version: 66.08
glider: 502
mission: 3
dive: 387
start: 12 28 110 20 30 10
data:
$ID,502
$MISSION,3
$DIVE,387
$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,-30629.184
$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,27
$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
$GPS1,281210,202356,-7631.773,17808.367,12,1.8,12,120.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-72.1
$GPS2,281210,202944,-7631.788,17808.318,14,1.8,14,120.9
$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,312.9,48398,-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,-146.0,0.0,0.0,0,105,0.00,0.00,-87.12,0.000,2,0.000,0.000,426,2662,3367,0,0,0,0,0,0
$GC,108,-0.76,-146.0,3.4,-1.6,13,130,8.93,1.80,-5.18,0.000,4,0.201,0.075,2803,3762,3559,0,0,0,0,0,0
$GC,175,-0.76,-146.0,18.0,-17.7,24,183,0.00,1.77,0.00,0.000,6,0.000,0.041,2803,2646,3562,0,0,0,0,0,0
$GC,314,-0.76,-146.0,41.2,-17.0,49,320,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2647,3563,0,0,0,0,0,0
$GC,449,-0.76,-146.0,63.9,-16.4,74,457,0.00,1.85,0.00,0.000,4,0.000,0.061,2795,3759,3563,0,0,0,0,0,0
$GC,475,-0.76,-146.0,68.1,-17.0,78,484,0.00,1.75,0.00,0.000,6,0.000,0.041,2795,2656,3562,0,0,0,0,0,0
$GC,615,-0.76,-146.0,91.7,-17.5,103,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2656,3562,0,0,0,0,0,0
$GC,754,-0.76,-146.0,114.7,-16.8,120,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2656,3562,0,0,0,0,0,0
$GC,882,-0.76,-146.0,135.7,-16.6,132,885,0.00,1.80,0.00,0.000,4,0.000,0.061,2786,3767,3563,0,0,0,0,0,0
$GC,918,-0.76,-146.0,143.0,-17.7,135,930,0.08,1.77,0.00,0.000,6,0.146,0.041,2812,2650,3563,0,0,0,0,0,0
$GC,1057,-0.76,-146.0,163.4,-14.9,148,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2649,3563,0,0,0,0,0,0
$GC,1192,-0.76,-146.0,183.8,-14.7,161,1196,0.00,1.80,0.00,0.000,4,0.000,0.061,2804,3763,3563,0,0,0,0,0,0
$GC,1218,-0.76,-146.0,187.7,-16.1,163,1222,0.00,1.70,0.00,0.000,6,0.000,0.041,2805,2664,3563,0,0,0,0,0,0
$GC,1361,-0.76,-146.0,209.6,-15.4,176,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2662,3563,0,0,0,0,0,0
$GC,1496,-0.76,-146.0,230.3,-14.6,189,1500,0.00,1.77,0.00,0.000,4,0.000,0.061,2797,3762,3563,0,0,0,0,0,0
$GC,1531,-0.76,-146.0,235.9,-17.5,192,1535,0.00,1.70,0.00,0.000,6,0.000,0.041,2796,2664,3563,0,0,0,0,0,0
$GC,1671,-0.76,-146.0,257.8,-15.5,205,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2661,3563,0,0,0,0,0,0
$GC,1863,-0.76,-146.0,286.8,-15.5,223,1867,0.00,1.83,0.00,0.000,4,0.000,0.060,2788,3760,3563,0,0,0,0,0,0
$GC,1889,-0.76,-146.0,291.5,-16.1,225,1897,0.00,1.70,0.00,0.000,6,0.000,0.041,2788,2688,3563,0,0,0,0,0,0
$STATE,1961,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1961,begin apogee
$GC,1967,-0.17,0.0,302.4,15.9,232,2104,0.68,0.00,129.35,0.984,4,0.135,0.000,3001,2491,2960,0,0,0,0,0,0
$STATE,2105,end apogee,CONTROL_FINISHED_OK
$STATE,2105,begin climb
$GC,2107,0.76,146.0,308.9,0.0,244,2261,0.98,2.50,144.93,0.907,4,0.076,0.048,3313,1089,2366,0,0,0,0,0,0
$GC,2380,0.76,146.0,285.5,11.6,269,2384,0.00,2.50,0.00,0.000,6,0.000,0.050,3313,2503,2356,0,0,0,0,0,0
$GC,2579,0.76,146.0,261.4,12.2,287,2583,0.00,2.28,0.00,0.000,4,0.000,0.048,3323,1095,2353,0,0,0,0,0,0
$GC,2709,0.76,146.0,245.3,12.2,298,2714,0.00,2.30,0.00,0.000,6,0.000,0.052,3323,2518,2350,0,0,0,0,0,0
$GC,2845,0.76,146.0,227.5,12.9,310,2849,0.00,1.98,0.00,0.000,4,0.000,0.057,3323,3765,2350,0,0,0,0,0,0
