version: 66.08
glider: 502
mission: 3
dive: 392
start: 12 29 110 3 48 4
data:
$ID,502
$MISSION,3
$DIVE,392
$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,-8
$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,-30635.473
$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,30
$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
$GPS1,291210,034144,-7632.128,17818.404,12,1.7,12,120.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-74.4
$GPS2,291210,034738,-7632.155,17818.516,12,1.7,12,120.6
$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,280.6,44057,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,104,0.00,0.00,-85.78,0.000,2,0.000,0.000,421,2659,3334,0,0,0,0,0,0
$GC,107,-0.76,-146.0,3.5,-2.1,13,130,8.88,1.85,-6.22,0.000,4,0.199,0.076,2799,3759,3561,0,0,0,0,0,0
$GC,196,-0.76,-146.0,21.0,-17.3,28,204,0.00,1.75,0.00,0.000,6,0.000,0.041,2799,2656,3563,0,0,0,0,0,0
$GC,334,-0.76,-146.0,43.5,-16.0,53,341,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2655,3565,0,0,0,0,0,0
$GC,469,-0.76,-146.0,65.8,-15.7,78,477,0.00,1.83,0.00,0.000,4,0.000,0.061,2790,3754,3564,0,0,0,0,0,0
$GC,502,-0.76,-146.0,71.0,-16.7,83,510,0.00,1.75,0.00,0.000,6,0.000,0.042,2790,2655,3564,0,0,0,0,0,0
$GC,640,-0.76,-146.0,94.2,-17.0,108,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2655,3564,0,0,0,0,0,0
$GC,780,-0.76,-146.0,116.5,-16.0,124,784,0.00,1.77,0.00,0.000,4,0.000,0.061,2782,3757,3564,0,0,0,0,0,0
$GC,817,-0.76,-146.0,123.0,-18.6,127,821,0.12,1.70,0.00,0.000,6,0.163,0.041,2815,2658,3564,0,0,0,0,0,0
$GC,959,-0.76,-146.0,144.5,-14.3,140,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2656,3565,0,0,0,0,0,0
$GC,1094,-0.76,-146.0,164.2,-14.1,153,1098,0.00,1.77,0.00,0.000,4,0.000,0.061,2808,3754,3565,0,0,0,0,0,0
$GC,1132,-0.76,-146.0,170.5,-15.6,156,1141,0.00,1.73,0.00,0.000,6,0.000,0.041,2809,2669,3565,0,0,0,0,0,0
$GC,1268,-0.76,-146.0,190.7,-15.4,169,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2668,3565,0,0,0,0,0,0
$GC,1395,-0.76,-146.0,210.1,-15.2,181,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2669,3565,0,0,0,0,0,0
$GC,1522,-0.76,-146.0,229.8,-15.4,193,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2669,3565,0,0,0,0,0,0
$GC,1649,-0.76,-146.0,249.3,-15.1,205,1655,0.00,1.77,0.00,0.000,4,0.000,0.061,2800,3764,3565,0,0,0,0,0,0
$GC,1695,-0.76,-146.0,256.8,-15.5,209,1699,0.00,1.70,0.00,0.000,6,0.000,0.041,2800,2665,3565,0,0,0,0,0,0
$GC,1899,-0.76,-146.0,288.5,-15.4,228,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2662,3565,0,0,0,0,0,0
$STATE,1949,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1950,begin apogee
$GC,1955,-0.27,0.0,296.7,15.4,233,2093,0.52,0.00,129.52,0.981,4,0.127,0.000,2970,2480,2961,0,0,0,0,0,0
$STATE,2094,end apogee,CONTROL_FINISHED_OK
$STATE,2094,begin climb
$GC,2096,0.76,146.0,304.2,0.0,245,2254,1.08,2.45,145.25,0.906,4,0.085,0.049,3305,1104,2363,0,0,0,0,0,0
$GC,2404,0.76,146.0,277.5,10.2,272,2412,0.00,2.45,0.00,0.000,6,0.000,0.050,3305,2487,2353,0,0,0,0,0,0
$GC,2605,0.76,146.0,255.5,11.3,291,2609,0.00,2.22,0.00,0.000,4,0.000,0.048,3315,1096,2351,0,0,0,0,0,0
$GC,2723,0.76,146.0,242.0,11.1,301,2727,0.00,2.30,0.00,0.000,6,0.000,0.052,3315,2522,2348,0,0,0,0,0,0
$GC,2860,0.76,146.0,225.6,12.2,313,2863,0.00,1.98,0.00,0.000,4,0.000,0.057,3315,3765,2349,0,0,0,0,0,0
