version: 66.08
glider: 502
mission: 3
dive: 377
start: 12 28 110 5 17 10
data:
$ID,502
$MISSION,3
$DIVE,377
$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,-30616.508
$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,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
$GPS1,281210,051101,-7631.579,17749.396,39,1.0,39,121.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-74.1
$GPS2,281210,051644,-7631.609,17749.367,10,2.0,10,121.3
$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,292.7,56556,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-81.68,0.000,2,0.000,0.000,422,2671,3244,0,0,0,0,0,0
$GC,103,-0.76,-146.0,3.2,-1.2,12,127,9.05,1.85,-9.38,0.000,4,0.200,0.077,2800,3754,3559,0,0,0,0,0,0
$GC,152,-0.76,-146.0,11.9,-17.2,19,159,0.00,1.77,0.00,0.000,6,0.000,0.041,2800,2625,3561,0,0,0,0,0,0
$GC,293,-0.76,-146.0,35.6,-16.7,44,302,0.00,1.88,0.00,0.000,4,0.000,0.060,2791,3750,3562,0,0,0,0,0,0
$GC,320,-0.76,-146.0,40.2,-16.7,48,328,0.00,1.73,0.00,0.000,6,0.000,0.041,2791,2667,3562,0,0,0,0,0,0
$GC,465,-0.76,-146.0,64.1,-17.7,73,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2667,3563,0,0,0,0,0,0
$GC,605,-0.76,-146.0,88.1,-16.8,98,614,0.00,1.80,0.00,0.000,4,0.000,0.060,2784,3751,3563,0,0,0,0,0,0
$GC,650,-0.76,-146.0,95.8,-17.7,105,657,0.12,1.75,0.00,0.000,6,0.165,0.041,2817,2652,3563,0,0,0,0,0,0
$GC,794,-0.76,-146.0,117.7,-15.0,120,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2652,3563,0,0,0,0,0,0
$GC,920,-0.76,-146.0,136.8,-15.4,132,924,0.00,1.80,0.00,0.000,4,0.000,0.060,2810,3763,3563,0,0,0,0,0,0
$GC,947,-0.76,-146.0,141.6,-16.4,134,956,0.00,1.73,0.00,0.000,6,0.000,0.041,2810,2675,3563,0,0,0,0,0,0
$GC,1085,-0.76,-146.0,162.8,-16.1,147,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2674,3563,0,0,0,0,0,0
$GC,1220,-0.76,-146.0,184.1,-15.1,160,1224,0.00,1.75,0.00,0.000,4,0.000,0.061,2801,3754,3564,0,0,0,0,0,0
$GC,1255,-0.76,-146.0,189.9,-17.3,163,1259,0.00,1.65,0.00,0.000,6,0.000,0.042,2801,2686,3563,0,0,0,0,0,0
$GC,1396,-0.76,-146.0,213.0,-16.4,176,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2684,3563,0,0,0,0,0,0
$GC,1523,-0.76,-146.0,233.6,-16.1,188,1527,0.00,1.73,0.00,0.000,4,0.000,0.060,2793,3754,3563,0,0,0,0,0,0
$GC,1560,-0.76,-146.0,240.6,-17.2,191,1570,0.00,1.70,0.00,0.000,6,0.000,0.041,2794,2685,3563,0,0,0,0,0,0
$GC,1697,-0.76,-146.0,263.1,-17.4,204,1701,0.00,2.28,0.00,0.000,4,0.000,0.049,2793,1236,3564,0,0,0,0,0,0
$GC,1725,-0.76,-146.0,268.2,-17.1,206,1730,0.12,2.35,0.00,0.000,6,0.158,0.055,2817,2683,3563,0,0,0,0,0,0
$GC,1929,-0.76,-146.0,297.8,-13.8,225,1933,0.00,1.73,0.00,0.000,4,0.000,0.059,2810,3769,3563,0,0,0,0,0,0
$GC,1975,-0.76,-146.0,305.2,-16.1,229,1978,0.00,1.67,0.00,0.000,6,0.000,0.041,2810,2685,3563,0,0,0,0,0,0
$STATE,2081,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2081,begin apogee
$GC,2086,-0.17,0.0,321.9,15.1,239,2223,0.60,0.00,130.85,0.994,4,0.126,0.000,3004,2487,2961,0,0,0,0,0,0
$STATE,2224,end apogee,CONTROL_FINISHED_OK
$STATE,2224,begin climb
$GC,2226,0.76,146.0,328.0,0.0,251,2381,0.95,2.47,146.45,0.911,4,0.073,0.047,3308,1101,2365,0,0,0,0,0,0
$GC,2522,0.76,146.0,302.9,10.5,278,2526,0.00,2.45,0.00,0.000,6,0.000,0.050,3308,2503,2354,0,0,0,0,0,0
$GC,2719,0.76,146.0,281.1,11.0,296,2724,0.00,2.28,0.00,0.000,4,0.000,0.048,3318,1094,2351,0,0,0,0,0,0
$GC,2850,0.76,146.0,266.8,11.2,307,2855,0.00,2.30,0.00,0.000,6,0.000,0.051,3319,2520,2349,0,0,0,0,0,0
$GC,3049,0.76,146.0,244.2,11.1,325,3053,0.00,1.98,0.00,0.000,4,0.000,0.057,3319,3764,2348,0,0,0,0,0,0
