version: 66.08
glider: 502
mission: 3
dive: 366
start: 12 27 110 11 31 48
data:
$ID,502
$MISSION,3
$DIVE,366
$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,-30602.67
$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,41
$R_STBD_OVSHOOT,23
$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
$GPS1,271210,112526,-7631.597,17728.305,12,1.7,12,121.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-72.1
$GPS2,271210,113122,-7631.592,17728.234,16,2.6,35,121.8
$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,309.5,65681,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,80,0.00,0.00,-62.53,0.000,2,0.000,0.000,418,2635,2846,0,0,0,0,0,0
$GC,83,-0.76,-146.0,3.0,-2.5,9,133,8.90,1.88,-32.20,0.000,4,0.199,0.076,2801,3767,3555,0,0,0,0,0,0
$GC,253,-0.76,-146.0,24.2,-18.0,38,261,0.00,1.77,0.00,0.000,6,0.000,0.041,2801,2652,3557,0,0,0,0,0,0
$GC,392,-0.76,-146.0,48.0,-17.3,63,399,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2652,3558,0,0,0,0,0,0
$GC,529,-0.76,-146.0,71.8,-17.8,88,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2652,3558,0,0,0,0,0,0
$GC,670,-0.76,-146.0,95.8,-17.6,113,676,0.00,1.83,0.00,0.000,4,0.000,0.061,2793,3770,3559,0,0,0,0,0,0
$GC,705,-0.76,-146.0,102.4,-19.4,118,709,0.00,1.75,0.00,0.000,6,0.000,0.041,2793,2641,3559,0,0,0,0,0,0
$GC,848,-0.76,-146.0,127.4,-17.3,131,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2638,3559,0,0,0,0,0,0
$GC,984,-0.76,-146.0,151.2,-16.8,144,987,0.00,1.83,0.00,0.000,4,0.000,0.060,2784,3766,3558,0,0,0,0,0,0
$GC,1032,-0.76,-146.0,160.6,-18.5,148,1041,0.08,1.77,0.00,0.000,6,0.144,0.041,2809,2647,3559,0,0,0,0,0,0
$GC,1170,-0.76,-146.0,181.5,-15.2,161,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2647,3559,0,0,0,0,0,0
$GC,1305,-0.76,-146.0,201.9,-15.0,174,1309,0.00,1.80,0.00,0.000,4,0.000,0.060,2802,3764,3560,0,0,0,0,0,0
$GC,1351,-0.76,-146.0,209.2,-16.0,178,1355,0.00,1.70,0.00,0.000,6,0.000,0.041,2802,2667,3559,0,0,0,0,0,0
$GC,1493,-0.76,-146.0,231.2,-15.8,191,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2664,3559,0,0,0,0,0,0
$GC,1628,-0.76,-146.0,252.4,-15.2,204,1631,0.00,1.77,0.00,0.000,4,0.000,0.061,2794,3764,3559,0,0,0,0,0,0
$GC,1650,-0.76,-146.0,256.2,-16.2,206,1654,0.00,1.70,0.00,0.000,6,0.000,0.041,2794,2666,3559,0,0,0,0,0,0
$GC,1854,-0.76,-146.0,288.2,-15.2,225,1858,0.00,1.83,0.00,0.000,4,0.000,0.060,2786,3763,3559,0,0,0,0,0,0
$GC,1899,-0.76,-146.0,295.8,-16.7,229,1903,0.12,1.67,0.00,0.000,6,0.165,0.041,2819,2678,3560,0,0,0,0,0,0
$GC,2103,-0.76,-146.0,324.2,-13.3,248,2107,0.00,1.80,0.00,0.000,4,0.000,0.062,2812,3759,3559,0,0,0,0,0,0
$GC,2129,-0.76,-146.0,328.5,-14.8,250,2137,0.00,1.70,0.00,0.000,6,0.000,0.041,2812,2689,3559,0,0,0,0,0,0
$STATE,2294,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2294,begin apogee
$GC,2299,-0.17,0.0,352.2,14.6,266,2437,0.60,0.00,130.48,1.011,4,0.126,0.000,3006,2492,2960,0,0,0,0,0,0
$STATE,2438,end apogee,CONTROL_FINISHED_OK
$STATE,2438,begin climb
$GC,2440,0.76,146.0,358.1,0.0,278,2595,0.95,2.50,146.65,0.930,4,0.076,0.048,3308,1099,2364,0,0,0,0,0,0
$GC,2727,0.76,146.0,334.7,10.2,304,2732,0.00,2.45,0.00,0.000,6,0.000,0.050,3309,2501,2353,0,0,0,0,0,0
$GC,2925,0.76,146.0,312.2,11.3,322,2929,0.00,2.28,0.00,0.000,4,0.000,0.048,3319,1088,2350,0,0,0,0,0,0
$GC,3053,0.76,146.0,297.5,11.6,333,3057,0.00,2.30,0.00,0.000,6,0.000,0.052,3319,2515,2348,0,0,0,0,0,0
$GC,3252,0.76,146.0,274.5,11.4,351,3256,0.00,1.98,0.00,0.000,4,0.000,0.057,3319,3761,2348,0,0,0,0,0,0
$GC,3377,0.76,146.0,257.0,14.9,362,3381,0.00,1.90,0.00,0.000,6,0.000,0.041,3328,2540,2348,0,0,0,0,0,0
