version: 66.08
glider: 502
mission: 3
dive: 380
start: 12 28 110 9 56 28
data:
$ID,502
$MISSION,3
$DIVE,380
$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,-30620.279
$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,37
$R_STBD_OVSHOOT,24
$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
$GPS1,281210,094955,-7631.771,17754.402,42,0.9,42,121.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-74.3
$GPS2,281210,095602,-7631.796,17754.297,9,1.4,9,121.2
$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,283.3,54448,-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,13,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,97,0.00,0.00,-79.38,0.000,2,0.000,0.000,417,2657,3194,0,0,0,0,0,0
$GC,100,-0.76,-146.0,3.1,-0.6,12,130,8.98,1.85,-11.65,0.000,4,0.202,0.079,2803,3754,3559,0,0,0,0,0,0
$GC,228,-0.76,-146.0,23.4,-17.8,33,235,0.00,1.75,0.00,0.000,6,0.000,0.042,2803,2654,3561,0,0,0,0,0,0
$GC,370,-0.76,-146.0,47.2,-16.1,58,378,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2654,3562,0,0,0,0,0,0
$GC,514,-0.76,-146.0,70.5,-16.1,83,521,0.00,1.83,0.00,0.000,4,0.000,0.061,2795,3773,3563,0,0,0,0,0,0
$GC,555,-0.76,-146.0,77.8,-17.4,90,564,0.00,1.77,0.00,0.000,6,0.000,0.041,2795,2656,3562,0,0,0,0,0,0
$GC,698,-0.76,-146.0,102.1,-17.4,114,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2655,3563,0,0,0,0,0,0
$GC,826,-0.76,-146.0,123.5,-17.0,126,829,0.00,1.80,0.00,0.000,4,0.000,0.060,2787,3769,3563,0,0,0,0,0,0
$GC,884,-0.76,-146.0,133.6,-17.5,131,888,0.12,1.73,0.00,0.000,6,0.166,0.041,2820,2651,3563,0,0,0,0,0,0
$GC,1026,-0.76,-146.0,154.8,-14.8,144,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2649,3563,0,0,0,0,0,0
$GC,1161,-0.76,-146.0,174.1,-14.0,157,1165,0.00,1.83,0.00,0.000,4,0.000,0.061,2813,3766,3563,0,0,0,0,0,0
$GC,1208,-0.76,-146.0,181.0,-15.4,161,1212,0.00,1.70,0.00,0.000,6,0.000,0.041,2813,2667,3563,0,0,0,0,0,0
$GC,1350,-0.76,-146.0,201.6,-14.5,174,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2664,3563,0,0,0,0,0,0
$GC,1486,-0.76,-146.0,221.6,-14.6,187,1489,0.00,1.77,0.00,0.000,4,0.000,0.060,2805,3766,3563,0,0,0,0,0,0
$GC,1523,-0.76,-146.0,227.9,-15.9,190,1532,0.00,1.75,0.00,0.000,6,0.000,0.041,2805,2663,3563,0,0,0,0,0,0
$GC,1659,-0.76,-146.0,249.3,-16.1,203,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2662,3563,0,0,0,0,0,0
$GC,1785,-0.76,-146.0,269.0,-15.2,215,1789,0.00,1.77,0.00,0.000,4,0.000,0.060,2797,3763,3563,0,0,0,0,0,0
$GC,1823,-0.76,-146.0,275.9,-16.8,218,1832,0.00,1.73,0.00,0.000,6,0.000,0.040,2797,2676,3563,0,0,0,0,0,0
$GC,2023,-0.76,-146.0,307.2,-15.7,237,2026,0.00,1.75,0.00,0.000,4,0.000,0.060,2788,3763,3563,0,0,0,0,0,0
$GC,2050,-0.76,-146.0,312.2,-17.0,239,2057,0.10,1.67,0.00,0.000,6,0.173,0.041,2814,2679,3563,0,0,0,0,0,0
$STATE,2076,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2076,begin apogee
$GC,2081,-0.17,0.0,316.7,17.4,242,2219,0.57,0.00,130.62,0.987,4,0.125,0.000,3002,2495,2960,0,0,0,0,0,0
$STATE,2220,end apogee,CONTROL_FINISHED_OK
$STATE,2220,begin climb
$GC,2222,0.76,146.0,322.7,0.0,254,2377,0.95,2.50,146.23,0.907,4,0.075,0.047,3307,1099,2364,0,0,0,0,0,0
$GC,2528,0.76,146.0,296.9,11.0,282,2533,0.00,2.42,0.00,0.000,6,0.000,0.049,3307,2501,2353,0,0,0,0,0,0
$GC,2727,0.76,146.0,274.1,11.3,300,2731,0.00,2.25,0.00,0.000,4,0.000,0.048,3316,1094,2350,0,0,0,0,0,0
$GC,2847,0.76,146.0,260.7,11.3,310,2851,0.00,2.30,0.00,0.000,6,0.000,0.051,3316,2522,2348,0,0,0,0,0,0
$GC,3046,0.76,146.0,238.1,11.1,328,3049,0.00,1.98,0.00,0.000,4,0.000,0.056,3316,3770,2347,0,0,0,0,0,0
