version: 66.08
glider: 502
mission: 3
dive: 367
start: 12 27 110 13 11 52
data:
$ID,502
$MISSION,3
$DIVE,367
$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,-30603.924
$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,38
$R_STBD_OVSHOOT,30
$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
$GPS1,271210,130536,-7631.503,17731.109,27,1.0,27,121.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-72.3
$GPS2,271210,131126,-7631.509,17731.053,13,1.0,13,121.7
$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,316.0,64456,-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,-146.0,0.0,0.0,0,101,0.00,0.00,-83.22,0.000,2,0.000,0.000,421,2661,3274,0,0,0,0,0,0
$GC,104,-0.76,-146.0,3.2,-0.9,12,128,9.00,1.83,-8.52,0.000,4,0.198,0.075,2798,3763,3559,0,0,0,0,0,0
$GC,168,-0.76,-146.0,14.7,-17.9,22,176,0.00,1.77,0.00,0.000,6,0.000,0.042,2798,2650,3561,0,0,0,0,0,0
$GC,307,-0.76,-146.0,38.4,-17.0,47,313,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2649,3562,0,0,0,0,0,0
$GC,444,-0.76,-146.0,61.6,-16.6,72,452,0.00,1.83,0.00,0.000,4,0.000,0.060,2790,3749,3562,0,0,0,0,0,0
$GC,481,-0.76,-146.0,68.1,-17.8,78,489,0.00,1.75,0.00,0.000,6,0.000,0.042,2790,2649,3562,0,0,0,0,0,0
$GC,619,-0.76,-146.0,92.3,-18.2,103,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2648,3562,0,0,0,0,0,0
$GC,763,-0.76,-146.0,117.4,-17.7,120,766,0.00,1.80,0.00,0.000,4,0.000,0.060,2782,3763,3563,0,0,0,0,0,0
$GC,800,-0.76,-146.0,124.1,-18.7,123,804,0.12,1.73,0.00,0.000,6,0.162,0.041,2815,2643,3562,0,0,0,0,0,0
$GC,942,-0.76,-146.0,146.5,-15.4,136,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2642,3563,0,0,0,0,0,0
$GC,1077,-0.76,-146.0,167.2,-15.1,149,1080,0.00,1.80,0.00,0.000,4,0.000,0.060,2808,3759,3563,0,0,0,0,0,0
$GC,1114,-0.76,-146.0,173.6,-16.9,152,1123,0.00,1.70,0.00,0.000,6,0.000,0.041,2808,2679,3562,0,0,0,0,0,0
$GC,1250,-0.76,-146.0,194.2,-15.4,165,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2679,3562,0,0,0,0,0,0
$GC,1377,-0.76,-146.0,213.3,-14.8,177,1381,0.00,1.75,0.00,0.000,4,0.000,0.061,2800,3757,3563,0,0,0,0,0,0
$GC,1415,-0.76,-146.0,219.7,-16.1,180,1423,0.00,1.70,0.00,0.000,6,0.000,0.041,2800,2684,3563,0,0,0,0,0,0
$GC,1552,-0.76,-146.0,240.0,-14.9,193,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2683,3563,0,0,0,0,0,0
$GC,1686,-0.76,-146.0,260.2,-14.6,206,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2683,3563,0,0,0,0,0,0
$GC,1879,-0.76,-146.0,288.0,-14.1,224,1883,0.00,1.75,0.00,0.000,4,0.000,0.061,2792,3763,3562,0,0,0,0,0,0
$GC,1928,-0.76,-146.0,296.4,-16.1,228,1935,0.00,1.70,0.00,0.000,6,0.000,0.041,2792,2686,3562,0,0,0,0,0,0
$GC,2128,-0.76,-146.0,326.7,-15.5,247,2131,0.00,1.75,0.00,0.000,4,0.000,0.061,2784,3764,3563,0,0,0,0,0,0
$GC,2154,-0.76,-146.0,331.8,-16.6,249,2163,0.08,1.67,0.00,0.000,6,0.144,0.041,2809,2706,3563,0,0,0,0,0,0
$STATE,2277,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2277,begin apogee
$GC,2282,-0.17,0.0,349.9,14.4,261,2420,0.60,0.00,131.30,1.009,4,0.126,0.000,3005,2494,2960,0,0,0,0,0,0
$STATE,2421,end apogee,CONTROL_FINISHED_OK
$STATE,2421,begin climb
$GC,2423,0.76,146.0,355.7,0.0,273,2578,0.95,2.50,146.95,0.930,4,0.074,0.047,3308,1097,2365,0,0,0,0,0,0
$GC,2697,0.76,146.0,332.8,11.5,298,2701,0.00,2.45,0.00,0.000,6,0.000,0.050,3308,2492,2353,0,0,0,0,0,0
$GC,2896,0.76,146.0,309.4,12.1,316,2900,0.00,2.25,0.00,0.000,4,0.000,0.047,3318,1092,2350,0,0,0,0,0,0
$GC,3030,0.76,146.0,293.1,12.2,327,3037,0.00,2.35,0.00,0.000,6,0.000,0.052,3318,2517,2348,0,0,0,0,0,0
$GC,3229,0.76,146.0,268.5,12.0,346,3233,0.00,1.98,0.00,0.000,4,0.000,0.056,3318,3765,2348,0,0,0,0,0,0
$GC,3333,0.76,146.0,253.7,14.2,355,3341,0.00,1.95,0.00,0.000,6,0.000,0.039,3328,2533,2347,0,0,0,0,0,0
