version: 66.08
glider: 502
mission: 3
dive: 374
start: 12 28 110 0 34 45
data:
$ID,502
$MISSION,3
$DIVE,374
$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,-30612.732
$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,39
$R_STBD_OVSHOOT,31
$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
$GPS1,281210,002426,-7631.184,17745.514,12,1.3,12,121.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-73.8
$GPS2,281210,003419,-7631.199,17745.324,17,1.3,34,121.4
$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,324.0,58268,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-80.82,0.000,2,0.000,0.000,420,2660,3225,0,0,0,0,0,0
$GC,102,-0.76,-146.0,3.1,-0.7,12,125,9.12,0.00,-10.18,0.000,6,0.203,0.000,2819,2660,3558,0,0,0,0,0,0
$GC,261,-0.76,-146.0,27.7,-14.7,39,268,0.00,1.77,0.00,0.000,4,0.000,0.061,2812,3755,3562,0,0,0,0,0,0
$GC,293,-0.76,-146.0,33.0,-16.2,44,301,0.00,1.75,0.00,0.000,6,0.000,0.042,2812,2655,3561,0,0,0,0,0,0
$GC,437,-0.76,-146.0,56.2,-16.1,69,444,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2655,3562,0,0,0,0,0,0
$GC,576,-0.76,-146.0,78.7,-15.8,94,585,0.00,1.83,0.00,0.000,4,0.000,0.062,2803,3750,3562,0,0,0,0,0,0
$GC,610,-0.76,-146.0,84.2,-17.4,99,617,0.00,1.75,0.00,0.000,6,0.000,0.042,2803,2651,3562,0,0,0,0,0,0
$GC,756,-0.76,-146.0,109.1,-17.1,120,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2650,3562,0,0,0,0,0,0
$GC,883,-0.76,-146.0,129.8,-15.7,132,887,0.00,1.80,0.00,0.000,4,0.000,0.062,2795,3755,3562,0,0,0,0,0,0
$GC,919,-0.76,-146.0,135.7,-17.2,135,922,0.00,1.70,0.00,0.000,6,0.000,0.041,2795,2656,3562,0,0,0,0,0,0
$GC,1061,-0.76,-146.0,158.8,-16.1,148,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2654,3562,0,0,0,0,0,0
$GC,1197,-0.76,-146.0,181.3,-16.5,161,1200,0.00,1.80,0.00,0.000,4,0.000,0.061,2787,3766,3562,0,0,0,0,0,0
$GC,1243,-0.76,-146.0,189.1,-17.2,165,1247,0.12,1.70,0.00,0.000,6,0.168,0.041,2820,2664,3562,0,0,0,0,0,0
$GC,1385,-0.76,-146.0,210.0,-14.3,178,1388,0.00,1.77,0.00,0.000,4,0.000,0.059,2813,3763,3562,0,0,0,0,0,0
$GC,1410,-0.76,-146.0,214.0,-15.1,180,1413,0.00,1.67,0.00,0.000,6,0.000,0.040,2813,2679,3562,0,0,0,0,0,0
$GC,1551,-0.76,-146.0,235.5,-15.0,193,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2677,3563,0,0,0,0,0,0
$GC,1676,-0.76,-146.0,254.1,-14.9,205,1680,0.00,1.80,0.00,0.000,4,0.000,0.061,2804,3759,3563,0,0,0,0,0,0
$GC,1710,-0.76,-146.0,259.4,-16.3,208,1714,0.00,1.67,0.00,0.000,6,0.000,0.041,2805,2702,3562,0,0,0,0,0,0
$GC,1913,-0.76,-146.0,290.6,-15.0,227,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2701,3562,0,0,0,0,0,0
$GC,2106,-0.76,-146.0,319.5,-14.9,245,2107,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2701,3562,0,0,0,0,0,0
$STATE,2186,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2187,begin apogee
$GC,2192,-0.17,0.0,331.9,14.3,253,2329,0.62,0.00,131.15,0.998,4,0.129,0.000,3005,2488,2961,0,0,0,0,0,0
$STATE,2330,end apogee,CONTROL_FINISHED_OK
$STATE,2330,begin climb
$GC,2332,0.76,146.0,337.7,0.0,265,2486,0.93,0.00,147.57,0.917,6,0.086,0.000,3303,2488,2365,0,0,0,0,0,0
$GC,2676,0.76,146.0,305.6,11.4,297,2680,0.00,2.20,0.00,0.000,4,0.000,0.057,3304,3758,2352,0,0,0,0,0,0
$GC,2726,0.76,146.0,298.9,12.9,301,2730,0.00,2.03,0.00,0.000,6,0.000,0.040,3313,2520,2351,0,0,0,0,0,0
$GC,2930,0.76,146.0,274.6,11.5,320,2934,0.00,2.03,0.00,0.000,4,0.000,0.057,3313,3766,2349,0,0,0,0,0,0
$GC,2976,0.76,146.0,268.4,13.3,324,2980,0.00,1.92,0.00,0.000,6,0.000,0.038,3322,2522,2348,0,0,0,0,0,0
$GC,3181,0.76,146.0,243.4,12.2,343,3185,0.00,2.00,0.00,0.000,4,0.000,0.058,3322,3760,2347,0,0,0,0,0,0
