version: 66.08
glider: 502
mission: 3
dive: 397
start: 12 29 110 11 3 4
data:
$ID,502
$MISSION,3
$DIVE,397
$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,-30641.756
$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,35
$R_STBD_OVSHOOT,27
$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
$GPS1,291210,105646,-7631.601,17838.482,7,2.6,26,120.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-74.0
$GPS2,291210,110238,-7631.554,17838.742,14,1.5,14,120.1
$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,335.1,35249,-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,-146.0,0.0,0.0,0,96,0.00,0.00,-78.82,0.000,2,0.000,0.000,434,2666,3170,0,0,0,0,0,0
$GC,99,-0.76,-146.0,3.0,-1.0,12,129,8.90,1.80,-12.65,0.000,4,0.202,0.080,2799,3763,3559,0,0,0,0,0,0
$GC,365,-0.76,-146.0,47.8,-17.9,59,372,0.00,1.77,0.00,0.000,6,0.000,0.041,2799,2620,3562,0,0,0,0,0,0
$GC,502,-0.76,-146.0,71.7,-16.6,84,510,0.00,1.90,0.00,0.000,4,0.000,0.061,2790,3765,3562,0,0,0,0,0,0
$GC,528,-0.76,-146.0,76.4,-18.7,88,537,0.00,1.75,0.00,0.000,6,0.000,0.041,2790,2663,3562,0,0,0,0,0,0
$GC,671,-0.76,-146.0,102.2,-18.0,113,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2663,3562,0,0,0,0,0,0
$GC,799,-0.76,-146.0,125.0,-17.9,125,802,0.00,1.77,0.00,0.000,4,0.000,0.060,2781,3765,3562,0,0,0,0,0,0
$GC,848,-0.76,-146.0,134.6,-18.8,129,857,0.10,1.75,0.00,0.000,6,0.141,0.041,2814,2665,3562,0,0,0,0,0,0
$GC,983,-0.76,-146.0,156.1,-15.9,142,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2663,3563,0,0,0,0,0,0
$GC,1110,-0.76,-146.0,176.0,-15.7,154,1113,0.00,1.77,0.00,0.000,4,0.000,0.060,2807,3767,3563,0,0,0,0,0,0
$GC,1167,-0.76,-146.0,185.5,-16.9,159,1171,0.00,1.70,0.00,0.000,6,0.000,0.041,2807,2669,3563,0,0,0,0,0,0
$GC,1308,-0.76,-146.0,208.0,-15.5,172,1312,0.00,1.77,0.00,0.000,4,0.000,0.061,2798,3765,3563,0,0,0,0,0,0
$GC,1355,-0.76,-146.0,215.8,-17.1,176,1358,0.00,1.65,0.00,0.000,6,0.000,0.041,2798,2693,3563,0,0,0,0,0,0
$GC,1496,-0.76,-146.0,238.6,-16.1,189,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2691,3563,0,0,0,0,0,0
$GC,1621,-0.76,-146.0,258.4,-15.6,201,1624,0.00,1.73,0.00,0.000,4,0.000,0.060,2790,3762,3563,0,0,0,0,0,0
$GC,1644,-0.76,-146.0,262.2,-15.7,203,1647,0.00,1.65,0.00,0.000,6,0.000,0.041,2790,2691,3563,0,0,0,0,0,0
$STATE,1805,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1805,begin apogee
$GC,1811,-0.27,0.0,288.5,16.9,218,1947,0.57,0.00,129.23,0.969,4,0.132,0.000,2973,2493,2960,0,0,0,0,0,0
$STATE,1948,end apogee,CONTROL_FINISHED_OK
$STATE,1948,begin climb
$GC,1951,0.76,146.0,296.5,0.0,230,2109,1.08,2.47,145.25,0.897,4,0.084,0.048,3309,1102,2364,0,0,0,0,0,0
$GC,2237,0.76,146.0,272.5,10.9,255,2245,0.00,2.50,0.00,0.000,6,0.000,0.050,3309,2497,2354,0,0,0,0,0,0
$GC,2436,0.76,146.0,250.3,11.4,274,2440,0.00,2.25,0.00,0.000,4,0.000,0.048,3315,1098,2352,0,0,0,0,0,0
$GC,2556,0.76,146.0,236.8,11.0,284,2565,0.00,2.33,0.00,0.000,6,0.000,0.052,3315,2514,2349,0,0,0,0,0,0
$GC,2694,0.76,146.0,222.0,10.8,297,2697,0.00,2.00,0.00,0.000,4,0.000,0.056,3315,3774,2349,0,0,0,0,0,0
$GC,2753,0.76,146.0,214.1,13.3,302,2762,0.00,1.98,0.00,0.000,6,0.000,0.040,3324,2526,2348,0,0,0,0,0,0
$GC,2891,0.76,146.0,199.3,11.1,315,2895,0.00,2.00,0.00,0.000,4,0.000,0.057,3324,3770,2348,0,0,0,0,0,0
