version: 66.08
glider: 502
mission: 3
dive: 375
start: 12 28 110 2 9 58
data:
$ID,502
$MISSION,3
$DIVE,375
$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,-30613.99
$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,34
$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
$GPS1,281210,020355,-7631.300,17746.779,38,1.8,38,121.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-74.0
$GPS2,281210,020932,-7631.325,17746.682,12,0.9,12,121.3
$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,313.0,57691,-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,-79.90,0.000,2,0.000,0.000,418,2651,3203,0,0,0,0,0,0
$GC,101,-0.76,-146.0,3.1,-0.8,12,130,9.07,2.33,-11.12,0.000,4,0.200,0.063,2808,1244,3560,0,0,0,0,0,0
$GC,229,-0.76,-146.0,22.2,-15.2,33,236,0.00,2.28,0.00,0.000,6,0.000,0.056,2800,2644,3562,0,0,0,0,0,0
$GC,371,-0.76,-146.0,46.3,-17.1,58,380,0.00,1.83,0.00,0.000,4,0.000,0.060,2791,3759,3563,0,0,0,0,0,0
$GC,420,-0.76,-146.0,55.3,-18.9,66,429,0.00,1.75,0.00,0.000,6,0.000,0.041,2791,2656,3563,0,0,0,0,0,0
$GC,564,-0.76,-146.0,80.0,-17.9,91,571,0.00,1.83,0.00,0.000,4,0.000,0.061,2784,3773,3563,0,0,0,0,0,0
$GC,594,-0.76,-146.0,86.0,-18.6,96,603,0.08,1.75,0.00,0.000,6,0.148,0.041,2809,2672,3562,0,0,0,0,0,0
$GC,737,-0.76,-146.0,109.4,-16.8,116,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2670,3562,0,0,0,0,0,0
$GC,873,-0.76,-146.0,131.6,-15.9,129,876,0.00,1.77,0.00,0.000,4,0.000,0.060,2802,3769,3563,0,0,0,0,0,0
$GC,898,-0.76,-146.0,135.5,-16.2,131,902,0.00,1.70,0.00,0.000,6,0.000,0.041,2802,2671,3564,0,0,0,0,0,0
$GC,1041,-0.76,-146.0,159.1,-16.5,144,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2669,3563,0,0,0,0,0,0
$GC,1176,-0.76,-146.0,181.2,-16.4,157,1180,0.00,1.77,0.00,0.000,4,0.000,0.060,2794,3763,3563,0,0,0,0,0,0
$GC,1211,-0.76,-146.0,187.1,-17.0,160,1215,0.00,1.67,0.00,0.000,6,0.000,0.041,2793,2691,3563,0,0,0,0,0,0
$GC,1352,-0.76,-146.0,210.3,-16.1,173,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2690,3563,0,0,0,0,0,0
$GC,1480,-0.76,-146.0,230.4,-15.8,185,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2690,3563,0,0,0,0,0,0
$GC,1607,-0.76,-146.0,250.1,-15.7,197,1611,0.00,1.75,0.00,0.000,4,0.000,0.060,2785,3770,3563,0,0,0,0,0,0
$GC,1664,-0.76,-146.0,259.9,-16.9,202,1669,0.12,1.65,0.00,0.000,6,0.164,0.041,2819,2697,3563,0,0,0,0,0,0
$GC,1869,-0.76,-146.0,288.1,-13.7,221,1873,0.00,1.73,0.00,0.000,4,0.000,0.060,2812,3762,3563,0,0,0,0,0,0
$GC,1895,-0.76,-146.0,292.4,-15.0,223,1902,0.00,1.67,0.00,0.000,6,0.000,0.041,2812,2703,3563,0,0,0,0,0,0
$GC,2096,-0.76,-146.0,321.1,-15.0,242,2097,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2702,3563,0,0,0,0,0,0
$STATE,2155,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2155,begin apogee
$GC,2160,-0.17,0.0,330.3,14.4,248,2297,0.60,0.00,131.40,0.996,4,0.127,0.000,3005,2490,2961,0,0,0,0,0,0
$STATE,2298,end apogee,CONTROL_FINISHED_OK
$STATE,2298,begin climb
$GC,2300,0.76,146.0,336.4,0.0,260,2458,0.95,2.50,146.75,0.918,4,0.074,0.048,3309,1101,2364,0,0,0,0,0,0
$GC,2586,0.76,146.0,311.3,10.9,285,2594,0.00,2.50,0.00,0.000,6,0.000,0.050,3309,2499,2354,0,0,0,0,0,0
$GC,2785,0.76,146.0,288.4,11.5,304,2789,0.00,2.28,0.00,0.000,4,0.000,0.049,3318,1091,2351,0,0,0,0,0,0
$GC,2906,0.76,146.0,274.0,12.0,314,2914,0.00,2.33,0.00,0.000,6,0.000,0.051,3318,2523,2349,0,0,0,0,0,0
$GC,3104,0.76,146.0,249.4,12.8,333,3108,0.00,1.98,0.00,0.000,4,0.000,0.056,3318,3767,2348,0,0,0,0,0,0