$GC,3534,0.76,146.0,229.8,11.7,374,3538,0.00,2.00,0.00,0.000,4,0.000,0.057,3328,3774,2346,0,0,0,0,0,0
$GC,3583,0.76,146.0,222.7,14.3,378,3592,0.00,1.95,0.00,0.000,6,0.000,0.041,3337,2546,2346,0,0,0,0,0,0
$GC,3719,0.76,146.0,205.8,12.1,391,3722,0.00,1.98,0.00,0.000,4,0.000,0.058,3337,3771,2345,0,0,0,0,0,0
$GC,3756,0.76,146.0,200.1,14.4,394,3765,0.10,1.92,0.00,0.000,6,0.135,0.040,3313,2555,2346,0,0,0,0,0,0
$GC,3894,0.76,146.0,185.0,11.3,407,3898,0.00,1.95,0.00,0.000,4,0.000,0.057,3313,3765,2345,0,0,0,0,0,0
$GC,3920,0.76,146.0,181.4,13.1,409,3930,0.00,1.92,0.00,0.000,6,0.000,0.039,3321,2548,2345,0,0,0,0,0,0
$GC,4056,0.76,146.0,166.1,11.6,422,4059,0.00,1.98,0.00,0.000,4,0.000,0.057,3320,3773,2345,0,0,0,0,0,0
$GC,4080,0.76,146.0,163.2,12.0,424,4083,0.00,1.85,0.00,0.000,6,0.000,0.041,3330,2573,2345,0,0,0,0,0,0
$GC,4220,0.76,146.0,146.2,11.9,437,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2572,2345,0,0,0,0,0,0
$GC,4348,0.76,146.0,130.7,11.8,449,4352,0.00,1.92,0.00,0.000,4,0.000,0.057,3330,3767,2345,0,0,0,0,0,0
$GC,4394,0.76,146.0,124.5,14.0,453,4398,0.00,1.83,0.00,0.000,6,0.000,0.040,3339,2580,2345,0,0,0,0,0,0
$GC,4537,0.76,146.0,107.1,12.2,466,4545,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2577,2345,0,0,0,0,0,0
$GC,4673,0.76,146.0,89.9,12.3,486,4681,0.00,1.95,0.00,0.000,4,0.000,0.057,3339,3763,2345,0,0,0,0,0,0
$GC,4709,0.76,146.0,84.8,14.3,492,4718,0.10,1.85,0.00,0.000,6,0.139,0.041,3315,2591,2345,0,0,0,0,0,0
$GC,4850,0.76,146.0,69.3,11.6,517,4857,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2590,2345,0,0,0,0,0,0
$GC,4987,0.76,146.0,54.4,10.8,542,4995,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2590,2344,0,0,0,0,0,0
$GC,5125,0.76,146.0,39.3,11.4,567,5132,0.00,1.90,0.00,0.000,4,0.000,0.058,3315,3766,2344,0,0,0,0,0,0
$GC,5160,0.76,146.0,34.8,13.4,573,5168,0.00,1.83,0.00,0.000,6,0.000,0.039,3322,2586,2344,0,0,0,0,0,0
$GC,5299,0.76,146.0,18.7,11.6,598,5307,0.00,2.40,0.00,0.000,4,0.000,0.050,3333,1085,2344,0,0,0,0,0,0
$GC,5334,0.76,146.0,14.1,12.0,604,5342,0.00,2.45,0.00,0.000,6,0.000,0.053,3333,2582,2343,0,0,0,0,0,0
$FREEZE,8.99,-0.798,-1.892,2,1,0
$FREEZE,8.16,-0.799,-1.891,2,1,0
$FREEZE,7.43,-0.800,-1.891,2,1,0
$FREEZE,6.66,-0.798,-1.890,2,1,0
$FREEZE,5.94,-0.798,-1.890,2,1,0
$FREEZE,5.10,-0.798,-1.889,2,1,0
$FREEZE,4.45,-0.798,-1.889,2,1,0
$FREEZE,3.65,-0.797,-1.888,2,1,0
$FREEZE,3.05,-0.798,-1.888,2,1,0
$FREEZE,2.27,-0.799,-1.887,2,1,0
$STATE,5429,end climb,SURFACE_DEPTH_REACHED
$STATE,5429,begin surface coast
$FREEZE,1.42,-0.800,-1.886,2,1,0
$FREEZE,1.36,-0.813,-1.372,2,1,0
$FREEZE,1.27,-0.829,-1.142,2,1,0
$FREEZE,1.30,-0.896,-1.654,2,1,0
$FINISH,1.3,1.024324
$STATE,5454,end surface coast,CONTROL_FINISHED_OK
$STATE,5454,begin surface
$SM_CCo,5470,76.00,0.100,0,0,1737,300.24
$SM_GC,2.16,0.00,0.00,76.00,0.000,0.000,0.100,421,2671,1737,-8.26,0.59,300.24
$IRIDIUM_FIX,-7545.40,17723.43,271210,111157
$TT8_MAMPS,0.028462
$HUMID,53.03
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,18.5
$ALTIM_BOTTOM_PING,300.4,63.1
$24V_AH,20.3,61.549
$10V_AH,9.7,40.891
$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,18.525,70.100,278.250,76.000,0.000,25.703,41.058,177.777,1.250,0.000,14.419,1585.525,1868.272,482.793,1794.546,173.487,0.000,1145.982,0.000,1043.614,0.000,8.936,0.000
$DEVICE_MAMPS,198.135,105.570,1009.035,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,437.684,830.133,938.022,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43786,624
$CAP_FILE_SIZE,90031,0
$CFSIZE,260165632,231084032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.010, 99.4,1
$GPS,271210,144528,-7631.362,17734.027,13,2.5,32,121.6