version: 66.08
glider: 502
mission: 3
dive: 403
start: 12 29 110 19 34 11
data:
$ID,502
$MISSION,3
$DIVE,403
$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,-30649.312
$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,38
$R_STBD_OVSHOOT,34
$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
$GPS1,291210,192601,-7629.206,17855.377,41,1.1,41,119.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-72.3
$GPS2,291210,193344,-7629.154,17855.111,11,1.3,11,119.6
$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,18.6,28098,-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,-146.0,0.0,0.0,0,105,0.00,0.00,-87.32,0.000,2,0.000,0.000,414,2661,3349,0,0,0,0,0,0
$GC,108,-0.76,-146.0,3.2,-1.1,13,131,9.00,2.35,-5.95,0.000,4,0.198,0.061,2811,1244,3561,0,0,0,0,0,0
$GC,219,-0.76,-146.0,22.3,-14.8,32,228,0.00,2.30,0.00,0.000,6,0.000,0.056,2803,2639,3564,0,0,0,0,0,0
$GC,359,-0.76,-146.0,44.4,-16.3,57,366,0.00,1.80,0.00,0.000,4,0.000,0.060,2794,3764,3564,0,0,0,0,0,0
$GC,407,-0.76,-146.0,52.3,-17.1,65,414,0.00,1.75,0.00,0.000,6,0.000,0.041,2794,2661,3564,0,0,0,0,0,0
$GC,543,-0.76,-146.0,74.4,-15.9,90,550,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2660,3564,0,0,0,0,0,0
$GC,682,-0.76,-146.0,96.7,-15.9,115,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2660,3565,0,0,0,0,0,0
$GC,819,-0.76,-146.0,119.2,-16.7,129,820,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2660,3565,0,0,0,0,0,0
$GC,945,-0.76,-146.0,140.2,-16.3,141,949,0.00,1.80,0.00,0.000,4,0.000,0.061,2786,3767,3565,0,0,0,0,0,0
$GC,1002,-0.76,-146.0,150.1,-16.6,146,1006,0.12,1.73,0.00,0.000,6,0.161,0.041,2820,2652,3565,0,0,0,0,0,0
$GC,1143,-0.76,-146.0,170.4,-13.6,159,1146,0.00,1.80,0.00,0.000,4,0.000,0.062,2813,3764,3564,0,0,0,0,0,0
$GC,1167,-0.76,-146.0,174.1,-15.2,161,1171,0.00,1.70,0.00,0.000,6,0.000,0.041,2813,2666,3565,0,0,0,0,0,0
$GC,1308,-0.76,-146.0,194.7,-14.3,174,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2664,3565,0,0,0,0,0,0
$GC,1436,-0.76,-146.0,212.7,-13.8,186,1439,0.00,1.77,0.00,0.000,4,0.000,0.060,2804,3765,3565,0,0,0,0,0,0
$GC,1471,-0.76,-146.0,218.1,-14.9,189,1475,0.00,1.70,0.00,0.000,6,0.000,0.041,2804,2665,3565,0,0,0,0,0,0
$GC,1612,-0.76,-146.0,239.7,-15.7,202,1613,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2663,3565,0,0,0,0,0,0
$GC,1737,-0.76,-146.0,258.8,-15.2,214,1741,0.00,1.83,0.00,0.000,4,0.000,0.061,2796,3762,3565,0,0,0,0,0,0
$GC,1771,-0.76,-146.0,264.3,-16.4,217,1775,0.00,1.73,0.00,0.000,6,0.000,0.041,2796,2677,3564,0,0,0,0,0,0
$STATE,1962,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1962,begin apogee
$GC,1967,-0.27,0.0,294.4,15.3,235,2103,0.55,0.00,130.27,0.978,4,0.127,0.000,2974,2492,2961,0,0,0,0,0,0
$STATE,2104,end apogee,CONTROL_FINISHED_OK
$STATE,2104,begin climb
$GC,2106,0.76,146.0,302.2,0.0,247,2265,1.08,2.50,146.00,0.903,4,0.085,0.048,3307,1095,2365,0,0,0,0,0,0
$GC,2348,0.76,146.0,282.1,10.3,268,2356,0.00,2.58,0.00,0.000,6,0.000,0.049,3308,2501,2357,0,0,0,0,0,0
$GC,2547,0.76,146.0,259.6,12.2,287,2551,0.00,2.30,0.00,0.000,4,0.000,0.047,3318,1091,2353,0,0,0,0,0,0
$GC,2669,0.76,146.0,244.8,11.6,297,2678,0.00,2.38,0.00,0.000,6,0.000,0.052,3318,2526,2351,0,0,0,0,0,0
$GC,2807,0.76,146.0,228.9,12.2,310,2810,0.00,1.98,0.00,0.000,4,0.000,0.057,3318,3768,2351,0,0,0,0,0,0
$GC,2866,0.76,146.0,220.1,14.9,315,2876,0.00,1.95,0.00,0.000,6,0.000,0.041,3327,2533,2350,0,0,0,0,0,0
