version: 66.08
glider: 502
mission: 3
dive: 382
start: 12 28 110 12 58 52
data:
$ID,502
$MISSION,3
$DIVE,382
$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,-30622.797
$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,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
$GPS1,281210,125231,-7631.780,17758.408,38,1.3,38,121.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-73.0
$GPS2,281210,125826,-7631.808,17758.320,14,1.6,14,121.1
$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,291.9,52714,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-81.43,0.000,2,0.000,0.000,422,2661,3240,0,0,0,0,0,0
$GC,102,-0.76,-146.0,3.2,-1.3,12,126,8.98,1.88,-9.77,0.000,4,0.197,0.078,2801,3757,3559,0,0,0,0,0,0
$GC,295,-0.76,-146.0,37.0,-18.1,45,302,0.00,1.75,0.00,0.000,6,0.000,0.041,2801,2654,3562,0,0,0,0,0,0
$GC,435,-0.76,-146.0,61.4,-17.0,70,445,0.00,1.83,0.00,0.000,4,0.000,0.061,2792,3749,3563,0,0,0,0,0,0
$GC,452,-0.76,-146.0,64.3,-17.7,72,460,0.00,1.73,0.00,0.000,6,0.000,0.041,2792,2663,3563,0,0,0,0,0,0
$GC,596,-0.76,-146.0,89.4,-17.0,97,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2662,3563,0,0,0,0,0,0
$GC,735,-0.76,-146.0,112.6,-16.7,115,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2662,3563,0,0,0,0,0,0
$GC,862,-0.76,-146.0,134.1,-16.6,127,865,0.00,1.77,0.00,0.000,4,0.000,0.060,2784,3760,3563,0,0,0,0,0,0
$GC,908,-0.76,-146.0,142.2,-18.4,131,913,0.12,1.73,0.00,0.000,6,0.165,0.041,2817,2639,3564,0,0,0,0,0,0
$GC,1051,-0.76,-146.0,163.7,-14.8,144,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2638,3564,0,0,0,0,0,0
$GC,1186,-0.76,-146.0,184.8,-15.5,157,1189,0.00,1.80,0.00,0.000,4,0.000,0.060,2810,3754,3564,0,0,0,0,0,0
$GC,1223,-0.76,-146.0,191.3,-15.6,160,1232,0.00,1.75,0.00,0.000,6,0.000,0.042,2810,2649,3564,0,0,0,0,0,0
$GC,1359,-0.76,-146.0,212.0,-16.1,173,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2648,3564,0,0,0,0,0,0
$GC,1486,-0.76,-146.0,231.9,-15.6,185,1489,0.00,1.80,0.00,0.000,4,0.000,0.060,2802,3761,3564,0,0,0,0,0,0
$GC,1523,-0.76,-146.0,238.7,-16.9,188,1531,0.00,1.75,0.00,0.000,6,0.000,0.041,2802,2657,3564,0,0,0,0,0,0
$GC,1657,-0.76,-146.0,259.7,-15.8,201,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2656,3564,0,0,0,0,0,0
$GC,1849,-0.76,-146.0,289.3,-15.5,219,1853,0.00,1.80,0.00,0.000,4,0.000,0.061,2794,3765,3564,0,0,0,0,0,0
$GC,1922,-0.76,-146.0,301.4,-15.7,225,1929,0.00,1.73,0.00,0.000,6,0.000,0.041,2794,2676,3564,0,0,0,0,0,0
$STATE,2001,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2001,begin apogee
$GC,2007,-0.17,0.0,314.7,16.9,233,2144,0.65,0.00,131.15,0.989,4,0.129,0.000,3002,2491,2960,0,0,0,0,0,0
$STATE,2145,end apogee,CONTROL_FINISHED_OK
$STATE,2145,begin climb
$GC,2147,0.76,146.0,321.1,0.0,245,2301,0.98,2.47,145.75,0.909,4,0.076,0.048,3313,1099,2365,0,0,0,0,0,0
$GC,2439,0.76,146.0,295.4,11.3,271,2443,0.00,2.45,0.00,0.000,6,0.000,0.050,3313,2501,2354,0,0,0,0,0,0
$GC,2637,0.76,146.0,272.2,11.7,289,2641,0.00,2.25,0.00,0.000,4,0.000,0.048,3323,1099,2351,0,0,0,0,0,0
$GC,2778,0.76,146.0,255.8,11.4,301,2783,0.00,2.28,0.00,0.000,6,0.000,0.051,3323,2512,2348,0,0,0,0,0,0
$GC,2979,0.76,146.0,231.9,11.8,319,2982,0.00,2.00,0.00,0.000,4,0.000,0.057,3323,3771,2348,0,0,0,0,0,0
