version: 66.08
glider: 502
mission: 3
dive: 385
start: 12 28 110 17 30 28
data:
$ID,502
$MISSION,3
$DIVE,385
$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,-30626.664
$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,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
$GPS1,281210,172350,-7631.717,17804.910,12,1.5,12,120.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-73.1
$GPS2,281210,173002,-7631.746,17804.814,11,1.6,11,120.9
$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,311.5,49904,-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,-146.0,0.0,0.0,0,98,0.00,0.00,-80.40,0.000,2,0.000,0.000,420,2658,3215,0,0,0,0,0,0
$GC,101,-0.76,-146.0,3.0,-0.5,12,125,8.98,1.88,-10.77,0.000,4,0.203,0.076,2799,3760,3559,0,0,0,0,0,0
$GC,217,-0.76,-146.0,22.8,-17.7,32,226,0.00,1.77,0.00,0.000,6,0.000,0.042,2799,2645,3561,0,0,0,0,0,0
$GC,356,-0.76,-146.0,46.3,-16.3,57,363,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2645,3562,0,0,0,0,0,0
$GC,495,-0.76,-146.0,69.5,-16.5,82,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2645,3563,0,0,0,0,0,0
$GC,634,-0.76,-146.0,92.4,-16.7,107,641,0.00,1.83,0.00,0.000,4,0.000,0.060,2790,3760,3563,0,0,0,0,0,0
$GC,663,-0.76,-146.0,97.6,-16.8,112,671,0.00,1.75,0.00,0.000,6,0.000,0.041,2790,2657,3563,0,0,0,0,0,0
$GC,809,-0.76,-146.0,121.0,-16.2,126,813,0.00,2.22,0.00,0.000,4,0.000,0.049,2790,1235,3563,0,0,0,0,0,0
$GC,829,-0.76,-146.0,124.3,-16.0,127,834,0.12,2.30,0.00,0.000,6,0.168,0.055,2816,2653,3563,0,0,0,0,0,0
$GC,964,-0.76,-146.0,144.2,-14.4,139,968,0.00,1.77,0.00,0.000,4,0.000,0.059,2809,3769,3563,0,0,0,0,0,0
$GC,1011,-0.76,-146.0,151.3,-15.2,143,1015,0.00,1.73,0.00,0.000,6,0.000,0.041,2809,2652,3563,0,0,0,0,0,0
$GC,1152,-0.76,-146.0,172.3,-14.8,156,1156,0.00,2.22,0.00,0.000,4,0.000,0.049,2809,1245,3563,0,0,0,0,0,0
$GC,1183,-0.76,-146.0,176.8,-15.7,158,1187,0.00,2.28,0.00,0.000,6,0.000,0.055,2798,2652,3563,0,0,0,0,0,0
$GC,1319,-0.76,-146.0,197.6,-15.8,170,1322,0.00,1.77,0.00,0.000,4,0.000,0.057,2790,3771,3563,0,0,0,0,0,0
$GC,1366,-0.76,-146.0,205.4,-16.9,174,1369,0.00,1.73,0.00,0.000,6,0.000,0.041,2790,2652,3563,0,0,0,0,0,0
$GC,1507,-0.76,-146.0,228.2,-15.5,187,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2649,3563,0,0,0,0,0,0
$GC,1634,-0.76,-146.0,247.8,-15.4,199,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2649,3563,0,0,0,0,0,0
$GC,1760,-0.76,-146.0,267.6,-15.6,211,1764,0.00,1.85,0.00,0.000,4,0.000,0.060,2782,3760,3563,0,0,0,0,0,0
$GC,1799,-0.76,-146.0,274.4,-17.1,214,1806,0.12,1.75,0.00,0.000,6,0.161,0.041,2816,2659,3563,0,0,0,0,0,0
$GC,1997,-0.76,-146.0,302.4,-13.9,233,2000,0.00,1.80,0.00,0.000,4,0.000,0.061,2809,3767,3564,0,0,0,0,0,0
$STATE,2011,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2011,begin apogee
$GC,2018,-0.17,0.0,304.8,13.4,234,2158,0.60,0.00,129.90,0.982,4,0.126,0.000,3001,2496,2960,0,0,0,0,0,0
$STATE,2159,end apogee,CONTROL_FINISHED_OK
$STATE,2159,begin climb
$GC,2161,0.76,146.0,310.8,0.0,247,2319,0.98,2.50,145.30,0.905,4,0.076,0.048,3314,1088,2364,0,0,0,0,0,0
$GC,2444,0.76,146.0,286.6,11.6,272,2448,0.00,2.50,0.00,0.000,6,0.000,0.050,3314,2506,2355,0,0,0,0,0,0
$GC,2643,0.76,146.0,262.5,12.2,290,2647,0.00,2.28,0.00,0.000,4,0.000,0.048,3324,1093,2352,0,0,0,0,0,0
$GC,2797,0.76,146.0,244.0,12.5,303,2801,0.00,2.30,0.00,0.000,6,0.000,0.052,3325,2517,2349,0,0,0,0,0,0
$GC,2934,0.76,146.0,226.8,12.9,315,2937,0.00,1.98,0.00,0.000,4,0.000,0.056,3324,3765,2348,0,0,0,0,0,0
