version: 66.08
glider: 502
mission: 3
dive: 364
start: 12 27 110 8 5 52
data:
$ID,502
$MISSION,3
$DIVE,364
$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,-30600.152
$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,37
$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
$GPS1,271210,075924,-7631.616,17722.975,24,1.1,41,121.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-71.3
$GPS2,271210,080526,-7631.634,17722.859,12,1.6,12,121.9
$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,306.6,68006,-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,-146.0,0.0,0.0,0,95,0.00,0.00,-76.53,0.000,2,0.000,0.000,414,2659,3126,0,0,0,0,0,0
$GC,98,-0.76,-146.0,3.0,-1.7,11,128,9.00,1.88,-15.45,0.000,4,0.197,0.077,2802,3756,3559,0,0,0,0,0,0
$GC,217,-0.76,-146.0,19.9,-17.0,31,223,0.00,1.77,0.00,0.000,6,0.000,0.042,2802,2623,3561,0,0,0,0,0,0
$GC,355,-0.76,-146.0,44.0,-16.0,56,362,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2621,3562,0,0,0,0,0,0
$GC,494,-0.76,-146.0,66.3,-15.4,81,502,0.00,1.85,0.00,0.000,4,0.000,0.060,2793,3756,3562,0,0,0,0,0,0
$GC,536,-0.76,-146.0,73.4,-17.1,88,544,0.00,1.75,0.00,0.000,6,0.000,0.041,2793,2656,3562,0,0,0,0,0,0
$GC,676,-0.76,-146.0,97.2,-17.0,113,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2655,3563,0,0,0,0,0,0
$GC,813,-0.76,-146.0,121.7,-18.0,127,817,0.00,1.80,0.00,0.000,4,0.000,0.061,2784,3759,3563,0,0,0,0,0,0
$GC,870,-0.76,-146.0,132.5,-19.5,132,875,0.12,1.70,0.00,0.000,6,0.164,0.041,2818,2662,3563,0,0,0,0,0,0
$GC,1013,-0.76,-146.0,154.7,-15.3,145,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2660,3563,0,0,0,0,0,0
$GC,1148,-0.76,-146.0,175.1,-14.7,158,1152,0.00,1.77,0.00,0.000,4,0.000,0.060,2811,3754,3563,0,0,0,0,0,0
$GC,1174,-0.76,-146.0,178.7,-15.2,160,1178,0.00,1.67,0.00,0.000,6,0.000,0.041,2811,2674,3563,0,0,0,0,0,0
$GC,1316,-0.76,-146.0,199.8,-14.3,173,1320,0.00,1.75,0.00,0.000,4,0.000,0.060,2803,3754,3563,0,0,0,0,0,0
$GC,1354,-0.76,-146.0,206.0,-15.0,176,1362,0.00,1.70,0.00,0.000,6,0.000,0.041,2802,2687,3563,0,0,0,0,0,0
$GC,1489,-0.76,-146.0,225.7,-14.6,189,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2687,3563,0,0,0,0,0,0
$GC,1617,-0.76,-146.0,244.3,-14.6,201,1620,0.00,1.73,0.00,0.000,4,0.000,0.060,2794,3755,3563,0,0,0,0,0,0
$GC,1642,-0.76,-146.0,248.2,-15.8,203,1646,0.00,1.65,0.00,0.000,6,0.000,0.041,2795,2687,3563,0,0,0,0,0,0
$GC,1782,-0.76,-146.0,271.6,-16.5,216,1786,0.00,2.28,0.00,0.000,4,0.000,0.049,2795,1238,3563,0,0,0,0,0,0
