version: 66.08
glider: 502
mission: 3
dive: 388
start: 12 28 110 21 58 3
data:
$ID,502
$MISSION,3
$DIVE,388
$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,-30630.441
$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
$GPS1,281210,215155,-7631.848,17810.127,39,0.9,39,120.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-74.2
$GPS2,281210,215737,-7631.857,17810.094,15,1.8,15,120.8
$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,306.3,47641,-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,16,-0.76,-146.0,0.0,0.0,0,98,0.00,0.00,-80.40,0.000,2,0.000,0.000,419,2657,3213,0,0,0,0,0,0
$GC,101,-0.76,-146.0,3.0,-0.8,12,131,8.93,1.88,-10.90,0.000,4,0.200,0.077,2801,3766,3560,0,0,0,0,0,0
$GC,267,-0.76,-146.0,31.3,-16.8,40,275,0.00,1.77,0.00,0.000,6,0.000,0.042,2801,2649,3562,0,0,0,0,0,0
$GC,411,-0.76,-146.0,55.0,-16.4,65,417,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2648,3563,0,0,0,0,0,0
$GC,551,-0.76,-146.0,78.3,-17.4,90,560,0.00,1.85,0.00,0.000,4,0.000,0.060,2793,3759,3563,0,0,0,0,0,0
$GC,589,-0.76,-146.0,84.8,-17.0,96,597,0.00,1.75,0.00,0.000,6,0.000,0.041,2793,2660,3563,0,0,0,0,0,0
$GC,735,-0.76,-146.0,109.7,-17.0,117,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2659,3563,0,0,0,0,0,0
$GC,863,-0.76,-146.0,131.5,-17.0,129,866,0.00,1.80,0.00,0.000,4,0.000,0.061,2784,3767,3564,0,0,0,0,0,0
$GC,890,-0.76,-146.0,136.8,-18.2,131,899,0.08,1.75,0.00,0.000,6,0.145,0.041,2809,2666,3563,0,0,0,0,0,0
$GC,1026,-0.76,-146.0,157.9,-15.2,144,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2665,3563,0,0,0,0,0,0
$GC,1162,-0.76,-146.0,178.6,-15.2,157,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2664,3563,0,0,0,0,0,0
$GC,1289,-0.76,-146.0,198.1,-15.1,169,1293,0.00,1.77,0.00,0.000,4,0.000,0.060,2801,3763,3563,0,0,0,0,0,0
$GC,1325,-0.76,-146.0,203.7,-17.0,172,1328,0.00,1.70,0.00,0.000,6,0.000,0.041,2802,2662,3564,0,0,0,0,0,0
$GC,1466,-0.76,-146.0,226.2,-16.2,185,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2660,3564,0,0,0,0,0,0
$GC,1593,-0.76,-146.0,246.5,-16.1,197,1597,0.00,1.77,0.00,0.000,4,0.000,0.060,2793,3760,3564,0,0,0,0,0,0
$GC,1624,-0.76,-146.0,252.0,-16.2,199,1631,0.00,1.73,0.00,0.000,6,0.000,0.041,2794,2676,3563,0,0,0,0,0,0
$GC,1822,-0.76,-146.0,283.5,-16.7,218,1823,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2675,3564,0,0,0,0,0,0
$STATE,1938,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1938,begin apogee
$GC,1943,-0.17,0.0,302.1,15.9,229,2080,0.65,0.00,129.68,0.983,4,0.132,0.000,3002,2494,2960,0,0,0,0,0,0
$STATE,2080,end apogee,CONTROL_FINISHED_OK
$STATE,2080,begin climb
$GC,2083,0.76,146.0,308.6,0.0,241,2242,0.98,2.47,145.35,0.907,4,0.077,0.048,3311,1102,2363,0,0,0,0,0,0
$GC,2357,0.76,146.0,285.2,11.6,265,2361,0.00,2.50,0.00,0.000,6,0.000,0.050,3312,2502,2354,0,0,0,0,0,0
$GC,2556,0.76,146.0,260.8,12.3,283,2560,0.00,2.28,0.00,0.000,4,0.000,0.048,3322,1098,2351,0,0,0,0,0,0
$GC,2687,0.76,146.0,245.0,12.2,294,2691,0.00,2.28,0.00,0.000,6,0.000,0.051,3322,2512,2349,0,0,0,0,0,0
$GC,2822,0.76,146.0,227.7,12.7,306,2826,0.00,2.00,0.00,0.000,4,0.000,0.057,3322,3765,2348,0,0,0,0,0,0
$GC,2880,0.76,146.0,219.6,14.2,311,2884,0.00,1.92,0.00,0.000,6,0.000,0.040,3329,2520,2348,0,0,0,0,0,0
