version: 66.08
glider: 502
mission: 3
dive: 386
start: 12 28 110 19 2 30
data:
$ID,502
$MISSION,3
$DIVE,386
$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,-30627.922
$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
$GPS1,281210,185324,-7631.708,17806.711,39,1.0,39,120.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-73.6
$GPS2,281210,190202,-7631.730,17806.615,15,1.1,15,120.9
$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,315.3,49125,-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,13,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,-79.85,0.000,2,0.000,0.000,424,2662,3198,0,0,0,0,0,0
$GC,100,-0.76,-146.0,3.0,-0.7,12,130,9.15,1.85,-11.50,0.000,4,0.204,0.077,2810,3761,3559,0,0,0,0,0,0
$GC,228,-0.76,-146.0,23.3,-17.1,33,235,0.00,1.77,0.00,0.000,6,0.000,0.041,2810,2643,3561,0,0,0,0,0,0
$GC,371,-0.76,-146.0,47.1,-17.0,58,379,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2642,3561,0,0,0,0,0,0
$GC,516,-0.76,-146.0,70.1,-16.1,83,523,0.00,1.83,0.00,0.000,4,0.000,0.060,2801,3761,3561,0,0,0,0,0,0
$GC,557,-0.76,-146.0,77.8,-17.0,90,566,0.00,1.75,0.00,0.000,6,0.000,0.040,2801,2660,3561,0,0,0,0,0,0
$GC,706,-0.76,-146.0,101.8,-16.3,115,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2659,3562,0,0,0,0,0,0
$GC,833,-0.76,-146.0,122.1,-15.9,127,837,0.00,1.80,0.00,0.000,4,0.000,0.061,2792,3767,3562,0,0,0,0,0,0
$GC,870,-0.76,-146.0,129.1,-17.4,130,880,0.00,1.75,0.00,0.000,6,0.000,0.041,2793,2664,3562,0,0,0,0,0,0
$GC,1008,-0.76,-146.0,151.5,-17.1,143,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2663,3562,0,0,0,0,0,0
$GC,1144,-0.76,-146.0,175.2,-17.1,156,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2663,3562,0,0,0,0,0,0
$GC,1270,-0.76,-146.0,197.0,-17.2,168,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2663,3562,0,0,0,0,0,0
$GC,1398,-0.76,-146.0,217.8,-16.0,180,1401,0.00,1.77,0.00,0.000,4,0.000,0.060,2785,3757,3562,0,0,0,0,0,0
$GC,1424,-0.76,-146.0,222.9,-17.1,182,1435,0.08,1.70,0.00,0.000,6,0.145,0.041,2810,2679,3562,0,0,0,0,0,0
$GC,1563,-0.76,-146.0,242.1,-14.4,195,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2678,3562,0,0,0,0,0,0
$GC,1696,-0.76,-146.0,261.8,-13.7,208,1697,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2679,3562,0,0,0,0,0,0
$GC,1888,-0.76,-146.0,289.0,-14.3,226,1892,0.00,1.80,0.00,0.000,4,0.000,0.060,2803,3759,3562,0,0,0,0,0,0
$GC,1933,-0.76,-146.0,295.8,-15.2,230,1936,0.00,1.67,0.00,0.000,6,0.000,0.041,2803,2678,3562,0,0,0,0,0,0
$STATE,1975,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1975,begin apogee
$GC,1980,-0.17,0.0,302.1,14.1,234,2118,0.62,0.00,130.23,0.983,4,0.128,0.000,3003,2497,2959,0,0,0,0,0,0
$STATE,2118,end apogee,CONTROL_FINISHED_OK
$STATE,2118,begin climb
$GC,2120,0.76,146.0,307.8,0.0,246,2275,0.95,2.50,145.80,0.907,4,0.076,0.048,3306,1095,2364,0,0,0,0,0,0
$GC,2373,0.76,146.0,287.7,11.0,269,2378,0.00,2.50,0.00,0.000,6,0.000,0.049,3307,2498,2354,0,0,0,0,0,0
$GC,2572,0.76,146.0,264.5,11.7,287,2576,0.00,2.28,0.00,0.000,4,0.000,0.048,3315,1099,2351,0,0,0,0,0,0
$GC,2715,0.76,146.0,248.4,11.3,299,2719,0.00,2.30,0.00,0.000,6,0.000,0.052,3316,2519,2348,0,0,0,0,0,0
$GC,2850,0.76,146.0,233.3,11.1,311,2854,0.00,1.98,0.00,0.000,4,0.000,0.057,3316,3763,2347,0,0,0,0,0,0
