version: 66.08
glider: 502
mission: 3
dive: 383
start: 12 28 110 14 32 17
data:
$ID,502
$MISSION,3
$DIVE,383
$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,-30624.148
$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,28
$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
$GPS1,281210,142214,-7631.760,17800.691,11,1.3,11,121.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-73.5
$GPS2,281210,143150,-7631.792,17800.561,12,1.5,12,121.0
$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,300.5,51745,-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,-81.75,0.000,2,0.000,0.000,416,2662,3243,0,0,0,0,0,0
$GC,102,-0.76,-146.0,3.1,-0.7,12,126,9.05,1.88,-9.45,0.000,4,0.198,0.077,2803,3760,3560,0,0,0,0,0,0
$GC,251,-0.76,-146.0,28.7,-16.8,37,257,0.00,1.77,0.00,0.000,6,0.000,0.041,2802,2624,3562,0,0,0,0,0,0
$GC,393,-0.76,-146.0,52.5,-16.6,62,401,0.00,1.90,0.00,0.000,4,0.000,0.060,2794,3763,3562,0,0,0,0,0,0
$GC,419,-0.76,-146.0,57.2,-16.8,66,429,0.00,1.75,0.00,0.000,6,0.000,0.041,2793,2660,3563,0,0,0,0,0,0
$GC,566,-0.76,-146.0,82.0,-17.1,91,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2659,3563,0,0,0,0,0,0
$GC,705,-0.76,-146.0,106.5,-17.6,113,709,0.00,1.77,0.00,0.000,4,0.000,0.060,2785,3757,3563,0,0,0,0,0,0
$GC,732,-0.76,-146.0,111.8,-18.4,115,742,0.08,1.75,0.00,0.000,6,0.145,0.041,2810,2655,3563,0,0,0,0,0,0
$GC,869,-0.76,-146.0,133.0,-15.7,128,872,0.00,1.80,0.00,0.000,4,0.000,0.060,2803,3767,3563,0,0,0,0,0,0
$GC,904,-0.76,-146.0,139.0,-17.6,131,908,0.00,1.70,0.00,0.000,6,0.000,0.041,2803,2667,3563,0,0,0,0,0,0
$GC,1045,-0.76,-146.0,162.3,-16.7,144,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2666,3564,0,0,0,0,0,0
$GC,1172,-0.76,-146.0,182.9,-15.9,156,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2666,3563,0,0,0,0,0,0
$GC,1299,-0.76,-146.0,202.5,-15.1,168,1303,0.00,1.77,0.00,0.000,4,0.000,0.060,2794,3766,3563,0,0,0,0,0,0
$GC,1346,-0.76,-146.0,209.6,-16.0,172,1349,0.00,1.67,0.00,0.000,6,0.000,0.041,2794,2678,3564,0,0,0,0,0,0
$GC,1489,-0.76,-146.0,231.2,-15.1,185,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2676,3563,0,0,0,0,0,0
$GC,1622,-0.76,-146.0,252.0,-15.0,198,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2676,3563,0,0,0,0,0,0
$GC,1813,-0.76,-146.0,281.4,-15.0,216,1817,0.00,1.75,0.00,0.000,4,0.000,0.060,2786,3762,3563,0,0,0,0,0,0
$GC,1849,-0.76,-146.0,287.1,-16.9,219,1853,0.12,1.65,0.00,0.000,6,0.164,0.041,2819,2687,3564,0,0,0,0,0,0
$STATE,2020,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2020,begin apogee
$GC,2025,-0.17,0.0,311.3,13.7,235,2162,0.55,0.00,130.27,0.988,4,0.125,0.000,3001,2487,2961,0,0,0,0,0,0
$STATE,2163,end apogee,CONTROL_FINISHED_OK
$STATE,2163,begin climb
$GC,2165,0.76,146.0,317.8,0.0,247,2319,0.98,2.45,145.57,0.910,4,0.076,0.047,3311,1106,2366,0,0,0,0,0,0
$GC,2450,0.76,146.0,294.0,11.2,273,2455,0.00,2.45,0.00,0.000,6,0.000,0.050,3311,2501,2356,0,0,0,0,0,0
$GC,2649,0.76,146.0,270.6,11.8,291,2653,0.00,2.25,0.00,0.000,4,0.000,0.048,3322,1101,2353,0,0,0,0,0,0
$GC,2794,0.76,146.0,253.9,10.9,303,2801,0.00,2.28,0.00,0.000,6,0.000,0.051,3322,2512,2350,0,0,0,0,0,0
$GC,2994,0.76,146.0,230.3,11.9,322,2997,0.00,2.00,0.00,0.000,4,0.000,0.057,3322,3773,2350,0,0,0,0,0,0
