version: 66.08
glider: 502
mission: 3
dive: 368
start: 12 27 110 14 52 2
data:
$ID,502
$MISSION,3
$DIVE,368
$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,-30605.182
$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,39
$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
$GPS1,271210,144528,-7631.362,17734.027,13,2.5,32,121.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-73.0
$GPS2,271210,145136,-7631.356,17734.004,38,0.8,44,121.6
$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,325.6,63170,-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,-146.0,0.0,0.0,0,98,0.00,0.00,-80.10,0.000,2,0.000,0.000,420,2671,3202,0,0,0,0,0,0
$GC,100,-0.76,-146.0,3.1,-0.8,12,130,8.95,1.83,-11.35,0.000,4,0.196,0.076,2801,3754,3560,0,0,0,0,0,0
$GC,218,-0.76,-146.0,22.0,-17.6,31,224,0.00,1.75,0.00,0.000,6,0.000,0.041,2801,2653,3562,0,0,0,0,0,0
$GC,359,-0.76,-146.0,46.8,-17.0,56,367,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2652,3562,0,0,0,0,0,0
$GC,503,-0.76,-146.0,71.0,-17.1,81,510,0.00,1.80,0.00,0.000,4,0.000,0.061,2793,3756,3562,0,0,0,0,0,0
$GC,540,-0.76,-146.0,77.7,-18.6,87,547,0.00,1.75,0.00,0.000,6,0.000,0.042,2793,2657,3563,0,0,0,0,0,0
$GC,689,-0.76,-146.0,104.0,-17.5,111,692,0.00,1.80,0.00,0.000,4,0.000,0.061,2784,3766,3563,0,0,0,0,0,0
$GC,713,-0.76,-146.0,108.9,-18.8,113,717,0.12,1.73,0.00,0.000,6,0.165,0.041,2818,2649,3563,0,0,0,0,0,0
$GC,854,-0.76,-146.0,131.4,-15.3,126,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2649,3563,0,0,0,0,0,0
$GC,980,-0.76,-146.0,150.9,-15.0,138,983,0.00,1.80,0.00,0.000,4,0.000,0.061,2810,3760,3563,0,0,0,0,0,0
$GC,1017,-0.76,-146.0,157.5,-16.7,141,1026,0.00,1.73,0.00,0.000,6,0.000,0.041,2810,2673,3563,0,0,0,0,0,0
$GC,1155,-0.76,-146.0,178.1,-15.4,154,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2673,3563,0,0,0,0,0,0
$GC,1291,-0.76,-146.0,199.3,-15.7,167,1294,0.00,1.75,0.00,0.000,4,0.000,0.060,2802,3758,3563,0,0,0,0,0,0
$GC,1349,-0.76,-146.0,209.6,-16.7,172,1358,0.00,1.70,0.00,0.000,6,0.000,0.041,2802,2686,3563,0,0,0,0,0,0
$GC,1486,-0.76,-146.0,231.4,-17.0,185,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2684,3563,0,0,0,0,0,0
$GC,1611,-0.76,-146.0,252.0,-16.1,197,1614,0.00,1.75,0.00,0.000,4,0.000,0.060,2794,3763,3563,0,0,0,0,0,0
$GC,1637,-0.76,-146.0,256.8,-17.0,199,1645,0.00,1.70,0.00,0.000,6,0.000,0.041,2794,2687,3563,0,0,0,0,0,0
$GC,1838,-0.76,-146.0,289.3,-16.7,218,1842,0.00,1.75,0.00,0.000,4,0.000,0.060,2786,3767,3563,0,0,0,0,0,0
$GC,1872,-0.76,-146.0,295.4,-17.1,221,1876,0.12,1.67,0.00,0.000,6,0.164,0.041,2820,2683,3563,0,0,0,0,0,0
$GC,2076,-0.76,-146.0,323.7,-13.6,240,2077,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2682,3563,0,0,0,0,0,0
$STATE,2222,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2222,begin apogee
$GC,2227,-0.17,0.0,343.8,13.2,254,2364,0.55,0.00,131.38,1.004,4,0.125,0.000,3001,2499,2961,0,0,0,0,0,0
$STATE,2365,end apogee,CONTROL_FINISHED_OK
$STATE,2365,begin climb
$GC,2367,0.76,146.0,349.2,0.0,266,2522,0.98,2.53,146.80,0.922,4,0.076,0.048,3311,1099,2365,0,0,0,0,0,0
$GC,2655,0.76,146.0,323.5,11.2,292,2663,0.00,2.47,0.00,0.000,6,0.000,0.050,3311,2489,2354,0,0,0,0,0,0
$GC,2854,0.76,146.0,301.1,10.9,311,2858,0.00,2.25,0.00,0.000,4,0.000,0.049,3320,1097,2352,0,0,0,0,0,0
$GC,2987,0.76,146.0,285.7,11.8,322,2996,0.00,2.33,0.00,0.000,6,0.000,0.052,3320,2512,2349,0,0,0,0,0,0
$GC,3185,0.76,146.0,263.1,11.2,341,3189,0.00,2.00,0.00,0.000,4,0.000,0.057,3321,3769,2348,0,0,0,0,0,0
$GC,3269,0.76,146.0,251.7,14.1,348,3276,0.00,1.95,0.00,0.000,6,0.000,0.041,3330,2537,2348,0,0,0,0,0,0
