version: 66.08
glider: 502
mission: 3
dive: 395
start: 12 29 110 8 10 3
data:
$ID,502
$MISSION,3
$DIVE,395
$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,-30639.244
$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
$GPS1,291210,075938,-7632.074,17828.867,14,1.4,14,120.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-74.5
$GPS2,291210,080937,-7632.077,17829.266,13,1.4,13,120.4
$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,298.0,39416,-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,13,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,96,0.00,0.00,-78.75,0.000,2,0.000,0.000,423,2665,3174,0,0,0,0,0,0
$GC,99,-0.76,-146.0,3.0,-0.8,12,129,8.93,1.85,-12.23,0.000,4,0.200,0.080,2800,3758,3560,0,0,0,0,0,0
$GC,341,-0.76,-146.0,43.4,-16.8,54,350,0.00,1.77,0.00,0.000,6,0.000,0.041,2800,2642,3562,0,0,0,0,0,0
$GC,485,-0.76,-146.0,66.8,-16.3,79,492,0.00,1.83,0.00,0.000,4,0.000,0.060,2792,3764,3563,0,0,0,0,0,0
$GC,513,-0.76,-146.0,71.3,-17.4,83,520,0.00,1.75,0.00,0.000,6,0.000,0.041,2793,2664,3563,0,0,0,0,0,0
$GC,655,-0.76,-146.0,96.2,-17.3,108,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2663,3563,0,0,0,0,0,0
$GC,799,-0.76,-146.0,121.0,-17.3,123,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2663,3563,0,0,0,0,0,0
$GC,927,-0.76,-146.0,142.8,-17.1,135,930,0.00,1.77,0.00,0.000,4,0.000,0.060,2785,3760,3563,0,0,0,0,0,0
$GC,964,-0.76,-146.0,150.5,-18.2,138,974,0.08,1.75,0.00,0.000,6,0.143,0.041,2810,2659,3564,0,0,0,0,0,0
$GC,1099,-0.76,-146.0,171.7,-15.8,151,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2658,3563,0,0,0,0,0,0
$GC,1226,-0.76,-146.0,191.2,-15.5,163,1230,0.00,1.80,0.00,0.000,4,0.000,0.062,2802,3766,3564,0,0,0,0,0,0
$GC,1261,-0.76,-146.0,196.8,-16.4,166,1265,0.00,1.70,0.00,0.000,6,0.000,0.041,2802,2667,3563,0,0,0,0,0,0
$GC,1404,-0.76,-146.0,218.6,-15.4,179,1408,0.00,1.77,0.00,0.000,4,0.000,0.060,2794,3763,3564,0,0,0,0,0,0
$GC,1430,-0.76,-146.0,223.5,-16.1,181,1439,0.00,1.73,0.00,0.000,6,0.000,0.041,2794,2679,3564,0,0,0,0,0,0
$GC,1567,-0.76,-146.0,244.3,-15.3,194,1570,0.00,1.75,0.00,0.000,4,0.000,0.061,2786,3758,3563,0,0,0,0,0,0
$GC,1605,-0.76,-146.0,250.2,-16.8,197,1609,0.12,1.65,0.00,0.000,6,0.163,0.041,2820,2684,3563,0,0,0,0,0,0
$GC,1811,-0.76,-146.0,278.2,-13.2,216,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2682,3563,0,0,0,0,0,0
$STATE,1880,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1880,begin apogee
$GC,1885,-0.27,0.0,288.4,14.1,223,2024,0.45,0.00,129.40,0.968,4,0.124,0.000,2969,2484,2960,0,0,0,0,0,0
$STATE,2025,end apogee,CONTROL_FINISHED_OK
$STATE,2025,begin climb
$GC,2027,0.76,146.0,296.3,0.0,235,2186,1.10,2.47,145.10,0.893,4,0.088,0.049,3311,1097,2363,0,0,0,0,0,0
$GC,2354,0.76,146.0,268.0,11.3,264,2358,0.00,2.42,0.00,0.000,6,0.000,0.050,3310,2502,2353,0,0,0,0,0,0
$GC,2553,0.76,146.0,244.6,11.7,282,2557,0.00,2.25,0.00,0.000,4,0.000,0.047,3316,1094,2351,0,0,0,0,0,0
$GC,2672,0.76,146.0,230.4,10.9,292,2681,0.00,2.35,0.00,0.000,6,0.000,0.053,3316,2518,2349,0,0,0,0,0,0
$GC,2808,0.76,146.0,214.7,11.9,305,2812,0.00,2.00,0.00,0.000,4,0.000,0.055,3316,3774,2348,0,0,0,0,0,0
$GC,2879,0.76,146.0,204.8,14.2,311,2887,0.00,1.95,0.00,0.000,6,0.000,0.041,3325,2545,2348,0,0,0,0,0,0