$GC,1803,-0.76,-146.0,275.6,-17.2,217,1812,0.08,2.40,0.00,0.000,6,0.133,0.055,2825,2693,3563,0,0,0,0,0,0
$GC,2004,-0.76,-146.0,302.9,-13.5,236,2008,0.00,1.70,0.00,0.000,4,0.000,0.060,2818,3763,3563,0,0,0,0,0,0
$GC,2060,-0.76,-146.0,311.5,-15.1,241,2064,0.00,1.65,0.00,0.000,6,0.000,0.041,2818,2692,3563,0,0,0,0,0,0
$GC,2263,-0.76,-146.0,339.6,-13.6,260,2267,0.00,1.75,0.00,0.000,4,0.000,0.060,2810,3771,3563,0,0,0,0,0,0
$GC,2302,-0.76,-146.0,345.6,-15.2,263,2309,0.00,1.70,0.00,0.000,6,0.000,0.042,2810,2704,3563,0,0,0,0,0,0
$STATE,2349,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2349,begin apogee
$GC,2354,-0.17,0.0,352.7,15.5,268,2493,0.60,0.00,131.10,1.008,4,0.125,0.000,3004,2491,2963,0,0,0,0,0,0
$STATE,2493,end apogee,CONTROL_FINISHED_OK
$STATE,2494,begin climb
$GC,2495,0.76,146.0,358.0,0.0,280,2651,0.95,2.50,147.62,0.926,4,0.074,0.048,3307,1103,2365,0,0,0,0,0,0
$GC,2779,0.76,146.0,333.7,11.1,305,2787,0.00,2.50,0.00,0.000,6,0.000,0.050,3307,2500,2354,0,0,0,0,0,0
$GC,2977,0.76,146.0,311.3,11.1,324,2981,0.00,2.25,0.00,0.000,4,0.000,0.048,3317,1101,2351,0,0,0,0,0,0
$GC,3099,0.76,146.0,297.4,11.5,334,3106,0.00,2.33,0.00,0.000,6,0.000,0.051,3317,2531,2349,0,0,0,0,0,0
$GC,3298,0.76,146.0,274.5,11.6,353,3302,0.00,1.98,0.00,0.000,4,0.000,0.057,3317,3771,2348,0,0,0,0,0,0
$GC,3389,0.76,146.0,262.0,14.4,361,3393,0.00,1.92,0.00,0.000,6,0.000,0.041,3326,2526,2348,0,0,0,0,0,0
$GC,3594,0.76,146.0,236.4,12.6,380,3597,0.00,2.00,0.00,0.000,4,0.000,0.058,3327,3767,2347,0,0,0,0,0,0
$GC,3642,0.76,146.0,229.2,14.9,384,3650,0.00,1.92,0.00,0.000,6,0.000,0.038,3336,2548,2347,0,0,0,0,0,0
$GC,3778,0.76,146.0,211.8,12.7,397,3779,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2547,2347,0,0,0,0,0,0
$GC,3904,0.76,146.0,195.6,12.6,409,3908,0.00,1.98,0.00,0.000,4,0.000,0.058,3336,3773,2347,0,0,0,0,0,0
$GC,3973,0.76,146.0,186.2,14.1,415,3977,0.12,1.90,0.00,0.000,6,0.168,0.041,3312,2551,2347,0,0,0,0,0,0
$GC,4115,0.76,146.0,170.5,10.9,428,4118,0.00,1.95,0.00,0.000,4,0.000,0.057,3312,3764,2347,0,0,0,0,0,0
$GC,4151,0.76,146.0,166.1,12.9,431,4155,0.00,1.85,0.00,0.000,6,0.000,0.040,3319,2562,2346,0,0,0,0,0,0
$GC,4294,0.76,146.0,148.6,12.4,444,4301,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2560,2346,0,0,0,0,0,0
$GC,4429,0.76,146.0,131.3,12.9,457,4433,0.00,1.95,0.00,0.000,4,0.000,0.057,3320,3775,2346,0,0,0,0,0,0
$GC,4477,0.76,146.0,124.3,14.3,461,4487,0.00,1.90,0.00,0.000,6,0.000,0.041,3329,2577,2346,0,0,0,0,0,0
$GC,4615,0.76,146.0,107.6,11.8,474,4618,0.00,1.90,0.00,0.000,4,0.000,0.057,3327,3765,2346,0,0,0,0,0,0
