version: 66.08
glider: 502
mission: 3
dive: 404
start: 12 29 110 20 59 16
data:
$ID,502
$MISSION,3
$DIVE,404
$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,-30650.566
$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,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
$GPS1,291210,205308,-7629.107,17855.092,12,1.5,12,119.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-73.5
$GPS2,291210,205850,-7629.096,17854.904,13,1.5,13,119.6
$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,15.6,28193,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-81.70,0.000,2,0.000,0.000,416,2658,3223,0,0,0,0,0,0
$GC,103,-0.76,-146.0,3.1,-1.1,12,132,8.98,2.33,-10.68,0.000,4,0.197,0.063,2805,1248,3560,0,0,0,0,0,0
$GC,252,-0.76,-146.0,26.2,-15.6,38,260,0.00,2.33,0.00,0.000,6,0.000,0.057,2796,2649,3562,0,0,0,0,0,0
$GC,393,-0.76,-146.0,50.3,-17.0,63,400,0.00,1.80,0.00,0.000,4,0.000,0.060,2788,3772,3562,0,0,0,0,0,0
$GC,462,-0.76,-146.0,63.2,-17.4,75,470,0.10,1.77,0.00,0.000,6,0.174,0.042,2813,2632,3562,0,0,0,0,0,0
$GC,603,-0.76,-146.0,85.3,-15.6,100,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2631,3562,0,0,0,0,0,0
$GC,748,-0.76,-146.0,106.6,-14.3,122,752,0.00,1.85,0.00,0.000,4,0.000,0.061,2806,3769,3563,0,0,0,0,0,0
$GC,784,-0.76,-146.0,111.8,-14.9,125,787,0.00,1.73,0.00,0.000,6,0.000,0.041,2805,2655,3563,0,0,0,0,0,0
$GC,926,-0.76,-146.0,133.8,-15.6,138,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2652,3563,0,0,0,0,0,0
$GC,1062,-0.76,-146.0,155.0,-15.2,151,1065,0.00,1.80,0.00,0.000,4,0.000,0.062,2797,3762,3563,0,0,0,0,0,0
$GC,1130,-0.76,-146.0,166.1,-15.5,157,1134,0.00,1.67,0.00,0.000,6,0.000,0.041,2797,2675,3563,0,0,0,0,0,0
$GC,1273,-0.76,-146.0,188.0,-14.8,170,1277,0.00,2.25,0.00,0.000,4,0.000,0.049,2797,1239,3563,0,0,0,0,0,0
$GC,1282,-0.76,-146.0,190.3,-15.2,170,1292,0.08,2.38,0.00,0.000,6,0.131,0.054,2812,2676,3563,0,0,0,0,0,0
$GC,1420,-0.76,-146.0,209.9,-14.5,183,1423,0.00,1.73,0.00,0.000,4,0.000,0.059,2805,3763,3563,0,0,0,0,0,0
$GC,1457,-0.76,-146.0,216.5,-16.3,186,1466,0.00,1.70,0.00,0.000,6,0.000,0.041,2805,2683,3563,0,0,0,0,0,0
$GC,1595,-0.76,-146.0,237.0,-15.2,199,1602,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2682,3563,0,0,0,0,0,0
$GC,1728,-0.76,-146.0,257.7,-15.3,212,1732,0.00,1.75,0.00,0.000,4,0.000,0.061,2797,3763,3562,0,0,0,0,0,0
$GC,1763,-0.76,-146.0,263.2,-16.6,215,1766,0.00,1.65,0.00,0.000,6,0.000,0.041,2797,2692,3563,0,0,0,0,0,0
$STATE,1965,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1965,begin apogee
$GC,1972,-0.27,0.0,294.3,15.1,234,2109,0.55,0.00,130.35,0.975,4,0.129,0.000,2974,2492,2961,0,0,0,0,0,0
$STATE,2109,end apogee,CONTROL_FINISHED_OK
$STATE,2109,begin climb
$GC,2111,0.76,146.0,301.2,0.0,246,2267,1.02,0.00,146.90,0.900,6,0.085,0.000,3302,2492,2365,0,0,0,0,0,0
$GC,2459,0.76,146.0,270.1,11.1,278,2463,0.00,2.20,0.00,0.000,4,0.000,0.057,3303,3769,2354,0,0,0,0,0,0
$GC,2511,0.76,146.0,263.3,13.0,282,2515,0.00,2.05,0.00,0.000,6,0.000,0.039,3312,2510,2353,0,0,0,0,0,0
$GC,2709,0.76,146.0,239.6,12.2,300,2713,0.00,2.03,0.00,0.000,4,0.000,0.056,3312,3764,2350,0,0,0,0,0,0
$GC,2734,0.76,146.0,236.3,13.4,302,2738,0.00,1.95,0.00,0.000,6,0.000,0.040,3321,2508,2350,0,0,0,0,0,0
