version: 66.08
glider: 502
mission: 3
dive: 402
start: 12 29 110 18 5 42
data:
$ID,502
$MISSION,3
$DIVE,402
$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,-30648.055
$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
$GPS1,291210,175916,-7629.461,17855.027,10,3.1,29,119.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-72.6
$GPS2,291210,180516,-7629.408,17854.883,13,3.4,32,119.6
$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,17.6,28174,-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,16,-0.76,-146.0,0.0,0.0,0,106,0.00,0.00,-87.30,0.000,2,0.000,0.000,422,2631,3349,0,0,0,0,0,0
$GC,109,-0.76,-146.0,3.2,-1.2,13,130,9.02,0.00,-5.95,0.000,6,0.202,0.000,2809,2631,3561,0,0,0,0,0,0
$GC,262,-0.76,-146.0,30.3,-16.8,40,270,0.00,1.88,0.00,0.000,4,0.000,0.060,2802,3760,3564,0,0,0,0,0,0
$GC,310,-0.76,-146.0,38.8,-16.4,48,318,0.00,1.75,0.00,0.000,6,0.000,0.042,2802,2657,3564,0,0,0,0,0,0
$GC,448,-0.76,-146.0,61.3,-15.5,73,455,0.00,1.80,0.00,0.000,4,0.000,0.061,2793,3762,3564,0,0,0,0,0,0
$GC,468,-0.76,-146.0,64.6,-16.7,76,476,0.00,1.75,0.00,0.000,6,0.000,0.041,2793,2660,3564,0,0,0,0,0,0
$GC,607,-0.76,-146.0,87.9,-16.8,101,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2660,3564,0,0,0,0,0,0
$GC,744,-0.76,-146.0,110.7,-16.5,120,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2660,3565,0,0,0,0,0,0
$GC,871,-0.76,-146.0,131.5,-16.2,132,875,0.00,1.80,0.00,0.000,4,0.000,0.060,2785,3771,3564,0,0,0,0,0,0
$GC,918,-0.76,-146.0,139.6,-18.3,136,923,0.12,1.70,0.00,0.000,6,0.163,0.041,2819,2669,3564,0,0,0,0,0,0
$GC,1061,-0.76,-146.0,160.6,-14.5,149,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2667,3565,0,0,0,0,0,0
$GC,1197,-0.76,-146.0,180.4,-14.4,162,1200,0.00,1.77,0.00,0.000,4,0.000,0.060,2812,3767,3565,0,0,0,0,0,0
$GC,1243,-0.76,-146.0,187.3,-15.2,166,1246,0.00,1.70,0.00,0.000,6,0.000,0.041,2813,2667,3565,0,0,0,0,0,0
$GC,1385,-0.76,-146.0,207.9,-14.6,179,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2665,3565,0,0,0,0,0,0
$GC,1521,-0.76,-146.0,227.5,-14.2,192,1525,0.00,1.77,0.00,0.000,4,0.000,0.060,2804,3764,3565,0,0,0,0,0,0
$GC,1568,-0.76,-146.0,234.7,-16.3,196,1571,0.00,1.67,0.00,0.000,6,0.000,0.041,2804,2679,3565,0,0,0,0,0,0
$GC,1707,-0.76,-146.0,256.3,-15.2,209,1711,0.00,2.25,0.00,0.000,4,0.000,0.049,2804,1244,3564,0,0,0,0,0,0
$GC,1739,-0.76,-146.0,261.4,-15.6,211,1747,0.00,2.33,0.00,0.000,6,0.000,0.057,2797,2678,3565,0,0,0,0,0,0
$STATE,1936,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1936,begin apogee
$GC,1941,-0.27,0.0,291.2,15.8,230,2080,0.55,0.00,130.02,0.976,4,0.132,0.000,2973,2491,2960,0,0,0,0,0,0
$STATE,2081,end apogee,CONTROL_FINISHED_OK
$STATE,2081,begin climb
$GC,2083,0.76,146.0,299.2,0.0,242,2243,1.08,2.47,145.98,0.903,4,0.084,0.047,3309,1099,2363,0,0,0,0,0,0
$GC,2394,0.77,150.3,272.1,9.8,269,2401,0.00,2.45,0.00,0.000,6,0.000,0.050,3308,2502,2353,0,0,0,0,0,0
$GC,2594,0.77,150.3,250.5,10.9,288,2598,0.00,2.25,0.00,0.000,4,0.000,0.047,3318,1095,2351,0,0,0,0,0,0
$GC,2723,0.77,150.3,236.1,10.8,299,2727,0.00,2.30,0.00,0.000,6,0.000,0.051,3318,2523,2349,0,0,0,0,0,0
$GC,2858,0.77,150.3,220.5,11.7,311,2862,0.00,1.98,0.00,0.000,4,0.000,0.056,3318,3771,2348,0,0,0,0,0,0