$GC,3581,0.76,146.0,231.9,11.6,381,3585,0.00,1.98,0.00,0.000,4,0.000,0.057,3328,3767,2346,0,0,0,0,0,0
$GC,3607,0.76,146.0,228.1,12.8,383,3617,0.00,1.95,0.00,0.000,6,0.000,0.040,3337,2538,2347,0,0,0,0,0,0
$GC,3743,0.76,146.0,211.3,12.6,396,3747,0.00,1.98,0.00,0.000,4,0.000,0.057,3337,3767,2346,0,0,0,0,0,0
$GC,3789,0.76,146.0,204.6,15.1,400,3793,0.12,1.90,0.00,0.000,6,0.164,0.040,3313,2540,2346,0,0,0,0,0,0
$GC,3931,0.76,146.0,187.7,11.7,413,3938,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2537,2346,0,0,0,0,0,0
$GC,4066,0.76,146.0,171.9,11.7,426,4070,0.00,1.98,0.00,0.000,4,0.000,0.057,3313,3763,2346,0,0,0,0,0,0
$GC,4102,0.76,146.0,167.3,12.7,429,4106,0.00,1.88,0.00,0.000,6,0.000,0.040,3321,2549,2346,0,0,0,0,0,0
$GC,4243,0.76,146.0,150.4,11.6,442,4247,0.00,1.98,0.00,0.000,4,0.000,0.058,3321,3771,2346,0,0,0,0,0,0
$GC,4279,0.76,146.0,145.9,13.3,445,4282,0.00,1.85,0.00,0.000,6,0.000,0.041,3330,2570,2345,0,0,0,0,0,0
$GC,4421,0.76,146.0,128.4,12.5,458,4424,0.00,1.92,0.00,0.000,4,0.000,0.057,3330,3763,2345,0,0,0,0,0,0
$GC,4446,0.76,146.0,125.1,12.9,460,4449,0.00,1.83,0.00,0.000,6,0.000,0.040,3339,2580,2345,0,0,0,0,0,0
$GC,4587,0.76,146.0,106.5,12.9,473,4588,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2577,2345,0,0,0,0,0,0
$GC,4714,0.76,146.0,89.5,13.2,492,4722,0.00,1.95,0.00,0.000,4,0.000,0.057,3339,3761,2345,0,0,0,0,0,0
$GC,4750,0.76,146.0,84.2,15.1,498,4759,0.10,1.85,0.00,0.000,6,0.138,0.040,3315,2591,2345,0,0,0,0,0,0
$GC,4890,0.76,146.0,67.6,11.0,523,4897,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2590,2345,0,0,0,0,0,0
$GC,5028,0.76,146.0,51.4,11.7,548,5036,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2590,2345,0,0,0,0,0,0
$GC,5166,0.76,146.0,35.6,10.9,573,5172,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2590,2344,0,0,0,0,0,0
$GC,5303,0.76,146.0,19.9,11.6,598,5311,0.00,1.92,0.00,0.000,4,0.000,0.058,3315,3756,2344,0,0,0,0,0,0
$GC,5360,0.76,146.0,12.1,13.8,608,5369,0.00,1.85,0.00,0.000,6,0.000,0.041,3322,2586,2344,0,0,0,0,0,0
$FREEZE,8.67,-0.645,-1.892,2,1,0
$FREEZE,8.02,-0.642,-1.892,2,1,0
$FREEZE,7.19,-0.643,-1.891,2,1,0
$FREEZE,6.60,-0.647,-1.891,2,1,0
$FREEZE,5.82,-0.650,-1.890,2,1,0
$FREEZE,5.19,-0.646,-1.890,2,1,0
$FREEZE,4.33,-0.649,-1.889,2,1,0
$FREEZE,3.84,-0.652,-1.889,2,1,0
$FREEZE,3.14,-0.651,-1.888,2,1,0
$FREEZE,2.47,-0.651,-1.888,2,1,0
$STATE,5438,end climb,SURFACE_DEPTH_REACHED
$STATE,5438,begin surface coast
$FREEZE,1.60,-0.651,-1.887,2,1,0
$FREEZE,1.31,-0.657,-1.882,2,1,0
$FREEZE,1.31,-0.688,-1.889,2,1,0
$FREEZE,1.36,-0.684,-1.861,2,1,0
$FREEZE,1.27,-0.665,-1.269,2,1,0
$FINISH,1.3,1.018736
$STATE,5471,end surface coast,CONTROL_FINISHED_OK
$STATE,5471,begin surface
$SM_CCo,5487,76.38,0.102,0,0,1737,300.24
$SM_GC,2.18,0.00,0.00,76.38,0.000,0.000,0.102,423,2660,1737,-8.26,0.28,300.24
$IRIDIUM_FIX,-7545.40,17723.01,271210,090907
$TT8_MAMPS,0.028462
$HUMID,53.30
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,19.3
$ALTIM_BOTTOM_PING,300.8,65.1
$24V_AH,20.3,61.457
$10V_AH,9.7,40.810
$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,18.425,65.400,277.125,76.375,0.000,25.593,36.293,162.899,1.750,0.000,37.602,1599.640,1889.954,460.481,1807.401,169.346,0.000,1122.009,0.000,1054.096,0.000,11.909,0.000
$DEVICE_MAMPS,198.900,102.510,1010.565,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,439.808,828.957,924.044,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43709,626
$CAP_FILE_SIZE,88695,0
$CFSIZE,260165632,231133184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044,172.1,1
$GPS,271210,130536,-7631.503,17731.109,27,1.0,27,121.7