$GC,2910,0.76,146.0,225.1,13.9,316,2919,0.00,1.95,0.00,0.000,6,0.000,0.040,3325,2534,2347,0,0,0,0,0,0
$GC,3047,0.76,146.0,208.9,11.9,329,3055,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2533,2347,0,0,0,0,0,0
$GC,3182,0.76,146.0,193.0,11.6,342,3186,0.00,1.98,0.00,0.000,4,0.000,0.057,3325,3763,2346,0,0,0,0,0,0
$GC,3231,0.76,146.0,186.3,13.7,346,3240,0.00,1.92,0.00,0.000,6,0.000,0.040,3334,2545,2346,0,0,0,0,0,0
$GC,3368,0.76,146.0,169.2,12.7,359,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2544,2345,0,0,0,0,0,0
$GC,3503,0.76,146.0,151.8,12.8,372,3506,0.00,1.98,0.00,0.000,4,0.000,0.057,3334,3770,2346,0,0,0,0,0,0
$GC,3528,0.76,146.0,148.4,13.6,374,3533,0.12,1.92,0.00,0.000,6,0.166,0.040,3311,2531,2346,0,0,0,0,0,0
$GC,3663,0.76,146.0,131.8,11.9,386,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2527,2346,0,0,0,0,0,0
$GC,3790,0.76,146.0,117.4,11.3,398,3794,0.00,2.00,0.00,0.000,4,0.000,0.057,3311,3768,2346,0,0,0,0,0,0
$GC,3826,0.76,146.0,113.0,12.7,401,3830,0.00,1.90,0.00,0.000,6,0.000,0.040,3318,2542,2345,0,0,0,0,0,0
$GC,3962,0.76,146.0,97.2,11.2,415,3968,0.00,2.00,0.00,0.000,4,0.000,0.057,3318,3771,2345,0,0,0,0,0,0
$GC,3989,0.76,146.0,93.9,12.4,419,3995,0.00,1.90,0.00,0.000,6,0.000,0.040,3327,2552,2345,0,0,0,0,0,0
$GC,4130,0.76,146.0,76.6,11.6,444,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2550,2345,0,0,0,0,0,0
$GC,4273,0.76,146.0,59.2,11.8,469,4280,0.00,1.98,0.00,0.000,4,0.000,0.057,3327,3768,2345,0,0,0,0,0,0
$GC,4322,0.76,146.0,52.7,13.5,477,4329,0.00,1.88,0.00,0.000,6,0.000,0.040,3336,2561,2345,0,0,0,0,0,0
$GC,4464,0.76,146.0,34.2,12.7,502,4472,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2560,2344,0,0,0,0,0,0
$GC,4608,0.76,146.0,16.2,12.3,527,4615,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2560,2344,0,0,0,0,0,0
$FREEZE,8.58,-0.652,-1.893,2,1,0
$FREEZE,7.68,-0.653,-1.893,2,1,0
$FREEZE,7.03,-0.656,-1.892,2,1,0
$FREEZE,6.03,-0.653,-1.892,2,1,0
$FREEZE,5.36,-0.655,-1.891,2,1,0
$FREEZE,4.40,-0.658,-1.891,2,1,0
$FREEZE,3.79,-0.656,-1.890,2,1,0
$FREEZE,2.92,-0.652,-1.889,2,1,0
$STATE,4707,end climb,SURFACE_DEPTH_REACHED
$STATE,4707,begin surface coast
$FREEZE,2.04,-0.651,-1.889,2,1,0
$FREEZE,1.22,-0.651,-1.888,2,1,0
$FREEZE,1.17,-0.709,-0.969,2,1,0
$FREEZE,1.27,-0.685,-0.944,2,1,0
$FINISH,1.3,1.013932
$STATE,4734,end surface coast,CONTROL_FINISHED_OK
$STATE,4734,begin surface
$SM_CCo,4750,80.12,0.729,1,0,1736,300.24
$SM_GC,2.16,0.00,0.00,80.12,0.000,0.000,0.729,426,2662,1736,-8.25,0.34,300.24
$IRIDIUM_FIX,-7545.40,17809.14,281210,181859
$TT8_MAMPS,0.028462
$HUMID,52.40
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,17.9
$ALTIM_BOTTOM_PING,251.2,64.7
$24V_AH,20.3,63.403
$10V_AH,9.7,42.384
$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,18.500,51.075,276.025,80.125,0.000,55.778,112.878,177.952,1.250,0.000,16.332,1381.425,1610.143,466.252,1745.991,162.059,0.000,1047.928,0.000,906.916,0.000,7.219,0.000
$DEVICE_MAMPS,204.255,83.385,983.025,729.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,384.140,759.546,913.012,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267128
$DATA_FILE_SIZE,36940,548
$CAP_FILE_SIZE,78855,0
$CFSIZE,260165632,230162432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.089,227.2,1
$GPS,281210,202356,-7631.773,17808.367,12,1.8,12,120.9