version: 66.08
glider: 502
mission: 3
dive: 393
start: 12 29 110 5 16 16
data:
$ID,502
$MISSION,3
$DIVE,393
$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,-30636.73
$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,39
$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
$GPS1,291210,050955,-7632.147,17821.395,38,1.3,38,120.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-74.9
$GPS2,291210,051550,-7632.178,17821.561,13,1.4,13,120.6
$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,282.5,42750,-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,-146.0,0.0,0.0,0,97,0.00,0.00,-79.82,0.000,2,0.000,0.000,419,2658,3195,0,0,0,0,0,0
$GC,100,-0.76,-146.0,3.1,-1.1,12,129,8.95,2.33,-11.52,0.000,4,0.201,0.063,2805,1250,3560,0,0,0,0,0,0
$GC,160,-0.76,-146.0,12.1,-15.4,21,167,0.00,2.30,0.00,0.000,6,0.000,0.056,2797,2651,3562,0,0,0,0,0,0
$GC,303,-0.76,-146.0,35.9,-16.3,46,312,0.00,1.83,0.00,0.000,4,0.000,0.060,2788,3767,3563,0,0,0,0,0,0
$GC,330,-0.76,-146.0,40.6,-17.4,50,339,0.00,1.77,0.00,0.000,6,0.000,0.042,2788,2650,3563,0,0,0,0,0,0
$GC,476,-0.76,-146.0,65.0,-16.7,75,483,0.10,0.00,0.00,0.000,6,0.177,0.000,2814,2649,3563,0,0,0,0,0,0
$GC,616,-0.76,-146.0,86.8,-14.8,100,624,0.00,1.85,0.00,0.000,4,0.000,0.061,2806,3763,3564,0,0,0,0,0,0
$GC,652,-0.76,-146.0,92.7,-16.3,106,662,0.00,1.77,0.00,0.000,6,0.000,0.041,2807,2642,3564,0,0,0,0,0,0
$GC,801,-0.76,-146.0,115.9,-16.3,123,804,0.00,1.83,0.00,0.000,4,0.000,0.060,2798,3769,3564,0,0,0,0,0,0
$GC,824,-0.76,-146.0,120.3,-16.3,125,828,0.00,1.73,0.00,0.000,6,0.000,0.041,2798,2655,3564,0,0,0,0,0,0
$GC,966,-0.76,-146.0,144.0,-17.0,138,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2653,3563,0,0,0,0,0,0
$GC,1093,-0.76,-146.0,165.2,-16.3,150,1097,0.00,1.80,0.00,0.000,4,0.000,0.061,2789,3767,3564,0,0,0,0,0,0
$GC,1131,-0.76,-146.0,172.6,-18.5,153,1140,0.00,1.75,0.00,0.000,6,0.000,0.041,2789,2666,3564,0,0,0,0,0,0
$GC,1268,-0.76,-146.0,195.2,-17.0,166,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2665,3564,0,0,0,0,0,0
$GC,1404,-0.76,-146.0,218.1,-16.8,179,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2665,3564,0,0,0,0,0,0
$GC,1531,-0.76,-146.0,239.7,-16.9,191,1534,0.00,1.77,0.00,0.000,4,0.000,0.060,2781,3766,3564,0,0,0,0,0,0
$GC,1577,-0.76,-146.0,247.8,-17.6,195,1581,0.12,1.70,0.00,0.000,6,0.162,0.041,2814,2666,3564,0,0,0,0,0,0
$GC,1716,-0.76,-146.0,268.5,-14.0,208,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2664,3564,0,0,0,0,0,0
$STATE,1885,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1885,begin apogee
$GC,1890,-0.27,0.0,292.7,14.4,224,2029,0.47,0.00,129.23,0.980,4,0.127,0.000,2971,2482,2961,0,0,0,0,0,0
$STATE,2030,end apogee,CONTROL_FINISHED_OK
$STATE,2030,begin climb
$GC,2032,0.76,146.0,300.1,0.0,236,2190,1.08,2.47,145.20,0.903,4,0.080,0.048,3310,1095,2362,0,0,0,0,0,0
$GC,2338,0.76,146.0,273.7,11.2,263,2342,0.00,2.45,0.00,0.000,6,0.000,0.050,3310,2499,2352,0,0,0,0,0,0
$GC,2536,0.76,146.0,250.2,12.1,281,2539,0.00,2.25,0.00,0.000,4,0.000,0.047,3319,1101,2350,0,0,0,0,0,0
$GC,2649,0.76,146.0,236.6,12.0,291,2653,0.00,2.30,0.00,0.000,6,0.000,0.053,3319,2521,2348,0,0,0,0,0,0
$GC,2784,0.76,146.0,219.3,12.7,303,2788,0.00,1.98,0.00,0.000,4,0.000,0.056,3319,3767,2347,0,0,0,0,0,0
