version: 66.08
glider: 502
mission: 3
dive: 372
start: 12 27 110 21 19 46
data:
$ID,502
$MISSION,3
$DIVE,372
$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,-30610.215
$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,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
$GPS1,271210,211337,-7631.032,17742.955,26,1.2,26,121.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-73.9
$GPS2,271210,211920,-7631.021,17742.889,13,1.2,13,121.4
$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,342.4,59309,-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,16,-0.76,-146.0,0.0,0.0,0,98,0.00,0.00,-80.20,0.000,2,0.000,0.000,430,2666,3211,0,0,0,0,0,0
$GC,101,-0.76,-146.0,3.2,-1.1,12,131,8.90,2.35,-10.85,0.000,4,0.201,0.063,2805,1244,3560,0,0,0,0,0,0
$GC,187,-0.76,-146.0,16.6,-15.3,26,196,0.00,2.33,0.00,0.000,6,0.000,0.056,2796,2644,3562,0,0,0,0,0,0
$GC,333,-0.76,-146.0,40.4,-16.9,51,340,0.00,1.80,0.00,0.000,4,0.000,0.060,2788,3766,3562,0,0,0,0,0,0
$GC,386,-0.76,-146.0,50.7,-19.4,60,394,0.00,1.77,0.00,0.000,6,0.000,0.041,2788,2649,3562,0,0,0,0,0,0
$GC,531,-0.76,-146.0,75.5,-17.5,85,538,0.10,0.00,0.00,0.000,6,0.178,0.000,2813,2648,3562,0,0,0,0,0,0
$GC,670,-0.76,-146.0,98.1,-15.4,110,679,0.00,1.85,0.00,0.000,4,0.000,0.060,2806,3760,3563,0,0,0,0,0,0
$GC,710,-0.76,-146.0,104.4,-16.7,114,713,0.00,1.70,0.00,0.000,6,0.000,0.041,2806,2663,3563,0,0,0,0,0,0
$GC,851,-0.76,-146.0,127.4,-16.2,127,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2660,3563,0,0,0,0,0,0
$GC,978,-0.76,-146.0,148.1,-16.3,139,981,0.00,1.80,0.00,0.000,4,0.000,0.061,2798,3769,3563,0,0,0,0,0,0
$GC,1026,-0.76,-146.0,156.9,-17.2,143,1035,0.00,1.73,0.00,0.000,6,0.000,0.041,2798,2681,3563,0,0,0,0,0,0
$GC,1164,-0.76,-146.0,179.0,-16.5,156,1171,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2681,3563,0,0,0,0,0,0
$GC,1299,-0.76,-146.0,201.6,-16.6,169,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2681,3563,0,0,0,0,0,0
$GC,1426,-0.76,-146.0,222.2,-16.3,181,1430,0.00,1.77,0.00,0.000,4,0.000,0.061,2789,3773,3563,0,0,0,0,0,0
$GC,1484,-0.76,-146.0,231.9,-16.7,186,1488,0.00,1.70,0.00,0.000,6,0.000,0.041,2789,2675,3563,0,0,0,0,0,0
$GC,1624,-0.76,-146.0,254.9,-16.2,199,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2673,3563,0,0,0,0,0,0
$GC,1815,-0.76,-146.0,287.2,-17.2,217,1819,0.00,1.77,0.00,0.000,4,0.000,0.060,2782,3765,3563,0,0,0,0,0,0
$GC,1849,-0.76,-146.0,293.2,-17.4,220,1853,0.12,1.67,0.00,0.000,6,0.164,0.041,2815,2683,3563,0,0,0,0,0,0
$GC,2053,-0.76,-146.0,322.6,-14.5,239,2056,0.00,1.77,0.00,0.000,4,0.000,0.061,2807,3771,3563,0,0,0,0,0,0
$GC,2080,-0.76,-146.0,327.3,-15.9,241,2087,0.00,1.67,0.00,0.000,6,0.000,0.041,2807,2690,3563,0,0,0,0,0,0
$STATE,2159,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2160,begin apogee
$GC,2165,-0.17,0.0,339.1,14.9,249,2303,0.60,0.00,131.07,0.998,4,0.129,0.000,3001,2492,2961,0,0,0,0,0,0
$STATE,2304,end apogee,CONTROL_FINISHED_OK
$STATE,2304,begin climb
$GC,2306,0.76,146.0,345.7,0.0,261,2462,0.98,2.47,146.77,0.919,4,0.077,0.047,3310,1102,2365,0,0,0,0,0,0
$GC,2572,0.76,146.0,322.9,11.1,285,2576,0.00,2.47,0.00,0.000,6,0.000,0.049,3310,2500,2356,0,0,0,0,0,0
$GC,2770,0.76,146.0,300.0,11.7,303,2773,0.00,2.28,0.00,0.000,4,0.000,0.049,3315,1101,2352,0,0,0,0,0,0
$GC,2905,0.76,146.0,284.7,11.1,315,2910,0.00,2.30,0.00,0.000,6,0.000,0.052,3315,2522,2350,0,0,0,0,0,0
$GC,3103,0.76,146.0,261.2,11.9,333,3106,0.00,1.98,0.00,0.000,4,0.000,0.056,3315,3766,2349,0,0,0,0,0,0
$GC,3186,0.76,146.0,248.8,14.8,340,3195,0.00,1.95,0.00,0.000,6,0.000,0.040,3324,2532,2349,0,0,0,0,0,0
