version: 66.08
glider: 502
mission: 3
dive: 384
start: 12 28 110 16 1 42
data:
$ID,502
$MISSION,3
$DIVE,384
$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,-5
$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,-30625.406
$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,40
$R_STBD_OVSHOOT,29
$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
$GPS1,281210,155500,-7631.728,17802.848,43,1.0,43,121.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-72.2
$GPS2,281210,160044,-7631.751,17802.742,13,1.6,13,121.0
$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,307.8,50799,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,105,0.00,0.00,-85.47,0.000,2,0.000,0.000,424,2662,3325,0,0,0,0,0,0
$GC,108,-0.76,-146.0,3.2,-1.1,13,130,9.00,1.88,-6.60,0.000,4,0.199,0.076,2802,3765,3561,0,0,0,0,0,0
$GC,214,-0.76,-146.0,23.7,-17.3,31,222,0.00,1.77,0.00,0.000,6,0.000,0.041,2802,2628,3563,0,0,0,0,0,0
$GC,352,-0.76,-146.0,46.8,-15.6,56,359,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2627,3563,0,0,0,0,0,0
$GC,490,-0.76,-146.0,69.0,-15.7,81,496,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2627,3564,0,0,0,0,0,0
$GC,627,-0.76,-146.0,91.5,-16.4,106,635,0.00,1.88,0.00,0.000,4,0.000,0.061,2793,3753,3564,0,0,0,0,0,0
$GC,659,-0.76,-146.0,96.7,-16.2,111,667,0.00,1.75,0.00,0.000,6,0.000,0.042,2793,2655,3563,0,0,0,0,0,0
$GC,797,-0.76,-146.0,118.8,-15.7,125,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2654,3564,0,0,0,0,0,0
$GC,925,-0.76,-146.0,138.5,-15.2,137,928,0.00,1.80,0.00,0.000,4,0.000,0.061,2785,3759,3564,0,0,0,0,0,0
$GC,962,-0.76,-146.0,145.2,-16.6,140,972,0.08,1.75,0.00,0.000,6,0.143,0.041,2810,2659,3564,0,0,0,0,0,0
$GC,1100,-0.76,-146.0,164.7,-14.3,153,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2659,3564,0,0,0,0,0,0
$GC,1235,-0.76,-146.0,183.9,-14.0,166,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2659,3564,0,0,0,0,0,0
$GC,1362,-0.76,-146.0,202.7,-14.8,178,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2659,3564,0,0,0,0,0,0
$GC,1490,-0.76,-146.0,222.7,-16.0,190,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2659,3565,0,0,0,0,0,0
$GC,1618,-0.76,-146.0,242.5,-15.4,202,1622,0.00,1.77,0.00,0.000,4,0.000,0.060,2803,3756,3564,0,0,0,0,0,0
$GC,1669,-0.76,-146.0,250.9,-16.5,206,1677,0.00,1.75,0.00,0.000,6,0.000,0.041,2802,2657,3564,0,0,0,0,0,0
$GC,1802,-0.76,-146.0,271.5,-14.9,219,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2656,3564,0,0,0,0,0,0
$GC,1994,-0.76,-146.0,300.2,-15.2,237,1998,0.00,1.80,0.00,0.000,4,0.000,0.062,2795,3763,3565,0,0,0,0,0,0
$GC,2040,-0.76,-146.0,307.6,-16.4,241,2044,0.00,1.73,0.00,0.000,6,0.000,0.041,2795,2678,3565,0,0,0,0,0,0
$STATE,2050,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2050,begin apogee
$GC,2055,-0.17,0.0,309.5,16.1,242,2193,0.65,0.00,130.82,0.988,4,0.131,0.000,3003,2481,2960,0,0,0,0,0,0
$STATE,2193,end apogee,CONTROL_FINISHED_OK
$STATE,2193,begin climb
$GC,2195,0.76,146.0,315.9,0.0,254,2350,0.98,2.47,145.85,0.908,4,0.076,0.048,3312,1101,2365,0,0,0,0,0,0
$GC,2488,0.76,146.0,290.1,11.8,280,2496,0.00,2.47,0.00,0.000,6,0.000,0.050,3312,2491,2354,0,0,0,0,0,0
$GC,2687,0.76,146.0,266.6,11.8,299,2691,0.00,2.22,0.00,0.000,4,0.000,0.047,3322,1096,2351,0,0,0,0,0,0
