version: 66.08
glider: 502
mission: 3
dive: 401
start: 12 29 110 16 41 11
data:
$ID,502
$MISSION,3
$DIVE,401
$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,-30646.791
$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,29
$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
$GPS1,291210,163206,-7629.894,17853.531,28,1.1,28,119.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-74.0
$GPS2,291210,164044,-7629.787,17853.678,11,1.1,11,119.7
$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,16.1,28677,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,102,0.00,0.00,-83.68,0.000,2,0.000,0.000,429,2657,3268,0,0,0,0,0,0
$GC,104,-0.76,-146.0,3.2,-1.1,12,129,9.05,1.88,-8.57,0.000,4,0.206,0.076,2803,3765,3559,0,0,0,0,0,0
$GC,320,-0.76,-146.0,39.4,-16.3,49,327,0.00,1.77,0.00,0.000,6,0.000,0.041,2803,2625,3563,0,0,0,0,0,0
$GC,461,-0.76,-146.0,62.2,-14.6,74,470,0.00,1.88,0.00,0.000,4,0.000,0.060,2794,3756,3563,0,0,0,0,0,0
$GC,496,-0.76,-146.0,67.6,-17.2,79,503,0.00,1.73,0.00,0.000,6,0.000,0.041,2795,2670,3563,0,0,0,0,0,0
$GC,638,-0.76,-146.0,92.1,-16.4,104,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2668,3563,0,0,0,0,0,0
$GC,782,-0.76,-146.0,116.2,-16.3,121,786,0.00,1.75,0.00,0.000,4,0.000,0.059,2786,3759,3563,0,0,0,0,0,0
$GC,818,-0.76,-146.0,122.5,-18.6,124,822,0.12,1.70,0.00,0.000,6,0.164,0.041,2820,2657,3563,0,0,0,0,0,0
$GC,958,-0.76,-146.0,144.6,-15.6,137,961,0.00,1.77,0.00,0.000,4,0.000,0.060,2813,3757,3563,0,0,0,0,0,0
$GC,984,-0.76,-146.0,149.7,-17.1,139,993,0.00,1.70,0.00,0.000,6,0.000,0.040,2813,2681,3564,0,0,0,0,0,0
$GC,1121,-0.76,-146.0,170.7,-15.7,152,1124,0.00,1.75,0.00,0.000,4,0.000,0.059,2804,3769,3563,0,0,0,0,0,0
$GC,1147,-0.76,-146.0,175.8,-17.3,154,1157,0.00,1.70,0.00,0.000,6,0.000,0.041,2804,2693,3564,0,0,0,0,0,0
$GC,1283,-0.76,-146.0,196.8,-15.8,167,1287,0.00,2.28,0.00,0.000,4,0.000,0.048,2804,1240,3563,0,0,0,0,0,0
$GC,1302,-0.76,-146.0,199.9,-15.9,168,1307,0.00,2.35,0.00,0.000,6,0.000,0.055,2795,2694,3564,0,0,0,0,0,0
$GC,1439,-0.76,-146.0,222.0,-16.5,180,1443,0.00,1.70,0.00,0.000,4,0.000,0.059,2785,3769,3563,0,0,0,0,0,0
$GC,1488,-0.76,-146.0,231.3,-17.9,184,1497,0.08,1.67,0.00,0.000,6,0.145,0.041,2812,2707,3563,0,0,0,0,0,0
$GC,1627,-0.76,-146.0,251.4,-14.5,197,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2707,3564,0,0,0,0,0,0
$GC,1825,-0.76,-146.0,280.5,-13.7,216,1829,0.00,2.33,0.00,0.000,4,0.000,0.050,2812,1243,3563,0,0,0,0,0,0
$GC,1853,-0.76,-146.0,285.0,-15.5,218,1857,0.00,2.38,0.00,0.000,6,0.000,0.055,2802,2713,3563,0,0,0,0,0,0
$STATE,1890,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1890,begin apogee
$GC,1895,-0.27,0.0,290.4,14.3,221,2033,0.52,0.00,129.55,0.969,4,0.132,0.000,2970,2495,2960,0,0,0,0,0,0
$STATE,2034,end apogee,CONTROL_FINISHED_OK
$STATE,2034,begin climb
$GC,2036,0.76,146.0,298.0,0.0,233,2196,1.08,2.47,145.32,0.897,4,0.078,0.047,3311,1101,2363,0,0,0,0,0,0
$GC,2324,0.76,146.0,275.0,11.1,258,2332,0.00,2.47,0.00,0.000,6,0.000,0.050,3312,2502,2353,0,0,0,0,0,0
$GC,2522,0.76,146.0,252.3,12.0,277,2526,0.00,2.25,0.00,0.000,4,0.000,0.047,3322,1099,2351,0,0,0,0,0,0
$GC,2652,0.76,146.0,237.1,11.1,288,2660,0.00,2.33,0.00,0.000,6,0.000,0.052,3322,2514,2349,0,0,0,0,0,0
