.9,544,5628,0.00,2.05,0.00,0.000,4,0.000,0.055,3296,3768,2343,0,0,0,0,0,0
$GC,5674,0.71,146.0,335.3,13.0,548,5681,0.00,1.98,0.00,0.000,6,0.000,0.038,3303,2554,2342,0,0,0,0,0,0
$GC,5873,0.71,146.0,313.0,11.4,567,5876,0.00,2.00,0.00,0.000,4,0.000,0.055,3303,3763,2342,0,0,0,0,0,0
$GC,5911,0.71,146.0,307.7,13.8,570,5918,0.00,1.95,0.00,0.000,6,0.000,0.037,3313,2563,2342,0,0,0,0,0,0
$GC,6111,0.71,146.0,284.3,11.5,589,6115,0.00,2.00,0.00,0.000,4,0.000,0.056,3312,3767,2342,0,0,0,0,0,0
$GC,6147,0.71,146.0,279.5,14.0,592,6150,0.00,1.90,0.00,0.000,6,0.000,0.038,3322,2566,2342,0,0,0,0,0,0
$GC,6350,0.71,146.0,253.7,12.3,611,6354,0.00,2.00,0.00,0.000,4,0.000,0.056,3322,3770,2342,0,0,0,0,0,0
$GC,6409,0.71,146.0,245.6,14.9,616,6414,0.12,1.88,0.00,0.000,6,0.157,0.038,3299,2583,2342,0,0,0,0,0,0
$GC,6551,0.71,146.0,229.4,10.6,629,6552,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2580,2341,0,0,0,0,0,0
$GC,6678,0.71,146.0,215.5,10.7,641,6682,0.00,1.98,0.00,0.000,4,0.000,0.057,3299,3767,2341,0,0,0,0,0,0
$GC,6738,0.71,146.0,207.9,13.3,646,6746,0.00,1.92,0.00,0.000,6,0.000,0.040,3306,2584,2341,0,0,0,0,0,0
$GC,6873,0.71,146.0,192.7,11.3,659,6877,0.00,1.98,0.00,0.000,4,0.000,0.057,3306,3770,2341,0,0,0,0,0,0
$GC,6920,0.71,146.0,186.7,13.4,663,6924,0.00,1.85,0.00,0.000,6,0.000,0.039,3315,2605,2341,0,0,0,0,0,0
$GC,7062,0.71,146.0,169.8,12.2,676,7070,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2604,2341,0,0,0,0,0,0
$GC,7198,0.71,146.0,153.2,12.4,689,7202,0.00,1.92,0.00,0.000,4,0.000,0.056,3315,3764,2341,0,0,0,0,0,0
$GC,7247,0.71,146.0,146.2,14.0,693,7255,0.00,1.88,0.00,0.000,6,0.000,0.037,3324,2607,2340,0,0,0,0,0,0
$GC,7383,0.71,146.0,129.6,12.3,706,7385,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2606,2340,0,0,0,0,0,0
$GC,7510,0.71,146.0,114.1,12.3,718,7513,0.00,1.92,0.00,0.000,4,0.000,0.057,3324,3765,2340,0,0,0,0,0,0
$GC,7556,0.71,146.0,107.9,13.8,722,7561,0.15,1.83,0.00,0.000,6,0.149,0.037,3293,2609,2340,0,0,0,0,0,0
$GC,7692,0.71,146.0,93.6,9.7,740,7700,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2608,2339,0,0,0,0,0,0
$GC,7829,0.71,146.0,80.6,9.3,765,7836,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2608,2339,0,0,0,0,0,0
$GC,7965,0.71,146.0,68.3,9.2,790,7973,0.00,1.98,0.00,0.000,4,0.000,0.057,3293,3765,2339,0,0,0,0,0,0
$GC,8020,0.71,146.0,63.1,10.3,799,8028,0.00,1.83,0.00,0.000,6,0.000,0.037,3300,2617,2339,0,0,0,0,0,0
$GC,8159,0.71,146.0,50.5,9.2,824,8167,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2617,2339,0,0,0,0,0,0
$GC,8298,0.71,146.0,36.4,10.3,849,8304,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2616,2339,0,0,0,0,0,0
$GC,8436,0.71,146.0,22.9,9.8,874,8444,0.00,1.95,0.00,0.000,4,0.000,0.057,3300,3758,2339,0,0,0,0,0,0
$GC,8485,0.71,146.0,17.5,11.9,882,8493,0.00,1.85,0.00,0.000,6,0.000,0.038,3309,2619,2338,0,0,0,0,0,0
$FREEZE,8.93,0.033,-1.897,2,5,0
$FREEZE,8.52,0.033,-1.896,2,5,0
$FREEZE,7.98,0.032,-1.896,2,5,0
$FREEZE,7.61,0.032,-1.896,2,5,0
$FREEZE,7.09,0.032,-1.895,2,5,0
$FREEZE,6.70,0.034,-1.895,2,5,0
$FREEZE,6.23,0.034,-1.895,2,5,0
$FREEZE,5.48,0.034,-1.894,2,5,0
$FREEZE,4.53,0.036,-1.893,2,5,0
$FREEZE,3.88,0.036,-1.893,2,5,0
$GC,8629,0.71,146.0,3.9,11.3,907,8637,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2618,2338,0,0,0,0,0,0
$FREEZE,2.01,0.037,-1.891,2,5,0
$STATE,8643,end climb,SURFACE_DEPTH_REACHED
$STATE,8644,begin surface coast
$FREEZE,1.21,0.030,-1.891,2,5,0
$FREEZE,1.24,-0.001,-1.893,2,5,0
$FREEZE,1.21,-0.013,-1.893,2,5,0
$FREEZE,1.29,0.027,-1.889,2,5,0
$FINISH,1.3,1.027629
$STATE,8669,end surface coast,CONTROL_FINISHED_OK
$STATE,8669,begin surface
$SM_CCo,8687,289.02,0.702,5,0,420,623.30
$SM_GC,1.86,0.00,0.00,289.02,0.000,0.000,0.702,393,2666,420,-8.31,0.45,623.30
$IRIDIUM_FIX,-7545.40,17332.47,130111,010113
$TT8_MAMPS,0.027713
$HUMID,51.45
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,18.3
$24V_AH,20.6,87.616
$10V_AH,9.6,60.836
$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,20.025,102.050,284.875,289.025,0.000,86.787,113.381,666.295,2.000,0.000,17.183,2362.001,3666.616,787.544,2994.077,492.032,0.000,1737.044,0.000,1558.422,0.000,12.931,0.000
$DEVICE_MAMPS,192.015,118.575,1114.605,702.270,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,643.377,1112.115,1034.345,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258144
$DATA_FILE_SIZE,63790,913
$CAP_FILE_SIZE,143015,0
$CFSIZE,260165632,219123712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.114,165.8,1
$GPS,130111,042200,-7630.129,17341.906,48,1.2,49,127.2