version: 66.08
glider: 502
mission: 3
dive: 399
start: 12 29 110 13 51 29
data:
$ID,502
$MISSION,3
$DIVE,399
$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,-30644.273
$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,24
$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
$GPS1,291210,134502,-7630.835,17847.473,13,1.4,13,119.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-74.4
$GPS2,291210,135103,-7630.757,17847.703,11,2.1,30,119.9
$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,12.5,31288,-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,17,-0.76,-146.0,0.0,0.0,0,99,0.00,0.00,-79.80,0.000,2,0.000,0.000,417,2652,3191,0,0,0,0,0,0
$GC,102,-0.76,-146.0,3.1,-1.1,12,131,9.10,1.90,-11.57,0.000,4,0.202,0.078,2799,3764,3560,0,0,0,0,0,0
$GC,285,-0.76,-146.0,34.0,-17.6,44,293,0.00,1.77,0.00,0.000,6,0.000,0.041,2799,2648,3563,0,0,0,0,0,0
$GC,425,-0.76,-146.0,57.1,-16.8,69,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2647,3563,0,0,0,0,0,0
$GC,562,-0.76,-146.0,80.1,-16.3,94,571,0.00,1.85,0.00,0.000,4,0.000,0.060,2791,3762,3563,0,0,0,0,0,0
$GC,641,-0.76,-146.0,93.5,-17.5,108,650,0.08,1.75,0.00,0.000,6,0.151,0.041,2815,2661,3563,0,0,0,0,0,0
$GC,781,-0.76,-146.0,114.2,-14.7,124,785,0.00,1.77,0.00,0.000,4,0.000,0.060,2808,3763,3563,0,0,0,0,0,0
$GC,828,-0.76,-146.0,121.7,-15.4,128,831,0.00,1.70,0.00,0.000,6,0.000,0.041,2807,2666,3563,0,0,0,0,0,0
$GC,969,-0.76,-146.0,142.9,-15.1,141,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2663,3563,0,0,0,0,0,0
$GC,1096,-0.76,-146.0,161.8,-14.7,153,1100,0.00,1.77,0.00,0.000,4,0.000,0.060,2799,3765,3563,0,0,0,0,0,0
$GC,1144,-0.76,-146.0,169.9,-16.1,157,1154,0.00,1.73,0.00,0.000,6,0.000,0.041,2799,2677,3563,0,0,0,0,0,0
$GC,1282,-0.76,-146.0,190.9,-15.6,170,1286,0.00,2.25,0.00,0.000,4,0.000,0.049,2799,1242,3563,0,0,0,0,0,0
$GC,1311,-0.76,-146.0,195.8,-16.1,172,1315,0.00,2.33,0.00,0.000,6,0.000,0.055,2789,2677,3563,0,0,0,0,0,0
$GC,1448,-0.76,-146.0,217.8,-16.8,184,1453,0.10,1.75,0.00,0.000,4,0.174,0.059,2807,3767,3563,0,0,0,0,0,0
$GC,1505,-0.76,-146.0,227.3,-15.0,189,1509,0.00,1.67,0.00,0.000,6,0.000,0.041,2807,2681,3562,0,0,0,0,0,0
$GC,1648,-0.76,-146.0,248.4,-15.2,202,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2680,3563,0,0,0,0,0,0
$GC,1783,-0.76,-146.0,269.2,-15.2,215,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2680,3563,0,0,0,0,0,0
$STATE,1918,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1919,begin apogee
$GC,1924,-0.27,0.0,288.9,12.7,228,2062,0.50,0.00,130.20,0.970,4,0.132,0.000,2969,2495,2960,0,0,0,0,0,0
$STATE,2063,end apogee,CONTROL_FINISHED_OK
$STATE,2063,begin climb
$GC,2065,0.76,146.0,296.8,0.0,240,2224,1.10,2.47,146.32,0.896,4,0.086,0.049,3309,1104,2362,0,0,0,0,0,0
$GC,2332,0.76,146.0,276.9,11.3,263,2339,0.00,2.47,0.00,0.000,6,0.000,0.049,3309,2498,2353,0,0,0,0,0,0
$GC,2530,0.76,146.0,254.0,11.7,282,2534,0.00,2.30,0.00,0.000,4,0.000,0.048,3319,1088,2351,0,0,0,0,0,0
$GC,2674,0.76,146.0,236.9,11.7,294,2682,0.00,2.35,0.00,0.000,6,0.000,0.052,3319,2514,2348,0,0,0,0,0,0