$GC,3138,0.76,146.0,225.8,13.7,336,3147,0.00,1.95,0.00,0.000,6,0.000,0.041,3325,2534,2347,0,0,0,0,0,0
$GC,3275,0.76,146.0,209.0,12.7,349,3279,0.00,1.98,0.00,0.000,4,0.000,0.058,3325,3762,2346,0,0,0,0,0,0
$GC,3323,0.76,146.0,201.6,15.1,353,3332,0.00,1.92,0.00,0.000,6,0.000,0.040,3335,2546,2347,0,0,0,0,0,0
$GC,3460,0.76,146.0,184.3,12.6,366,3461,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2546,2346,0,0,0,0,0,0
$GC,3587,0.76,146.0,168.0,12.9,378,3590,0.00,1.95,0.00,0.000,4,0.000,0.057,3335,3764,2346,0,0,0,0,0,0
$GC,3666,0.76,146.0,156.3,15.3,385,3671,0.12,1.88,0.00,0.000,6,0.168,0.040,3311,2550,2346,0,0,0,0,0,0
$GC,3809,0.76,146.0,139.8,11.2,398,3813,0.00,1.95,0.00,0.000,4,0.000,0.058,3311,3763,2346,0,0,0,0,0,0
$GC,3835,0.76,146.0,136.0,12.2,400,3844,0.00,1.90,0.00,0.000,6,0.000,0.040,3316,2563,2346,0,0,0,0,0,0
$GC,3972,0.76,146.0,119.8,11.6,413,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2561,2345,0,0,0,0,0,0
$GC,4099,0.76,146.0,105.0,11.5,425,4103,0.00,1.92,0.00,0.000,4,0.000,0.057,3316,3763,2345,0,0,0,0,0,0
$GC,4137,0.76,146.0,99.7,13.3,428,4146,0.00,1.88,0.00,0.000,6,0.000,0.040,3325,2572,2345,0,0,0,0,0,0
$GC,4284,0.76,146.0,82.7,11.6,453,4290,0.00,1.92,0.00,0.000,4,0.000,0.057,3325,3763,2345,0,0,0,0,0,0
$GC,4314,0.76,146.0,78.1,13.6,458,4323,0.00,1.85,0.00,0.000,6,0.000,0.040,3334,2589,2345,0,0,0,0,0,0
$GC,4459,0.76,146.0,60.0,11.6,483,4466,0.00,2.38,0.00,0.000,4,0.000,0.048,3343,1083,2345,0,0,0,0,0,0
$GC,4486,0.76,146.0,56.5,13.0,487,4494,0.12,2.42,0.00,0.000,6,0.157,0.050,3310,2590,2344,0,0,0,0,0,0
$GC,4631,0.76,146.0,40.4,11.3,512,4639,0.00,1.90,0.00,0.000,4,0.000,0.057,3311,3761,2344,0,0,0,0,0,0
$GC,4702,0.76,146.0,31.0,13.1,524,4710,0.00,1.85,0.00,0.000,6,0.000,0.040,3318,2590,2344,0,0,0,0,0,0
$GC,4848,0.76,146.0,14.0,11.7,549,4854,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2589,2344,0,0,0,0,0,0
$FREEZE,8.87,-0.513,-1.894,2,1,0
$FREEZE,8.19,-0.510,-1.894,2,1,0
$FREEZE,7.37,-0.515,-1.893,2,1,0
$FREEZE,6.81,-0.517,-1.893,2,1,0
$FREEZE,6.01,-0.510,-1.892,2,1,0
$FREEZE,5.37,-0.512,-1.892,2,1,0
$FREEZE,4.66,-0.513,-1.891,2,1,0
$FREEZE,4.05,-0.513,-1.891,2,1,0
$FREEZE,3.17,-0.515,-1.890,2,1,0
$FREEZE,2.52,-0.510,-1.890,2,1,0
$STATE,4941,end climb,SURFACE_DEPTH_REACHED
$STATE,4942,begin surface coast
$FREEZE,1.57,-0.517,-1.889,2,1,0
$FREEZE,1.25,-0.527,-1.889,2,1,0
$FREEZE,1.24,-0.595,-0.779,2,1,0
$FREEZE,1.30,-0.545,-1.112,2,1,0
$FINISH,1.3,1.016423
$STATE,4968,end surface coast,CONTROL_FINISHED_OK
$STATE,4968,begin surface
$SM_CCo,4985,80.70,0.726,1,0,1736,300.24
$SM_GC,2.19,0.00,0.00,80.70,0.000,0.000,0.726,424,2661,1736,-8.26,0.31,300.24
$IRIDIUM_FIX,-7545.40,17751.03,281210,080855
$TT8_MAMPS,0.028462
$HUMID,53.07
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,19.0
$ALTIM_BOTTOM_PING,300.4,29.9
$24V_AH,20.3,62.824
$10V_AH,9.7,41.920
$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,18.550,66.175,276.850,80.700,0.000,31.357,38.452,191.410,1.750,0.000,10.246,1460.240,1602.511,473.407,1734.755,175.515,0.000,1090.547,0.000,970.529,0.000,11.774,0.000
$DEVICE_MAMPS,201.960,105.570,986.850,725.985,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,398.827,779.898,922.296,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40371,569
$CAP_FILE_SIZE,84574,0
$CFSIZE,260165632,230453248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.165,175.7,1
$GPS,281210,112144,-7631.793,17756.266,7,1.2,7,121.1