version: 66.08
glider: 502
mission: 3
dive: 363
start: 12 27 110 6 26 16
data:
$ID,502
$MISSION,3
$DIVE,363
$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,-30598.895
$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,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
$GPS1,271210,061956,-7631.635,17720.521,16,1.0,16,122.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-71.2
$GPS2,271210,062550,-7631.640,17720.447,16,1.6,16,122.0
$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,309.5,69048,-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,-146.0,0.0,0.0,0,92,0.00,0.00,-73.38,0.000,2,0.000,0.000,419,2668,3058,0,0,0,0,0,0
$GC,95,-0.76,-146.0,3.0,-2.4,11,131,8.98,1.83,-19.73,0.000,4,0.197,0.077,2802,3756,3558,0,0,0,0,0,0
$GC,271,-0.76,-146.0,28.2,-17.5,42,279,0.00,1.77,0.00,0.000,6,0.000,0.042,2802,2644,3560,0,0,0,0,0,0
$GC,411,-0.76,-146.0,51.1,-15.6,67,418,0.00,1.83,0.00,0.000,4,0.000,0.060,2794,3760,3560,0,0,0,0,0,0
$GC,440,-0.76,-146.0,56.4,-16.6,72,448,0.00,1.75,0.00,0.000,6,0.000,0.041,2794,2658,3560,0,0,0,0,0,0
$GC,580,-0.76,-146.0,79.5,-17.6,97,587,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2657,3560,0,0,0,0,0,0
$GC,721,-0.76,-146.0,103.9,-16.9,121,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2657,3561,0,0,0,0,0,0
$GC,849,-0.76,-146.0,126.1,-17.8,133,853,0.00,1.80,0.00,0.000,4,0.000,0.061,2785,3766,3561,0,0,0,0,0,0
$GC,898,-0.76,-146.0,135.6,-18.1,137,909,0.08,1.75,0.00,0.000,6,0.144,0.041,2811,2661,3561,0,0,0,0,0,0
$GC,1036,-0.76,-146.0,155.8,-14.7,150,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2660,3561,0,0,0,0,0,0
$GC,1172,-0.76,-146.0,175.3,-14.2,163,1175,0.00,1.77,0.00,0.000,4,0.000,0.061,2803,3756,3561,0,0,0,0,0,0
$GC,1218,-0.76,-146.0,182.8,-16.8,167,1222,0.00,1.67,0.00,0.000,6,0.000,0.041,2803,2670,3561,0,0,0,0,0,0
$GC,1361,-0.76,-146.0,204.7,-15.0,180,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2667,3561,0,0,0,0,0,0
$GC,1496,-0.76,-146.0,225.6,-15.3,193,1500,0.00,1.77,0.00,0.000,4,0.000,0.060,2796,3764,3561,0,0,0,0,0,0
$GC,1531,-0.76,-146.0,231.5,-16.7,196,1535,0.00,1.70,0.00,0.000,6,0.000,0.041,2796,2666,3561,0,0,0,0,0,0
$GC,1671,-0.76,-146.0,253.9,-15.6,209,1674,0.00,1.77,0.00,0.000,4,0.000,0.060,2788,3760,3561,0,0,0,0,0,0
$GC,1697,-0.76,-146.0,258.7,-17.4,211,1705,0.08,1.70,0.00,0.000,6,0.143,0.041,2813,2684,3561,0,0,0,0,0,0
$GC,1898,-0.76,-146.0,285.9,-13.3,230,1899,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2683,3560,0,0,0,0,0,0
$GC,2086,-0.76,-146.0,312.3,-13.6,248,2090,0.00,1.75,0.00,0.000,4,0.000,0.060,2805,3764,3561,0,0,0,0,0,0
$GC,2124,-0.76,-146.0,318.3,-15.5,251,2131,0.00,1.70,0.00,0.000,6,0.000,0.041,2805,2692,3561,0,0,0,0,0,0
$GC,2324,-0.76,-146.0,347.3,-14.8,270,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2691,3561,0,0,0,0,0,0
$STATE,2343,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2344,begin apogee
$GC,2349,-0.17,0.0,350.4,14.9,272,2487,0.60,0.00,131.38,1.011,4,0.129,0.000,2998,2495,2960,0,0,0,0,0,0
$STATE,2488,end apogee,CONTROL_FINISHED_OK
$STATE,2488,begin climb
$GC,2490,0.76,146.0,356.7,0.0,284,2643,0.95,0.00,147.90,0.929,6,0.080,0.000,3307,2495,2365,0,0,0,0,0,0
$GC,2832,0.76,146.0,323.6,11.8,316,2836,0.00,2.20,0.00,0.000,4,0.000,0.057,3307,3762,2353,0,0,0,0,0,0
$GC,2895,0.76,146.0,315.1,13.8,321,2899,0.00,2.03,0.00,0.000,6,0.000,0.040,3316,2519,2352,0,0,0,0,0,0
$GC,3098,0.76,146.0,289.3,12.5,340,3101,0.00,2.03,0.00,0.000,4,0.000,0.058,3317,3760,2349,0,0,0,0,0,0
$GC,3155,0.76,146.0,281.1,15.5,345,3158,0.00,1.98,0.00,0.000,6,0.000,0.041,3325,2523,2348,0,0,0,0,0,0