$GC,2810,0.76,146.0,220.1,12.5,307,2814,0.00,2.00,0.00,0.000,4,0.000,0.057,3319,3768,2348,0,0,0,0,0,0
$GC,2892,0.76,146.0,207.7,15.3,314,2900,0.00,1.95,0.00,0.000,6,0.000,0.040,3328,2535,2348,0,0,0,0,0,0
$GC,3029,0.76,146.0,190.3,12.6,327,3033,0.00,1.98,0.00,0.000,4,0.000,0.056,3328,3768,2347,0,0,0,0,0,0
$GC,3086,0.76,146.0,182.1,14.9,332,3089,0.00,1.90,0.00,0.000,6,0.000,0.040,3337,2541,2347,0,0,0,0,0,0
$GC,3229,0.76,146.0,162.7,13.5,345,3237,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2538,2346,0,0,0,0,0,0
$GC,3364,0.76,146.0,144.0,13.6,358,3368,0.00,1.98,0.00,0.000,4,0.000,0.056,3337,3767,2346,0,0,0,0,0,0
$GC,3400,0.76,146.0,138.0,15.9,361,3411,0.10,1.90,0.00,0.000,6,0.140,0.039,3313,2557,2346,0,0,0,0,0,0
$GC,3537,0.76,146.0,121.5,12.0,374,3541,0.00,1.92,0.00,0.000,4,0.000,0.057,3314,3763,2346,0,0,0,0,0,0
$GC,3584,0.76,146.0,115.4,14.3,378,3587,0.00,1.85,0.00,0.000,6,0.000,0.039,3321,2558,2346,0,0,0,0,0,0
$GC,3719,0.76,146.0,98.5,12.1,391,3726,0.00,1.95,0.00,0.000,4,0.000,0.057,3321,3764,2346,0,0,0,0,0,0
$GC,3771,0.76,146.0,91.7,13.4,400,3779,0.00,1.88,0.00,0.000,6,0.000,0.041,3331,2572,2346,0,0,0,0,0,0
$GC,3910,0.76,146.0,74.8,12.2,425,3917,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2571,2346,0,0,0,0,0,0
$GC,4047,0.76,146.0,58.4,12.2,450,4056,0.00,1.95,0.00,0.000,4,0.000,0.058,3330,3756,2346,0,0,0,0,0,0
$GC,4124,0.76,146.0,47.6,14.3,463,4131,0.00,1.83,0.00,0.000,6,0.000,0.040,3340,2575,2346,0,0,0,0,0,0
$GC,4260,0.76,146.0,29.8,12.5,488,4267,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2574,2345,0,0,0,0,0,0
$GC,4399,0.76,146.0,11.8,12.4,513,4407,0.00,1.92,0.00,0.000,4,0.000,0.057,3339,3765,2345,0,0,0,0,0,0
$FREEZE,8.33,-0.616,-1.893,2,1,0
$FREEZE,7.49,-0.661,-1.892,2,1,0
$FREEZE,6.71,-0.652,-1.891,2,1,0
$FREEZE,5.82,-0.640,-1.890,2,1,0
$FREEZE,5.05,-0.626,-1.889,2,1,0
$FREEZE,4.05,-0.616,-1.888,2,1,0
$FREEZE,3.19,-0.597,-1.888,2,1,0
$FREEZE,2.30,-0.545,-1.887,2,1,0
$STATE,4464,end climb,SURFACE_DEPTH_REACHED
$STATE,4464,begin surface coast
$FREEZE,1.47,-0.528,-1.886,2,1,0
$FREEZE,1.14,-0.628,-0.909,2,1,0
$FREEZE,1.09,-0.665,-0.614,2,1,0
$FINISH,1.1,1.008996
$STATE,4486,end surface coast,FINISH_DEPTH_REACHED
$STATE,4486,begin surface
$SM_CCo,4504,80.32,0.724,1,0,1736,300.24
$SM_GC,2.08,0.00,0.00,80.32,0.000,0.000,0.724,415,2631,1736,-8.28,-0.54,300.24
$IRIDIUM_FIX,-7545.40,17855.49,291210,121216
$TT8_MAMPS,0.028462
$HUMID,52.67
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,18.3
$ALTIM_BOTTOM_PING,251.5,51.4
$24V_AH,20.3,64.709
$10V_AH,9.7,43.373
$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,18.625,58.900,276.525,80.325,0.000,30.352,40.201,166.044,1.250,0.000,31.864,1334.725,1371.958,467.283,1624.655,161.815,0.000,1039.147,0.000,895.795,0.000,7.186,0.000
$DEVICE_MAMPS,201.960,78.030,970.020,724.455,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,369.200,742.221,901.158,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37084,527
$CAP_FILE_SIZE,76259,0
$CFSIZE,260165632,229539840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.334, 26.6,1
$GPS,291210,150850,-7630.372,17850.891,13,2.0,13,119.8