version: 66.08
glider: 502
mission: 3
dive: 373
start: 12 27 110 22 55 2
data:
$ID,502
$MISSION,3
$DIVE,373
$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,-30611.473
$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,37
$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
$GPS1,271210,224828,-7631.098,17744.104,10,2.4,29,121.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-73.9
$GPS2,271210,225436,-7631.100,17743.994,16,0.9,32,121.4
$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,335.0,58836,-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,15,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,100,0.00,0.00,-80.97,0.000,2,0.000,0.000,423,2661,3224,0,0,0,0,0,0
$GC,103,-0.76,-146.0,3.1,-0.7,12,133,9.15,2.35,-10.32,0.000,4,0.204,0.062,2818,1246,3560,0,0,0,0,0,0
$GC,207,-0.76,-146.0,18.9,-14.7,29,214,0.00,2.30,0.00,0.000,6,0.000,0.057,2809,2653,3563,0,0,0,0,0,0
$GC,349,-0.76,-146.0,40.9,-15.9,54,358,0.00,1.83,0.00,0.000,4,0.000,0.059,2801,3768,3562,0,0,0,0,0,0
$GC,398,-0.76,-146.0,49.2,-17.4,62,407,0.00,1.75,0.00,0.000,6,0.000,0.041,2801,2669,3562,0,0,0,0,0,0
$GC,542,-0.76,-146.0,72.5,-16.2,87,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2669,3563,0,0,0,0,0,0
$GC,682,-0.76,-146.0,95.4,-16.5,112,690,0.00,1.83,0.00,0.000,4,0.000,0.060,2793,3766,3563,0,0,0,0,0,0
$GC,716,-0.76,-146.0,100.8,-17.0,117,724,0.00,1.73,0.00,0.000,6,0.000,0.041,2793,2676,3563,0,0,0,0,0,0
$GC,852,-0.76,-146.0,123.1,-16.2,130,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2676,3563,0,0,0,0,0,0
$GC,979,-0.76,-146.0,143.5,-16.3,142,982,0.00,1.77,0.00,0.000,4,0.000,0.061,2785,3767,3563,0,0,0,0,0,0
$GC,1014,-0.76,-146.0,149.6,-17.7,145,1018,0.12,1.67,0.00,0.000,6,0.165,0.041,2818,2680,3563,0,0,0,0,0,0
$GC,1154,-0.76,-146.0,169.9,-13.9,158,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2679,3563,0,0,0,0,0,0
$GC,1281,-0.76,-146.0,188.3,-14.6,170,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2678,3563,0,0,0,0,0,0
$GC,1410,-0.76,-146.0,206.8,-14.4,182,1413,0.00,1.77,0.00,0.000,4,0.000,0.061,2812,3769,3563,0,0,0,0,0,0
$GC,1467,-0.76,-146.0,215.6,-15.7,187,1471,0.00,1.67,0.00,0.000,6,0.000,0.041,2811,2686,3563,0,0,0,0,0,0
$GC,1608,-0.76,-146.0,236.7,-14.8,200,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2684,3563,0,0,0,0,0,0
$GC,1734,-0.76,-146.0,255.3,-14.3,212,1738,0.00,1.75,0.00,0.000,4,0.000,0.060,2803,3764,3563,0,0,0,0,0,0
$GC,1772,-0.76,-146.0,261.4,-15.3,215,1779,0.00,1.70,0.00,0.000,6,0.000,0.041,2803,2692,3564,0,0,0,0,0,0
$GC,1970,-0.76,-146.0,291.0,-15.1,234,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2691,3564,0,0,0,0,0,0
$GC,2161,-0.76,-146.0,319.6,-15.0,252,2165,0.00,1.75,0.00,0.000,4,0.000,0.060,2796,3770,3563,0,0,0,0,0,0
$GC,2196,-0.76,-146.0,324.8,-15.0,255,2200,0.00,1.65,0.00,0.000,6,0.000,0.042,2796,2698,3563,0,0,0,0,0,0
$STATE,2270,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2270,begin apogee
$GC,2275,-0.17,0.0,336.6,15.4,262,2413,0.65,0.00,131.57,1.002,4,0.130,0.000,3004,2487,2961,0,0,0,0,0,0
$STATE,2413,end apogee,CONTROL_FINISHED_OK
$STATE,2413,begin climb
$GC,2415,0.76,146.0,343.0,0.0,274,2570,0.93,0.00,147.82,0.920,6,0.079,0.000,3303,2487,2364,0,0,0,0,0,0
$GC,2770,0.76,146.0,310.4,11.4,307,2774,0.00,2.20,0.00,0.000,4,0.000,0.057,3303,3764,2352,0,0,0,0,0,0
$GC,2854,0.76,146.0,298.9,14.1,314,2858,0.00,2.00,0.00,0.000,6,0.000,0.040,3313,2521,2350,0,0,0,0,0,0
$GC,3059,0.76,146.0,274.1,12.1,333,3063,0.00,2.03,0.00,0.000,4,0.000,0.057,3313,3769,2348,0,0,0,0,0,0
$GC,3097,0.76,146.0,268.4,14.4,336,3105,0.00,1.98,0.00,0.000,6,0.000,0.040,3322,2527,2347,0,0,0,0,0,0
