version: 66.08
glider: 502
mission: 3
dive: 390
start: 12 29 110 0 52 46
data:
$ID,502
$MISSION,3
$DIVE,390
$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,-30632.959
$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,34
$R_STBD_OVSHOOT,32
$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
$GPS1,291210,004650,-7632.035,17813.779,14,1.3,14,120.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-74.1
$GPS2,291210,005220,-7632.059,17813.771,15,1.2,15,120.8
$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,292.8,46085,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-80.95,0.000,2,0.000,0.000,421,2667,3224,0,0,0,0,0,0
$GC,101,-0.76,-146.0,3.0,-0.7,12,125,9.02,0.00,-10.30,0.000,6,0.199,0.000,2806,2667,3559,0,0,0,0,0,0
$GC,260,-0.76,-146.0,29.2,-16.7,39,266,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2667,3563,0,0,0,0,0,0
$GC,400,-0.76,-146.0,52.7,-15.7,64,408,0.00,1.80,0.00,0.000,4,0.000,0.062,2799,3753,3563,0,0,0,0,0,0
$GC,444,-0.76,-146.0,60.1,-17.2,71,451,0.00,1.75,0.00,0.000,6,0.000,0.043,2800,2651,3563,0,0,0,0,0,0
$GC,586,-0.76,-146.0,83.4,-15.8,96,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2650,3563,0,0,0,0,0,0
$GC,732,-0.76,-146.0,107.0,-15.9,118,736,0.00,1.80,0.00,0.000,4,0.000,0.061,2791,3754,3563,0,0,0,0,0,0
$GC,779,-0.76,-146.0,114.8,-17.2,122,782,0.00,1.70,0.00,0.000,6,0.000,0.042,2791,2655,3563,0,0,0,0,0,0
$GC,923,-0.76,-146.0,137.9,-16.6,135,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2653,3564,0,0,0,0,0,0
$GC,1058,-0.76,-146.0,160.0,-16.1,148,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2653,3563,0,0,0,0,0,0
$GC,1185,-0.76,-146.0,180.2,-16.1,160,1189,0.00,1.80,0.00,0.000,4,0.000,0.061,2783,3759,3563,0,0,0,0,0,0
$GC,1221,-0.76,-146.0,186.0,-17.9,163,1225,0.12,1.70,0.00,0.000,6,0.164,0.042,2817,2657,3563,0,0,0,0,0,0
$GC,1361,-0.76,-146.0,206.0,-13.5,176,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2656,3563,0,0,0,0,0,0
$GC,1488,-0.76,-146.0,223.3,-13.4,188,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2656,3563,0,0,0,0,0,0
$GC,1616,-0.76,-146.0,241.1,-14.0,200,1620,0.00,1.80,0.00,0.000,4,0.000,0.060,2809,3765,3564,0,0,0,0,0,0
$GC,1652,-0.76,-146.0,246.4,-15.5,203,1655,0.00,1.70,0.00,0.000,6,0.000,0.041,2810,2667,3564,0,0,0,0,0,0
$GC,1791,-0.76,-146.0,266.8,-14.4,216,1794,0.00,1.77,0.00,0.000,4,0.000,0.060,2801,3762,3564,0,0,0,0,0,0
$GC,1814,-0.76,-146.0,270.3,-14.7,218,1818,0.00,1.67,0.00,0.000,6,0.000,0.041,2801,2677,3563,0,0,0,0,0,0
$STATE,2021,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2022,begin apogee
$GC,2027,-0.17,0.0,301.5,15.2,237,2164,0.62,0.00,130.30,0.986,4,0.130,0.000,3001,2493,2960,0,0,0,0,0,0
$STATE,2165,end apogee,CONTROL_FINISHED_OK
$STATE,2165,begin climb
$GC,2167,0.76,146.0,308.6,0.0,249,2322,0.98,2.47,145.85,0.907,4,0.077,0.047,3311,1102,2365,0,0,0,0,0,0
$GC,2479,0.76,146.0,281.3,11.0,277,2486,0.00,2.45,0.00,0.000,6,0.000,0.050,3311,2488,2353,0,0,0,0,0,0
$GC,2678,0.76,146.0,258.1,11.4,296,2682,0.00,2.22,0.00,0.000,4,0.000,0.049,3316,1102,2350,0,0,0,0,0,0
$GC,2797,0.76,146.0,244.5,11.1,306,2801,0.00,2.30,0.00,0.000,6,0.000,0.052,3316,2527,2348,0,0,0,0,0,0
$GC,2932,0.76,146.0,228.6,12.0,318,2936,0.00,1.98,0.00,0.000,4,0.000,0.057,3316,3769,2348,0,0,0,0,0,0
$GC,2990,0.76,146.0,220.6,14.7,323,2994,0.00,1.92,0.00,0.000,6,0.000,0.041,3325,2523,2348,0,0,0,0,0,0