$GC,3186,0.76,146.0,236.9,15.2,340,3195,0.00,1.95,0.00,0.000,6,0.000,0.040,3328,2534,2348,0,0,0,0,0,0
$GC,3323,0.76,146.0,218.7,13.1,353,3327,0.00,1.98,0.00,0.000,4,0.000,0.057,3328,3763,2347,0,0,0,0,0,0
$GC,3360,0.76,146.0,212.8,14.6,356,3369,0.00,1.95,0.00,0.000,6,0.000,0.040,3337,2536,2347,0,0,0,0,0,0
$GC,3496,0.76,146.0,194.9,13.3,369,3500,0.00,1.98,0.00,0.000,4,0.000,0.057,3337,3764,2347,0,0,0,0,0,0
$GC,3522,0.76,146.0,191.5,14.2,371,3527,0.12,1.88,0.00,0.000,6,0.166,0.040,3313,2553,2347,0,0,0,0,0,0
$GC,3664,0.76,146.0,174.1,11.7,384,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2552,2347,0,0,0,0,0,0
$GC,3800,0.76,146.0,158.4,11.3,397,3804,0.00,1.98,0.00,0.000,4,0.000,0.059,3313,3770,2347,0,0,0,0,0,0
$GC,3827,0.76,146.0,154.7,13.0,399,3835,0.00,1.92,0.00,0.000,6,0.000,0.040,3320,2559,2347,0,0,0,0,0,0
$GC,3962,0.76,146.0,138.4,12.2,412,3963,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2557,2347,0,0,0,0,0,0
$GC,4090,0.76,146.0,123.0,12.5,424,4094,0.00,1.95,0.00,0.000,4,0.000,0.057,3321,3763,2347,0,0,0,0,0,0
$GC,4136,0.76,146.0,116.6,14.7,428,4140,0.00,1.85,0.00,0.000,6,0.000,0.041,3330,2563,2346,0,0,0,0,0,0
$GC,4271,0.76,146.0,98.9,12.9,441,4277,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2560,2346,0,0,0,0,0,0
$GC,4412,0.76,146.0,80.4,13.6,466,4421,0.00,1.98,0.00,0.000,4,0.000,0.057,3330,3757,2346,0,0,0,0,0,0
$GC,4449,0.76,146.0,74.9,14.9,472,4458,0.00,1.88,0.00,0.000,6,0.000,0.040,3339,2573,2346,0,0,0,0,0,0
$GC,4593,0.76,146.0,55.6,13.4,497,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2572,2346,0,0,0,0,0,0
$GC,4734,0.76,146.0,36.7,13.6,522,4743,0.00,1.98,0.00,0.000,4,0.000,0.058,3339,3767,2345,0,0,0,0,0,0
$GC,4783,0.76,146.0,29.6,14.8,530,4793,0.12,1.88,0.00,0.000,6,0.135,0.039,3307,2579,2346,0,0,0,0,0,0
$GC,4930,0.76,146.0,13.7,10.3,555,4936,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,2578,2345,0,0,0,0,0,0
$FREEZE,8.83,-0.659,-1.891,2,1,0
$FREEZE,8.10,-0.640,-1.890,2,1,0
$FREEZE,7.55,-0.632,-1.890,2,1,0
$FREEZE,6.96,-0.622,-1.890,2,1,0
$FREEZE,6.47,-0.604,-1.889,2,1,0
$FREEZE,5.67,-0.581,-1.888,2,1,0
$FREEZE,5.17,-0.574,-1.888,2,1,0
$FREEZE,4.57,-0.565,-1.888,2,1,0
$FREEZE,4.01,-0.559,-1.887,2,1,0
$FREEZE,3.25,-0.555,-1.887,2,1,0
$FREEZE,2.84,-0.550,-1.886,2,1,0
$STATE,5036,end climb,SURFACE_DEPTH_REACHED
$STATE,5036,begin surface coast
$FREEZE,2.04,-0.539,-1.886,2,1,0
$FREEZE,1.40,-0.535,-1.885,2,1,0
$FREEZE,1.25,-0.811,-0.083,2,1,0
$FINISH,1.2,1.000987
$STATE,5055,end surface coast,FINISH_DEPTH_REACHED
$STATE,5055,begin surface
$SM_CCo,5071,81.30,0.726,1,0,1736,300.24
$SM_GC,2.25,0.00,0.00,81.30,0.000,0.000,0.726,416,2659,1736,-8.28,0.25,300.24
$IRIDIUM_FIX,-7545.40,17741.83,281210,000048
$TT8_MAMPS,0.028462
$HUMID,52.87
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,18.0
$ALTIM_BOTTOM_PING,301.0,43.6
$24V_AH,20.3,62.329
$10V_AH,9.7,41.527
$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,18.600,62.600,278.150,81.300,0.000,30.137,37.200,163.325,1.500,0.000,13.213,1462.539,1721.635,478.819,1675.454,164.294,0.000,1091.295,0.000,960.477,0.000,8.880,0.000
$DEVICE_MAMPS,200.430,100.215,996.030,725.985,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,403.861,774.300,888.320,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40513,576
$CAP_FILE_SIZE,83685,0
$CFSIZE,260165632,230699008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.170,228.7,1
$GPS,281210,033644,-7631.449,17747.830,10,1.9,10,121.3