version: 66.08
glider: 502
mission: 3
dive: 396
start: 12 29 110 9 38 6
data:
$ID,502
$MISSION,3
$DIVE,396
$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,-30640.5
$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,32
$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
$GPS1,291210,092907,-7631.881,17833.566,35,0.8,35,120.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-74.7
$GPS2,291210,093738,-7631.851,17833.924,14,1.0,14,120.3
$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,314.9,37372,-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,14,-0.76,-146.0,0.0,0.0,0,95,0.00,0.00,-78.50,0.000,2,0.000,0.000,420,2670,3164,0,0,0,0,0,0
$GC,98,-0.76,-146.0,3.0,-0.6,12,128,8.95,1.77,-12.80,0.000,4,0.200,0.076,2803,3754,3558,0,0,0,0,0,0
$GC,375,-0.76,-146.0,48.5,-16.2,61,382,0.00,1.77,0.00,0.000,6,0.000,0.042,2803,2616,3561,0,0,0,0,0,0
$GC,511,-0.76,-146.0,70.4,-15.8,86,520,0.00,1.90,0.00,0.000,4,0.000,0.062,2794,3757,3561,0,0,0,0,0,0
$GC,549,-0.76,-146.0,76.8,-17.9,92,557,0.00,1.75,0.00,0.000,6,0.000,0.041,2794,2656,3560,0,0,0,0,0,0
$GC,689,-0.76,-146.0,100.0,-16.3,117,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2655,3562,0,0,0,0,0,0
$GC,826,-0.76,-146.0,122.7,-17.1,130,830,0.00,1.77,0.00,0.000,4,0.000,0.060,2785,3754,3561,0,0,0,0,0,0
$GC,873,-0.76,-146.0,131.2,-18.2,134,877,0.12,1.70,0.00,0.000,6,0.166,0.041,2818,2655,3561,0,0,0,0,0,0
$GC,1013,-0.76,-146.0,153.0,-14.7,147,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2654,3561,0,0,0,0,0,0
$GC,1141,-0.76,-146.0,172.1,-14.8,159,1144,0.00,1.77,0.00,0.000,4,0.000,0.061,2811,3754,3561,0,0,0,0,0,0
$GC,1176,-0.76,-146.0,177.7,-16.0,162,1179,0.00,1.67,0.00,0.000,6,0.000,0.042,2811,2671,3561,0,0,0,0,0,0
$GC,1317,-0.76,-146.0,198.9,-14.8,175,1320,0.00,1.75,0.00,0.000,4,0.000,0.060,2803,3754,3562,0,0,0,0,0,0
$GC,1341,-0.76,-146.0,202.8,-16.0,177,1344,0.00,1.65,0.00,0.000,6,0.000,0.042,2803,2687,3561,0,0,0,0,0,0
$GC,1483,-0.76,-146.0,224.8,-14.9,190,1484,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2685,3561,0,0,0,0,0,0
$GC,1609,-0.76,-146.0,244.0,-14.9,202,1612,0.00,1.73,0.00,0.000,4,0.000,0.060,2795,3756,3561,0,0,0,0,0,0
$GC,1657,-0.76,-146.0,252.3,-16.0,206,1664,0.00,1.67,0.00,0.000,6,0.000,0.041,2795,2699,3561,0,0,0,0,0,0
$GC,1857,-0.76,-146.0,283.2,-15.5,225,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2698,3561,0,0,0,0,0,0
$STATE,1895,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1896,begin apogee
$GC,1901,-0.27,0.0,289.8,16.1,229,2040,0.55,0.00,128.73,0.971,4,0.131,0.000,2970,2486,2962,0,0,0,0,0,0
$STATE,2040,end apogee,CONTROL_FINISHED_OK
$STATE,2040,begin climb
$GC,2042,0.76,146.0,297.6,0.0,241,2201,1.08,2.47,145.62,0.896,4,0.086,0.049,3306,1094,2364,0,0,0,0,0,0
$GC,2340,0.76,146.0,273.0,11.2,267,2348,0.00,2.47,0.00,0.000,6,0.000,0.050,3306,2489,2354,0,0,0,0,0,0
$GC,2540,0.76,146.0,250.7,11.2,286,2544,0.00,2.22,0.00,0.000,4,0.000,0.049,3316,1102,2352,0,0,0,0,0,0
$GC,2648,0.76,146.0,238.2,11.9,295,2656,0.00,2.35,0.00,0.000,6,0.000,0.053,3316,2526,2349,0,0,0,0,0,0
$GC,2784,0.76,146.0,222.4,11.7,308,2787,0.00,1.98,0.00,0.000,4,0.000,0.057,3316,3771,2349,0,0,0,0,0,0
$GC,2853,0.76,146.0,213.0,14.4,314,2856,0.00,1.90,0.00,0.000,6,0.000,0.041,3324,2545,2349,0,0,0,0,0,0