$GC,3133,0.76,146.0,202.4,12.4,336,3140,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2520,2347,0,0,0,0,0,0
$GC,3268,0.76,146.0,185.4,12.6,349,3271,0.00,2.00,0.00,0.000,4,0.000,0.057,3325,3768,2347,0,0,0,0,0,0
$GC,3325,0.76,146.0,177.5,14.7,354,3329,0.00,1.90,0.00,0.000,6,0.000,0.039,3335,2537,2347,0,0,0,0,0,0
$GC,3466,0.76,146.0,158.6,12.9,367,3468,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2534,2347,0,0,0,0,0,0
$GC,3594,0.76,146.0,141.6,13.4,379,3597,0.00,1.98,0.00,0.000,4,0.000,0.056,3335,3768,2346,0,0,0,0,0,0
$GC,3630,0.76,146.0,135.6,15.2,382,3641,0.10,1.92,0.00,0.000,6,0.137,0.040,3311,2550,2347,0,0,0,0,0,0
$GC,3767,0.76,146.0,119.2,12.2,395,3768,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2550,2347,0,0,0,0,0,0
$GC,3893,0.76,146.0,103.8,11.9,407,3897,0.00,1.95,0.00,0.000,4,0.000,0.057,3311,3764,2346,0,0,0,0,0,0
$GC,3946,0.76,146.0,96.7,14.9,413,3952,0.00,1.90,0.00,0.000,6,0.000,0.040,3318,2541,2346,0,0,0,0,0,0
$GC,4088,0.76,146.0,78.6,12.2,438,4098,0.00,2.03,0.00,0.000,4,0.000,0.058,3319,3767,2346,0,0,0,0,0,0
$GC,4115,0.76,146.0,75.1,13.2,442,4124,0.00,1.90,0.00,0.000,6,0.000,0.040,3328,2563,2346,0,0,0,0,0,0
$GC,4262,0.76,146.0,56.9,12.2,467,4268,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2563,2345,0,0,0,0,0,0
$GC,4403,0.76,146.0,39.8,12.3,492,4411,0.00,1.98,0.00,0.000,4,0.000,0.058,3328,3761,2345,0,0,0,0,0,0
$GC,4447,0.76,146.0,34.2,13.8,499,4454,0.00,1.85,0.00,0.000,6,0.000,0.040,3337,2568,2345,0,0,0,0,0,0
$GC,4591,0.76,146.0,15.9,12.8,524,4599,0.00,1.98,0.00,0.000,4,0.000,0.057,3337,3763,2345,0,0,0,0,0,0
$GC,4625,0.76,146.0,11.4,14.4,529,4632,0.12,1.83,0.00,0.000,6,0.165,0.040,3313,2588,2345,0,0,0,0,0,0
$FREEZE,8.61,-0.545,-1.891,2,1,0
$FREEZE,7.80,-0.503,-1.890,2,1,0
$FREEZE,7.17,-0.486,-1.889,2,1,0
$FREEZE,6.55,-0.470,-1.889,2,1,0
$FREEZE,5.92,-0.469,-1.888,2,1,0
$FREEZE,5.21,-0.466,-1.888,2,1,0
$FREEZE,4.51,-0.466,-1.888,2,1,0
$FREEZE,4.00,-0.468,-1.888,2,1,0
$FREEZE,3.21,-0.468,-1.887,2,1,0
$FREEZE,2.53,-0.463,-1.887,2,1,0
$STATE,4699,end climb,SURFACE_DEPTH_REACHED
$STATE,4699,begin surface coast
$FREEZE,1.67,-0.463,-1.886,2,1,0
$FREEZE,1.32,-0.454,-1.886,2,1,0
$FREEZE,1.32,-0.458,-1.885,2,1,0
$FREEZE,1.19,-0.619,-0.938,2,1,0
$FREEZE,1.25,-0.462,-1.886,2,1,0
$FINISH,1.2,1.027601
$STATE,4730,end surface coast,CONTROL_FINISHED_OK
$STATE,4730,begin surface
$SM_CCo,4747,76.43,0.101,0,0,1737,300.24
$SM_GC,1.98,0.00,0.00,76.43,0.000,0.000,0.101,428,2663,1737,-8.24,0.37,300.24
$IRIDIUM_FIX,-7545.40,17809.44,281210,232305
$TT8_MAMPS,0.027713
$HUMID,53.34
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,18.2
$ALTIM_BOTTOM_PING,301.5,11.1
$24V_AH,20.3,63.786
$10V_AH,9.7,42.688
$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,18.500,54.425,276.150,76.425,0.000,28.134,37.411,156.661,1.750,0.000,16.340,1392.491,1534.958,441.408,1627.133,167.995,0.000,1020.792,0.000,915.623,0.000,8.793,0.000
$DEVICE_MAMPS,198.900,102.510,986.085,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,383.205,759.967,909.748,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37044,546
$CAP_FILE_SIZE,79244,0
$CFSIZE,260165632,229969920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.167,181.3,1
$GPS,291210,021430,-7632.149,17815.822,42,1.0,42,120.7