$GC,3023,0.76,146.0,200.9,12.7,324,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2518,2348,0,0,0,0,0,0
$GC,3158,0.76,146.0,183.6,12.4,337,3162,0.00,2.00,0.00,0.000,4,0.000,0.057,3330,3761,2347,0,0,0,0,0,0
$GC,3204,0.76,146.0,177.3,14.8,341,3208,0.00,1.92,0.00,0.000,6,0.000,0.040,3339,2519,2347,0,0,0,0,0,0
$GC,3347,0.76,146.0,159.0,12.7,354,3351,0.00,2.00,0.00,0.000,4,0.000,0.057,3339,3761,2346,0,0,0,0,0,0
$GC,3371,0.76,146.0,155.5,13.5,356,3376,0.12,1.90,0.00,0.000,6,0.167,0.040,3316,2536,2347,0,0,0,0,0,0
$GC,3511,0.76,146.0,139.8,10.4,369,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2533,2346,0,0,0,0,0,0
$GC,3640,0.76,146.0,126.8,10.1,381,3643,0.00,1.98,0.00,0.000,4,0.000,0.057,3316,3764,2345,0,0,0,0,0,0
$GC,3666,0.76,146.0,123.3,12.2,383,3675,0.00,1.95,0.00,0.000,6,0.000,0.040,3323,2531,2346,0,0,0,0,0,0
$GC,3802,0.76,146.0,108.6,10.8,396,3806,0.00,2.00,0.00,0.000,4,0.000,0.057,3323,3772,2346,0,0,0,0,0,0
$GC,3839,0.76,146.0,103.7,13.0,399,3848,0.00,1.92,0.00,0.000,6,0.000,0.041,3333,2556,2346,0,0,0,0,0,0
$GC,3980,0.76,146.0,86.8,11.7,421,3987,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2554,2346,0,0,0,0,0,0
$GC,4120,0.76,146.0,69.8,12.3,446,4129,0.00,1.98,0.00,0.000,4,0.000,0.056,3333,3754,2345,0,0,0,0,0,0
$GC,4176,0.76,146.0,62.0,14.9,455,4183,0.00,1.85,0.00,0.000,6,0.000,0.040,3342,2562,2346,0,0,0,0,0,0
$GC,4319,0.76,146.0,43.0,13.4,480,4326,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2561,2345,0,0,0,0,0,0
$GC,4463,0.76,146.0,24.2,13.1,505,4470,0.12,1.95,0.00,0.000,4,0.164,0.057,3308,3761,2345,0,0,0,0,0,0
$GC,4508,0.76,146.0,18.1,12.7,512,4516,0.00,1.88,0.00,0.000,6,0.000,0.041,3316,2574,2345,0,0,0,0,0,0
$FREEZE,8.73,-0.641,-1.891,2,1,0
$FREEZE,8.22,-0.619,-1.891,2,1,0
$FREEZE,7.42,-0.617,-1.891,2,1,0
$FREEZE,6.83,-0.607,-1.890,2,1,0
$FREEZE,6.05,-0.601,-1.890,2,1,0
$FREEZE,5.47,-0.601,-1.890,2,1,0
$FREEZE,4.70,-0.595,-1.889,2,1,0
$FREEZE,4.09,-0.597,-1.889,2,1,0
$FREEZE,3.27,-0.595,-1.888,2,1,0
$FREEZE,2.57,-0.595,-1.888,2,1,0
$STATE,4642,end climb,SURFACE_DEPTH_REACHED
$STATE,4643,begin surface coast
$FREEZE,1.72,-0.595,-1.887,2,1,0
$FREEZE,1.35,-0.595,-1.887,2,1,0
$FREEZE,1.20,-0.618,-0.826,2,1,0
$FREEZE,1.29,-0.656,-1.885,2,1,0
$FREEZE,1.30,-0.624,-1.482,2,1,0
$FINISH,1.3,1.021834
$STATE,4674,end surface coast,CONTROL_FINISHED_OK
$STATE,4674,begin surface
$SM_CCo,4690,81.93,0.731,1,0,1737,300.24
$SM_GC,2.15,0.00,0.00,81.93,0.000,0.000,0.731,426,2660,1737,-8.25,0.28,300.24
$IRIDIUM_FIX,-7545.40,17759.91,281210,202031
$TT8_MAMPS,0.028462
$HUMID,52.55
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.3,17.6
$ALTIM_BOTTOM_PING,250.3,65.6
$24V_AH,20.3,63.609
$10V_AH,9.7,42.536
$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,18.425,54.950,275.025,81.925,0.000,27.280,36.600,166.739,1.250,0.000,15.859,1376.290,1517.360,457.767,1619.641,157.942,0.000,1030.818,0.000,896.994,0.000,7.221,0.000
$DEVICE_MAMPS,199.665,97.920,983.025,731.340,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,378.818,752.241,904.751,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37155,540
$CAP_FILE_SIZE,77818,0
$CFSIZE,260165632,230068224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.117,205.5,1
$GPS,281210,231832,-7631.918,17811.832,13,1.6,13,120.8