version: 66.08
glider: 502
mission: 3
dive: 379
start: 12 28 110 8 22 46
data:
$ID,502
$MISSION,3
$DIVE,379
$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,-30619.021
$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,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
$GPS1,281210,081620,-7631.717,17752.758,8,1.7,8,121.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-74.0
$GPS2,281210,082220,-7631.755,17752.633,11,1.4,11,121.2
$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,280.4,55162,-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,14,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,103,0.00,0.00,-84.03,0.000,2,0.000,0.000,424,2661,3302,0,0,0,0,0,0
$GC,106,-0.76,-146.0,3.3,-1.3,13,128,8.88,1.85,-7.22,0.000,4,0.198,0.076,2803,3754,3560,0,0,0,0,0,0
$GC,234,-0.76,-146.0,26.0,-16.5,35,241,0.00,1.75,0.00,0.000,6,0.000,0.041,2803,2654,3563,0,0,0,0,0,0
$GC,372,-0.76,-146.0,49.2,-16.1,60,380,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2653,3564,0,0,0,0,0,0
$GC,511,-0.76,-146.0,70.9,-15.8,85,517,0.00,1.80,0.00,0.000,4,0.000,0.062,2794,3754,3564,0,0,0,0,0,0
$GC,547,-0.76,-146.0,77.2,-17.4,91,555,0.00,1.75,0.00,0.000,6,0.000,0.041,2794,2653,3564,0,0,0,0,0,0
$GC,686,-0.76,-146.0,100.1,-15.8,116,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2653,3564,0,0,0,0,0,0
$GC,815,-0.76,-146.0,119.6,-15.0,128,818,0.00,1.80,0.00,0.000,4,0.000,0.061,2786,3763,3565,0,0,0,0,0,0
$GC,862,-0.76,-146.0,127.0,-15.9,132,866,0.12,1.70,0.00,0.000,6,0.167,0.041,2819,2663,3564,0,0,0,0,0,0
$GC,1002,-0.76,-146.0,146.1,-13.5,145,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2662,3565,0,0,0,0,0,0
$GC,1130,-0.76,-146.0,163.5,-13.7,157,1133,0.00,1.77,0.00,0.000,4,0.000,0.060,2812,3759,3565,0,0,0,0,0,0
$GC,1167,-0.76,-146.0,169.7,-15.6,160,1176,0.00,1.73,0.00,0.000,6,0.000,0.041,2812,2668,3565,0,0,0,0,0,0
$GC,1303,-0.76,-146.0,189.2,-14.5,173,1307,0.00,1.77,0.00,0.000,4,0.000,0.060,2803,3765,3565,0,0,0,0,0,0
$GC,1329,-0.76,-146.0,193.7,-16.2,175,1339,0.00,1.73,0.00,0.000,6,0.000,0.041,2803,2677,3565,0,0,0,0,0,0
$GC,1465,-0.76,-146.0,213.0,-14.2,188,1469,0.00,1.75,0.00,0.000,4,0.000,0.061,2796,3757,3565,0,0,0,0,0,0
$GC,1500,-0.76,-146.0,218.6,-15.5,191,1504,0.00,1.65,0.00,0.000,6,0.000,0.041,2796,2689,3565,0,0,0,0,0,0
$GC,1643,-0.76,-146.0,240.2,-15.9,204,1650,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2686,3565,0,0,0,0,0,0
$GC,1777,-0.76,-146.0,262.2,-16.4,217,1781,0.00,1.73,0.00,0.000,4,0.000,0.060,2788,3755,3565,0,0,0,0,0,0
$GC,1804,-0.76,-146.0,267.0,-16.8,219,1813,0.08,1.67,0.00,0.000,6,0.146,0.041,2812,2697,3565,0,0,0,0,0,0
$GC,2002,-0.76,-146.0,296.1,-14.6,238,2004,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2697,3565,0,0,0,0,0,0
$STATE,2161,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2162,begin apogee
$GC,2167,-0.17,0.0,320.2,14.5,253,2304,0.60,0.00,131.10,0.991,4,0.126,0.000,3007,2484,2960,0,0,0,0,0,0
$STATE,2305,end apogee,CONTROL_FINISHED_OK
$STATE,2305,begin climb
$GC,2307,0.76,146.0,326.8,0.0,265,2465,0.95,2.47,146.70,0.913,4,0.074,0.048,3311,1098,2363,0,0,0,0,0,0
$GC,2616,0.76,146.0,300.3,11.6,292,2624,0.00,2.47,0.00,0.000,6,0.000,0.050,3311,2495,2353,0,0,0,0,0,0
$GC,2816,0.76,146.0,277.8,11.7,311,2820,0.00,2.25,0.00,0.000,4,0.000,0.048,3316,1097,2350,0,0,0,0,0,0
$GC,2927,0.76,146.0,264.5,12.0,320,2934,0.00,2.33,0.00,0.000,6,0.000,0.052,3316,2511,2348,0,0,0,0,0,0