$GC,3227,0.76,146.0,237.1,14.3,347,3231,0.00,1.90,0.00,0.000,6,0.000,0.041,3332,2539,2347,0,0,0,0,0,0
$GC,3369,0.76,146.0,218.8,12.8,360,3373,0.00,1.98,0.00,0.000,4,0.000,0.056,3331,3764,2346,0,0,0,0,0,0
$GC,3406,0.76,146.0,213.7,14.2,363,3410,0.00,1.88,0.00,0.000,6,0.000,0.039,3341,2551,2347,0,0,0,0,0,0
$GC,3548,0.76,146.0,194.2,13.3,376,3552,0.00,1.95,0.00,0.000,4,0.000,0.057,3341,3758,2346,0,0,0,0,0,0
$GC,3572,0.76,146.0,190.7,13.8,378,3577,0.15,1.85,0.00,0.000,6,0.159,0.040,3309,2560,2346,0,0,0,0,0,0
$GC,3714,0.76,146.0,173.8,11.1,391,3715,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2559,2345,0,0,0,0,0,0
$GC,3841,0.76,146.0,159.2,11.4,403,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2559,2345,0,0,0,0,0,0
$GC,3968,0.76,146.0,144.8,11.2,415,3972,0.00,1.92,0.00,0.000,4,0.000,0.057,3309,3756,2345,0,0,0,0,0,0
$GC,4005,0.76,146.0,139.8,12.2,418,4015,0.00,1.88,0.00,0.000,6,0.000,0.040,3316,2567,2345,0,0,0,0,0,0
$GC,4143,0.76,146.0,124.5,11.1,431,4150,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2567,2344,0,0,0,0,0,0
$GC,4278,0.76,146.0,109.3,11.1,444,4282,0.00,1.92,0.00,0.000,4,0.000,0.058,3316,3758,2344,0,0,0,0,0,0
$GC,4304,0.76,146.0,105.7,12.4,446,4314,0.00,1.88,0.00,0.000,6,0.000,0.039,3325,2570,2344,0,0,0,0,0,0
$GC,4444,0.76,146.0,89.7,11.4,467,4450,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2570,2344,0,0,0,0,0,0
$GC,4583,0.76,146.0,72.9,12.2,492,4591,0.00,1.95,0.00,0.000,4,0.000,0.058,3325,3751,2344,0,0,0,0,0,0
$GC,4627,0.76,146.0,67.0,13.7,499,4634,0.00,1.85,0.00,0.000,6,0.000,0.041,3333,2581,2344,0,0,0,0,0,0
$GC,4772,0.76,146.0,48.6,13.4,524,4780,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2580,2343,0,0,0,0,0,0
$GC,4915,0.76,146.0,30.5,13.2,549,4922,0.00,1.90,0.00,0.000,4,0.000,0.056,3333,3756,2344,0,0,0,0,0,0
$GC,4945,0.76,146.0,26.1,14.3,554,4955,0.08,1.85,0.00,0.000,6,0.140,0.040,3317,2590,2344,0,0,0,0,0,0
$GC,5093,0.76,146.0,9.2,11.5,579,5099,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2589,2344,0,0,0,0,0,0
$FREEZE,7.40,-0.639,-1.888,2,1,0
$FREEZE,6.82,-0.599,-1.888,2,1,0
$FREEZE,6.28,-0.573,-1.888,2,1,0
$FREEZE,5.49,-0.540,-1.887,2,1,0
$FREEZE,4.93,-0.493,-1.887,2,1,0
$FREEZE,4.28,-0.483,-1.887,2,1,0
$FREEZE,3.65,-0.457,-1.886,2,1,0
$FREEZE,2.85,-0.439,-1.886,2,1,0
$STATE,5148,end climb,SURFACE_DEPTH_REACHED
$STATE,5148,begin surface coast
$FREEZE,2.05,-0.439,-1.886,2,1,0
$FREEZE,1.32,-0.442,-1.885,2,1,0
$FREEZE,1.28,-0.534,-1.890,2,1,0
$FREEZE,1.30,-0.508,-1.887,2,1,0
$FREEZE,1.26,-0.484,-0.155,2,1,0
$FINISH,1.3,1.002082
$STATE,5182,end surface coast,FINISH_DEPTH_REACHED
$STATE,5182,begin surface
$SM_CCo,5198,75.93,0.101,0,0,1737,300.24
$SM_GC,2.08,0.00,0.00,75.93,0.000,0.000,0.101,418,2651,1737,-8.27,0.03,300.24
$IRIDIUM_FIX,-7545.40,17741.46,281210,000000
$TT8_MAMPS,0.028462
$HUMID,52.48
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,19.3
$ALTIM_BOTTOM_PING,301.6,45.0
$24V_AH,20.3,62.224
$10V_AH,9.7,41.450
$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,18.575,56.300,278.725,75.925,0.000,57.085,75.717,260.192,1.750,0.000,35.166,1517.691,1850.934,444.915,1874.277,188.106,0.000,1051.812,0.000,958.683,0.000,11.827,0.000
$DEVICE_MAMPS,202.725,113.220,998.325,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,416.757,799.935,925.111,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40374,593
$CAP_FILE_SIZE,88388,0
$CFSIZE,260165632,230744064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.158,245.4,1
$GPS,281210,020355,-7631.300,17746.779,38,1.8,38,121.3