version: 66.08
glider: 502
mission: 3
dive: 378
start: 12 28 110 6 50 2
data:
$ID,502
$MISSION,3
$DIVE,378
$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,-30617.762
$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,38
$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
$GPS1,281210,064338,-7631.718,17750.955,13,1.5,13,121.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-74.6
$GPS2,281210,064936,-7631.748,17750.936,37,1.5,37,121.3
$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,283.4,55894,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,96,0.00,0.00,-78.00,0.000,2,0.000,0.000,413,2667,3167,0,0,0,0,0,0
$GC,98,-0.76,-146.0,3.1,-1.0,12,127,9.02,0.00,-12.52,0.000,6,0.197,0.000,2808,2667,3560,0,0,0,0,0,0
$GC,259,-0.76,-146.0,28.1,-16.4,40,267,0.00,1.80,0.00,0.000,4,0.000,0.061,2802,3759,3562,0,0,0,0,0,0
$GC,284,-0.76,-146.0,32.5,-16.7,44,292,0.00,1.77,0.00,0.000,6,0.000,0.041,2801,2642,3562,0,0,0,0,0,0
$GC,425,-0.76,-146.0,55.5,-16.6,69,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2643,3562,0,0,0,0,0,0
$GC,562,-0.76,-146.0,78.7,-16.9,94,570,0.00,1.85,0.00,0.000,4,0.000,0.060,2793,3759,3563,0,0,0,0,0,0
$GC,610,-0.76,-146.0,87.2,-17.5,102,618,0.00,1.75,0.00,0.000,6,0.000,0.041,2793,2658,3563,0,0,0,0,0,0
$GC,749,-0.76,-146.0,110.8,-16.7,121,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2657,3563,0,0,0,0,0,0
$GC,877,-0.76,-146.0,132.1,-16.4,133,880,0.00,1.80,0.00,0.000,4,0.000,0.062,2785,3764,3563,0,0,0,0,0,0
$GC,923,-0.76,-146.0,140.2,-17.7,137,928,0.12,1.73,0.00,0.000,6,0.164,0.041,2819,2649,3563,0,0,0,0,0,0
$GC,1066,-0.76,-146.0,161.5,-14.9,150,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2648,3563,0,0,0,0,0,0
$GC,1202,-0.76,-146.0,181.4,-14.3,163,1205,0.00,1.80,0.00,0.000,4,0.000,0.060,2811,3762,3563,0,0,0,0,0,0
$GC,1237,-0.76,-146.0,187.0,-15.7,166,1241,0.00,1.70,0.00,0.000,6,0.000,0.041,2811,2663,3563,0,0,0,0,0,0
$GC,1378,-0.76,-146.0,208.5,-14.7,179,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2660,3563,0,0,0,0,0,0
$GC,1505,-0.76,-146.0,227.3,-14.9,191,1509,0.00,1.77,0.00,0.000,4,0.000,0.060,2803,3756,3563,0,0,0,0,0,0
$GC,1562,-0.76,-146.0,236.3,-16.2,196,1566,0.00,1.67,0.00,0.000,6,0.000,0.041,2803,2676,3563,0,0,0,0,0,0
$GC,1702,-0.76,-146.0,257.9,-14.7,209,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2673,3563,0,0,0,0,0,0
$GC,1893,-0.76,-146.0,286.3,-15.1,227,1897,0.00,1.80,0.00,0.000,4,0.000,0.061,2796,3753,3563,0,0,0,0,0,0
$GC,1928,-0.76,-146.0,291.9,-17.2,230,1932,0.00,1.70,0.00,0.000,6,0.000,0.041,2796,2686,3563,0,0,0,0,0,0
$GC,2131,-0.76,-146.0,323.1,-15.5,249,2135,0.00,2.28,0.00,0.000,4,0.000,0.049,2796,1237,3563,0,0,0,0,0,0
$STATE,2141,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2141,begin apogee
$GC,2148,-0.17,0.0,325.3,16.2,249,2289,0.70,0.00,131.38,0.994,4,0.135,0.000,3006,2493,2960,0,0,0,0,0,0
$STATE,2289,end apogee,CONTROL_FINISHED_OK
$STATE,2289,begin climb
$GC,2292,0.76,146.0,332.0,0.0,262,2449,0.90,0.00,147.62,0.916,6,0.077,0.000,3302,2493,2363,0,0,0,0,0,0
$GC,2642,0.76,146.0,300.4,11.1,294,2646,0.00,2.15,0.00,0.000,4,0.000,0.055,3303,3760,2352,0,0,0,0,0,0
$GC,2707,0.76,146.0,291.5,12.8,299,2715,0.00,2.08,0.00,0.000,6,0.000,0.038,3312,2506,2351,0,0,0,0,0,0
$GC,2907,0.76,146.0,267.9,11.5,318,2910,0.00,2.08,0.00,0.000,4,0.000,0.058,3312,3768,2348,0,0,0,0,0,0
$GC,2985,0.76,146.0,257.0,14.0,325,2989,0.00,1.92,0.00,0.000,6,0.000,0.040,3322,2530,2348,0,0,0,0,0,0
