version: 66.08
glider: 502
mission: 3
dive: 371
start: 12 27 110 19 44 46
data:
$ID,502
$MISSION,3
$DIVE,371
$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,-30608.957
$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,29
$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
$GPS1,271210,193832,-7631.022,17741.146,12,1.4,12,121.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-74.0
$GPS2,271210,194420,-7631.008,17741.109,15,1.4,15,121.4
$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,345.6,60077,-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,13,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,96,0.00,0.00,-77.62,0.000,2,0.000,0.000,419,2654,3154,0,0,0,0,0,0
$GC,98,-0.76,-146.0,3.0,-1.1,12,128,8.98,2.28,-13.43,0.000,4,0.203,0.060,2807,1241,3559,0,0,0,0,0,0
$GC,162,-0.76,-146.0,12.1,-16.3,22,171,0.00,2.33,0.00,0.000,6,0.000,0.056,2799,2645,3560,0,0,0,0,0,0
$GC,308,-0.76,-146.0,36.4,-16.8,47,315,0.00,1.83,0.00,0.000,4,0.000,0.060,2790,3761,3561,0,0,0,0,0,0
$GC,361,-0.76,-146.0,46.3,-18.4,56,369,0.00,1.75,0.00,0.000,6,0.000,0.041,2790,2659,3561,0,0,0,0,0,0
$GC,504,-0.76,-146.0,71.5,-17.5,81,510,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2658,3561,0,0,0,0,0,0
$GC,645,-0.76,-146.0,96.5,-17.6,106,654,0.00,1.83,0.00,0.000,4,0.000,0.062,2783,3755,3561,0,0,0,0,0,0
$GC,695,-0.76,-146.0,105.6,-19.2,112,699,0.12,1.67,0.00,0.000,6,0.163,0.041,2816,2670,3561,0,0,0,0,0,0
$GC,837,-0.76,-146.0,127.7,-15.1,125,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2668,3562,0,0,0,0,0,0
$GC,972,-0.76,-146.0,148.7,-15.4,138,976,0.00,1.77,0.00,0.000,4,0.000,0.061,2809,3764,3562,0,0,0,0,0,0
$GC,1009,-0.76,-146.0,155.3,-17.4,141,1018,0.00,1.73,0.00,0.000,6,0.000,0.041,2809,2677,3562,0,0,0,0,0,0
$GC,1146,-0.76,-146.0,176.1,-15.6,154,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2676,3562,0,0,0,0,0,0
$GC,1273,-0.76,-146.0,196.1,-16.0,166,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2676,3562,0,0,0,0,0,0
$GC,1400,-0.76,-146.0,216.0,-15.5,178,1403,0.00,1.77,0.00,0.000,4,0.000,0.060,2801,3770,3562,0,0,0,0,0,0
$GC,1437,-0.76,-146.0,222.7,-16.1,181,1447,0.00,1.73,0.00,0.000,6,0.000,0.041,2801,2679,3562,0,0,0,0,0,0
$GC,1574,-0.76,-146.0,243.7,-15.4,194,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2678,3562,0,0,0,0,0,0
$GC,1709,-0.76,-146.0,265.2,-15.8,207,1713,0.00,1.80,0.00,0.000,4,0.000,0.061,2793,3760,3562,0,0,0,0,0,0
$GC,1743,-0.76,-146.0,270.8,-16.9,210,1747,0.00,1.70,0.00,0.000,6,0.000,0.041,2793,2690,3562,0,0,0,0,0,0
$GC,1948,-0.76,-146.0,303.0,-15.7,229,1949,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2688,3562,0,0,0,0,0,0
$GC,2138,-0.76,-146.0,332.7,-15.7,247,2142,0.00,1.75,0.00,0.000,4,0.000,0.060,2785,3768,3562,0,0,0,0,0,0
$STATE,2163,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2164,begin apogee
$GC,2171,-0.17,0.0,337.5,16.7,249,2311,0.68,0.00,131.15,0.998,4,0.130,0.000,3000,2485,2961,0,0,0,0,0,0
$STATE,2312,end apogee,CONTROL_FINISHED_OK
$STATE,2312,begin climb
$GC,2314,0.76,146.0,343.7,0.0,262,2471,0.93,0.00,147.62,0.917,6,0.082,0.000,3301,2484,2363,0,0,0,0,0,0
$GC,2664,0.76,146.0,311.4,10.9,294,2668,0.00,2.20,0.00,0.000,4,0.000,0.057,3301,3760,2352,0,0,0,0,0,0
$GC,2741,0.76,146.0,300.8,13.3,300,2748,0.00,2.08,0.00,0.000,6,0.000,0.040,3311,2507,2351,0,0,0,0,0,0
$GC,2939,0.76,146.0,277.7,11.3,319,2943,0.00,2.05,0.00,0.000,4,0.000,0.057,3311,3768,2348,0,0,0,0,0,0
$GC,3008,0.76,146.0,268.7,13.4,325,3011,0.00,1.92,0.00,0.000,6,0.000,0.040,3320,2534,2348,0,0,0,0,0,0
$GC,3212,0.76,146.0,243.9,11.7,344,3216,0.00,2.00,0.00,0.000,4,0.000,0.057,3320,3767,2347,0,0,0,0,0,0