$GC,3468,0.76,146.0,228.3,11.8,367,3472,0.00,1.98,0.00,0.000,4,0.000,0.057,3330,3763,2347,0,0,0,0,0,0
$GC,3505,0.76,146.0,223.0,14.1,370,3515,0.00,1.95,0.00,0.000,6,0.000,0.041,3339,2533,2347,0,0,0,0,0,0
$GC,3641,0.76,146.0,206.4,12.4,383,3645,0.00,1.98,0.00,0.000,4,0.000,0.056,3339,3764,2347,0,0,0,0,0,0
$GC,3667,0.76,146.0,202.4,14.1,385,3677,0.10,1.92,0.00,0.000,6,0.142,0.039,3316,2548,2347,0,0,0,0,0,0
$GC,3803,0.76,146.0,187.1,11.5,398,3807,0.00,1.98,0.00,0.000,4,0.000,0.058,3316,3770,2347,0,0,0,0,0,0
$GC,3839,0.76,146.0,182.5,13.1,401,3842,0.00,1.88,0.00,0.000,6,0.000,0.041,3323,2558,2347,0,0,0,0,0,0
$GC,3981,0.76,146.0,165.5,11.9,414,3985,0.00,1.95,0.00,0.000,4,0.000,0.057,3323,3768,2347,0,0,0,0,0,0
$GC,4018,0.76,146.0,160.7,13.6,417,4021,0.00,1.85,0.00,0.000,6,0.000,0.040,3333,2566,2347,0,0,0,0,0,0
$GC,4160,0.76,146.0,143.3,11.7,430,4164,0.00,1.95,0.00,0.000,4,0.000,0.057,3333,3773,2347,0,0,0,0,0,0
$GC,4185,0.76,146.0,139.8,12.9,432,4188,0.00,1.85,0.00,0.000,6,0.000,0.040,3342,2577,2347,0,0,0,0,0,0
$GC,4326,0.76,146.0,121.9,12.8,445,4327,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2574,2346,0,0,0,0,0,0
$GC,4453,0.76,146.0,106.0,12.8,457,4455,0.12,0.00,0.00,0.000,6,0.166,0.000,3308,2574,2346,0,0,0,0,0,0
$GC,4582,0.76,146.0,91.6,10.6,476,4590,0.00,1.95,0.00,0.000,4,0.000,0.057,3308,3757,2346,0,0,0,0,0,0
$GC,4619,0.76,146.0,87.1,12.2,482,4628,0.00,1.85,0.00,0.000,6,0.000,0.041,3316,2588,2346,0,0,0,0,0,0
$GC,4765,0.76,146.0,70.9,10.8,507,4771,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2587,2346,0,0,0,0,0,0
$GC,4905,0.76,146.0,54.5,11.6,532,4914,0.00,1.95,0.00,0.000,4,0.000,0.060,3315,3763,2346,0,0,0,0,0,0
$GC,4932,0.76,146.0,51.4,12.5,536,4940,0.00,1.85,0.00,0.000,6,0.000,0.041,3324,2594,2345,0,0,0,0,0,0
$GC,5077,0.76,146.0,34.6,12.1,561,5084,0.00,1.90,0.00,0.000,4,0.000,0.058,3324,3765,2345,0,0,0,0,0,0
$GC,5109,0.76,146.0,30.5,13.1,566,5118,0.00,1.85,0.00,0.000,6,0.000,0.040,3333,2597,2345,0,0,0,0,0,0
$GC,5257,0.76,146.0,12.4,12.1,591,5264,0.00,2.38,0.00,0.000,4,0.000,0.049,3344,1090,2345,0,0,0,0,0,0
$FREEZE,8.99,-0.666,-1.892,2,1,0
$FREEZE,8.32,-0.665,-1.892,2,1,0
$FREEZE,7.59,-0.662,-1.891,2,1,0
$FREEZE,6.92,-0.664,-1.891,2,1,0
$FREEZE,6.16,-0.668,-1.890,2,1,0
$GC,5308,0.76,146.0,6.2,11.8,599,5316,0.12,2.42,0.00,0.000,6,0.159,0.051,3312,2598,2344,0,0,0,0,0,0
$FREEZE,4.14,-0.661,-1.889,2,1,0
$FREEZE,3.36,-0.661,-1.888,2,1,0
$FREEZE,2.77,-0.661,-1.888,2,1,0
$STATE,5334,end climb,SURFACE_DEPTH_REACHED
$STATE,5335,begin surface coast
$FREEZE,1.94,-0.660,-1.887,2,1,0
$FREEZE,1.25,-0.663,-1.887,2,1,0
$FREEZE,1.33,-0.674,-1.742,2,1,0
$FREEZE,1.34,-0.716,-1.061,2,1,0
$FINISH,1.3,1.015663
$STATE,5362,end surface coast,CONTROL_FINISHED_OK
$STATE,5362,begin surface
$SM_CCo,5378,76.30,0.100,0,0,1736,300.24
$SM_GC,2.12,0.00,0.00,76.30,0.000,0.000,0.100,416,2652,1736,-8.28,0.06,300.24
$IRIDIUM_FIX,-7545.40,17723.43,271210,131310
$TT8_MAMPS,0.027713
$HUMID,52.48
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,20.0,18.5
$ALTIM_BOTTOM_PING,300.4,58.3
$24V_AH,20.3,61.640
$10V_AH,9.7,40.973
$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,18.600,73.775,278.175,76.300,0.000,22.156,36.664,170.284,1.500,0.000,44.944,1550.010,1845.451,474.225,1780.837,179.941,0.000,1116.041,0.000,1014.592,0.000,11.877,0.000
$DEVICE_MAMPS,195.840,126.990,1003.680,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,425.871,807.278,916.026,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40476,607
$CAP_FILE_SIZE,89469,0
$CFSIZE,260165632,231038976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.041,352.0,1
$GPS,271210,162344,-7631.249,17736.783,10,1.4,10,121.6