$GC,2995,0.76,146.0,195.3,12.0,327,2999,0.00,1.98,0.00,0.000,4,0.000,0.057,3324,3771,2348,0,0,0,0,0,0
$GC,3031,0.76,146.0,190.5,13.6,330,3035,0.00,1.90,0.00,0.000,6,0.000,0.040,3334,2546,2348,0,0,0,0,0,0
$GC,3174,0.76,146.0,171.6,13.2,343,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2544,2348,0,0,0,0,0,0
$GC,3309,0.76,146.0,153.6,13.0,356,3313,0.00,1.98,0.00,0.000,4,0.000,0.057,3334,3773,2347,0,0,0,0,0,0
$GC,3355,0.76,146.0,146.8,14.8,360,3360,0.12,1.88,0.00,0.000,6,0.163,0.040,3310,2559,2347,0,0,0,0,0,0
$GC,3498,0.76,146.0,130.1,11.3,373,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2557,2347,0,0,0,0,0,0
$GC,3634,0.76,146.0,114.3,11.3,386,3637,0.00,1.95,0.00,0.000,4,0.000,0.057,3310,3772,2347,0,0,0,0,0,0
$GC,3712,0.76,146.0,103.8,13.2,393,3716,0.00,1.85,0.00,0.000,6,0.000,0.041,3318,2573,2347,0,0,0,0,0,0
$GC,3850,0.76,146.0,87.5,11.8,415,3857,0.00,1.95,0.00,0.000,4,0.000,0.058,3318,3775,2347,0,0,0,0,0,0
$GC,3878,0.76,146.0,83.6,12.6,420,3886,0.00,1.90,0.00,0.000,6,0.000,0.040,3327,2575,2347,0,0,0,0,0,0
$GC,4021,0.76,146.0,66.3,12.8,445,4029,0.00,1.95,0.00,0.000,4,0.000,0.057,3327,3762,2347,0,0,0,0,0,0
$GC,4046,0.76,146.0,62.7,12.9,449,4054,0.00,1.83,0.00,0.000,6,0.000,0.039,3336,2584,2346,0,0,0,0,0,0
$GC,4185,0.76,146.0,44.8,12.7,474,4193,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2582,2346,0,0,0,0,0,0
$GC,4324,0.76,146.0,27.1,12.9,499,4331,0.00,1.92,0.00,0.000,4,0.000,0.057,3336,3774,2346,0,0,0,0,0,0
$GC,4365,0.76,146.0,21.3,14.3,506,4374,0.10,1.85,0.00,0.000,6,0.137,0.041,3312,2610,2346,0,0,0,0,0,0
$FREEZE,8.56,-0.749,-1.892,2,1,0
$FREEZE,7.95,-0.744,-1.891,2,1,0
$FREEZE,7.20,-0.743,-1.890,2,1,0
$FREEZE,6.51,-0.739,-1.890,2,1,0
$FREEZE,6.01,-0.736,-1.889,2,1,0
$FREEZE,5.22,-0.736,-1.889,2,1,0
$FREEZE,4.76,-0.720,-1.888,2,1,0
$GC,4512,0.76,146.0,4.8,11.2,531,4518,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2609,2346,0,0,0,0,0,0
$FREEZE,3.03,-0.642,-1.886,2,1,0
$FREEZE,2.39,-0.638,-1.886,2,1,0
$STATE,4531,end climb,SURFACE_DEPTH_REACHED
$STATE,4531,begin surface coast
$FREEZE,1.67,-0.639,-1.885,2,1,0
$FREEZE,1.20,-0.638,-1.885,2,1,0
$FREEZE,1.17,-0.725,-0.051,2,1,0
$FINISH,1.2,1.000526
$STATE,4551,end surface coast,FINISH_DEPTH_REACHED
$STATE,4551,begin surface
$SM_CCo,4568,82.00,0.728,1,0,1737,300.24
$SM_GC,2.21,0.00,0.00,82.00,0.000,0.000,0.728,434,2666,1737,-8.22,0.48,300.24
$IRIDIUM_FIX,-7545.40,17837.07,291210,090941
$TT8_MAMPS,0.028462
$HUMID,52.71
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.0,17.6
$ALTIM_BOTTOM_PING,250.4,54.0
$24V_AH,20.3,64.415
$10V_AH,9.7,43.148
$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,18.450,57.650,274.350,82.000,0.000,60.743,113.777,165.830,1.500,0.000,15.580,1366.331,1447.839,462.563,1734.528,166.809,0.000,1036.220,0.000,906.587,0.000,7.190,0.000
$DEVICE_MAMPS,200.430,109.395,970.785,728.280,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,376.511,757.451,914.638,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267112
$DATA_FILE_SIZE,36921,537
$CAP_FILE_SIZE,78836,0
$CFSIZE,260165632,229683200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.227, 74.0,1
$GPS,291210,105646,-7631.601,17838.482,7,2.6,26,120.1