version: 66.08
glider: 502
mission: 3
dive: 389
start: 12 28 110 23 24 51
data:
$ID,502
$MISSION,3
$DIVE,389
$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,-30631.701
$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,25
$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
$GPS1,281210,231832,-7631.918,17811.832,13,1.6,13,120.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-74.1
$GPS2,281210,232425,-7631.934,17811.814,17,1.6,34,120.8
$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,301.8,46910,-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,-146.0,0.0,0.0,0,102,0.00,0.00,-83.32,0.000,2,0.000,0.000,425,2661,3278,0,0,0,0,0,0
$GC,104,-0.76,-146.0,3.3,-1.1,12,128,8.88,1.88,-8.25,0.000,4,0.199,0.076,2801,3769,3560,0,0,0,0,0,0
$GC,164,-0.76,-146.0,14.1,-17.9,21,171,0.00,1.77,0.00,0.000,6,0.000,0.041,2801,2631,3562,0,0,0,0,0,0
$GC,306,-0.76,-146.0,38.3,-17.2,46,314,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2630,3564,0,0,0,0,0,0
$GC,451,-0.76,-146.0,62.1,-17.0,71,457,0.00,1.85,0.00,0.000,4,0.000,0.061,2793,3764,3564,0,0,0,0,0,0
$GC,501,-0.76,-146.0,70.7,-18.1,79,508,0.00,1.75,0.00,0.000,6,0.000,0.041,2793,2661,3564,0,0,0,0,0,0
$GC,641,-0.76,-146.0,95.5,-17.5,104,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2660,3564,0,0,0,0,0,0
$GC,785,-0.76,-146.0,119.9,-17.0,119,788,0.00,1.77,0.00,0.000,4,0.000,0.060,2785,3762,3564,0,0,0,0,0,0
$GC,822,-0.76,-146.0,127.0,-19.0,122,832,0.08,1.75,0.00,0.000,6,0.144,0.041,2810,2656,3564,0,0,0,0,0,0
$GC,958,-0.76,-146.0,148.1,-15.6,135,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2656,3565,0,0,0,0,0,0
$GC,1085,-0.76,-146.0,167.8,-15.3,147,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2656,3565,0,0,0,0,0,0
$GC,1213,-0.76,-146.0,186.8,-14.9,159,1216,0.00,1.80,0.00,0.000,4,0.000,0.061,2803,3769,3565,0,0,0,0,0,0
$GC,1261,-0.76,-146.0,195.1,-15.8,163,1270,0.00,1.73,0.00,0.000,6,0.000,0.041,2803,2679,3565,0,0,0,0,0,0
$GC,1397,-0.76,-146.0,215.1,-14.9,176,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2677,3565,0,0,0,0,0,0
$GC,1524,-0.76,-146.0,234.4,-14.7,188,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2677,3565,0,0,0,0,0,0
$GC,1649,-0.76,-146.0,254.1,-15.5,200,1653,0.00,1.75,0.00,0.000,4,0.000,0.062,2796,3761,3565,0,0,0,0,0,0
$GC,1684,-0.76,-146.0,259.5,-16.4,203,1688,0.00,1.67,0.00,0.000,6,0.000,0.041,2796,2676,3565,0,0,0,0,0,0
$GC,1890,-0.76,-146.0,291.1,-15.2,222,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2674,3565,0,0,0,0,0,0
$STATE,1971,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1971,begin apogee
$GC,1976,-0.17,0.0,304.3,15.5,230,2113,0.65,0.00,130.15,0.984,4,0.124,0.000,3006,2494,2961,0,0,0,0,0,0
$STATE,2113,end apogee,CONTROL_FINISHED_OK
$STATE,2113,begin climb
$GC,2115,0.76,146.0,309.9,0.0,242,2274,0.95,2.50,145.85,0.907,4,0.075,0.048,3310,1101,2363,0,0,0,0,0,0
$GC,2413,0.76,146.0,283.1,11.2,268,2421,0.00,2.47,0.00,0.000,6,0.000,0.050,3310,2493,2353,0,0,0,0,0,0
$GC,2612,0.76,146.0,260.5,11.1,287,2616,0.00,2.25,0.00,0.000,4,0.000,0.049,3315,1094,2351,0,0,0,0,0,0
$GC,2732,0.76,146.0,247.6,10.1,297,2737,0.00,2.33,0.00,0.000,6,0.000,0.052,3315,2536,2348,0,0,0,0,0,0
$GC,2867,0.76,146.0,232.7,10.9,309,2871,0.00,1.95,0.00,0.000,4,0.000,0.058,3315,3763,2349,0,0,0,0,0,0
$GC,2937,0.76,146.0,223.8,13.7,315,2941,0.00,1.90,0.00,0.000,6,0.000,0.040,3324,2533,2348,0,0,0,0,0,0
