version: 66.08
glider: 502
mission: 3
dive: 376
start: 12 28 110 3 43 18
data:
$ID,502
$MISSION,3
$DIVE,376
$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,-30615.25
$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,36
$R_STBD_OVSHOOT,32
$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
$GPS1,281210,033644,-7631.449,17747.830,10,1.9,10,121.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-74.5
$GPS2,281210,034252,-7631.476,17747.771,15,2.7,34,121.3
$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,302.0,57233,-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,-79.62,0.000,2,0.000,0.000,416,2659,3199,0,0,0,0,0,0
$GC,100,-0.76,-146.0,3.1,-0.9,12,130,8.90,1.85,-11.32,0.000,4,0.198,0.078,2805,3757,3560,0,0,0,0,0,0
$GC,327,-0.76,-146.0,41.8,-17.7,51,334,0.00,1.77,0.00,0.000,6,0.000,0.042,2805,2641,3563,0,0,0,0,0,0
$GC,468,-0.76,-146.0,65.9,-16.5,76,476,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2640,3563,0,0,0,0,0,0
$GC,614,-0.76,-146.0,89.2,-16.4,101,620,0.00,1.83,0.00,0.000,4,0.000,0.060,2796,3757,3563,0,0,0,0,0,0
$GC,654,-0.76,-146.0,96.9,-17.4,108,663,0.00,1.75,0.00,0.000,6,0.000,0.041,2797,2657,3563,0,0,0,0,0,0
$GC,793,-0.76,-146.0,119.8,-16.2,122,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2656,3564,0,0,0,0,0,0
$GC,921,-0.76,-146.0,140.4,-16.2,134,924,0.00,1.77,0.00,0.000,4,0.000,0.060,2788,3755,3564,0,0,0,0,0,0
$GC,970,-0.76,-146.0,149.6,-17.2,138,980,0.08,1.73,0.00,0.000,6,0.151,0.041,2812,2665,3564,0,0,0,0,0,0
$GC,1107,-0.76,-146.0,169.5,-15.1,151,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2664,3564,0,0,0,0,0,0
$GC,1243,-0.76,-146.0,190.2,-15.2,164,1246,0.00,1.77,0.00,0.000,4,0.000,0.060,2805,3763,3564,0,0,0,0,0,0
$GC,1280,-0.76,-146.0,196.8,-16.6,167,1289,0.00,1.73,0.00,0.000,6,0.000,0.041,2805,2676,3564,0,0,0,0,0,0
$GC,1416,-0.76,-146.0,217.8,-16.4,180,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2676,3564,0,0,0,0,0,0
$GC,1543,-0.76,-146.0,237.7,-15.4,192,1547,0.00,1.75,0.00,0.000,4,0.000,0.060,2797,3756,3563,0,0,0,0,0,0
$GC,1569,-0.76,-146.0,242.6,-16.3,194,1579,0.00,1.73,0.00,0.000,6,0.000,0.041,2797,2671,3563,0,0,0,0,0,0
$GC,1703,-0.76,-146.0,264.2,-16.2,207,1707,0.00,2.28,0.00,0.000,4,0.000,0.049,2797,1234,3564,0,0,0,0,0,0
$GC,1719,-0.76,-146.0,267.2,-16.5,208,1727,0.08,2.35,0.00,0.000,6,0.127,0.054,2812,2657,3564,0,0,0,0,0,0
$GC,1920,-0.76,-146.0,295.6,-14.2,227,1923,0.00,1.77,0.00,0.000,4,0.000,0.059,2805,3775,3563,0,0,0,0,0,0
$GC,1967,-0.76,-146.0,303.2,-15.9,231,1971,0.00,1.70,0.00,0.000,6,0.000,0.041,2805,2677,3564,0,0,0,0,0,0
$STATE,2126,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2126,begin apogee
$GC,2132,-0.17,0.0,327.4,14.6,246,2269,0.62,0.00,131.10,0.991,4,0.130,0.000,3005,2494,2960,0,0,0,0,0,0
$STATE,2270,end apogee,CONTROL_FINISHED_OK
$STATE,2270,begin climb
$GC,2272,0.76,146.0,332.3,0.0,258,2424,0.90,0.00,146.52,0.910,6,0.079,0.000,3301,2494,2365,0,0,0,0,0,0
$GC,2614,0.76,146.0,299.9,10.7,290,2618,0.00,2.20,0.00,0.000,4,0.000,0.057,3301,3766,2353,0,0,0,0,0,0
$GC,2665,0.76,146.0,293.3,13.6,294,2669,0.00,2.05,0.00,0.000,6,0.000,0.039,3310,2509,2352,0,0,0,0,0,0
$GC,2863,0.76,146.0,269.8,11.9,312,2867,0.00,2.05,0.00,0.000,4,0.000,0.057,3311,3765,2349,0,0,0,0,0,0
$GC,2907,0.76,146.0,263.7,14.3,315,2914,0.00,1.95,0.00,0.000,6,0.000,0.040,3321,2514,2349,0,0,0,0,0,0
$GC,3106,0.76,146.0,239.8,12.0,334,3109,0.00,2.03,0.00,0.000,4,0.000,0.057,3320,3768,2348,0,0,0,0,0,0
$GC,3143,0.76,146.0,234.3,14.5,337,3152,0.00,1.95,0.00,0.000,6,0.000,0.041,3328,2545,2347,0,0,0,0,0,0