$GC,3249,0.76,146.0,238.5,14.3,347,3258,0.00,1.95,0.00,0.000,6,0.000,0.040,3328,2538,2347,0,0,0,0,0,0
$GC,3388,0.76,146.0,221.9,12.4,360,3391,0.00,1.98,0.00,0.000,4,0.000,0.057,3328,3764,2346,0,0,0,0,0,0
$GC,3434,0.76,146.0,215.3,14.8,364,3437,0.00,1.88,0.00,0.000,6,0.000,0.039,3337,2551,2347,0,0,0,0,0,0
$GC,3575,0.76,146.0,196.4,13.4,377,3579,0.00,1.98,0.00,0.000,4,0.000,0.058,3338,3772,2346,0,0,0,0,0,0
$GC,3590,0.76,146.0,193.8,13.5,378,3600,0.10,1.90,0.00,0.000,6,0.139,0.041,3314,2569,2346,0,0,0,0,0,0
$GC,3727,0.76,146.0,177.3,12.0,391,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2569,2345,0,0,0,0,0,0
$GC,3862,0.76,146.0,161.0,11.7,404,3866,0.00,1.92,0.00,0.000,4,0.000,0.057,3313,3764,2344,0,0,0,0,0,0
$GC,3898,0.76,146.0,156.6,13.7,407,3902,0.00,1.85,0.00,0.000,6,0.000,0.039,3321,2561,2345,0,0,0,0,0,0
$GC,4039,0.76,146.0,138.9,12.3,420,4043,0.00,1.95,0.00,0.000,4,0.000,0.057,3321,3770,2344,0,0,0,0,0,0
$GC,4063,0.76,146.0,135.5,13.6,422,4067,0.00,1.85,0.00,0.000,6,0.000,0.040,3328,2572,2344,0,0,0,0,0,0
$GC,4205,0.76,146.0,117.2,13.0,435,4209,0.00,1.92,0.00,0.000,4,0.000,0.057,3328,3764,2344,0,0,0,0,0,0
$GC,4229,0.76,146.0,113.8,13.2,437,4233,0.00,1.83,0.00,0.000,6,0.000,0.039,3337,2579,2344,0,0,0,0,0,0
$GC,4364,0.76,146.0,95.8,13.3,452,4372,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2577,2344,0,0,0,0,0,0
$GC,4509,0.76,146.0,77.0,13.3,477,4516,0.00,1.92,0.00,0.000,4,0.000,0.057,3337,3765,2343,0,0,0,0,0,0
$GC,4539,0.76,146.0,72.3,15.0,482,4548,0.10,1.85,0.00,0.000,6,0.139,0.039,3313,2595,2344,0,0,0,0,0,0
$GC,4687,0.76,146.0,55.3,11.6,507,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2595,2343,0,0,0,0,0,0
$GC,4827,0.76,146.0,39.2,11.7,532,4835,0.00,1.92,0.00,0.000,4,0.000,0.058,3313,3757,2343,0,0,0,0,0,0
$GC,4853,0.76,146.0,36.2,11.8,536,4861,0.00,1.83,0.00,0.000,6,0.000,0.041,3320,2606,2343,0,0,0,0,0,0
$GC,5000,0.76,146.0,19.4,11.6,561,5006,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2606,2343,0,0,0,0,0,0
$FREEZE,8.63,-0.777,-1.891,2,1,0
$FREEZE,7.96,-0.762,-1.891,2,1,0
$FREEZE,7.27,-0.753,-1.890,2,1,0
$FREEZE,6.63,-0.655,-1.889,2,1,0
$FREEZE,5.91,-0.644,-1.889,2,1,0
$FREEZE,5.29,-0.601,-1.888,2,1,0
$FREEZE,4.51,-0.597,-1.887,2,1,0
$FREEZE,3.92,-0.616,-1.888,2,1,0
$FREEZE,3.09,-0.568,-1.887,2,1,0
$FREEZE,2.43,-0.573,-1.886,2,1,0
$STATE,5137,end climb,SURFACE_DEPTH_REACHED
$STATE,5137,begin surface coast
$FREEZE,1.57,-0.596,-1.886,2,1,0
$FREEZE,1.32,-0.574,-0.937,2,1,0
$FREEZE,1.30,-0.586,-1.885,2,1,0
$FREEZE,1.26,-0.598,-1.146,2,1,0
$FINISH,1.3,1.016923
$STATE,5163,end surface coast,CONTROL_FINISHED_OK
$STATE,5163,begin surface
$SM_CCo,5179,82.88,0.724,1,0,1737,300.24
$SM_GC,2.21,0.00,0.00,82.88,0.000,0.000,0.724,430,2666,1737,-8.24,0.45,300.24
$IRIDIUM_FIX,-7545.40,17750.68,271210,181854
$TT8_MAMPS,0.027713
$HUMID,52.44
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,13.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.4,18.0
$ALTIM_BOTTOM_PING,301.4,50.7
$24V_AH,20.3,61.943
$10V_AH,9.7,41.212
$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,18.425,64.850,278.775,82.875,0.000,24.152,37.385,177.687,1.500,0.000,15.883,1489.150,1789.645,480.708,1695.920,167.922,0.000,1100.992,0.000,963.893,0.000,8.900,0.000
$DEVICE_MAMPS,202.725,108.630,998.325,724.455,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,413.118,788.435,902.644,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40397,589
$CAP_FILE_SIZE,84742,0
$CFSIZE,260165632,230895616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.123,303.0,1
$GPS,271210,211337,-7631.032,17742.955,26,1.2,26,121.4