$GC,3079,0.76,146.0,206.7,11.8,328,3082,0.00,1.98,0.00,0.000,4,0.000,0.057,3324,3763,2348,0,0,0,0,0,0
$GC,3114,0.76,146.0,202.1,13.3,331,3118,0.00,1.90,0.00,0.000,6,0.000,0.040,3333,2536,2348,0,0,0,0,0,0
$GC,3257,0.76,146.0,184.3,12.3,344,3261,0.00,1.98,0.00,0.000,4,0.000,0.057,3334,3763,2347,0,0,0,0,0,0
$GC,3305,0.76,146.0,176.9,14.2,348,3314,0.08,1.92,0.00,0.000,6,0.145,0.040,3318,2552,2347,0,0,0,0,0,0
$GC,3441,0.76,146.0,161.6,11.3,361,3442,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2550,2347,0,0,0,0,0,0
$GC,3568,0.76,146.0,147.4,11.3,373,3572,0.00,1.95,0.00,0.000,4,0.000,0.057,3317,3762,2347,0,0,0,0,0,0
$GC,3615,0.76,146.0,141.3,13.1,377,3619,0.00,1.88,0.00,0.000,6,0.000,0.040,3318,2552,2346,0,0,0,0,0,0
$GC,3756,0.76,146.0,125.1,11.0,390,3757,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2550,2346,0,0,0,0,0,0
$GC,3884,0.76,146.0,110.5,11.6,402,3887,0.00,1.95,0.00,0.000,4,0.000,0.058,3318,3762,2346,0,0,0,0,0,0
$GC,3941,0.76,146.0,103.1,13.8,407,3945,0.00,1.85,0.00,0.000,6,0.000,0.039,3323,2559,2346,0,0,0,0,0,0
$GC,4079,0.76,146.0,85.9,12.7,430,4088,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2557,2346,0,0,0,0,0,0
$GC,4224,0.76,146.0,68.8,11.6,455,4231,0.00,1.95,0.00,0.000,4,0.000,0.058,3323,3761,2346,0,0,0,0,0,0
$GC,4283,0.76,146.0,60.6,13.8,465,4290,0.00,1.88,0.00,0.000,6,0.000,0.041,3333,2555,2346,0,0,0,0,0,0
$GC,4426,0.76,146.0,42.5,12.4,490,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2553,2346,0,0,0,0,0,0
$GC,4571,0.76,146.0,24.3,12.2,515,4578,0.00,1.98,0.00,0.000,4,0.000,0.057,3333,3771,2345,0,0,0,0,0,0
$GC,4625,0.76,146.0,16.4,15.3,524,4633,0.08,1.90,0.00,0.000,6,0.142,0.041,3316,2572,2345,0,0,0,0,0,0
$FREEZE,8.91,-0.768,-1.894,2,1,0
$FREEZE,8.28,-0.748,-1.893,2,1,0
$FREEZE,7.59,-0.697,-1.892,2,1,0
$FREEZE,7.00,-0.569,-1.889,2,1,0
$FREEZE,6.29,-0.536,-1.888,2,1,0
$FREEZE,5.79,-0.511,-1.888,2,1,0
$FREEZE,4.89,-0.519,-1.888,2,1,0
$FREEZE,4.28,-0.502,-1.887,2,1,0
$FREEZE,3.47,-0.500,-1.887,2,1,0
$FREEZE,3.01,-0.500,-1.887,2,1,0
$FREEZE,2.09,-0.497,-1.886,2,1,0
$STATE,4742,end climb,SURFACE_DEPTH_REACHED
$STATE,4742,begin surface coast
$FREEZE,1.43,-0.497,-1.886,2,1,0
$FREEZE,1.24,-0.512,-0.954,2,1,0
$FREEZE,1.15,-0.538,-0.884,2,1,0
$FREEZE,1.24,-0.503,-1.886,2,1,0
$FREEZE,1.32,-0.518,-0.840,2,1,0
$FINISH,1.3,1.012380
$STATE,4774,end surface coast,CONTROL_FINISHED_OK
$STATE,4775,begin surface
$SM_CCo,4791,75.78,0.100,0,0,1736,300.24
$SM_GC,2.09,0.00,0.00,75.78,0.000,0.000,0.100,422,2666,1736,-8.26,0.45,300.24
$IRIDIUM_FIX,-7545.40,17818.65,281210,212127
$TT8_MAMPS,0.028462
$HUMID,52.83
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,18.6
$ALTIM_BOTTOM_PING,250.8,67.4
$24V_AH,20.3,63.697
$10V_AH,9.7,42.613
$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,18.125,54.625,276.000,75.775,0.000,27.675,37.862,160.242,1.250,0.000,34.894,1405.307,1552.326,443.697,1666.201,162.237,0.000,1024.562,0.000,924.515,0.000,7.228,0.000
$DEVICE_MAMPS,198.900,88.740,983.790,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,385.411,762.858,918.822,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37139,549
$CAP_FILE_SIZE,79548,0
$CFSIZE,260165632,230019072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.143,192.7,1
$GPS,291210,004650,-7632.035,17813.779,14,1.3,14,120.8