$GC,3096,0.76,146.0,216.4,13.8,331,3100,0.00,1.95,0.00,0.000,6,0.000,0.041,3328,2517,2349,0,0,0,0,0,0
$GC,3237,0.76,146.0,199.5,11.3,344,3238,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2515,2349,0,0,0,0,0,0
$GC,3365,0.76,146.0,184.5,11.7,356,3368,0.00,2.03,0.00,0.000,4,0.000,0.057,3328,3774,2348,0,0,0,0,0,0
$GC,3413,0.76,146.0,177.3,14.3,360,3421,0.00,1.98,0.00,0.000,6,0.000,0.040,3337,2527,2348,0,0,0,0,0,0
$GC,3551,0.76,146.0,160.0,13.1,373,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2526,2347,0,0,0,0,0,0
$GC,3687,0.76,146.0,142.2,12.9,386,3690,0.00,2.00,0.00,0.000,4,0.000,0.057,3338,3770,2347,0,0,0,0,0,0
$GC,3733,0.76,146.0,135.2,15.4,390,3737,0.12,1.92,0.00,0.000,6,0.165,0.040,3314,2527,2347,0,0,0,0,0,0
$GC,3868,0.76,146.0,119.1,11.2,402,3871,0.00,2.00,0.00,0.000,4,0.000,0.058,3314,3763,2347,0,0,0,0,0,0
$GC,3915,0.76,146.0,113.1,14.2,406,3918,0.00,1.88,0.00,0.000,6,0.000,0.039,3321,2549,2347,0,0,0,0,0,0
$GC,4050,0.76,146.0,96.3,12.1,421,4057,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2548,2347,0,0,0,0,0,0
$GC,4191,0.76,146.0,79.1,12.3,446,4200,0.00,2.00,0.00,0.000,4,0.000,0.057,3321,3757,2347,0,0,0,0,0,0
$GC,4218,0.76,146.0,75.7,12.7,450,4227,0.00,1.88,0.00,0.000,6,0.000,0.040,3330,2569,2347,0,0,0,0,0,0
$GC,4363,0.76,146.0,57.2,13.0,475,4369,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2569,2347,0,0,0,0,0,0
$GC,4504,0.76,146.0,38.9,12.8,500,4512,0.00,1.98,0.00,0.000,4,0.000,0.057,3331,3764,2347,0,0,0,0,0,0
$GC,4562,0.76,146.0,30.4,14.7,510,4571,0.00,1.88,0.00,0.000,6,0.000,0.039,3340,2572,2347,0,0,0,0,0,0
$GC,4710,0.76,146.0,10.7,13.1,535,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2571,2347,0,0,0,0,0,0
$FREEZE,8.44,-0.616,-1.894,2,1,0
$FREEZE,7.63,-0.615,-1.893,2,1,0
$FREEZE,6.80,-0.615,-1.892,2,1,0
$FREEZE,5.95,-0.616,-1.891,2,1,0
$FREEZE,5.16,-0.618,-1.891,2,1,0
$FREEZE,4.40,-0.619,-1.890,2,1,0
$FREEZE,3.65,-0.619,-1.890,2,1,0
$FREEZE,2.73,-0.615,-1.889,2,1,0
$STATE,4763,end climb,SURFACE_DEPTH_REACHED
$STATE,4763,begin surface coast
$FREEZE,1.92,-0.616,-1.888,2,1,0
$FREEZE,1.27,-0.642,-1.889,2,1,0
$FREEZE,1.19,-0.637,-0.968,2,1,0
$FREEZE,1.20,-0.661,-0.905,2,1,0
$FINISH,1.2,1.013361
$STATE,4789,end surface coast,CONTROL_FINISHED_OK
$STATE,4789,begin surface
$SM_CCo,4805,76.32,0.101,0,0,1736,300.24
$SM_GC,2.05,0.00,0.00,76.32,0.000,0.000,0.101,425,2662,1736,-8.25,0.34,300.24
$IRIDIUM_FIX,-7545.40,17800.23,281210,141448
$TT8_MAMPS,0.028462
$HUMID,53.11
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,18.0
$ALTIM_BOTTOM_PING,301.1,23.8
$24V_AH,20.3,63.101
$10V_AH,9.6,42.151
$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,18.500,54.500,275.850,76.325,0.000,59.872,72.574,243.256,2.000,0.000,13.639,1390.474,1649.317,442.359,1813.210,173.885,0.000,1025.722,0.000,925.807,0.000,11.749,0.000
$DEVICE_MAMPS,198.135,87.975,988.380,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,384.464,751.220,889.670,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258172
$DATA_FILE_SIZE,37070,548
$CAP_FILE_SIZE,82402,0
$CFSIZE,260165632,230305792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.078,177.2,1
$GPS,281210,155500,-7631.728,17802.848,43,1.0,43,121.0