$GC,2916,0.77,150.3,212.9,14.4,316,2920,0.00,1.90,0.00,0.000,6,0.000,0.041,3328,2547,2348,0,0,0,0,0,0
$GC,3059,0.77,150.3,195.0,12.6,329,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2545,2347,0,0,0,0,0,0
$GC,3194,0.77,150.3,178.2,12.2,342,3198,0.00,1.98,0.00,0.000,4,0.000,0.057,3328,3771,2347,0,0,0,0,0,0
$GC,3263,0.77,150.3,168.4,14.6,348,3267,0.00,1.90,0.00,0.000,6,0.000,0.040,3337,2539,2347,0,0,0,0,0,0
$GC,3406,0.77,150.3,150.5,12.6,361,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2536,2347,0,0,0,0,0,0
$GC,3541,0.77,150.3,134.0,12.3,374,3545,0.00,1.98,0.00,0.000,4,0.000,0.055,3337,3765,2346,0,0,0,0,0,0
$GC,3600,0.77,150.3,126.0,14.2,379,3604,0.12,1.88,0.00,0.000,6,0.165,0.039,3313,2550,2346,0,0,0,0,0,0
$GC,3740,0.77,150.3,110.1,10.4,392,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2548,2346,0,0,0,0,0,0
$GC,3868,0.77,150.3,95.8,11.5,407,3876,0.00,1.98,0.00,0.000,4,0.000,0.057,3313,3764,2346,0,0,0,0,0,0
$GC,3909,0.77,150.3,90.3,12.2,414,3918,0.00,1.92,0.00,0.000,6,0.000,0.041,3321,2548,2346,0,0,0,0,0,0
$GC,4048,0.77,150.3,73.9,11.6,439,4054,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2546,2346,0,0,0,0,0,0
$GC,4184,0.77,150.3,57.6,11.7,464,4192,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2546,2346,0,0,0,0,0,0
$GC,4324,0.77,150.3,41.0,12.0,489,4331,0.00,1.98,0.00,0.000,4,0.000,0.057,3321,3764,2345,0,0,0,0,0,0
$GC,4375,0.77,150.3,34.0,13.5,498,4383,0.00,1.90,0.00,0.000,6,0.000,0.041,3330,2563,2345,0,0,0,0,0,0
$GC,4516,0.77,150.3,16.4,12.7,523,4523,0.00,1.95,0.00,0.000,4,0.000,0.057,3330,3764,2345,0,0,0,0,0,0
$GC,4535,0.77,150.3,13.6,12.7,526,4543,0.00,1.88,0.00,0.000,6,0.000,0.040,3339,2578,2345,0,0,0,0,0,0
$FREEZE,8.54,-0.869,-1.896,2,1,0
$FREEZE,7.81,-0.842,-1.896,2,1,0
$FREEZE,6.94,-0.840,-1.896,2,1,0
$FREEZE,6.27,-0.840,-1.895,2,1,0
$FREEZE,5.35,-0.831,-1.895,2,1,0
$FREEZE,4.63,-0.800,-1.894,2,1,0
$FREEZE,3.81,-0.801,-1.894,2,1,0
$FREEZE,3.01,-0.799,-1.893,2,1,0
$FREEZE,2.11,-0.794,-1.893,2,1,0
$STATE,4617,end climb,SURFACE_DEPTH_REACHED
$STATE,4617,begin surface coast
$FREEZE,1.24,-0.805,-1.892,2,1,0
$FREEZE,1.27,-0.855,-0.981,2,1,0
$FREEZE,1.28,-0.827,-1.461,2,1,0
$FREEZE,1.21,-0.946,-1.900,2,1,0
$FINISH,1.2,1.027827
$STATE,4647,end surface coast,CONTROL_FINISHED_OK
$STATE,4647,begin surface
$SM_CCo,4663,75.40,0.101,0,0,1737,300.24
$SM_GC,2.00,0.00,0.00,75.40,0.000,0.000,0.101,415,2661,1737,-8.28,0.31,300.24
$IRIDIUM_FIX,-7545.40,17855.66,291210,161628
$TT8_MAMPS,0.027713
$HUMID,52.67
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,18.9
$ALTIM_BOTTOM_PING,251.5,53.1
$24V_AH,20.3,64.992
$10V_AH,9.7,43.601
$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,18.475,55.250,276.000,75.400,0.000,25.616,44.529,162.569,1.250,0.000,33.883,1375.860,1435.505,460.060,1664.123,173.677,0.000,1043.604,0.000,916.379,0.000,7.188,0.000
$DEVICE_MAMPS,201.960,99.450,976.140,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,381.402,766.217,933.515,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37075,544
$CAP_FILE_SIZE,77969,0
$CFSIZE,260165632,229396480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.260,337.6,1
$GPS,291210,192601,-7629.206,17855.377,41,1.1,41,119.6