$GC,2928,0.76,146.0,215.8,14.5,319,2932,0.00,1.90,0.00,0.000,6,0.000,0.040,3324,2535,2348,0,0,0,0,0,0
$GC,3070,0.76,146.0,197.1,12.8,332,3073,0.00,1.98,0.00,0.000,4,0.000,0.058,3324,3765,2347,0,0,0,0,0,0
$GC,3104,0.76,146.0,192.1,14.1,335,3108,0.00,1.90,0.00,0.000,6,0.000,0.039,3334,2536,2347,0,0,0,0,0,0
$GC,3246,0.76,146.0,173.5,12.8,348,3254,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2533,2347,0,0,0,0,0,0
$GC,3381,0.76,146.0,156.0,12.3,361,3385,0.00,1.98,0.00,0.000,4,0.000,0.057,3334,3767,2347,0,0,0,0,0,0
$GC,3418,0.76,146.0,150.4,15.1,364,3428,0.08,1.95,0.00,0.000,6,0.144,0.040,3318,2537,2347,0,0,0,0,0,0
$GC,3555,0.76,146.0,135.3,10.6,377,3558,0.00,1.98,0.00,0.000,4,0.000,0.057,3318,3767,2346,0,0,0,0,0,0
$GC,3593,0.76,146.0,130.1,13.0,380,3602,0.00,1.92,0.00,0.000,6,0.000,0.039,3326,2548,2346,0,0,0,0,0,0
$GC,3730,0.76,146.0,114.5,11.2,393,3738,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2547,2347,0,0,0,0,0,0
$GC,3866,0.76,146.0,99.1,11.4,406,3874,0.00,2.00,0.00,0.000,4,0.000,0.058,3326,3757,2346,0,0,0,0,0,0
$GC,3908,0.76,146.0,93.5,13.2,413,3915,0.00,1.88,0.00,0.000,6,0.000,0.041,3335,2553,2346,0,0,0,0,0,0
$GC,4047,0.76,146.0,76.3,12.5,438,4055,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2550,2346,0,0,0,0,0,0
$GC,4187,0.76,146.0,59.6,11.7,463,4194,0.00,1.98,0.00,0.000,4,0.000,0.057,3335,3774,2346,0,0,0,0,0,0
$GC,4234,0.76,146.0,53.0,14.6,471,4243,0.12,1.88,0.00,0.000,6,0.162,0.041,3311,2565,2346,0,0,0,0,0,0
$GC,4377,0.76,146.0,37.3,10.7,496,4384,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2565,2346,0,0,0,0,0,0
$GC,4517,0.76,146.0,22.6,10.3,521,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2565,2345,0,0,0,0,0,0
$FREEZE,8.85,-0.782,-1.892,2,1,0
$FREEZE,8.30,-0.784,-1.892,2,1,0
$FREEZE,7.54,-0.783,-1.891,2,1,0
$GC,4656,0.76,146.0,7.5,10.9,546,4664,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2565,2345,0,0,0,0,0,0
$FREEZE,5.73,-0.777,-1.889,2,1,0
$FREEZE,5.20,-0.772,-1.889,2,1,0
$FREEZE,4.60,-0.762,-1.888,2,1,0
$FREEZE,3.86,-0.755,-1.887,2,1,0
$FREEZE,3.22,-0.743,-1.887,2,1,0
$FREEZE,2.64,-0.720,-1.886,2,1,0
$STATE,4699,end climb,SURFACE_DEPTH_REACHED
$STATE,4699,begin surface coast
$FREEZE,1.98,-0.696,-1.886,2,1,0
$FREEZE,1.38,-0.639,-1.884,2,1,0
$FREEZE,1.10,-0.624,-1.885,2,1,0
$FREEZE,1.23,-0.659,-0.896,2,1,0
$FREEZE,1.20,-0.648,-1.886,2,1,0
$FINISH,1.2,1.027617
$STATE,4732,end surface coast,CONTROL_FINISHED_OK
$STATE,4732,begin surface
$SM_CCo,4748,80.68,0.734,1,0,1736,300.24
$SM_GC,2.17,0.00,0.00,80.68,0.000,0.000,0.734,419,2658,1736,-8.27,0.23,300.24
$IRIDIUM_FIX,-7545.40,17818.65,291210,020206
$TT8_MAMPS,0.028462
$HUMID,53.15
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,20.0,18.4
$ALTIM_BOTTOM_PING,250.3,61.3
$24V_AH,20.3,63.993
$10V_AH,9.7,42.843
$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,18.350,50.750,274.775,80.675,0.000,25.074,41.820,178.822,1.500,0.000,13.435,1410.741,1469.585,470.733,1679.822,167.032,0.000,1067.266,0.000,926.843,0.000,7.199,0.000
$DEVICE_MAMPS,198.900,91.800,981.495,734.400,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,391.088,781.994,939.652,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37105,558
$CAP_FILE_SIZE,79325,0
$CFSIZE,260165632,229871616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.195,146.1,1
$GPS,291210,050955,-7632.147,17821.395,38,1.3,38,120.6