$GC,3120,0.76,146.0,234.2,13.6,331,3129,0.00,1.95,0.00,0.000,6,0.000,0.041,3328,2533,2348,0,0,0,0,0,0
$GC,3256,0.76,146.0,217.5,12.2,344,3260,0.00,1.98,0.00,0.000,4,0.000,0.057,3327,3764,2347,0,0,0,0,0,0
$GC,3292,0.76,146.0,212.8,14.5,347,3296,0.00,1.92,0.00,0.000,6,0.000,0.039,3337,2522,2347,0,0,0,0,0,0
$GC,3434,0.76,146.0,194.6,12.9,360,3438,0.00,2.00,0.00,0.000,4,0.000,0.057,3337,3765,2347,0,0,0,0,0,0
$GC,3472,0.76,146.0,188.7,14.1,363,3481,0.10,1.95,0.00,0.000,6,0.138,0.039,3313,2536,2347,0,0,0,0,0,0
$GC,3609,0.76,146.0,173.2,11.3,376,3618,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2535,2346,0,0,0,0,0,0
$GC,3744,0.76,146.0,157.4,11.8,389,3748,0.00,1.98,0.00,0.000,4,0.000,0.057,3312,3764,2346,0,0,0,0,0,0
$GC,3801,0.76,146.0,149.7,13.7,394,3805,0.00,1.90,0.00,0.000,6,0.000,0.040,3320,2536,2346,0,0,0,0,0,0
$GC,3943,0.76,146.0,132.7,11.7,407,3944,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2534,2346,0,0,0,0,0,0
$GC,4069,0.76,146.0,117.7,11.4,419,4073,0.00,1.98,0.00,0.000,4,0.000,0.057,3321,3764,2346,0,0,0,0,0,0
$GC,4115,0.76,146.0,111.9,13.6,423,4119,0.00,1.88,0.00,0.000,6,0.000,0.040,3330,2552,2346,0,0,0,0,0,0
$GC,4253,0.76,146.0,95.2,12.2,439,4259,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2549,2346,0,0,0,0,0,0
$GC,4391,0.76,146.0,78.2,12.3,464,4399,0.00,2.00,0.00,0.000,4,0.000,0.060,3330,3758,2346,0,0,0,0,0,0
$GC,4446,0.76,146.0,70.8,14.0,473,4453,0.00,1.88,0.00,0.000,6,0.000,0.040,3339,2555,2346,0,0,0,0,0,0
$GC,4589,0.76,146.0,51.9,13.5,498,4598,0.00,2.00,0.00,0.000,4,0.000,0.057,3339,3766,2346,0,0,0,0,0,0
$GC,4616,0.76,146.0,47.8,14.3,502,4626,0.10,1.88,0.00,0.000,6,0.137,0.039,3315,2574,2346,0,0,0,0,0,0
$GC,4764,0.76,146.0,30.8,12.0,527,4770,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2574,2345,0,0,0,0,0,0
$GC,4905,0.76,146.0,14.3,10.3,552,4912,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2574,2345,0,0,0,0,0,0
$FREEZE,8.65,-0.729,-1.891,2,1,0
$FREEZE,7.96,-0.629,-1.889,2,1,0
$FREEZE,7.37,-0.598,-1.889,2,1,0
$FREEZE,6.63,-0.522,-1.888,2,1,0
$FREEZE,6.18,-0.474,-1.887,2,1,0
$FREEZE,5.52,-0.445,-1.887,2,1,0
$FREEZE,4.93,-0.425,-1.887,2,1,0
$FREEZE,4.23,-0.404,-1.886,2,1,0
$FREEZE,3.68,-0.391,-1.886,2,1,0
$FREEZE,2.95,-0.390,-1.886,2,1,0
$STATE,5011,end climb,SURFACE_DEPTH_REACHED
$STATE,5011,begin surface coast
$FREEZE,2.13,-0.382,-1.885,2,1,0
$FREEZE,1.42,-0.363,-1.884,2,1,0
$FREEZE,1.22,-0.386,-0.938,2,1,0
$FREEZE,1.31,-0.537,-0.870,2,1,0
$FREEZE,1.15,-0.509,-0.063,2,1,0
$FINISH,1.1,1.000719
$STATE,5043,end surface coast,FINISH_DEPTH_REACHED
$STATE,5043,begin surface
$SM_CCo,5060,76.97,0.099,0,0,1736,300.24
$SM_GC,2.05,0.00,0.00,76.97,0.000,0.000,0.099,413,2666,1736,-8.29,0.45,300.24
$IRIDIUM_FIX,-7545.40,17818.65,281210,030317
$TT8_MAMPS,0.027713
$HUMID,53.30
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,18.3
$ALTIM_BOTTOM_PING,300.7,35.1
$24V_AH,20.3,62.509
$10V_AH,9.7,41.684
$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,18.575,66.325,277.300,76.975,0.000,30.720,39.478,167.714,1.500,0.000,11.212,1472.837,1692.301,457.661,1692.565,173.285,0.000,1080.163,0.000,973.024,0.000,8.859,0.000
$DEVICE_MAMPS,199.665,91.035,993.735,99.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,403.516,781.975,912.926,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40386,575
$CAP_FILE_SIZE,85345,0
$CFSIZE,260165632,230600704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.186,197.3,1
$GPS,281210,064338,-7631.718,17750.955,13,1.5,13,121.3