$GC,3004,0.76,146.0,202.7,12.9,328,3008,0.00,1.98,0.00,0.000,4,0.000,0.057,3327,3764,2350,0,0,0,0,0,0
$GC,3040,0.76,146.0,197.3,14.9,331,3044,0.00,1.90,0.00,0.000,6,0.000,0.040,3337,2535,2349,0,0,0,0,0,0
$GC,3184,0.76,146.0,177.2,13.6,344,3187,0.00,1.98,0.00,0.000,4,0.000,0.057,3337,3765,2349,0,0,0,0,0,0
$GC,3207,0.76,146.0,173.4,14.6,346,3212,0.12,1.88,0.00,0.000,6,0.167,0.039,3313,2550,2349,0,0,0,0,0,0
$GC,3348,0.76,146.0,156.3,11.5,359,3350,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2548,2349,0,0,0,0,0,0
$GC,3475,0.76,146.0,141.2,11.8,371,3478,0.00,1.95,0.00,0.000,4,0.000,0.058,3313,3765,2348,0,0,0,0,0,0
$GC,3510,0.76,146.0,136.5,13.8,374,3514,0.00,1.85,0.00,0.000,6,0.000,0.040,3320,2559,2348,0,0,0,0,0,0
$GC,3652,0.76,146.0,118.9,12.7,387,3656,0.00,1.95,0.00,0.000,4,0.000,0.057,3320,3770,2348,0,0,0,0,0,0
$GC,3689,0.76,146.0,113.8,14.8,390,3693,0.00,1.85,0.00,0.000,6,0.000,0.041,3329,2567,2348,0,0,0,0,0,0
$GC,3826,0.76,146.0,95.2,13.1,405,3832,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2565,2347,0,0,0,0,0,0
$GC,3964,0.76,146.0,77.1,13.0,430,3972,0.00,1.98,0.00,0.000,4,0.000,0.058,3329,3760,2347,0,0,0,0,0,0
$GC,3989,0.76,146.0,73.4,13.9,434,3997,0.00,1.88,0.00,0.000,6,0.000,0.041,3339,2572,2347,0,0,0,0,0,0
$GC,4129,0.76,146.0,55.5,13.5,459,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2571,2347,0,0,0,0,0,0
$GC,4266,0.76,146.0,37.8,12.1,484,4274,0.00,1.98,0.00,0.000,4,0.000,0.058,3339,3768,2347,0,0,0,0,0,0
$GC,4320,0.76,146.0,30.2,14.8,493,4327,0.12,1.88,0.00,0.000,6,0.163,0.040,3314,2559,2346,0,0,0,0,0,0
$GC,4457,0.76,146.0,14.2,10.9,518,4465,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2557,2346,0,0,0,0,0,0
$FREEZE,8.96,-0.903,-1.898,2,1,0
$FREEZE,8.35,-0.902,-1.897,2,1,0
$FREEZE,7.60,-0.904,-1.897,2,1,0
$FREEZE,7.07,-0.900,-1.896,2,1,0
$FREEZE,6.39,-0.899,-1.896,2,1,0
$FREEZE,5.77,-0.895,-1.895,2,1,0
$FREEZE,5.06,-0.884,-1.895,2,1,0
$FREEZE,4.38,-0.879,-1.894,2,1,0
$FREEZE,3.63,-0.882,-1.894,2,1,0
$FREEZE,3.06,-0.886,-1.893,2,1,0
$FREEZE,2.29,-0.880,-1.893,2,1,0
$STATE,4562,end climb,SURFACE_DEPTH_REACHED
$STATE,4562,begin surface coast
$FREEZE,1.33,-0.886,-1.892,2,1,0
$FREEZE,1.15,-0.932,-1.130,2,1,0
$FREEZE,1.16,-0.953,-1.193,2,1,0
$FREEZE,1.20,-0.926,-1.114,2,1,0
$FREEZE,1.23,-0.894,-1.007,2,1,0
$FINISH,1.2,1.014866
$STATE,4594,end surface coast,CONTROL_FINISHED_OK
$STATE,4594,begin surface
$SM_CCo,4610,75.53,0.099,0,0,1737,300.24
$SM_GC,2.02,0.00,0.00,75.53,0.000,0.000,0.099,418,2658,1737,-8.28,0.23,300.24
$IRIDIUM_FIX,-7545.40,17904.71,291210,181855
$TT8_MAMPS,0.028462
$HUMID,53.38
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,18.1
$ALTIM_BOTTOM_PING,250.7,57.4
$24V_AH,20.3,65.083
$10V_AH,9.7,43.678
$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,18.550,59.375,276.275,75.525,0.000,59.624,59.826,173.785,1.250,0.000,12.469,1385.350,1478.838,444.870,1688.006,162.774,0.000,1018.818,0.000,902.513,0.000,7.201,0.000
$DEVICE_MAMPS,198.135,84.915,977.670,99.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,379.665,757.755,917.709,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37135,541
$CAP_FILE_SIZE,79447,0
$CFSIZE,260165632,229347328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.242,319.0,1
$GPS,291210,205308,-7629.107,17855.092,12,1.5,12,119.6