$GC,4641,0.76,146.0,103.4,13.7,476,4650,0.00,1.85,0.00,0.000,6,0.000,0.039,3338,2589,2346,0,0,0,0,0,0
$GC,4779,0.76,146.0,86.1,12.6,499,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2588,2345,0,0,0,0,0,0
$GC,4913,0.76,146.0,69.0,12.9,524,4921,0.00,1.95,0.00,0.000,4,0.000,0.059,3337,3767,2345,0,0,0,0,0,0
$GC,4950,0.76,146.0,64.0,14.0,530,4959,0.10,1.85,0.00,0.000,6,0.140,0.040,3313,2598,2346,0,0,0,0,0,0
$GC,5090,0.76,146.0,48.3,10.8,555,5096,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2597,2345,0,0,0,0,0,0
$GC,5226,0.77,148.4,33.8,9.9,580,5235,0.00,1.92,0.00,0.000,4,0.000,0.057,3313,3764,2345,0,0,0,0,0,0
$GC,5251,0.77,148.4,30.8,11.6,584,5259,0.00,1.85,0.00,0.000,6,0.000,0.039,3321,2594,2345,0,0,0,0,0,0
$GC,5392,0.77,148.4,15.1,11.5,609,5400,0.00,1.90,0.00,0.000,4,0.000,0.060,3320,3764,2345,0,0,0,0,0,0
$GC,5419,0.77,148.4,11.6,12.4,613,5426,0.00,1.80,0.00,0.000,6,0.000,0.040,3329,2606,2345,0,0,0,0,0,0
$FREEZE,8.59,-0.689,-1.895,2,1,0
$FREEZE,7.85,-0.688,-1.895,2,1,0
$FREEZE,7.04,-0.691,-1.894,2,1,0
$FREEZE,6.51,-0.692,-1.894,2,1,0
$FREEZE,5.77,-0.692,-1.893,2,1,0
$FREEZE,5.14,-0.690,-1.893,2,1,0
$FREEZE,4.30,-0.687,-1.892,2,1,0
$FREEZE,3.60,-0.691,-1.892,2,1,0
$FREEZE,2.70,-0.683,-1.891,2,1,0
$STATE,5483,end climb,SURFACE_DEPTH_REACHED
$STATE,5483,begin surface coast
$FREEZE,1.85,-0.674,-1.890,2,1,0
$FREEZE,1.32,-0.771,-1.344,2,1,0
$FREEZE,1.40,-0.868,-1.720,2,1,0
$FREEZE,1.38,-0.748,-1.838,2,1,0
$FINISH,1.4,1.026933
$STATE,5510,end surface coast,CONTROL_FINISHED_OK
$STATE,5510,begin surface
$SM_CCo,5525,82.43,0.723,1,0,1736,300.24
$SM_GC,2.12,0.00,0.00,82.43,0.000,0.000,0.723,427,2663,1736,-8.25,0.40,300.24
$IRIDIUM_FIX,-7545.40,17723.43,271210,060628
$TT8_MAMPS,0.027713
$HUMID,52.79
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,18.1
$ALTIM_BOTTOM_PING,300.0,66.5
$24V_AH,20.3,61.259
$10V_AH,9.7,40.645
$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,18.425,76.850,278.725,82.425,0.000,30.766,38.734,186.707,1.500,0.000,12.883,1610.261,1872.143,491.385,1823.432,185.972,0.000,1162.500,0.000,1066.168,0.000,11.910,0.000
$DEVICE_MAMPS,197.370,113.220,1007.505,722.925,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,440.756,830.850,921.743,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258180
$DATA_FILE_SIZE,43686,628
$CAP_FILE_SIZE,92798,0
$CFSIZE,260165632,231235584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.094,193.8,1
$GPS,271210,094031,-7631.660,17725.342,11,1.6,29,121.9