$GC,3190,0.76,146.0,232.5,11.7,344,3193,0.00,2.00,0.00,0.000,4,0.000,0.057,3322,3765,2347,0,0,0,0,0,0
$GC,3228,0.76,146.0,227.0,13.6,347,3236,0.00,1.92,0.00,0.000,6,0.000,0.039,3330,2548,2347,0,0,0,0,0,0
$GC,3365,0.76,146.0,210.1,12.7,360,3372,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2546,2346,0,0,0,0,0,0
$GC,3500,0.76,146.0,192.2,13.3,373,3503,0.00,1.98,0.00,0.000,4,0.000,0.057,3329,3768,2346,0,0,0,0,0,0
$GC,3560,0.76,146.0,182.6,16.1,378,3569,0.00,1.92,0.00,0.000,6,0.000,0.038,3339,2548,2345,0,0,0,0,0,0
$GC,3696,0.76,146.0,164.2,13.6,391,3697,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2546,2345,0,0,0,0,0,0
$GC,3823,0.76,146.0,147.5,13.4,403,3827,0.00,1.98,0.00,0.000,4,0.000,0.057,3339,3770,2345,0,0,0,0,0,0
$GC,3881,0.76,146.0,138.9,15.7,408,3885,0.12,1.90,0.00,0.000,6,0.168,0.039,3315,2543,2345,0,0,0,0,0,0
$GC,4021,0.76,146.0,121.3,11.6,421,4024,0.00,1.98,0.00,0.000,4,0.000,0.058,3315,3764,2345,0,0,0,0,0,0
$GC,4057,0.76,146.0,116.8,13.2,424,4061,0.00,1.85,0.00,0.000,6,0.000,0.039,3323,2562,2345,0,0,0,0,0,0
$GC,4200,0.76,146.0,99.9,11.6,437,4207,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2560,2344,0,0,0,0,0,0
$GC,4336,0.76,146.0,83.5,11.9,462,4345,0.00,2.00,0.00,0.000,4,0.000,0.058,3323,3768,2344,0,0,0,0,0,0
$GC,4379,0.76,146.0,78.1,13.3,469,4387,0.00,1.88,0.00,0.000,6,0.000,0.041,3332,2563,2344,0,0,0,0,0,0
$GC,4519,0.76,146.0,60.9,12.0,494,4526,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2562,2344,0,0,0,0,0,0
$GC,4659,0.76,146.0,43.4,12.4,519,4666,0.00,1.95,0.00,0.000,4,0.000,0.058,3332,3763,2344,0,0,0,0,0,0
$GC,4718,0.76,146.0,35.3,14.7,529,4726,0.12,1.85,0.00,0.000,6,0.162,0.040,3309,2569,2344,0,0,0,0,0,0
$GC,4860,0.76,146.0,18.1,11.8,554,4868,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,2567,2344,0,0,0,0,0,0
$FREEZE,8.52,-0.529,-1.891,2,1,0
$FREEZE,7.83,-0.503,-1.890,2,1,0
$FREEZE,7.31,-0.501,-1.890,2,1,0
$FREEZE,6.54,-0.504,-1.889,2,1,0
$FREEZE,6.06,-0.494,-1.889,2,1,0
$FREEZE,5.37,-0.488,-1.888,2,1,0
$FREEZE,4.81,-0.484,-1.888,2,1,0
$FREEZE,4.06,-0.469,-1.887,2,1,0
$FREEZE,3.59,-0.450,-1.887,2,1,0
$FREEZE,2.71,-0.442,-1.886,2,1,0
$STATE,4998,end climb,SURFACE_DEPTH_REACHED
$STATE,4998,begin surface coast
$FREEZE,2.05,-0.440,-1.886,2,1,0
$FREEZE,1.47,-0.445,-1.886,2,1,0
$FREEZE,1.38,-0.454,-1.886,2,1,0
$FREEZE,1.28,-0.717,-0.902,2,1,0
$FREEZE,1.31,-0.978,-0.886,2,1,0
$FINISH,1.3,1.013061
$STATE,5030,end surface coast,FINISH_DEPTH_REACHED
$STATE,5030,begin surface
$SM_CCo,5046,80.82,0.729,1,0,1736,300.24
$SM_GC,2.21,0.00,0.00,80.82,0.000,0.000,0.729,424,2660,1736,-8.25,0.28,300.24
$IRIDIUM_FIX,-7545.40,17751.03,281210,050539
$TT8_MAMPS,0.028462
$HUMID,53.22
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,18.2
$ALTIM_BOTTOM_PING,251.5,88.2
$24V_AH,20.3,62.613
$10V_AH,9.7,41.762
$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,18.525,57.075,279.000,80.825,0.000,23.901,37.679,166.116,1.000,0.000,38.120,1479.829,1687.691,465.049,1700.371,166.422,0.000,1070.821,0.000,958.643,0.000,8.288,0.000
$DEVICE_MAMPS,197.370,89.505,993.735,729.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,409.249,792.302,915.549,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40427,583
$CAP_FILE_SIZE,82365,0
$CFSIZE,260165632,230551552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.187,186.8,1
$GPS,281210,081620,-7631.717,17752.758,8,1.7,8,121.2