version: 66.08
glider: 502
mission: 3
dive: 369
start: 12 27 110 16 29 52
data:
$ID,502
$MISSION,3
$DIVE,369
$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,-30606.441
$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,35
$R_STBD_OVSHOOT,26
$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
$GPS1,271210,162344,-7631.249,17736.783,10,1.4,10,121.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-73.7
$GPS2,271210,162926,-7631.243,17736.760,12,1.4,12,121.6
$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,335.2,61972,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,86,0.00,0.00,-68.43,0.000,2,0.000,0.000,413,2652,2960,0,0,0,0,0,0
$GC,89,-0.76,-146.0,3.0,-3.2,10,133,9.02,1.85,-25.58,0.000,4,0.197,0.076,2803,3754,3559,0,0,0,0,0,0
$GC,184,-0.76,-146.0,12.8,-16.6,25,191,0.00,1.77,0.00,0.000,6,0.000,0.041,2803,2619,3560,0,0,0,0,0,0
$GC,322,-0.76,-146.0,35.3,-16.0,50,330,0.00,2.20,0.00,0.000,4,0.000,0.049,2803,1245,3562,0,0,0,0,0,0
$GC,347,-0.76,-146.0,39.5,-16.2,54,355,0.00,2.35,0.00,0.000,6,0.000,0.056,2794,2665,3561,0,0,0,0,0,0
$GC,487,-0.76,-146.0,62.5,-16.3,79,495,0.00,1.77,0.00,0.000,4,0.000,0.060,2785,3769,3562,0,0,0,0,0,0
$GC,535,-0.76,-146.0,71.2,-18.7,87,544,0.12,1.75,0.00,0.000,6,0.163,0.041,2819,2668,3562,0,0,0,0,0,0
$GC,676,-0.76,-146.0,92.8,-14.7,112,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2667,3563,0,0,0,0,0,0
$GC,814,-0.76,-146.0,113.1,-14.6,129,817,0.00,1.77,0.00,0.000,4,0.000,0.060,2812,3767,3562,0,0,0,0,0,0
$GC,860,-0.76,-146.0,120.4,-16.2,133,864,0.00,1.67,0.00,0.000,6,0.000,0.041,2812,2683,3563,0,0,0,0,0,0
$GC,1002,-0.76,-146.0,142.1,-15.2,146,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2681,3563,0,0,0,0,0,0
$GC,1138,-0.76,-146.0,163.1,-15.7,159,1141,0.00,1.75,0.00,0.000,4,0.000,0.060,2803,3764,3563,0,0,0,0,0,0
$GC,1173,-0.76,-146.0,168.9,-17.1,162,1176,0.00,1.67,0.00,0.000,6,0.000,0.041,2803,2679,3563,0,0,0,0,0,0
$GC,1314,-0.76,-146.0,191.3,-15.3,175,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2677,3563,0,0,0,0,0,0
$GC,1441,-0.76,-146.0,211.4,-16.2,187,1445,0.00,1.77,0.00,0.000,4,0.000,0.061,2795,3771,3563,0,0,0,0,0,0
$GC,1487,-0.76,-146.0,219.3,-17.4,191,1491,0.00,1.67,0.00,0.000,6,0.000,0.042,2795,2688,3563,0,0,0,0,0,0
$GC,1628,-0.76,-146.0,242.3,-16.1,204,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2687,3563,0,0,0,0,0,0
$GC,1755,-0.76,-146.0,262.6,-16.0,216,1758,0.00,1.75,0.00,0.000,4,0.000,0.060,2786,3770,3563,0,0,0,0,0,0
$GC,1778,-0.76,-146.0,266.6,-16.4,218,1782,0.12,1.65,0.00,0.000,6,0.164,0.041,2820,2700,3563,0,0,0,0,0,0
$GC,1981,-0.76,-146.0,295.6,-14.5,237,1985,0.00,2.30,0.00,0.000,4,0.000,0.050,2820,1244,3563,0,0,0,0,0,0
$GC,2005,-0.76,-146.0,299.0,-13.7,239,2009,0.00,2.38,0.00,0.000,6,0.000,0.056,2811,2709,3563,0,0,0,0,0,0
$GC,2202,-0.76,-146.0,327.3,-14.8,257,2206,0.00,1.67,0.00,0.000,4,0.000,0.061,2803,3765,3563,0,0,0,0,0,0
$GC,2248,-0.76,-146.0,334.2,-15.7,261,2252,0.00,1.65,0.00,0.000,6,0.000,0.041,2803,2694,3563,0,0,0,0,0,0
$STATE,2301,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2301,begin apogee
$GC,2306,-0.17,0.0,342.5,14.6,266,2443,0.62,0.00,131.52,1.000,4,0.128,0.000,3003,2497,2961,0,0,0,0,0,0
$STATE,2444,end apogee,CONTROL_FINISHED_OK
$STATE,2444,begin climb
$GC,2447,0.76,146.0,348.7,0.0,278,2602,0.95,2.50,147.07,0.924,4,0.074,0.047,3306,1102,2365,0,0,0,0,0,0
$GC,2700,0.76,146.0,328.8,10.7,301,2704,0.00,2.50,0.00,0.000,6,0.000,0.049,3306,2506,2356,0,0,0,0,0,0
$GC,2897,0.76,146.0,306.1,11.3,319,2902,0.00,2.30,0.00,0.000,4,0.000,0.048,3316,1095,2352,0,0,0,0,0,0
$GC,3031,0.76,146.0,290.6,11.4,330,3039,0.00,2.33,0.00,0.000,6,0.000,0.050,3316,2510,2349,0,0,0,0,0,0
