version: 66.08
glider: 502
mission: 3
dive: 370
start: 12 27 110 18 9 0
data:
$ID,502
$MISSION,3
$DIVE,370
$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,-30607.699
$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,36
$R_STBD_OVSHOOT,34
$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
$GPS1,271210,180224,-7631.128,17739.223,41,1.8,41,121.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-73.4
$GPS2,271210,180834,-7631.117,17739.209,15,5.6,34,121.5
$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,342.0,60905,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-80.80,0.000,2,0.000,0.000,424,2662,3220,0,0,0,0,0,0
$GC,102,-0.76,-146.0,3.2,-1.1,12,132,9.00,1.88,-10.62,0.000,4,0.199,0.077,2799,3760,3561,0,0,0,0,0,0
$GC,144,-0.76,-146.0,9.8,-15.8,18,152,0.00,1.77,0.00,0.000,6,0.000,0.042,2799,2648,3562,0,0,0,0,0,0
$GC,284,-0.76,-146.0,32.8,-15.6,43,290,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2647,3563,0,0,0,0,0,0
$GC,422,-0.76,-146.0,55.7,-16.6,68,430,0.00,1.83,0.00,0.000,4,0.000,0.060,2791,3744,3564,0,0,0,0,0,0
$GC,459,-0.76,-146.0,62.3,-18.7,74,467,0.00,1.73,0.00,0.000,6,0.000,0.041,2790,2660,3564,0,0,0,0,0,0
$GC,596,-0.76,-146.0,86.6,-17.5,99,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2659,3564,0,0,0,0,0,0
$GC,738,-0.76,-146.0,112.1,-17.8,119,742,0.00,1.77,0.00,0.000,4,0.000,0.061,2783,3754,3564,0,0,0,0,0,0
$GC,775,-0.76,-146.0,118.5,-18.6,122,779,0.12,1.70,0.00,0.000,6,0.164,0.041,2817,2652,3564,0,0,0,0,0,0
$GC,916,-0.76,-146.0,140.9,-15.4,135,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2652,3564,0,0,0,0,0,0
$GC,1052,-0.76,-146.0,161.5,-14.7,148,1055,0.00,1.80,0.00,0.000,4,0.000,0.061,2809,3761,3565,0,0,0,0,0,0
$GC,1089,-0.76,-146.0,167.8,-15.9,151,1098,0.00,1.73,0.00,0.000,6,0.000,0.041,2809,2671,3564,0,0,0,0,0,0
$GC,1225,-0.76,-146.0,188.1,-15.1,164,1228,0.00,1.75,0.00,0.000,4,0.000,0.061,2801,3753,3564,0,0,0,0,0,0
$GC,1249,-0.76,-146.0,191.8,-15.7,166,1253,0.00,1.65,0.00,0.000,6,0.000,0.042,2801,2682,3564,0,0,0,0,0,0
$GC,1390,-0.76,-146.0,214.1,-15.8,179,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2680,3565,0,0,0,0,0,0
$GC,1517,-0.76,-146.0,234.5,-15.7,191,1521,0.00,1.75,0.00,0.000,4,0.000,0.060,2793,3760,3565,0,0,0,0,0,0
$GC,1543,-0.76,-146.0,238.3,-16.8,193,1546,0.00,1.65,0.00,0.000,6,0.000,0.041,2793,2689,3565,0,0,0,0,0,0
$GC,1683,-0.76,-146.0,262.0,-16.6,206,1684,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2687,3564,0,0,0,0,0,0
$GC,1873,-0.76,-146.0,293.8,-16.1,224,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2687,3564,0,0,0,0,0,0
$GC,2066,-0.76,-146.0,324.1,-15.5,242,2070,0.00,1.73,0.00,0.000,4,0.000,0.060,2785,3753,3564,0,0,0,0,0,0
$GC,2113,-0.76,-146.0,332.1,-17.5,246,2117,0.12,1.65,0.00,0.000,6,0.164,0.042,2819,2684,3565,0,0,0,0,0,0
$STATE,2155,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2155,begin apogee
$GC,2160,-0.17,0.0,338.8,15.1,250,2299,0.57,0.00,132.10,1.001,4,0.124,0.000,3008,2488,2960,0,0,0,0,0,0
$STATE,2299,end apogee,CONTROL_FINISHED_OK
$STATE,2299,begin climb
$GC,2301,0.76,146.0,344.6,0.0,262,2459,0.95,2.50,147.27,0.921,4,0.073,0.047,3312,1091,2365,0,0,0,0,0,0
$GC,2563,0.76,146.0,323.2,11.5,285,2567,0.00,2.47,0.00,0.000,6,0.000,0.050,3312,2488,2355,0,0,0,0,0,0
$GC,2760,0.76,146.0,300.6,11.2,303,2765,0.00,2.28,0.00,0.000,4,0.000,0.048,3322,1089,2352,0,0,0,0,0,0
$GC,2891,0.76,146.0,286.0,11.7,314,2895,0.00,2.33,0.00,0.000,6,0.000,0.052,3322,2525,2349,0,0,0,0,0,0
$GC,3089,0.76,146.0,263.0,11.5,332,3092,0.00,1.98,0.00,0.000,4,0.000,0.057,3322,3770,2349,0,0,0,0,0,0
$GC,3172,0.76,146.0,251.2,15.2,339,3179,0.00,1.95,0.00,0.000,6,0.000,0.041,3329,2536,2348,0,0,0,0,0,0