$GC,3058,0.76,146.0,221.3,13.4,326,3062,0.00,1.95,0.00,0.000,6,0.000,0.041,3333,2510,2348,0,0,0,0,0,0
$GC,3201,0.76,146.0,203.2,13.0,339,3204,0.00,2.03,0.00,0.000,4,0.000,0.056,3333,3770,2347,0,0,0,0,0,0
$GC,3227,0.76,146.0,199.0,14.7,341,3236,0.08,1.98,0.00,0.000,6,0.146,0.039,3318,2519,2347,0,0,0,0,0,0
$GC,3363,0.76,146.0,183.0,11.2,354,3366,0.00,2.00,0.00,0.000,4,0.000,0.057,3318,3761,2347,0,0,0,0,0,0
$GC,3409,0.76,146.0,177.2,13.3,358,3413,0.00,1.90,0.00,0.000,6,0.000,0.040,3325,2534,2347,0,0,0,0,0,0
$GC,3551,0.76,146.0,160.0,11.8,371,3552,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2532,2347,0,0,0,0,0,0
$GC,3677,0.76,146.0,144.5,11.9,383,3681,0.00,1.98,0.00,0.000,4,0.000,0.057,3325,3763,2347,0,0,0,0,0,0
$GC,3723,0.76,146.0,138.3,13.8,387,3727,0.00,1.88,0.00,0.000,6,0.000,0.040,3335,2548,2347,0,0,0,0,0,0
$GC,3866,0.76,146.0,120.2,12.4,400,3870,0.00,1.98,0.00,0.000,4,0.000,0.057,3335,3771,2346,0,0,0,0,0,0
$GC,3903,0.76,146.0,114.6,13.8,403,3912,0.08,1.92,0.00,0.000,6,0.148,0.041,3319,2559,2346,0,0,0,0,0,0
$GC,4041,0.76,146.0,99.7,10.9,416,4048,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2558,2346,0,0,0,0,0,0
$GC,4185,0.76,146.0,83.5,11.4,441,4192,0.00,1.98,0.00,0.000,4,0.000,0.057,3319,3755,2346,0,0,0,0,0,0
$GC,4215,0.76,146.0,79.6,13.3,446,4224,0.00,1.88,0.00,0.000,6,0.000,0.041,3326,2567,2346,0,0,0,0,0,0
$GC,4362,0.76,146.0,62.5,11.4,471,4369,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2567,2346,0,0,0,0,0,0
$GC,4503,0.76,146.0,45.3,12.0,496,4511,0.00,1.98,0.00,0.000,4,0.000,0.059,3326,3758,2345,0,0,0,0,0,0
$GC,4551,0.76,146.0,38.7,14.1,504,4559,0.00,1.88,0.00,0.000,6,0.000,0.041,3336,2574,2345,0,0,0,0,0,0
$GC,4700,0.76,146.0,19.8,13.3,529,4706,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2574,2345,0,0,0,0,0,0
$FREEZE,8.29,-0.522,-1.893,2,1,0
$FREEZE,7.67,-0.522,-1.893,2,1,0
$FREEZE,6.93,-0.524,-1.893,2,1,0
$FREEZE,6.28,-0.523,-1.892,2,1,0
$FREEZE,5.48,-0.523,-1.891,2,1,0
$FREEZE,4.80,-0.525,-1.891,2,1,0
$FREEZE,3.99,-0.525,-1.890,2,1,0
$FREEZE,3.38,-0.523,-1.890,2,1,0
$FREEZE,2.49,-0.523,-1.889,2,1,0
$STATE,4833,end climb,SURFACE_DEPTH_REACHED
$STATE,4833,begin surface coast
$FREEZE,1.39,-0.530,-1.888,2,1,0
$FREEZE,1.23,-0.581,-1.729,2,1,0
$FREEZE,1.29,-0.564,-1.726,2,1,0
$FREEZE,1.17,-0.541,-1.524,2,1,0
$FINISH,1.2,1.022437
$STATE,4859,end surface coast,CONTROL_FINISHED_OK
$STATE,4859,begin surface
$SM_CCo,4876,76.78,0.101,0,0,1736,300.24
$SM_GC,2.03,0.00,0.00,76.78,0.000,0.000,0.101,417,2662,1736,-8.28,0.34,300.24
$IRIDIUM_FIX,-7545.40,17751.03,281210,111111
$TT8_MAMPS,0.028462
$HUMID,53.11
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,18.6
$ALTIM_BOTTOM_PING,300.4,27.8
$24V_AH,20.3,63.005
$10V_AH,9.7,42.074
$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,18.475,58.450,276.900,76.775,0.000,27.365,37.052,178.424,1.750,0.000,15.523,1423.251,1602.858,445.906,1681.152,162.682,0.000,1042.325,0.000,944.358,0.000,8.840,0.000
$DEVICE_MAMPS,197.370,94.095,989.145,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,390.041,764.470,906.304,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40423,556
$CAP_FILE_SIZE,80458,0
$CFSIZE,260165632,230359040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.110,168.0,1
$GPS,281210,142214,-7631.760,17800.691,11,1.3,11,121.0