$GC,3299,0.76,146.0,243.1,12.5,355,3303,0.00,2.00,0.00,0.000,4,0.000,0.057,3322,3767,2347,0,0,0,0,0,0
$GC,3358,0.76,146.0,234.2,14.1,360,3367,0.00,1.95,0.00,0.000,6,0.000,0.040,3330,2536,2347,0,0,0,0,0,0
$GC,3496,0.76,146.0,216.9,12.8,373,3503,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2535,2346,0,0,0,0,0,0
$GC,3631,0.76,146.0,199.1,12.9,386,3635,0.00,1.98,0.00,0.000,4,0.000,0.056,3330,3767,2346,0,0,0,0,0,0
$GC,3700,0.76,146.0,188.8,16.0,392,3703,0.00,1.90,0.00,0.000,6,0.000,0.039,3340,2540,2345,0,0,0,0,0,0
$GC,3842,0.76,146.0,168.9,14.1,405,3845,0.00,1.98,0.00,0.000,4,0.000,0.057,3340,3764,2345,0,0,0,0,0,0
$GC,3867,0.76,146.0,165.1,14.6,407,3871,0.12,1.88,0.00,0.000,6,0.165,0.039,3316,2550,2345,0,0,0,0,0,0
$GC,4007,0.76,146.0,146.9,12.0,420,4008,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2549,2345,0,0,0,0,0,0
$GC,4134,0.76,146.0,131.5,12.0,432,4138,0.00,1.98,0.00,0.000,4,0.000,0.058,3315,3771,2344,0,0,0,0,0,0
$GC,4159,0.76,146.0,128.4,12.8,434,4162,0.00,1.88,0.00,0.000,6,0.000,0.041,3323,2556,2344,0,0,0,0,0,0
$GC,4300,0.76,146.0,110.8,12.0,447,4301,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2553,2344,0,0,0,0,0,0
$GC,4426,0.76,146.0,95.5,11.4,462,4435,0.00,2.00,0.00,0.000,4,0.000,0.057,3323,3765,2343,0,0,0,0,0,0
$GC,4471,0.76,146.0,89.8,13.3,469,4478,0.00,1.88,0.00,0.000,6,0.000,0.040,3332,2560,2344,0,0,0,0,0,0
$GC,4613,0.76,146.0,71.8,12.3,494,4621,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2558,2344,0,0,0,0,0,0
$GC,4758,0.76,146.0,54.2,11.8,519,4765,0.00,1.98,0.00,0.000,4,0.000,0.057,3332,3773,2343,0,0,0,0,0,0
$GC,4799,0.76,146.0,48.2,14.7,526,4809,0.08,1.90,0.00,0.000,6,0.139,0.041,3316,2573,2343,0,0,0,0,0,0
$GC,4946,0.76,146.0,31.7,11.5,551,4953,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2572,2343,0,0,0,0,0,0
$GC,5086,0.76,146.0,16.0,10.8,576,5095,0.00,1.98,0.00,0.000,4,0.000,0.058,3316,3764,2343,0,0,0,0,0,0
$GC,5135,0.76,146.0,9.9,13.4,584,5143,0.00,1.88,0.00,0.000,6,0.000,0.040,3323,2578,2343,0,0,0,0,0,0
$FREEZE,8.10,-0.655,-1.889,2,1,0
$FREEZE,7.44,-0.647,-1.891,2,1,0
$FREEZE,6.72,-0.586,-1.889,2,1,0
$FREEZE,5.94,-0.564,-1.889,2,1,0
$FREEZE,5.28,-0.524,-1.888,2,1,0
$FREEZE,4.69,-0.535,-1.888,2,1,0
$FREEZE,3.87,-0.526,-1.887,2,1,0
$FREEZE,3.26,-0.510,-1.887,2,1,0
$FREEZE,2.47,-0.512,-1.886,2,1,0
$STATE,5196,end climb,SURFACE_DEPTH_REACHED
$STATE,5196,begin surface coast
$FREEZE,1.73,-0.513,-1.886,2,1,0
$FREEZE,1.25,-0.489,-1.243,2,1,0
$FREEZE,1.24,-0.541,-1.160,2,1,0
$FREEZE,1.24,-0.500,-1.799,2,1,0
$FINISH,1.2,1.026370
$STATE,5222,end surface coast,CONTROL_FINISHED_OK
$STATE,5222,begin surface
$SM_CCo,5238,76.38,0.102,0,0,1737,300.24
$SM_GC,2.12,0.00,0.00,76.38,0.000,0.000,0.102,421,2659,1737,-8.27,0.25,300.24
$IRIDIUM_FIX,-7545.40,17733.02,271210,212112
$TT8_MAMPS,0.028462
$HUMID,53.15
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,19.6
$ALTIM_BOTTOM_PING,300.4,49.7
$24V_AH,20.3,62.125
$10V_AH,9.7,41.369
$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,18.600,61.275,279.400,76.375,0.000,29.290,36.771,175.901,1.500,0.000,33.553,1516.482,1815.513,455.678,1731.335,171.466,0.000,1073.346,0.000,973.195,0.000,8.898,0.000
$DEVICE_MAMPS,204.255,100.215,1002.150,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,419.861,803.351,916.699,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40447,598
$CAP_FILE_SIZE,85248,0
$CFSIZE,260165632,230797312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.138,263.4,1
$GPS,281210,002426,-7631.184,17745.514,12,1.3,12,121.4