$GC,3016,0.76,146.0,188.4,12.2,324,3020,0.00,1.98,0.00,0.000,4,0.000,0.057,3325,3771,2347,0,0,0,0,0,0
$GC,3075,0.76,146.0,179.7,14.1,329,3084,0.00,1.92,0.00,0.000,6,0.000,0.041,3334,2553,2347,0,0,0,0,0,0
$GC,3213,0.76,146.0,162.7,12.7,342,3221,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2552,2346,0,0,0,0,0,0
$GC,3348,0.76,146.0,145.8,12.4,355,3352,0.00,1.95,0.00,0.000,4,0.000,0.057,3334,3769,2347,0,0,0,0,0,0
$GC,3394,0.76,146.0,139.5,13.6,359,3399,0.12,1.88,0.00,0.000,6,0.162,0.040,3310,2555,2346,0,0,0,0,0,0
$GC,3537,0.76,146.0,123.7,10.8,372,3541,0.00,1.95,0.00,0.000,4,0.000,0.057,3310,3767,2346,0,0,0,0,0,0
$GC,3574,0.76,146.0,118.7,11.7,375,3583,0.00,1.90,0.00,0.000,6,0.000,0.040,3317,2558,2346,0,0,0,0,0,0
$GC,3710,0.76,146.0,103.9,10.9,388,3714,0.00,1.95,0.00,0.000,4,0.000,0.057,3317,3773,2346,0,0,0,0,0,0
$GC,3746,0.76,146.0,99.5,12.9,391,3752,0.00,1.85,0.00,0.000,6,0.000,0.041,3326,2574,2346,0,0,0,0,0,0
$GC,3888,0.76,146.0,82.2,12.0,416,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2574,2346,0,0,0,0,0,0
$GC,4032,0.76,146.0,64.8,12.8,441,4039,0.00,1.92,0.00,0.000,4,0.000,0.057,3325,3765,2346,0,0,0,0,0,0
$GC,4074,0.76,146.0,58.8,14.3,448,4082,0.00,1.88,0.00,0.000,6,0.000,0.040,3335,2574,2346,0,0,0,0,0,0
$GC,4219,0.76,146.0,40.6,12.8,473,4226,0.00,1.98,0.00,0.000,4,0.000,0.057,3335,3774,2345,0,0,0,0,0,0
$GC,4249,0.76,146.0,36.4,13.4,478,4258,0.08,1.88,0.00,0.000,6,0.145,0.041,3318,2592,2346,0,0,0,0,0,0
$GC,4397,0.76,146.0,19.4,11.1,503,4403,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2592,2346,0,0,0,0,0,0
$FREEZE,8.73,-0.776,-1.891,2,1,0
$FREEZE,7.94,-0.768,-1.890,2,1,0
$FREEZE,7.36,-0.760,-1.890,2,1,0
$FREEZE,6.69,-0.752,-1.889,2,1,0
$FREEZE,6.13,-0.744,-1.889,2,1,0
$FREEZE,5.40,-0.735,-1.888,2,1,0
$FREEZE,4.86,-0.729,-1.888,2,1,0
$FREEZE,4.01,-0.718,-1.887,2,1,0
$FREEZE,3.60,-0.702,-1.887,2,1,0
$FREEZE,2.60,-0.642,-1.885,2,1,0
$STATE,4542,end climb,SURFACE_DEPTH_REACHED
$STATE,4542,begin surface coast
$FREEZE,1.95,-0.625,-1.885,2,1,0
$FREEZE,1.33,-0.615,-1.885,2,1,0
$FREEZE,1.18,-0.802,-0.957,2,1,0
$FREEZE,1.22,-0.650,-0.298,2,1,0
$FINISH,1.2,1.004224
$STATE,4568,end surface coast,FINISH_DEPTH_REACHED
$STATE,4568,begin surface
$SM_CCo,4584,80.57,0.728,1,0,1737,300.24
$SM_GC,2.09,0.00,0.00,80.57,0.000,0.000,0.728,421,2670,1737,-8.27,0.57,300.24
$IRIDIUM_FIX,-7545.40,17827.86,291210,080813
$TT8_MAMPS,0.028462
$HUMID,52.75
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.4,17.6
$ALTIM_BOTTOM_PING,250.2,52.1
$24V_AH,20.3,64.308
$10V_AH,9.7,43.071
$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,18.450,58.000,274.500,80.575,0.000,59.139,79.381,256.919,1.500,0.000,13.920,1351.554,1469.564,468.243,1819.129,170.462,0.000,1047.443,0.000,903.278,0.000,7.185,0.000
$DEVICE_MAMPS,200.430,99.450,968.490,728.280,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,372.604,747.629,906.773,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37114,532
$CAP_FILE_SIZE,81741,0
$CFSIZE,260165632,229732352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.213, 96.3,1
$GPS,291210,092907,-7631.881,17833.566,35,0.8,35,120.3