$GC,3280,0.76,146.0,216.8,12.5,350,3283,0.00,1.98,0.00,0.000,4,0.000,0.057,3328,3768,2347,0,0,0,0,0,0
$GC,3304,0.76,146.0,213.5,13.2,352,3308,0.00,1.90,0.00,0.000,6,0.000,0.039,3337,2542,2347,0,0,0,0,0,0
$GC,3445,0.76,146.0,196.6,11.4,365,3448,0.00,1.98,0.00,0.000,4,0.000,0.057,3337,3767,2346,0,0,0,0,0,0
$GC,3470,0.76,146.0,193.3,13.4,367,3474,0.12,1.90,0.00,0.000,6,0.164,0.040,3313,2541,2346,0,0,0,0,0,0
$GC,3610,0.76,146.0,177.2,11.0,380,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2539,2346,0,0,0,0,0,0
$GC,3737,0.76,146.0,163.4,10.9,392,3741,0.00,1.98,0.00,0.000,4,0.000,0.058,3313,3765,2345,0,0,0,0,0,0
$GC,3795,0.76,146.0,156.4,12.5,397,3798,0.00,1.88,0.00,0.000,6,0.000,0.039,3321,2550,2346,0,0,0,0,0,0
$GC,3935,0.76,146.0,139.6,11.8,410,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2547,2345,0,0,0,0,0,0
$GC,4063,0.76,146.0,124.5,11.8,422,4066,0.00,1.98,0.00,0.000,4,0.000,0.058,3321,3771,2345,0,0,0,0,0,0
$GC,4110,0.76,146.0,118.4,13.6,426,4114,0.00,1.88,0.00,0.000,6,0.000,0.041,3330,2557,2345,0,0,0,0,0,0
$GC,4253,0.76,146.0,101.1,11.6,439,4257,0.00,1.95,0.00,0.000,4,0.000,0.057,3330,3767,2344,0,0,0,0,0,0
$GC,4275,0.76,146.0,97.8,13.0,442,4284,0.00,1.88,0.00,0.000,6,0.000,0.039,3339,2576,2344,0,0,0,0,0,0
$GC,4421,0.76,146.0,79.9,12.8,467,4427,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2575,2344,0,0,0,0,0,0
$GC,4562,0.76,146.0,61.4,12.7,492,4571,0.00,1.95,0.00,0.000,4,0.000,0.057,3340,3758,2344,0,0,0,0,0,0
$GC,4589,0.76,146.0,57.8,13.4,496,4598,0.10,1.88,0.00,0.000,6,0.137,0.040,3315,2574,2344,0,0,0,0,0,0
$GC,4736,0.76,146.0,40.6,10.9,521,4742,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2573,2344,0,0,0,0,0,0
$GC,4876,0.76,146.0,25.0,10.7,546,4885,0.00,1.98,0.00,0.000,4,0.000,0.059,3315,3763,2344,0,0,0,0,0,0
$GC,4926,0.76,146.0,18.7,13.2,554,4935,0.00,1.88,0.00,0.000,6,0.000,0.040,3322,2578,2344,0,0,0,0,0,0
$FREEZE,8.85,-0.705,-1.891,2,1,0
$FREEZE,8.26,-0.703,-1.891,2,1,0
$FREEZE,7.49,-0.702,-1.890,2,1,0
$FREEZE,7.00,-0.696,-1.890,2,1,0
$FREEZE,6.19,-0.682,-1.889,2,1,0
$FREEZE,5.54,-0.670,-1.889,2,1,0
$FREEZE,4.97,-0.647,-1.888,2,1,0
$FREEZE,4.26,-0.634,-1.887,2,1,0
$FREEZE,3.29,-0.608,-1.887,2,1,0
$FREEZE,2.68,-0.555,-1.886,2,1,0
$STATE,5063,end climb,SURFACE_DEPTH_REACHED
$STATE,5063,begin surface coast
$FREEZE,1.97,-0.472,-1.884,2,1,0
$FREEZE,1.33,-0.440,-1.883,2,1,0
$FREEZE,1.30,-0.494,-1.010,2,1,0
$FREEZE,1.29,-0.442,-1.882,2,1,0
$FREEZE,1.27,-0.599,-0.960,2,1,0
$FINISH,1.3,1.014173
$STATE,5093,end surface coast,CONTROL_FINISHED_OK
$STATE,5093,begin surface
$SM_CCo,5110,76.47,0.099,0,0,1736,300.24
$SM_GC,2.16,0.00,0.00,76.47,0.000,0.000,0.099,422,2672,1736,-8.26,0.62,300.24
$IRIDIUM_FIX,-7545.40,17741.46,281210,020231
$TT8_MAMPS,0.029211
$HUMID,52.79
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,17.9
$ALTIM_BOTTOM_PING,300.4,41.0
$24V_AH,20.3,62.419
$10V_AH,9.7,41.606
$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,18.325,65.350,277.625,76.475,0.000,23.852,40.919,170.669,2.000,0.000,36.800,1480.708,1746.021,457.402,1707.722,171.393,0.000,1067.208,0.000,951.277,0.000,11.808,0.000
$DEVICE_MAMPS,198.135,89.505,990.675,99.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,408.472,788.109,918.709,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40593,582
$CAP_FILE_SIZE,84734,0
$CFSIZE,260165632,230649856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.171,211.1,1
$GPS,281210,051101,-7631.579,17749.396,39,1.0,39,121.3