$GC,2925,0.76,146.0,215.6,15.2,317,2929,0.00,1.92,0.00,0.000,6,0.000,0.040,3332,2523,2350,0,0,0,0,0,0
$GC,3068,0.76,146.0,196.4,13.1,330,3071,0.00,2.00,0.00,0.000,4,0.000,0.057,3333,3766,2349,0,0,0,0,0,0
$GC,3094,0.76,146.0,192.0,14.5,332,3104,0.10,1.95,0.00,0.000,6,0.136,0.039,3309,2534,2349,0,0,0,0,0,0
$GC,3230,0.76,146.0,176.2,11.8,345,3231,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2534,2349,0,0,0,0,0,0
$GC,3357,0.76,146.0,161.5,11.6,357,3361,0.00,2.00,0.00,0.000,4,0.000,0.057,3309,3776,2348,0,0,0,0,0,0
$GC,3404,0.76,146.0,155.7,13.2,361,3407,0.00,1.92,0.00,0.000,6,0.000,0.041,3316,2536,2348,0,0,0,0,0,0
$GC,3545,0.76,146.0,138.6,11.7,374,3546,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2533,2347,0,0,0,0,0,0
$GC,3671,0.76,146.0,123.9,11.8,386,3675,0.00,1.98,0.00,0.000,4,0.000,0.057,3316,3764,2348,0,0,0,0,0,0
$GC,3707,0.76,146.0,119.5,13.4,389,3710,0.00,1.90,0.00,0.000,6,0.000,0.039,3326,2538,2347,0,0,0,0,0,0
$GC,3847,0.76,146.0,103.0,11.6,402,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2536,2347,0,0,0,0,0,0
$GC,3976,0.76,146.0,87.9,11.7,423,3983,0.00,2.00,0.00,0.000,4,0.000,0.057,3326,3770,2347,0,0,0,0,0,0
$GC,4017,0.76,146.0,82.5,13.8,430,4025,0.00,1.92,0.00,0.000,6,0.000,0.041,3335,2557,2347,0,0,0,0,0,0
$GC,4156,0.76,146.0,65.4,12.3,455,4164,0.00,1.98,0.00,0.000,4,0.000,0.057,3335,3774,2347,0,0,0,0,0,0
$GC,4187,0.76,146.0,61.0,13.9,460,4196,0.08,1.92,0.00,0.000,6,0.142,0.041,3318,2565,2347,0,0,0,0,0,0
$GC,4328,0.76,146.0,45.2,10.9,485,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2563,2347,0,0,0,0,0,0
$GC,4460,0.76,146.0,30.6,10.8,510,4469,0.00,2.00,0.00,0.000,4,0.000,0.058,3318,3768,2347,0,0,0,0,0,0
$GC,4497,0.76,146.0,26.2,12.4,516,4505,0.00,1.90,0.00,0.000,6,0.000,0.041,3325,2568,2347,0,0,0,0,0,0
$GC,4640,0.76,146.0,10.1,11.0,541,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2567,2347,0,0,0,0,0,0
$FREEZE,8.34,-0.623,-1.893,2,1,0
$FREEZE,7.63,-0.628,-1.892,2,1,0
$FREEZE,7.02,-0.630,-1.892,2,1,0
$FREEZE,6.38,-0.625,-1.892,2,1,0
$FREEZE,5.77,-0.626,-1.891,2,1,0
$FREEZE,4.91,-0.623,-1.891,2,1,0
$FREEZE,4.34,-0.620,-1.890,2,1,0
$FREEZE,3.56,-0.620,-1.890,2,1,0
$FREEZE,2.91,-0.620,-1.889,2,1,0
$STATE,4698,end climb,SURFACE_DEPTH_REACHED
$STATE,4698,begin surface coast
$FREEZE,2.17,-0.620,-1.889,2,1,0
$FREEZE,1.47,-0.619,-1.888,2,1,0
$FREEZE,1.30,-0.634,-1.806,2,1,0
$FREEZE,1.19,-0.679,-1.892,2,1,0
$FINISH,1.2,1.027694
$STATE,4725,end surface coast,CONTROL_FINISHED_OK
$STATE,4725,begin surface
$SM_CCo,4741,82.00,0.734,1,0,1736,300.24
$SM_GC,2.20,0.00,0.00,82.00,0.000,0.000,0.734,419,2657,1736,-8.27,0.20,300.24
$IRIDIUM_FIX,-7545.40,17809.44,281210,181842
$TT8_MAMPS,0.028462
$HUMID,52.32
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,19.1
$ALTIM_BOTTOM_PING,251.2,65.3
$24V_AH,20.3,63.506
$10V_AH,9.7,42.461
$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,18.300,58.625,274.275,82.000,0.000,30.501,41.165,169.829,1.250,0.000,15.380,1410.250,1487.839,462.158,1658.738,167.487,0.000,1055.574,0.000,923.058,0.000,7.228,0.000
$DEVICE_MAMPS,201.195,95.625,983.790,733.635,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,389.305,774.678,924.205,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267044
$DATA_FILE_SIZE,40405,555
$CAP_FILE_SIZE,81130,0
$CFSIZE,260165632,230113280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.105,213.4,1
$GPS,281210,215155,-7631.848,17810.127,39,0.9,39,120.8