$GC,3229,0.76,146.0,266.6,11.9,349,3233,0.00,2.00,0.00,0.000,4,0.000,0.057,3316,3766,2349,0,0,0,0,0,0
$GC,3290,0.76,146.0,257.9,14.7,354,3297,0.00,1.95,0.00,0.000,6,0.000,0.039,3325,2530,2348,0,0,0,0,0,0
$GC,3490,0.76,146.0,232.6,12.5,373,3493,0.00,2.00,0.00,0.000,4,0.000,0.057,3325,3773,2347,0,0,0,0,0,0
$GC,3537,0.76,146.0,225.7,15.4,377,3541,0.00,1.92,0.00,0.000,6,0.000,0.041,3335,2529,2347,0,0,0,0,0,0
$GC,3678,0.76,146.0,206.6,13.3,390,3682,0.00,2.00,0.00,0.000,4,0.000,0.057,3335,3774,2347,0,0,0,0,0,0
$GC,3705,0.76,146.0,202.1,14.8,392,3714,0.08,1.92,0.00,0.000,6,0.146,0.040,3319,2553,2347,0,0,0,0,0,0
$GC,3841,0.76,146.0,185.0,12.3,405,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2551,2347,0,0,0,0,0,0
$GC,3968,0.76,146.0,169.3,12.6,417,3972,0.00,1.95,0.00,0.000,4,0.000,0.057,3319,3765,2347,0,0,0,0,0,0
$GC,4027,0.76,146.0,161.2,13.5,422,4037,0.00,1.90,0.00,0.000,6,0.000,0.039,3327,2556,2347,0,0,0,0,0,0
$GC,4163,0.76,146.0,144.9,12.1,435,4167,0.00,1.95,0.00,0.000,4,0.000,0.057,3326,3769,2347,0,0,0,0,0,0
$GC,4189,0.76,146.0,141.8,12.3,437,4192,0.00,1.85,0.00,0.000,6,0.000,0.039,3336,2562,2347,0,0,0,0,0,0
$GC,4332,0.76,146.0,124.2,12.5,450,4339,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2560,2347,0,0,0,0,0,0
$GC,4467,0.76,146.0,106.8,12.6,463,4468,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2560,2346,0,0,0,0,0,0
$GC,4596,0.76,146.0,90.3,12.4,481,4603,0.00,1.95,0.00,0.000,4,0.000,0.057,3336,3764,2346,0,0,0,0,0,0
$GC,4632,0.76,146.0,85.1,14.4,487,4641,0.12,1.85,0.00,0.000,6,0.164,0.040,3311,2566,2346,0,0,0,0,0,0
$GC,4774,0.76,146.0,68.9,11.7,512,4781,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2565,2346,0,0,0,0,0,0
$GC,4914,0.76,146.0,53.0,11.6,537,4921,0.00,1.98,0.00,0.000,4,0.000,0.059,3311,3758,2345,0,0,0,0,0,0
$GC,4943,0.76,146.0,49.3,12.5,542,4952,0.00,1.88,0.00,0.000,6,0.000,0.041,3319,2572,2345,0,0,0,0,0,0
$GC,5083,0.76,146.0,33.7,10.4,567,5091,0.00,1.95,0.00,0.000,4,0.000,0.058,3319,3771,2345,0,0,0,0,0,0
$GC,5110,0.76,146.0,30.4,11.9,571,5117,0.00,1.85,0.00,0.000,6,0.000,0.041,3328,2579,2345,0,0,0,0,0,0
$GC,5249,0.76,146.0,15.0,10.7,596,5257,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2577,2346,0,0,0,0,0,0
$FREEZE,8.87,-0.603,-1.891,2,1,0
$FREEZE,8.01,-0.573,-1.891,2,1,0
$FREEZE,7.40,-0.581,-1.890,2,1,0
$FREEZE,6.66,-0.578,-1.890,2,1,0
$FREEZE,6.07,-0.574,-1.890,2,1,0
$FREEZE,5.15,-0.575,-1.889,2,1,0
$FREEZE,4.49,-0.583,-1.889,2,1,0
$FREEZE,3.83,-0.578,-1.888,2,1,0
$FREEZE,3.17,-0.578,-1.888,2,1,0
$FREEZE,2.34,-0.576,-1.887,2,1,0
$STATE,5354,end climb,SURFACE_DEPTH_REACHED
$STATE,5354,begin surface coast
$FREEZE,1.52,-0.569,-1.886,2,1,0
$FREEZE,1.21,-0.601,-1.354,2,1,0
$FREEZE,1.25,-0.589,-0.951,2,1,0
$FREEZE,1.27,-0.588,-1.877,2,1,0
$FINISH,1.3,1.027482
$STATE,5380,end surface coast,CONTROL_FINISHED_OK
$STATE,5380,begin surface
$SM_CCo,5397,76.35,0.100,0,0,1737,300.24
$SM_GC,2.07,0.00,0.00,76.35,0.000,0.000,0.100,424,2662,1737,-8.26,0.34,300.24
$IRIDIUM_FIX,-7545.40,17732.63,271210,141454
$TT8_MAMPS,0.027713
$HUMID,52.71
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,18.4
$ALTIM_BOTTOM_PING,301.3,54.8
$24V_AH,20.3,61.731
$10V_AH,9.7,41.053
$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,18.600,74.350,278.600,76.350,0.000,28.689,38.297,169.321,1.750,0.000,13.352,1577.178,1826.434,467.611,1778.682,173.918,0.000,1121.146,0.000,1030.835,0.000,8.914,0.000
$DEVICE_MAMPS,197.370,99.450,999.855,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,433.923,826.883,927.744,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43794,618
$CAP_FILE_SIZE,90241,0
$CFSIZE,260165632,230981632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076,333.2,1
$GPS,271210,180224,-7631.128,17739.223,41,1.8,41,121.5