$GC,2789,0.76,146.0,221.2,11.5,301,2793,0.00,2.00,0.00,0.000,4,0.000,0.057,3322,3773,2348,0,0,0,0,0,0
$GC,2868,0.76,146.0,209.9,14.7,308,2872,0.00,1.90,0.00,0.000,6,0.000,0.040,3331,2545,2348,0,0,0,0,0,0
$GC,3011,0.76,146.0,191.7,12.6,321,3015,0.00,1.98,0.00,0.000,4,0.000,0.056,3331,3773,2347,0,0,0,0,0,0
$GC,3037,0.76,146.0,187.5,14.1,323,3047,0.08,1.95,0.00,0.000,6,0.147,0.040,3316,2546,2347,0,0,0,0,0,0
$GC,3174,0.76,146.0,171.8,11.3,336,3177,0.00,1.98,0.00,0.000,4,0.000,0.057,3317,3774,2347,0,0,0,0,0,0
$GC,3200,0.76,146.0,168.1,12.8,338,3209,0.00,1.92,0.00,0.000,6,0.000,0.040,3324,2556,2347,0,0,0,0,0,0
$GC,3335,0.76,146.0,151.7,12.5,351,3339,0.00,1.95,0.00,0.000,4,0.000,0.057,3324,3770,2347,0,0,0,0,0,0
$GC,3370,0.76,146.0,146.5,14.6,354,3374,0.00,1.85,0.00,0.000,6,0.000,0.040,3333,2567,2347,0,0,0,0,0,0
$GC,3514,0.76,146.0,128.0,12.7,367,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2565,2347,0,0,0,0,0,0
$GC,3649,0.76,146.0,110.8,12.2,380,3652,0.00,1.92,0.00,0.000,4,0.000,0.056,3333,3765,2347,0,0,0,0,0,0
$GC,3675,0.76,146.0,106.9,13.7,382,3685,0.08,1.88,0.00,0.000,6,0.142,0.039,3317,2573,2347,0,0,0,0,0,0
$GC,3811,0.76,146.0,91.0,11.3,402,3819,0.00,1.95,0.00,0.000,4,0.000,0.057,3316,3758,2346,0,0,0,0,0,0
$GC,3844,0.76,146.0,87.0,12.7,407,3851,0.00,1.83,0.00,0.000,6,0.000,0.040,3324,2581,2347,0,0,0,0,0,0
$GC,3986,0.76,146.0,70.0,12.1,432,3994,0.00,2.38,0.00,0.000,4,0.000,0.050,3328,1095,2345,0,0,0,0,0,0
$GC,4009,0.76,146.0,67.5,12.1,435,4015,0.00,2.42,0.00,0.000,6,0.000,0.051,3328,2601,2345,0,0,0,0,0,0
$GC,4150,0.76,146.0,49.8,12.4,460,4158,0.00,1.88,0.00,0.000,4,0.000,0.056,3328,3758,2345,0,0,0,0,0,0
$GC,4209,0.76,146.0,41.3,14.3,470,4218,0.00,1.83,0.00,0.000,6,0.000,0.040,3337,2604,2345,0,0,0,0,0,0
$GC,4355,0.76,146.0,23.0,12.5,495,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2603,2345,0,0,0,0,0,0
$FREEZE,8.42,-0.895,-1.896,2,1,0
$FREEZE,7.51,-0.840,-1.895,2,1,0
$FREEZE,6.75,-0.851,-1.895,2,1,0
$FREEZE,5.95,-0.866,-1.895,2,1,0
$FREEZE,5.25,-0.842,-1.894,2,1,0
$FREEZE,4.27,-0.827,-1.893,2,1,0
$GC,4501,0.76,146.0,4.3,13.9,520,4509,0.00,1.90,0.00,0.000,4,0.000,0.055,3337,3764,2345,0,0,0,0,0,0
$FREEZE,1.80,-0.838,-1.892,2,1,0
$STATE,4515,end climb,SURFACE_DEPTH_REACHED
$STATE,4515,begin surface coast
$FREEZE,1.18,-0.829,-1.891,2,1,0
$FINISH,1.2,1.027698
$STATE,4523,end surface coast,CONTROL_FINISHED_OK
$STATE,4523,begin surface
$SM_CCo,4542,75.97,0.101,0,0,1737,300.24
$SM_GC,2.07,0.00,0.00,75.97,0.000,0.000,0.101,423,2634,1737,-8.26,-0.48,300.24
$IRIDIUM_FIX,-7545.40,17904.56,291210,161641
$TT8_MAMPS,0.027713
$HUMID,52.52
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,18.2
$ALTIM_BOTTOM_PING,251.4,53.6
$24V_AH,20.3,64.904
$10V_AH,9.7,43.524
$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,18.550,75.475,274.875,75.975,0.000,58.786,113.664,178.391,1.250,0.000,12.785,1324.965,1455.392,480.095,1721.464,165.299,0.000,1065.935,0.000,890.617,0.000,7.192,0.000
$DEVICE_MAMPS,205.785,76.500,969.255,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,366.038,734.596,891.484,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36997,523
$CAP_FILE_SIZE,81118,0
$CFSIZE,260165632,229445632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.288,356.0,1
$GPS,291210,175916,-7629.461,17855.027,10,3.1,29,119.6