$GC,3322,0.76,146.0,231.1,12.9,353,3325,0.00,1.98,0.00,0.000,4,0.000,0.057,3324,3763,2348,0,0,0,0,0,0
$GC,3348,0.76,146.0,227.1,14.4,355,3357,0.00,1.92,0.00,0.000,6,0.000,0.040,3334,2544,2348,0,0,0,0,0,0
$GC,3484,0.76,146.0,209.9,12.5,368,3488,0.00,1.98,0.00,0.000,4,0.000,0.057,3333,3770,2348,0,0,0,0,0,0
$GC,3532,0.76,146.0,202.4,14.4,372,3542,0.08,1.90,0.00,0.000,6,0.143,0.040,3318,2566,2348,0,0,0,0,0,0
$GC,3670,0.76,146.0,186.4,12.2,385,3673,0.00,1.95,0.00,0.000,4,0.000,0.058,3318,3774,2347,0,0,0,0,0,0
$GC,3695,0.76,146.0,183.2,12.6,387,3698,0.00,1.88,0.00,0.000,6,0.000,0.041,3326,2560,2347,0,0,0,0,0,0
$GC,3836,0.76,146.0,165.5,12.3,400,3837,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2559,2347,0,0,0,0,0,0
$GC,3963,0.76,146.0,149.9,12.5,412,3966,0.00,1.95,0.00,0.000,4,0.000,0.057,3326,3768,2347,0,0,0,0,0,0
$GC,3986,0.76,146.0,146.7,13.5,414,3990,0.00,1.85,0.00,0.000,6,0.000,0.040,3335,2570,2347,0,0,0,0,0,0
$GC,4128,0.76,146.0,127.9,13.3,427,4132,0.00,1.92,0.00,0.000,4,0.000,0.058,3334,3764,2347,0,0,0,0,0,0
$GC,4163,0.76,146.0,122.7,15.3,430,4167,0.12,1.83,0.00,0.000,6,0.162,0.039,3310,2580,2347,0,0,0,0,0,0
$GC,4307,0.76,146.0,105.7,11.4,443,4310,0.00,1.92,0.00,0.000,4,0.000,0.057,3310,3773,2347,0,0,0,0,0,0
$GC,4323,0.76,146.0,103.1,11.9,444,4331,0.00,1.88,0.00,0.000,6,0.000,0.041,3317,2593,2346,0,0,0,0,0,0
$GC,4463,0.76,146.0,86.5,11.8,467,4469,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2592,2347,0,0,0,0,0,0
$GC,4603,0.76,146.0,69.7,12.2,492,4611,0.00,1.92,0.00,0.000,4,0.000,0.058,3317,3755,2346,0,0,0,0,0,0
$GC,4627,0.76,146.0,66.8,13.2,495,4634,0.00,1.80,0.00,0.000,6,0.000,0.040,3326,2596,2346,0,0,0,0,0,0
$GC,4770,0.76,146.0,48.8,12.3,520,4777,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2594,2346,0,0,0,0,0,0
$GC,4914,0.76,146.0,31.5,11.7,545,4921,0.00,1.90,0.00,0.000,4,0.000,0.058,3326,3764,2346,0,0,0,0,0,0
$GC,4952,0.76,146.0,26.5,14.5,551,4958,0.00,1.80,0.00,0.000,6,0.000,0.039,3335,2603,2346,0,0,0,0,0,0
$FREEZE,8.35,-0.691,-1.891,2,1,0
$FREEZE,7.52,-0.650,-1.890,2,1,0
$GC,5099,0.76,146.0,7.5,12.8,576,5107,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2601,2346,0,0,0,0,0,0
$FREEZE,5.20,-0.632,-1.888,2,1,0
$FREEZE,4.54,-0.585,-1.888,2,1,0
$FREEZE,3.71,-0.585,-1.887,2,1,0
$FREEZE,3.01,-0.571,-1.887,2,1,0
$FREEZE,2.12,-0.568,-1.886,2,1,0
$STATE,5135,end climb,SURFACE_DEPTH_REACHED
$STATE,5136,begin surface coast
$FREEZE,1.45,-0.559,-1.886,2,1,0
$FREEZE,1.33,-0.597,-1.411,2,1,0
$FREEZE,1.23,-0.564,-1.263,2,1,0
$FREEZE,1.29,-0.581,-1.573,2,1,0
$FINISH,1.3,1.023145
$STATE,5161,end surface coast,CONTROL_FINISHED_OK
$STATE,5161,begin surface
$SM_CCo,5177,76.82,0.101,0,0,1736,300.24
$SM_GC,2.06,0.00,0.00,76.82,0.000,0.000,0.101,423,2661,1736,-8.26,0.31,300.24
$IRIDIUM_FIX,-7545.40,17741.83,271210,191901
$TT8_MAMPS,0.028462
$HUMID,52.99
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,20.0,18.6
$ALTIM_BOTTOM_PING,251.4,102.5
$24V_AH,20.3,62.034
$10V_AH,9.7,41.290
$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,18.525,69.900,277.850,76.825,0.000,30.799,38.941,167.097,1.500,0.000,14.465,1498.924,1763.822,461.832,1706.227,175.716,0.000,1091.380,0.000,987.192,0.000,7.326,0.000
$DEVICE_MAMPS,201.195,109.395,997.560,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,411.223,782.153,888.614,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40427,586
$CAP_FILE_SIZE,86956,0
$CFSIZE,260165632,230842368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.130,285.0,1
$GPS,271210,224828,-7631.098,17744.104,10,2.4,29,121.4