$GC,3126,0.76,146.0,240.7,11.9,339,3130,0.00,2.00,0.00,0.000,4,0.000,0.057,3316,3770,2348,0,0,0,0,0,0
$GC,3229,0.76,146.0,225.0,15.4,348,3238,0.00,1.95,0.00,0.000,6,0.000,0.041,3325,2535,2347,0,0,0,0,0,0
$GC,3365,0.76,146.0,205.8,14.7,361,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2533,2347,0,0,0,0,0,0
$GC,3492,0.76,146.0,188.7,13.1,373,3496,0.00,2.00,0.00,0.000,4,0.000,0.057,3324,3767,2347,0,0,0,0,0,0
$GC,3561,0.76,146.0,178.9,14.9,379,3565,0.00,1.92,0.00,0.000,6,0.000,0.039,3334,2519,2347,0,0,0,0,0,0
$GC,3704,0.76,146.0,160.6,12.6,392,3708,0.00,2.00,0.00,0.000,4,0.000,0.057,3334,3764,2347,0,0,0,0,0,0
$GC,3730,0.76,146.0,156.5,14.1,394,3739,0.08,1.92,0.00,0.000,6,0.143,0.040,3318,2548,2347,0,0,0,0,0,0
$GC,3866,0.76,146.0,141.2,11.1,407,3868,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2547,2346,0,0,0,0,0,0
$GC,3993,0.76,146.0,126.8,11.2,419,3996,0.00,1.98,0.00,0.000,4,0.000,0.057,3318,3773,2346,0,0,0,0,0,0
$GC,4040,0.76,146.0,120.7,13.5,423,4044,0.00,1.90,0.00,0.000,6,0.000,0.040,3326,2546,2346,0,0,0,0,0,0
$GC,4182,0.76,146.0,104.0,11.6,436,4185,0.00,1.98,0.00,0.000,4,0.000,0.057,3325,3773,2346,0,0,0,0,0,0
$GC,4217,0.76,146.0,99.6,12.4,439,4225,0.00,1.90,0.00,0.000,6,0.000,0.040,3335,2550,2345,0,0,0,0,0,0
$GC,4356,0.76,146.0,83.0,11.8,464,4363,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2548,2345,0,0,0,0,0,0
$GC,4495,0.76,146.0,65.7,12.4,489,4502,0.00,1.98,0.00,0.000,4,0.000,0.057,3335,3767,2345,0,0,0,0,0,0
$GC,4564,0.76,146.0,55.9,14.7,501,4571,0.12,1.88,0.00,0.000,6,0.162,0.040,3311,2561,2345,0,0,0,0,0,0
$GC,4705,0.76,146.0,39.0,11.3,526,4712,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2559,2345,0,0,0,0,0,0
$GC,4845,0.76,146.0,23.1,11.5,551,4853,0.00,1.95,0.00,0.000,4,0.000,0.057,3311,3764,2344,0,0,0,0,0,0
$GC,4874,0.76,146.0,19.9,11.8,555,4882,0.00,1.88,0.00,0.000,6,0.000,0.040,3317,2558,2345,0,0,0,0,0,0
$FREEZE,8.68,-0.732,-1.895,2,1,0
$FREEZE,7.98,-0.726,-1.895,2,1,0
$FREEZE,7.41,-0.713,-1.894,2,1,0
$FREEZE,6.66,-0.704,-1.894,2,1,0
$FREEZE,6.20,-0.680,-1.893,2,1,0
$FREEZE,5.43,-0.656,-1.892,2,1,0
$FREEZE,4.78,-0.642,-1.892,2,1,0
$FREEZE,3.95,-0.631,-1.891,2,1,0
$FREEZE,3.26,-0.626,-1.890,2,1,0
$FREEZE,2.44,-0.630,-1.890,2,1,0
$STATE,5017,end climb,SURFACE_DEPTH_REACHED
$STATE,5017,begin surface coast
$FREEZE,1.73,-0.628,-1.889,2,1,0
$FREEZE,1.18,-0.643,-1.014,2,1,0
$FREEZE,1.29,-0.720,-1.490,2,1,0
$FREEZE,1.20,-0.704,-1.460,2,1,0
$FINISH,1.2,1.021523
$STATE,5044,end surface coast,CONTROL_FINISHED_OK
$STATE,5044,begin surface
$SM_CCo,5061,82.70,0.729,1,0,1735,300.24
$SM_GC,2.16,0.00,0.00,82.70,0.000,0.000,0.729,417,2656,1735,-8.28,0.17,300.24
$IRIDIUM_FIX,-7545.40,17751.03,281210,060607
$TT8_MAMPS,0.027713
$HUMID,52.83
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,18.4
$ALTIM_BOTTOM_PING,301.1,33.0
$24V_AH,20.3,62.719
$10V_AH,9.7,41.841
$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,18.400,61.675,277.800,82.700,0.000,30.330,39.636,184.412,1.750,0.000,11.966,1484.619,1645.467,473.155,1741.384,172.920,0.000,1087.819,0.000,984.184,0.000,8.851,0.000
$DEVICE_MAMPS,198.135,87.210,990.675,729.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,409.779,796.319,927.391,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40477,584
$CAP_FILE_SIZE,84238,0
$CFSIZE,260165632,230502400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.174,180.6,1
$GPS,281210,094955,-7631.771,17754.402,42,0.9,42,121.2