$GC,2939,0.76,146.0,192.6,12.3,319,2948,0.00,1.95,0.00,0.000,6,0.000,0.040,3333,2537,2348,0,0,0,0,0,0
$GC,3075,0.76,146.0,177.2,11.6,332,3078,0.00,1.98,0.00,0.000,4,0.000,0.056,3333,3768,2347,0,0,0,0,0,0
$GC,3124,0.76,146.0,170.4,13.8,336,3133,0.08,1.92,0.00,0.000,6,0.142,0.040,3318,2554,2347,0,0,0,0,0,0
$GC,3259,0.76,146.0,155.7,11.0,349,3263,0.00,1.95,0.00,0.000,4,0.000,0.056,3317,3767,2347,0,0,0,0,0,0
$GC,3305,0.76,146.0,150.1,12.9,353,3309,0.00,1.85,0.00,0.000,6,0.000,0.039,3325,2560,2347,0,0,0,0,0,0
$GC,3449,0.76,146.0,133.2,11.7,366,3452,0.00,1.95,0.00,0.000,4,0.000,0.057,3325,3768,2347,0,0,0,0,0,0
$GC,3495,0.76,146.0,126.9,13.7,370,3498,0.00,1.85,0.00,0.000,6,0.000,0.040,3335,2569,2347,0,0,0,0,0,0
$GC,3636,0.76,146.0,109.0,12.3,383,3639,0.00,1.92,0.00,0.000,4,0.000,0.057,3334,3763,2347,0,0,0,0,0,0
$GC,3674,0.76,146.0,103.4,14.4,386,3683,0.08,1.85,0.00,0.000,6,0.143,0.040,3318,2590,2347,0,0,0,0,0,0
$GC,3809,0.76,146.0,87.8,10.9,408,3818,0.00,1.92,0.00,0.000,4,0.000,0.057,3318,3756,2347,0,0,0,0,0,0
$GC,3835,0.76,146.0,84.4,12.4,412,3843,0.00,1.83,0.00,0.000,6,0.000,0.040,3324,2601,2347,0,0,0,0,0,0
$GC,3976,0.76,146.0,68.3,12.4,437,3983,0.00,1.88,0.00,0.000,4,0.000,0.057,3324,3763,2346,0,0,0,0,0,0
$GC,4002,0.76,146.0,64.4,13.2,441,4010,0.00,1.80,0.00,0.000,6,0.000,0.040,3333,2602,2346,0,0,0,0,0,0
$GC,4144,0.76,146.0,46.9,12.4,466,4152,0.00,1.90,0.00,0.000,4,0.000,0.056,3334,3757,2346,0,0,0,0,0,0
$GC,4170,0.76,146.0,42.8,13.6,470,4179,0.08,1.80,0.00,0.000,6,0.140,0.041,3316,2621,2346,0,0,0,0,0,0
$GC,4313,0.76,146.0,26.5,11.4,495,4319,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2620,2346,0,0,0,0,0,0
$GC,4451,0.76,146.0,10.3,11.9,520,4459,0.00,1.88,0.00,0.000,4,0.000,0.059,3316,3755,2346,0,0,0,0,0,0
$FREEZE,8.67,-0.641,-1.892,2,1,0
$FREEZE,7.90,-0.600,-1.891,2,1,0
$FREEZE,7.17,-0.614,-1.890,2,1,0
$FREEZE,6.53,-0.617,-1.890,2,1,0
$FREEZE,5.81,-0.639,-1.890,2,1,0
$FREEZE,5.12,-0.655,-1.889,2,1,0
$FREEZE,4.21,-0.621,-1.888,2,1,0
$FREEZE,3.44,-0.615,-1.888,2,1,0
$FREEZE,2.76,-0.620,-1.887,2,1,0
$STATE,4513,end climb,SURFACE_DEPTH_REACHED
$STATE,4513,begin surface coast
$FREEZE,1.81,-0.623,-1.887,2,1,0
$FREEZE,1.18,-0.664,-1.202,2,1,0
$FINISH,1.2,1.017746
$STATE,4527,end surface coast,CONTROL_FINISHED_OK
$STATE,4527,begin surface
$SM_CCo,4545,83.12,0.731,1,0,1736,300.24
$SM_GC,2.18,0.00,0.00,83.12,0.000,0.000,0.731,420,2643,1736,-8.27,-0.20,300.24
$IRIDIUM_FIX,-7545.40,17837.07,291210,090932
$TT8_MAMPS,0.028462
$HUMID,52.71
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,18.8
$ALTIM_BOTTOM_PING,250.2,52.9
$24V_AH,20.3,64.518
$10V_AH,9.7,43.224
$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,18.425,68.825,274.475,83.125,0.000,29.879,39.365,176.475,1.000,0.000,15.440,1361.355,1356.403,467.796,1639.765,170.235,0.000,1050.491,0.000,909.810,0.000,7.190,0.000
$DEVICE_MAMPS,201.960,79.560,969.255,730.575,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,372.838,751.417,914.908,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37110,532
$CAP_FILE_SIZE,80189,0
$CFSIZE,260165632,229634048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.266, 54.0,1
$GPS,291210,122136,-7631.225,17843.268,41,0.8,41,120.0