version: 66.08
glider: 502
mission: 3
dive: 400
start: 12 29 110 15 14 53
data:
$ID,502
$MISSION,3
$DIVE,400
$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,-30645.533
$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,42
$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
$GPS1,291210,150850,-7630.372,17850.891,13,2.0,13,119.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-74.6
$GPS2,291210,151427,-7630.288,17851.070,15,1.8,15,119.8
$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,14.2,29806,-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,14,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,103,0.00,0.00,-84.10,0.000,2,0.000,0.000,415,2631,3288,0,0,0,0,0,0
$GC,105,-0.76,-146.0,3.2,-2.1,13,128,9.00,1.92,-7.70,0.000,4,0.203,0.076,2802,3763,3560,0,0,0,0,0,0
$GC,293,-0.76,-146.0,36.5,-16.8,46,301,0.00,1.75,0.00,0.000,6,0.000,0.041,2801,2659,3563,0,0,0,0,0,0
$GC,432,-0.76,-146.0,60.0,-17.2,71,438,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2658,3563,0,0,0,0,0,0
$GC,572,-0.76,-146.0,83.3,-16.3,96,580,0.00,1.83,0.00,0.000,4,0.000,0.061,2793,3759,3563,0,0,0,0,0,0
$GC,619,-0.76,-146.0,91.7,-17.9,104,627,0.00,1.75,0.00,0.000,6,0.000,0.041,2793,2652,3564,0,0,0,0,0,0
$GC,757,-0.76,-146.0,114.7,-16.5,121,761,0.00,1.80,0.00,0.000,4,0.000,0.060,2785,3765,3564,0,0,0,0,0,0
$GC,795,-0.76,-146.0,122.0,-17.8,124,804,0.08,1.75,0.00,0.000,6,0.142,0.041,2811,2661,3564,0,0,0,0,0,0
$GC,933,-0.76,-146.0,142.6,-15.7,137,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2660,3564,0,0,0,0,0,0
$GC,1068,-0.76,-146.0,164.4,-15.8,150,1072,0.00,1.77,0.00,0.000,4,0.000,0.060,2803,3763,3564,0,0,0,0,0,0
$GC,1095,-0.76,-146.0,169.3,-17.0,152,1103,0.00,1.70,0.00,0.000,6,0.000,0.040,2803,2689,3564,0,0,0,0,0,0
$GC,1231,-0.76,-146.0,190.3,-15.7,165,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2689,3564,0,0,0,0,0,0
$GC,1357,-0.76,-146.0,209.8,-14.8,177,1361,0.00,1.73,0.00,0.000,4,0.000,0.060,2795,3763,3564,0,0,0,0,0,0
$GC,1405,-0.76,-146.0,218.3,-16.5,181,1415,0.00,1.67,0.00,0.000,6,0.000,0.041,2795,2701,3564,0,0,0,0,0,0
$GC,1543,-0.76,-146.0,239.3,-15.6,194,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2701,3564,0,0,0,0,0,0
$GC,1676,-0.76,-146.0,260.8,-15.7,207,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2701,3564,0,0,0,0,0,0
$STATE,1856,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1856,begin apogee
$GC,1861,-0.27,0.0,290.3,15.5,224,1999,0.55,0.00,129.73,0.971,4,0.130,0.000,2971,2487,2960,0,0,0,0,0,0
$STATE,2000,end apogee,CONTROL_FINISHED_OK
$STATE,2000,begin climb
$GC,2002,0.76,146.0,297.2,0.0,236,2160,1.05,2.47,145.52,0.896,4,0.076,0.047,3306,1099,2364,0,0,0,0,0,0
$GC,2289,0.77,147.7,271.2,9.9,261,2296,0.00,2.45,0.00,0.000,6,0.000,0.049,3306,2499,2354,0,0,0,0,0,0
$GC,2487,0.77,147.7,249.6,11.3,280,2491,0.00,2.25,0.00,0.000,4,0.000,0.048,3316,1104,2351,0,0,0,0,0,0
$GC,2629,0.77,147.7,233.3,10.9,292,2637,0.00,2.33,0.00,0.000,6,0.000,0.053,3316,2513,2349,0,0,0,0,0,0
$GC,2766,0.77,147.7,217.6,11.9,305,2770,0.00,2.00,0.00,0.000,4,0.000,0.057,3316,3771,2348,0,0,0,0,0,0
$GC,2833,0.77,147.7,208.0,14.8,311,2837,0.00,1.92,0.00,0.000,6,0.000,0.041,3325,2526,2348,0,0,0,0,0,0