$GC,2820,0.76,146.0,250.5,11.4,310,2828,0.00,2.33,0.00,0.000,6,0.000,0.051,3322,2515,2349,0,0,0,0,0,0
$GC,3020,0.76,146.0,226.2,12.5,329,3024,0.00,1.98,0.00,0.000,4,0.000,0.056,3323,3762,2348,0,0,0,0,0,0
$GC,3123,0.76,146.0,211.2,14.9,338,3132,0.00,1.95,0.00,0.000,6,0.000,0.040,3332,2534,2348,0,0,0,0,0,0
$GC,3261,0.76,146.0,194.1,12.5,351,3270,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2532,2347,0,0,0,0,0,0
$GC,3397,0.76,146.0,176.0,13.3,364,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2532,2347,0,0,0,0,0,0
$GC,3524,0.76,146.0,159.5,12.9,376,3527,0.00,1.98,0.00,0.000,4,0.000,0.056,3332,3762,2347,0,0,0,0,0,0
$GC,3583,0.76,146.0,150.4,15.1,381,3591,0.00,1.95,0.00,0.000,6,0.000,0.040,3341,2532,2346,0,0,0,0,0,0
$GC,3719,0.76,146.0,132.1,13.9,394,3721,0.10,0.00,0.00,0.000,6,0.173,0.000,3315,2531,2346,0,0,0,0,0,0
$GC,3846,0.76,146.0,116.6,12.2,406,3849,0.00,1.98,0.00,0.000,4,0.000,0.057,3315,3763,2346,0,0,0,0,0,0
$GC,3892,0.76,146.0,110.5,13.9,410,3895,0.00,1.90,0.00,0.000,6,0.000,0.040,3323,2538,2346,0,0,0,0,0,0
$GC,4027,0.76,146.0,93.6,12.4,427,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2535,2346,0,0,0,0,0,0
$GC,4165,0.76,146.0,76.9,12.4,452,4173,0.00,2.03,0.00,0.000,4,0.000,0.056,3323,3762,2346,0,0,0,0,0,0
$GC,4198,0.76,146.0,72.8,13.8,457,4205,0.00,1.92,0.00,0.000,6,0.000,0.040,3333,2530,2346,0,0,0,0,0,0
$GC,4335,0.76,146.0,55.4,12.0,482,4343,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2529,2346,0,0,0,0,0,0
$GC,4473,0.76,146.0,38.3,12.2,507,4480,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2529,2345,0,0,0,0,0,0
$GC,4612,0.76,146.0,20.8,12.6,532,4620,0.00,2.03,0.00,0.000,4,0.000,0.057,3333,3757,2345,0,0,0,0,0,0
$GC,4655,0.76,146.0,14.8,14.1,539,4664,0.12,1.92,0.00,0.000,6,0.165,0.040,3309,2522,2345,0,0,0,0,0,0
$FREEZE,8.58,-0.683,-1.893,2,1,0
$FREEZE,7.86,-0.682,-1.893,2,1,0
$FREEZE,7.28,-0.685,-1.892,2,1,0
$FREEZE,6.61,-0.687,-1.892,2,1,0
$FREEZE,6.02,-0.684,-1.891,2,1,0
$FREEZE,5.36,-0.687,-1.891,2,1,0
$FREEZE,4.74,-0.687,-1.891,2,1,0
$FREEZE,4.07,-0.683,-1.890,2,1,0
$FREEZE,3.44,-0.680,-1.889,2,1,0
$FREEZE,2.57,-0.679,-1.889,2,1,0
$STATE,4756,end climb,SURFACE_DEPTH_REACHED
$STATE,4757,begin surface coast
$FREEZE,2.00,-0.682,-1.888,2,1,0
$FREEZE,1.32,-0.680,-1.888,2,1,0
$FREEZE,1.25,-0.723,-0.348,2,1,0
$FINISH,1.3,1.004976
$STATE,4776,end surface coast,FINISH_DEPTH_REACHED
$STATE,4776,begin surface
$SM_CCo,4792,80.30,0.729,1,0,1737,300.24
$SM_GC,2.21,0.00,0.00,80.30,0.000,0.000,0.729,420,2657,1737,-8.27,0.20,300.24
$IRIDIUM_FIX,-7545.40,17800.23,281210,141441
$TT8_MAMPS,0.028462
$HUMID,52.95
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.7,17.1
$ALTIM_BOTTOM_PING,250.9,72.1
$24V_AH,20.3,63.205
$10V_AH,9.7,42.229
$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,18.425,47.500,276.675,80.300,0.000,29.359,36.215,172.315,1.000,0.000,14.142,1409.541,1530.628,466.871,1673.037,183.928,0.000,1054.129,0.000,932.260,0.000,7.240,0.000
$DEVICE_MAMPS,198.900,77.265,987.615,729.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,391.849,771.562,919.052,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267068
$DATA_FILE_SIZE,40453,559
$CAP_FILE_SIZE,78349,0
$CFSIZE,260165632,230260736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.066,196.1,1
$GPS,281210,172350,-7631.717,17804.910,12,1.5,12,120.9