$GC,2844,0.76,146.0,210.3,15.3,308,2853,0.00,1.95,0.00,0.000,6,0.000,0.040,3328,2539,2347,0,0,0,0,0,0
$GC,2981,0.76,146.0,192.1,13.3,321,2985,0.00,1.98,0.00,0.000,4,0.000,0.057,3328,3767,2347,0,0,0,0,0,0
$GC,3018,0.76,146.0,186.8,14.9,324,3022,0.00,1.90,0.00,0.000,6,0.000,0.040,3337,2540,2347,0,0,0,0,0,0
$GC,3161,0.76,146.0,167.3,13.4,337,3168,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2538,2346,0,0,0,0,0,0
$GC,3296,0.76,146.0,149.2,13.2,350,3299,0.00,1.98,0.00,0.000,4,0.000,0.057,3337,3765,2346,0,0,0,0,0,0
$GC,3333,0.76,146.0,143.2,15.9,353,3342,0.10,1.90,0.00,0.000,6,0.139,0.039,3314,2558,2346,0,0,0,0,0,0
$GC,3469,0.76,146.0,127.4,11.4,366,3473,0.00,1.95,0.00,0.000,4,0.000,0.057,3313,3768,2346,0,0,0,0,0,0
$GC,3507,0.76,146.0,122.1,13.3,369,3515,0.00,1.90,0.00,0.000,6,0.000,0.040,3321,2563,2346,0,0,0,0,0,0
$GC,3644,0.76,146.0,106.2,11.5,382,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2562,2346,0,0,0,0,0,0
$GC,3781,0.76,146.0,90.1,11.5,402,3790,0.00,1.98,0.00,0.000,4,0.000,0.057,3321,3759,2345,0,0,0,0,0,0
$GC,3841,0.76,146.0,82.2,13.6,412,3849,0.00,1.88,0.00,0.000,6,0.000,0.041,3330,2574,2346,0,0,0,0,0,0
$GC,3987,0.76,146.0,64.9,11.9,437,3994,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2574,2345,0,0,0,0,0,0
$GC,4127,0.76,146.0,47.5,12.2,462,4136,0.00,1.95,0.00,0.000,4,0.000,0.058,3330,3757,2345,0,0,0,0,0,0
$GC,4165,0.76,146.0,42.4,13.3,468,4173,0.00,1.85,0.00,0.000,6,0.000,0.041,3339,2587,2345,0,0,0,0,0,0
$GC,4311,0.76,146.0,24.3,12.9,493,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2586,2344,0,0,0,0,0,0
$FREEZE,8.63,-0.807,-1.891,2,1,0
$FREEZE,8.00,-0.779,-1.890,2,1,0
$FREEZE,7.08,-0.760,-1.890,2,1,0
$FREEZE,6.44,-0.750,-1.889,2,1,0
$FREEZE,5.68,-0.740,-1.888,2,1,0
$GC,4455,0.76,146.0,5.7,12.8,518,4463,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2586,2344,0,0,0,0,0,0
$FREEZE,3.51,-0.702,-1.887,2,1,0
$FREEZE,2.91,-0.687,-1.886,2,1,0
$STATE,4475,end climb,SURFACE_DEPTH_REACHED
$STATE,4475,begin surface coast
$FREEZE,2.00,-0.662,-1.885,2,1,0
$FREEZE,1.27,-0.578,-1.885,2,1,0
$FREEZE,1.25,-0.618,-0.880,2,1,0
$FREEZE,1.16,-0.776,-0.086,2,1,0
$FINISH,1.2,1.001042
$STATE,4501,end surface coast,FINISH_DEPTH_REACHED
$STATE,4501,begin surface
$SM_CCo,4517,80.60,0.730,1,0,1736,300.24
$SM_GC,2.13,0.00,0.00,80.60,0.000,0.000,0.730,422,2665,1736,-8.26,0.42,300.24
$IRIDIUM_FIX,-7545.40,17846.28,291210,030319
$TT8_MAMPS,0.028462
$HUMID,52.52
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,17.8
$ALTIM_BOTTOM_PING,250.2,56.1
$24V_AH,20.3,64.096
$10V_AH,9.7,42.917
$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,18.425,55.450,274.425,80.600,0.000,29.859,38.103,179.252,1.000,0.000,14.532,1327.192,1407.938,475.173,1593.610,164.468,0.000,1050.172,0.000,875.501,0.000,7.198,0.000
$DEVICE_MAMPS,201.195,99.450,979.965,729.810,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,367.599,734.505,878.548,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37286,525
$CAP_FILE_SIZE,76982,0
$CFSIZE,260165632,229826560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.206,133.1,1
$GPS,291210,063406,-7632.125,17824.857,29,1.5,29,120.5