$GC,3013,0.76,146.0,215.2,15.0,322,3017,0.00,1.92,0.00,0.000,6,0.000,0.039,3333,2519,2348,0,0,0,0,0,0
$GC,3156,0.76,146.0,196.3,12.9,335,3163,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2516,2348,0,0,0,0,0,0
$GC,3291,0.76,146.0,178.6,12.9,348,3294,0.00,2.03,0.00,0.000,4,0.000,0.057,3333,3773,2347,0,0,0,0,0,0
$GC,3328,0.76,146.0,172.9,14.9,351,3338,0.08,1.98,0.00,0.000,6,0.148,0.040,3318,2531,2347,0,0,0,0,0,0
$GC,3465,0.76,146.0,156.7,11.7,364,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2530,2347,0,0,0,0,0,0
$GC,3591,0.76,146.0,142.0,11.4,376,3594,0.00,1.98,0.00,0.000,4,0.000,0.056,3318,3763,2347,0,0,0,0,0,0
$GC,3627,0.76,146.0,137.4,13.1,379,3631,0.00,1.90,0.00,0.000,6,0.000,0.039,3326,2533,2347,0,0,0,0,0,0
$GC,3770,0.76,146.0,120.2,11.9,392,3774,0.00,1.98,0.00,0.000,4,0.000,0.056,3325,3764,2347,0,0,0,0,0,0
$GC,3795,0.76,146.0,116.9,12.7,394,3798,0.00,1.88,0.00,0.000,6,0.000,0.039,3335,2548,2347,0,0,0,0,0,0
$GC,3936,0.76,146.0,99.1,12.4,407,3942,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2546,2347,0,0,0,0,0,0
$GC,4071,0.76,146.0,82.5,11.6,432,4079,0.00,2.00,0.00,0.000,4,0.000,0.057,3335,3758,2346,0,0,0,0,0,0
$GC,4126,0.76,146.0,75.2,14.5,441,4134,0.12,1.88,0.00,0.000,6,0.164,0.041,3311,2556,2346,0,0,0,0,0,0
$GC,4264,0.76,146.0,59.5,11.2,466,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2553,2346,0,0,0,0,0,0
$GC,4403,0.76,146.0,44.6,10.7,491,4409,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2553,2345,0,0,0,0,0,0
$GC,4539,0.76,146.0,30.2,10.1,516,4548,0.00,2.00,0.00,0.000,4,0.000,0.057,3311,3767,2345,0,0,0,0,0,0
$GC,4571,0.76,146.0,26.5,12.2,521,4579,0.00,1.88,0.00,0.000,6,0.000,0.040,3317,2555,2345,0,0,0,0,0,0
$GC,4712,0.76,146.0,10.7,10.8,546,4721,0.00,2.33,0.00,0.000,4,0.000,0.048,3327,1096,2345,0,0,0,0,0,0
$FREEZE,8.79,-0.686,-1.893,2,1,0
$FREEZE,8.25,-0.685,-1.893,2,1,0
$GC,4735,0.76,146.0,8.2,11.4,549,4743,0.00,2.35,0.00,0.000,6,0.000,0.050,3327,2561,2345,0,0,0,0,0,0
$FREEZE,6.28,-0.686,-1.892,2,1,0
$FREEZE,5.55,-0.688,-1.891,2,1,0
$FREEZE,4.81,-0.686,-1.891,2,1,0
$FREEZE,4.09,-0.686,-1.890,2,1,0
$FREEZE,3.33,-0.685,-1.890,2,1,0
$FREEZE,2.61,-0.687,-1.889,2,1,0
$STATE,4780,end climb,SURFACE_DEPTH_REACHED
$STATE,4780,begin surface coast
$FREEZE,1.79,-0.688,-1.889,2,1,0
$FREEZE,1.30,-0.688,-1.888,2,1,0
$FREEZE,1.21,-0.759,-1.849,2,1,0
$FREEZE,1.31,-0.716,-1.866,2,1,0
$FINISH,1.3,1.027335
$STATE,4806,end surface coast,CONTROL_FINISHED_OK
$STATE,4806,begin surface
$SM_CCo,4823,76.43,0.099,0,0,1736,300.24
$SM_GC,2.10,0.00,0.00,76.43,0.000,0.000,0.099,425,2662,1736,-8.25,0.31,300.24
$IRIDIUM_FIX,-7545.40,17809.44,281210,151534
$TT8_MAMPS,0.029211
$HUMID,52.28
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,18.3
$ALTIM_BOTTOM_PING,251.1,68.5
$24V_AH,20.3,63.295
$10V_AH,9.6,42.306
$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,18.600,68.450,275.200,76.425,0.000,30.370,53.521,182.966,1.500,0.000,12.132,1439.520,1510.212,457.926,1698.184,176.342,0.000,1059.894,0.000,944.586,0.000,7.230,0.000
$DEVICE_MAMPS,202.725,93.330,982.260,98.685,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,392.954,778.434,918.765,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267112
$DATA_FILE_SIZE,40372,560
$CAP_FILE_SIZE,83101,0
$CFSIZE,260165632,230207488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.066,223.5,1
$GPS,281210,185324,-7631.708,17806.711,39,1.0,39,120.9