$GC,2875,0.76,146.0,219.2,11.9,315,2879,0.00,2.03,0.00,0.000,4,0.000,0.057,3321,3764,2349,0,0,0,0,0,0
$GC,2913,0.76,146.0,213.7,14.0,318,2922,0.00,1.95,0.00,0.000,6,0.000,0.040,3328,2539,2349,0,0,0,0,0,0
$GC,3050,0.76,146.0,196.8,12.5,331,3058,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2539,2348,0,0,0,0,0,0
$GC,3186,0.76,146.0,178.9,13.0,344,3190,0.00,1.98,0.00,0.000,4,0.000,0.056,3328,3764,2348,0,0,0,0,0,0
$GC,3255,0.76,146.0,168.8,15.7,350,3258,0.00,1.90,0.00,0.000,6,0.000,0.039,3337,2535,2348,0,0,0,0,0,0
$GC,3397,0.76,146.0,149.8,12.9,363,3404,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2533,2347,0,0,0,0,0,0
$GC,3533,0.76,146.0,131.6,13.7,376,3536,0.00,1.98,0.00,0.000,4,0.000,0.055,3337,3764,2347,0,0,0,0,0,0
$GC,3568,0.76,146.0,126.1,15.7,379,3572,0.12,1.88,0.00,0.000,6,0.164,0.040,3312,2550,2347,0,0,0,0,0,0
$GC,3708,0.76,146.0,108.0,12.1,392,3712,0.00,1.95,0.00,0.000,4,0.000,0.057,3313,3764,2346,0,0,0,0,0,0
$GC,3744,0.76,146.0,103.3,13.3,395,3748,0.00,1.85,0.00,0.000,6,0.000,0.039,3320,2560,2346,0,0,0,0,0,0
$GC,3879,0.76,146.0,85.8,12.2,418,3887,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2558,2346,0,0,0,0,0,0
$GC,4017,0.76,146.0,69.0,12.0,443,4024,0.00,1.95,0.00,0.000,4,0.000,0.057,3321,3764,2345,0,0,0,0,0,0
$GC,4053,0.76,146.0,64.2,13.5,449,4061,0.00,1.85,0.00,0.000,6,0.000,0.040,3330,2569,2346,0,0,0,0,0,0
$GC,4191,0.76,146.0,47.0,11.7,474,4199,0.00,1.95,0.00,0.000,4,0.000,0.057,3330,3755,2346,0,0,0,0,0,0
$GC,4228,0.76,146.0,42.1,13.7,480,4236,0.00,1.85,0.00,0.000,6,0.000,0.041,3339,2584,2346,0,0,0,0,0,0
$GC,4369,0.76,146.0,24.1,13.5,505,4376,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2583,2345,0,0,0,0,0,0
$FREEZE,8.44,-0.889,-1.897,2,1,0
$FREEZE,7.67,-0.893,-1.897,2,1,0
$FREEZE,6.73,-0.903,-1.896,2,1,0
$FREEZE,5.92,-0.900,-1.896,2,1,0
$FREEZE,5.06,-0.887,-1.895,2,1,0
$GC,4512,0.76,146.0,5.1,15.4,530,4520,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2582,2345,0,0,0,0,0,0
$FREEZE,2.58,-0.853,-1.893,2,1,0
$STATE,4526,end climb,SURFACE_DEPTH_REACHED
$STATE,4526,begin surface coast
$FREEZE,1.91,-0.864,-1.892,2,1,0
$FREEZE,1.18,-0.801,-1.891,2,1,0
$FREEZE,1.27,-0.835,-1.695,2,1,0
$FREEZE,1.21,-0.839,-1.851,2,1,0
$FINISH,1.2,1.027126
$STATE,4552,end surface coast,CONTROL_FINISHED_OK
$STATE,4553,begin surface
$SM_CCo,4569,75.65,0.099,0,0,1736,300.24
$SM_GC,2.01,0.00,0.00,75.65,0.000,0.000,0.099,423,2660,1736,-8.26,0.31,300.24
$IRIDIUM_FIX,-7545.40,17855.66,291210,191931
$TT8_MAMPS,0.027713
$HUMID,52.87
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.3,17.6
$ALTIM_BOTTOM_PING,251.3,56.9
$24V_AH,20.3,65.171
$10V_AH,9.7,43.752
$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,18.450,58.450,277.250,75.650,0.000,27.587,36.057,170.353,1.250,0.000,14.868,1358.614,1416.864,454.505,1599.282,168.083,0.000,1027.697,0.000,882.487,0.000,7.200,0.000
$DEVICE_MAMPS,196.605,99.450,975.375,98.685,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,375.739,752.836,906.609,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37156,536
$CAP_FILE_SIZE,77558,0
$CFSIZE,260165632,229302272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.201,292.1,1
$GPS,291210,221800,-7629.342,17854.928,36,1.0,41,119.6