version: 66.08
glider: 502
mission: 3
dive: 362
start: 12 27 110 4 44 31
data:
$ID,502
$MISSION,3
$DIVE,362
$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,-30597.637
$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,36
$R_STBD_OVSHOOT,24
$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
$GPS1,271210,043722,-7631.513,17718.104,9,3.2,28,122.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-73.0
$GPS2,271210,044404,-7631.519,17717.979,40,3.0,59,122.0
$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,319.9,70105,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-80.78,0.000,2,0.000,0.000,410,2657,3215,0,0,0,0,0,0
$GC,102,-0.76,-146.0,3.1,-0.9,12,132,8.95,1.90,-10.90,0.000,4,0.194,0.077,2802,3767,3560,0,0,0,0,0,0
$GC,217,-0.76,-146.0,21.9,-16.8,31,223,0.00,1.77,0.00,0.000,6,0.000,0.042,2802,2634,3562,0,0,0,0,0,0
$GC,354,-0.76,-146.0,45.3,-15.8,56,362,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2633,3562,0,0,0,0,0,0
$GC,494,-0.76,-146.0,67.5,-15.8,81,501,0.00,1.85,0.00,0.000,4,0.000,0.061,2794,3763,3563,0,0,0,0,0,0
$GC,520,-0.76,-146.0,72.3,-17.9,85,528,0.00,1.77,0.00,0.000,6,0.000,0.041,2794,2625,3563,0,0,0,0,0,0
$GC,658,-0.76,-146.0,96.0,-16.8,110,666,0.00,1.90,0.00,0.000,4,0.000,0.062,2785,3761,3563,0,0,0,0,0,0
$GC,697,-0.76,-146.0,102.7,-19.0,115,701,0.12,1.70,0.00,0.000,6,0.163,0.041,2819,2663,3563,0,0,0,0,0,0
$GC,838,-0.76,-146.0,125.0,-15.0,128,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2663,3563,0,0,0,0,0,0
$GC,973,-0.76,-146.0,145.8,-15.4,141,977,0.00,1.80,0.00,0.000,4,0.000,0.060,2811,3773,3563,0,0,0,0,0,0
$GC,1011,-0.76,-146.0,152.1,-15.6,144,1020,0.00,1.75,0.00,0.000,6,0.000,0.041,2811,2674,3563,0,0,0,0,0,0
$GC,1147,-0.76,-146.0,172.8,-15.8,157,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2673,3563,0,0,0,0,0,0
$GC,1274,-0.76,-146.0,191.9,-14.8,169,1275,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2673,3563,0,0,0,0,0,0
$GC,1402,-0.76,-146.0,210.6,-15.0,181,1406,0.00,1.77,0.00,0.000,4,0.000,0.060,2803,3768,3563,0,0,0,0,0,0
$GC,1440,-0.76,-146.0,217.1,-16.3,184,1449,0.00,1.73,0.00,0.000,6,0.000,0.041,2803,2681,3563,0,0,0,0,0,0
$GC,1578,-0.76,-146.0,237.4,-15.1,197,1581,0.00,1.75,0.00,0.000,4,0.000,0.060,2795,3763,3563,0,0,0,0,0,0
$GC,1602,-0.76,-146.0,241.6,-16.5,199,1606,0.00,1.67,0.00,0.000,6,0.000,0.041,2795,2680,3563,0,0,0,0,0,0
$GC,1742,-0.76,-146.0,263.8,-16.1,212,1745,0.00,1.77,0.00,0.000,4,0.000,0.060,2787,3773,3563,0,0,0,0,0,0
$GC,1768,-0.76,-146.0,268.8,-17.2,214,1777,0.08,1.70,0.00,0.000,6,0.143,0.041,2811,2701,3563,0,0,0,0,0,0
$GC,1968,-0.76,-146.0,298.1,-15.0,233,1971,0.00,1.73,0.00,0.000,4,0.000,0.062,2804,3766,3563,0,0,0,0,0,0
$GC,1994,-0.76,-146.0,302.5,-16.3,235,1997,0.00,1.65,0.00,0.000,6,0.000,0.041,2804,2695,3563,0,0,0,0,0,0
$GC,2197,-0.76,-146.0,333.3,-15.0,254,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2694,3563,0,0,0,0,0,0
$STATE,2376,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2376,begin apogee
$GC,2382,-0.17,0.0,360.3,15.1,271,2519,0.62,0.00,132.15,1.014,4,0.126,0.000,3007,2497,2961,0,0,0,0,0,0
$STATE,2520,end apogee,CONTROL_FINISHED_OK
$STATE,2520,begin climb
$GC,2523,0.76,146.0,366.1,0.0,283,2680,0.93,0.00,148.07,0.933,6,0.077,0.000,3306,2497,2364,0,0,0,0,0,0
$GC,2872,0.76,146.0,332.8,11.4,315,2876,0.00,2.17,0.00,0.000,4,0.000,0.057,3307,3760,2353,0,0,0,0,0,0
$GC,2915,0.76,146.0,326.8,13.5,318,2923,0.00,2.05,0.00,0.000,6,0.000,0.039,3315,2536,2352,0,0,0,0,0,0
$GC,3113,0.76,146.0,302.7,12.6,337,3117,0.00,2.00,0.00,0.000,4,0.000,0.057,3315,3763,2349,0,0,0,0,0,0
$GC,3151,0.76,146.0,297.3,14.6,340,3158,0.00,1.98,0.00,0.000,6,0.000,0.040,3324,2528,2349,0,0,0,0,0,0