$GC,3372,0.76,146.0,226.1,12.4,358,3375,0.00,1.98,0.00,0.000,4,0.000,0.057,3329,3763,2347,0,0,0,0,0,0
$GC,3407,0.76,146.0,221.3,14.5,361,3411,0.00,1.92,0.00,0.000,6,0.000,0.041,3339,2517,2347,0,0,0,0,0,0
$GC,3550,0.76,146.0,202.2,13.4,374,3554,0.00,2.03,0.00,0.000,4,0.000,0.058,3339,3773,2347,0,0,0,0,0,0
$GC,3576,0.76,146.0,197.7,14.9,376,3587,0.10,1.95,0.00,0.000,6,0.142,0.041,3315,2544,2346,0,0,0,0,0,0
$GC,3713,0.76,146.0,181.5,11.7,389,3714,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2543,2347,0,0,0,0,0,0
$GC,3840,0.76,146.0,166.0,11.9,401,3843,0.00,1.98,0.00,0.000,4,0.000,0.058,3316,3765,2347,0,0,0,0,0,0
$GC,3877,0.76,146.0,160.7,13.5,404,3886,0.00,1.92,0.00,0.000,6,0.000,0.039,3323,2544,2346,0,0,0,0,0,0
$GC,4015,0.76,146.0,144.4,12.1,417,4018,0.00,1.98,0.00,0.000,4,0.000,0.058,3323,3768,2346,0,0,0,0,0,0
$GC,4041,0.76,146.0,140.3,12.8,419,4050,0.00,1.92,0.00,0.000,6,0.000,0.040,3333,2550,2346,0,0,0,0,0,0
$GC,4177,0.76,146.0,123.9,12.3,432,4178,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2549,2346,0,0,0,0,0,0
$GC,4305,0.76,146.0,108.6,11.6,444,4308,0.00,1.98,0.00,0.000,4,0.000,0.058,3333,3770,2346,0,0,0,0,0,0
$GC,4342,0.76,146.0,103.4,13.3,447,4351,0.08,1.90,0.00,0.000,6,0.143,0.041,3317,2566,2346,0,0,0,0,0,0
$GC,4480,0.76,146.0,88.0,11.2,470,4488,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2565,2345,0,0,0,0,0,0
$GC,4621,0.76,146.0,72.7,11.1,495,4627,0.00,1.95,0.00,0.000,4,0.000,0.059,3317,3764,2346,0,0,0,0,0,0
$GC,4662,0.76,146.0,67.5,12.2,502,4670,0.00,1.88,0.00,0.000,6,0.000,0.040,3324,2574,2345,0,0,0,0,0,0
$GC,4802,0.76,146.0,51.4,10.9,527,4808,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2573,2345,0,0,0,0,0,0
$GC,4938,0.76,146.0,35.2,12.1,552,4947,0.00,1.98,0.00,0.000,4,0.000,0.058,3324,3767,2345,0,0,0,0,0,0
$GC,4981,0.76,146.0,29.8,13.5,559,4987,0.00,1.85,0.00,0.000,6,0.000,0.039,3333,2571,2345,0,0,0,0,0,0
$GC,5119,0.76,146.0,12.5,11.8,584,5127,0.00,1.98,0.00,0.000,4,0.000,0.058,3333,3761,2345,0,0,0,0,0,0
$FREEZE,8.86,-0.748,-1.891,2,1,0
$GC,5145,0.76,146.0,8.9,13.5,588,5154,0.08,1.85,0.00,0.000,6,0.143,0.041,3317,2596,2345,0,0,0,0,0,0
$FREEZE,6.63,-0.624,-1.888,2,1,0
$FREEZE,6.06,-0.590,-1.888,2,1,0
$FREEZE,5.41,-0.575,-1.888,2,1,0
$FREEZE,4.81,-0.576,-1.888,2,1,0
$FREEZE,3.96,-0.571,-1.887,2,1,0
$FREEZE,3.37,-0.571,-1.887,2,1,0
$FREEZE,2.70,-0.572,-1.887,2,1,0
$STATE,5194,end climb,SURFACE_DEPTH_REACHED
$STATE,5194,begin surface coast
$FREEZE,2.12,-0.572,-1.886,2,1,0
$FREEZE,1.37,-0.574,-1.886,2,1,0
$FREEZE,1.24,-0.621,-1.086,2,1,0
$FREEZE,1.32,-0.670,-0.880,2,1,0
$FINISH,1.3,1.012983
$STATE,5221,end surface coast,CONTROL_FINISHED_OK
$STATE,5221,begin surface
$SM_CCo,5237,80.93,0.727,1,0,1737,300.24
$SM_GC,2.06,0.00,0.00,80.93,0.000,0.000,0.727,419,2654,1737,-8.27,0.11,300.24
$IRIDIUM_FIX,-7545.40,17741.46,271210,161617
$TT8_MAMPS,0.028462
$HUMID,52.52
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,18.2
$ALTIM_BOTTOM_PING,300.7,52.9
$24V_AH,20.3,61.837
$10V_AH,9.7,41.134
$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,18.525,69.275,279.375,80.925,0.000,24.750,39.848,177.174,1.500,0.000,36.019,1534.027,1754.710,474.838,1761.927,175.725,0.000,1117.090,0.000,1001.247,0.000,8.905,0.000
$DEVICE_MAMPS,198.900,113.220,1001.385,726.750,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,421.053,807.912,919.557,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40382,600
$CAP_FILE_SIZE,88935,0
$CFSIZE,260165632,230940672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.109,318.7,1
$GPS,271210,193832,-7631.022,17741.146,12,1.4,12,121.4