$GC,3358,0.76,146.0,254.2,12.6,364,3362,0.00,2.00,0.00,0.000,4,0.000,0.058,3325,3760,2348,0,0,0,0,0,0
$GC,3395,0.76,146.0,248.7,14.6,367,3405,0.00,1.95,0.00,0.000,6,0.000,0.040,3334,2531,2348,0,0,0,0,0,0
$GC,3531,0.76,146.0,231.2,12.7,380,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2530,2347,0,0,0,0,0,0
$GC,3660,0.76,146.0,215.1,12.5,392,3663,0.00,1.98,0.00,0.000,4,0.000,0.056,3334,3757,2346,0,0,0,0,0,0
$GC,3728,0.76,146.0,204.7,16.1,398,3733,0.12,1.88,0.00,0.000,6,0.168,0.040,3311,2549,2346,0,0,0,0,0,0
$GC,3870,0.76,146.0,187.0,12.0,411,3871,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2547,2346,0,0,0,0,0,0
$GC,3996,0.76,146.0,172.5,11.1,423,4000,0.00,1.95,0.00,0.000,4,0.000,0.058,3311,3756,2345,0,0,0,0,0,0
$GC,4034,0.76,146.0,167.6,13.0,426,4043,0.00,1.90,0.00,0.000,6,0.000,0.041,3318,2556,2345,0,0,0,0,0,0
$GC,4171,0.76,146.0,152.3,11.5,439,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2555,2345,0,0,0,0,0,0
$GC,4297,0.76,146.0,137.4,12.6,451,4301,0.00,1.95,0.00,0.000,4,0.000,0.057,3319,3766,2345,0,0,0,0,0,0
$GC,4356,0.76,146.0,128.7,15.3,456,4365,0.00,1.90,0.00,0.000,6,0.000,0.040,3328,2566,2344,0,0,0,0,0,0
$GC,4493,0.76,146.0,111.2,12.8,469,4496,0.00,1.92,0.00,0.000,4,0.000,0.058,3328,3757,2345,0,0,0,0,0,0
$GC,4529,0.76,146.0,105.9,15.3,472,4532,0.00,1.83,0.00,0.000,6,0.000,0.040,3337,2577,2344,0,0,0,0,0,0
$GC,4665,0.76,146.0,87.1,13.2,493,4672,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2575,2345,0,0,0,0,0,0
$GC,4803,0.76,146.0,70.0,12.1,518,4812,0.00,1.95,0.00,0.000,4,0.000,0.057,3337,3756,2344,0,0,0,0,0,0
$GC,4859,0.76,146.0,62.7,13.7,527,4867,0.12,1.83,0.00,0.000,6,0.166,0.040,3313,2581,2344,0,0,0,0,0,0
$GC,4996,0.76,146.0,47.2,10.8,552,5004,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2580,2344,0,0,0,0,0,0
$GC,5136,0.76,146.0,32.3,10.7,577,5143,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2580,2344,0,0,0,0,0,0
$GC,5276,0.76,146.0,16.1,11.4,602,5284,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2580,2343,0,0,0,0,0,0
$FREEZE,8.72,-0.660,-1.895,2,1,0
$FREEZE,7.93,-0.661,-1.894,2,1,0
$FREEZE,7.30,-0.664,-1.894,2,1,0
$FREEZE,6.44,-0.664,-1.893,2,1,0
$FREEZE,5.88,-0.662,-1.893,2,1,0
$FREEZE,5.14,-0.665,-1.893,2,1,0
$FREEZE,4.48,-0.659,-1.892,2,1,0
$FREEZE,3.63,-0.654,-1.891,2,1,0
$FREEZE,3.07,-0.652,-1.891,2,1,0
$FREEZE,2.36,-0.651,-1.890,2,1,0
$STATE,5392,end climb,SURFACE_DEPTH_REACHED
$STATE,5392,begin surface coast
$FREEZE,1.38,-0.651,-1.890,2,1,0
$FREEZE,1.32,-0.686,-1.020,2,1,0
$FREEZE,1.32,-0.688,-1.857,2,1,0
$FREEZE,1.26,-0.807,-1.854,2,1,0
$FINISH,1.3,1.027163
$STATE,5417,end surface coast,CONTROL_FINISHED_OK
$STATE,5417,begin surface
$SM_CCo,5433,75.90,0.102,0,0,1737,300.24
$SM_GC,2.16,0.00,0.00,75.90,0.000,0.000,0.102,417,2658,1737,-8.27,0.23,300.24
$IRIDIUM_FIX,-7545.40,17732.23,271210,040456
$TT8_MAMPS,0.027713
$HUMID,53.26
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,18.1
$ALTIM_BOTTOM_PING,350.4,14.7
$24V_AH,20.3,61.152
$10V_AH,9.6,40.562
$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,18.400,56.225,279.275,75.900,0.000,27.271,38.374,179.920,2.000,0.000,17.653,1590.407,1873.344,454.639,1776.631,176.033,0.000,1093.373,0.000,1022.950,0.000,13.269,0.000
$DEVICE_MAMPS,197.370,100.980,1010.565,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,439.810,831.328,930.835,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258164
$DATA_FILE_SIZE,43788,626
$CAP_FILE_SIZE,86825,0
$CFSIZE,260165632,231288832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.096,206.3,1
$GPS,271210,075924,-7631.616,17722.975,24,1.1,41,121.9