$GC,2975,0.77,147.7,190.1,12.5,324,2978,0.00,2.00,0.00,0.000,4,0.000,0.056,3326,3768,2347,0,0,0,0,0,0
$GC,3022,0.77,147.7,183.3,14.2,328,3026,0.00,1.90,0.00,0.000,6,0.000,0.039,3335,2539,2347,0,0,0,0,0,0
$GC,3162,0.77,147.7,164.4,13.2,341,3166,0.00,1.98,0.00,0.000,4,0.000,0.056,3335,3771,2347,0,0,0,0,0,0
$GC,3200,0.77,147.7,158.5,14.7,344,3209,0.08,1.92,0.00,0.000,6,0.148,0.041,3318,2554,2347,0,0,0,0,0,0
$GC,3337,0.77,147.7,142.7,11.7,357,3345,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2552,2347,0,0,0,0,0,0
$GC,3473,0.77,147.7,126.0,12.2,370,3476,0.00,1.95,0.00,0.000,4,0.000,0.057,3319,3767,2347,0,0,0,0,0,0
$GC,3521,0.77,147.7,118.6,14.6,374,3530,0.00,1.92,0.00,0.000,6,0.000,0.038,3327,2548,2347,0,0,0,0,0,0
$GC,3659,0.77,147.7,101.4,12.5,387,3663,0.00,1.95,0.00,0.000,4,0.000,0.057,3327,3764,2346,0,0,0,0,0,0
$GC,3689,0.77,147.7,97.2,14.3,391,3697,0.00,1.85,0.00,0.000,6,0.000,0.040,3336,2567,2346,0,0,0,0,0,0
$GC,3825,0.77,147.7,79.5,13.3,416,3834,0.00,1.98,0.00,0.000,4,0.000,0.057,3336,3765,2346,0,0,0,0,0,0
$GC,3869,0.77,147.7,73.1,15.9,423,3877,0.12,1.83,0.00,0.000,6,0.163,0.039,3311,2583,2346,0,0,0,0,0,0
$GC,4011,0.77,147.7,56.2,12.4,448,4019,0.00,1.95,0.00,0.000,4,0.000,0.057,3311,3768,2346,0,0,0,0,0,0
$GC,4038,0.77,147.7,52.8,12.2,452,4046,0.00,1.85,0.00,0.000,6,0.000,0.040,3318,2598,2346,0,0,0,0,0,0
$GC,4177,0.77,147.7,36.2,11.8,477,4183,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2597,2345,0,0,0,0,0,0
$GC,4314,0.77,147.7,19.5,12.4,502,4322,0.00,1.92,0.00,0.000,4,0.000,0.057,3318,3767,2345,0,0,0,0,0,0
$GC,4357,0.77,147.7,13.7,14.6,509,4364,0.00,1.85,0.00,0.000,6,0.000,0.039,3327,2594,2345,0,0,0,0,0,0
$FREEZE,8.31,-0.527,-1.899,2,1,0
$FREEZE,7.68,-0.531,-1.898,2,1,0
$FREEZE,6.91,-0.530,-1.898,2,1,0
$FREEZE,6.15,-0.535,-1.897,2,1,0
$FREEZE,5.45,-0.534,-1.897,2,1,0
$FREEZE,4.84,-0.532,-1.896,2,1,0
$FREEZE,3.94,-0.535,-1.895,2,1,0
$FREEZE,3.25,-0.535,-1.895,2,1,0
$FREEZE,2.56,-0.544,-1.894,2,1,0
$STATE,4444,end climb,SURFACE_DEPTH_REACHED
$STATE,4446,begin surface coast
$FREEZE,1.40,-0.549,-1.893,2,1,0
$FREEZE,1.15,-0.566,-0.772,2,1,0
$FREEZE,1.15,-0.672,-0.557,2,1,0
$FINISH,1.2,1.008132
$STATE,4465,end surface coast,FINISH_DEPTH_REACHED
$STATE,4465,begin surface
$SM_CCo,4481,80.47,0.723,1,0,1736,300.24
$SM_GC,2.12,0.00,0.00,80.47,0.000,0.000,0.723,429,2656,1736,-8.24,0.17,300.24
$IRIDIUM_FIX,-7545.40,17846.08,291210,131342
$TT8_MAMPS,0.028462
$HUMID,53.42
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,18.3
$ALTIM_BOTTOM_PING,251.0,52.7
$24V_AH,20.3,64.811
$10V_AH,9.7,43.448
$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,18.475,58.350,275.250,80.475,0.000,24.403,39.121,166.725,1.250,0.000,15.818,1327.423,1349.587,472.448,1596.719,168.647,0.000,1046.502,0.000,884.204,0.000,7.187,0.000
$DEVICE_MAMPS,202.725,109.395,970.785,722.925,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,368.590,742.376,906.816,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37055,527
$CAP_FILE_SIZE,76440,0
$CFSIZE,260165632,229494784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.326, 14.0,1
$GPS,291210,163206,-7629.894,17853.531,28,1.1,28,119.7