$GC,3349,0.76,146.0,271.6,12.7,359,3353,0.00,2.00,0.00,0.000,4,0.000,0.057,3324,3770,2347,0,0,0,0,0,0
$GC,3410,0.76,146.0,262.4,15.2,364,3417,0.00,1.95,0.00,0.000,6,0.000,0.041,3333,2540,2347,0,0,0,0,0,0
$GC,3611,0.76,146.0,236.3,12.9,383,3615,0.00,1.95,0.00,0.000,4,0.000,0.056,3333,3764,2347,0,0,0,0,0,0
$GC,3657,0.76,146.0,229.2,15.2,387,3661,0.12,1.88,0.00,0.000,6,0.167,0.039,3310,2550,2347,0,0,0,0,0,0
$GC,3797,0.76,146.0,213.2,10.6,400,3799,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2549,2346,0,0,0,0,0,0
$GC,3924,0.76,146.0,199.2,10.8,412,3928,0.00,1.95,0.00,0.000,4,0.000,0.058,3310,3763,2346,0,0,0,0,0,0
$GC,3972,0.76,146.0,192.9,13.0,416,3981,0.00,1.90,0.00,0.000,6,0.000,0.040,3318,2559,2345,0,0,0,0,0,0
$GC,4110,0.76,146.0,177.3,12.1,429,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2557,2345,0,0,0,0,0,0
$GC,4246,0.76,146.0,161.1,11.9,442,4247,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2557,2345,0,0,0,0,0,0
$GC,4373,0.76,146.0,146.9,11.1,454,4377,0.00,1.95,0.00,0.000,4,0.000,0.057,3318,3773,2345,0,0,0,0,0,0
$GC,4410,0.76,146.0,141.8,12.8,457,4420,0.00,1.92,0.00,0.000,6,0.000,0.041,3327,2560,2345,0,0,0,0,0,0
$GC,4546,0.76,146.0,125.6,11.9,470,4550,0.00,1.95,0.00,0.000,4,0.000,0.058,3327,3771,2344,0,0,0,0,0,0
$GC,4583,0.76,146.0,120.3,13.5,473,4593,0.00,1.90,0.00,0.000,6,0.000,0.040,3336,2568,2344,0,0,0,0,0,0
$GC,4721,0.76,146.0,103.3,12.9,486,4728,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2568,2344,0,0,0,0,0,0
$GC,4857,0.76,146.0,85.7,12.4,509,4864,0.00,1.95,0.00,0.000,4,0.000,0.057,3336,3775,2344,0,0,0,0,0,0
$GC,4898,0.76,146.0,79.7,14.8,516,4907,0.10,1.90,0.00,0.000,6,0.139,0.040,3312,2573,2344,0,0,0,0,0,0
$GC,5038,0.76,146.0,63.7,10.8,541,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2572,2344,0,0,0,0,0,0
$GC,5177,0.76,146.0,47.8,11.3,566,5184,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2571,2344,0,0,0,0,0,0
$GC,5317,0.76,146.0,32.2,10.6,591,5324,0.00,1.92,0.00,0.000,4,0.000,0.058,3313,3764,2344,0,0,0,0,0,0
$GC,5364,0.76,146.0,26.1,13.5,599,5370,0.00,1.83,0.00,0.000,6,0.000,0.040,3320,2589,2343,0,0,0,0,0,0
$GC,5500,0.76,146.0,9.3,12.7,624,5507,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2588,2344,0,0,0,0,0,0
$FREEZE,7.35,-1.026,-1.894,2,1,0
$FREEZE,6.74,-1.027,-1.894,2,1,0
$FREEZE,6.06,-1.026,-1.894,2,1,0
$FREEZE,5.52,-1.029,-1.893,2,1,0
$FREEZE,4.64,-1.027,-1.892,2,1,0
$FREEZE,4.06,-1.026,-1.892,2,1,0
$FREEZE,3.34,-1.026,-1.892,2,1,0
$FREEZE,2.57,-1.026,-1.891,2,1,0
$STATE,5553,end climb,SURFACE_DEPTH_REACHED
$STATE,5554,begin surface coast
$FREEZE,1.73,-1.028,-1.890,2,1,0
$FREEZE,1.30,-1.031,-1.890,2,1,0
$FREEZE,1.20,-1.149,-1.392,2,1,0
$FREEZE,1.30,-1.056,-0.911,2,1,0
$FINISH,1.3,1.013429
$STATE,5579,end surface coast,FINISH_DEPTH_REACHED
$STATE,5579,begin surface
$SM_CCo,5595,75.72,0.100,0,0,1737,300.24
$SM_GC,2.07,0.00,0.00,75.72,0.000,0.000,0.100,423,2666,1737,-8.26,0.45,300.24
$IRIDIUM_FIX,-7545.40,17704.57,271210,020253
$TT8_MAMPS,0.028462
$HUMID,52.52
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,18.4
$ALTIM_BOTTOM_PING,300.1,74.1
$24V_AH,20.3,61.059
$10V_AH,9.7,40.481
$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,18.450,63.775,280.225,75.725,0.000,29.409,38.550,179.073,1.250,0.000,61.546,1606.372,1971.621,485.789,1843.594,175.169,0.000,1140.192,0.000,1031.410,0.000,8.964,0.000
$DEVICE_MAMPS,194.310,99.450,1014.390,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,447.035,842.082,944.962,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43732,637
$CAP_FILE_SIZE,90509,0
$CFSIZE,260165632,231333888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,10
$CURRENT,0.102,222.5,1
$GPS,271210,061956,-7631.635,17720.521,16,1.0,16,122.0