version: 66.08
glider: 502
mission: 3
dive: 347
start: 12 26 110 2 28 17
data:
$ID,502
$MISSION,3
$DIVE,347
$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,-2
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.025
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$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,-30578.668
$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,23
$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
$GPS1,261210,021537,-7631.589,17637.428,39,1.1,39,123.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-70.2
$GPS2,261210,022750,-7631.572,17637.211,14,1.3,14,123.0
$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,338.1,87722,-17.5,-10.000
$D_GRID,391
$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,15,-0.76,-146.0,0.0,0.0,0,103,0.00,0.00,-85.45,0.000,2,0.000,0.000,410,2661,3322,0,0,0,0,0,0
$GC,106,-0.76,-146.0,3.4,-1.6,12,130,8.80,1.80,-6.65,0.000,4,0.195,0.076,2799,3766,3559,0,0,0,0,0,0
$GC,276,-0.76,-146.0,34.5,-17.5,41,283,0.00,1.77,0.00,0.000,6,0.000,0.042,2799,2627,3561,0,0,0,0,0,0
$GC,417,-0.76,-146.0,58.8,-17.2,66,425,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2625,3562,0,0,0,0,0,0
$GC,563,-0.76,-146.0,83.0,-16.2,91,569,0.00,1.85,0.00,0.000,4,0.000,0.062,2792,3764,3563,0,0,0,0,0,0
$GC,593,-0.76,-146.0,88.7,-18.2,96,601,0.00,1.75,0.00,0.000,6,0.000,0.041,2791,2663,3563,0,0,0,0,0,0
$GC,739,-0.76,-146.0,113.7,-17.2,115,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2662,3563,0,0,0,0,0,0
$GC,866,-0.76,-146.0,135.7,-17.4,127,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2662,3563,0,0,0,0,0,0
$GC,993,-0.76,-146.0,157.5,-17.5,139,996,0.00,1.80,0.00,0.000,4,0.000,0.062,2783,3773,3563,0,0,0,0,0,0
$GC,1039,-0.76,-146.0,166.2,-19.1,143,1043,0.12,1.73,0.00,0.000,6,0.160,0.041,2817,2658,3563,0,0,0,0,0,0
$GC,1179,-0.76,-146.0,187.8,-14.8,156,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2656,3563,0,0,0,0,0,0
$GC,1306,-0.76,-146.0,206.8,-14.7,168,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2656,3563,0,0,0,0,0,0
$GC,1434,-0.76,-146.0,225.7,-14.6,180,1437,0.00,1.80,0.00,0.000,4,0.000,0.063,2809,3764,3563,0,0,0,0,0,0
$GC,1472,-0.76,-146.0,232.1,-15.4,183,1480,0.00,1.73,0.00,0.000,6,0.000,0.041,2809,2672,3563,0,0,0,0,0,0
$GC,1606,-0.76,-146.0,251.8,-14.8,196,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2673,3563,0,0,0,0,0,0
$GC,1797,-0.76,-146.0,278.7,-13.8,214,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2673,3563,0,0,0,0,0,0
$GC,1988,-0.76,-146.0,305.2,-13.9,232,1992,0.00,1.80,0.00,0.000,4,0.000,0.062,2801,3756,3563,0,0,0,0,0,0
$GC,2049,-0.76,-146.0,314.7,-15.0,237,2056,0.00,1.70,0.00,0.000,6,0.000,0.041,2801,2681,3563,0,0,0,0,0,0
$GC,2249,-0.76,-146.0,344.1,-14.8,256,2250,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2680,3563,0,0,0,0,0,0
$GC,2438,-0.76,-146.0,372.3,-14.8,274,2441,0.00,1.77,0.00,0.000,4,0.000,0.063,2793,3771,3563,0,0,0,0,0,0
$GC,2453,-0.76,-146.0,374.7,-15.2,275,2460,0.00,1.73,0.00,0.000,6,0.000,0.041,2793,2683,3563,0,0,0,0,0,0
$STATE,2511,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2511,begin apogee
$GC,2517,-0.17,0.0,383.8,15.7,281,2654,0.65,0.00,131.60,1.027,4,0.128,0.000,3003,2487,2961,0,0,0,0,0,0
$STATE,2655,end apogee,CONTROL_FINISHED_OK
$STATE,2655,begin climb
$GC,2656,0.76,146.0,390.2,0.0,293,2813,0.98,2.50,147.48,0.949,4,0.075,0.048,3313,1095,2364,0,0,0,0,0,0
$GC,2925,0.76,146.0,366.7,11.5,317,2932,0.00,2.47,0.00,0.000,6,0.000,0.049,3313,2502,2353,0,0,0,0,0,0
$GC,3124,0.76,146.0,342.3,12.0,336,3128,0.00,2.28,0.00,0.000,4,0.000,0.048,3322,1087,2350,0,0,0,0,0,0
$GC,3264,0.76,146.0,325.3,12.2,348,3268,0.00,2.30,0.00,0.000,6,0.000,0.053,3323,2512,2348,0,0,0,0,0,0
$GC,3462,0.76,146.0,300.2,12.8,366,3465,0.00,2.00,0.00,0.000,4,0.000,0.059,3323,3767,2347,0,0,0,0,0,0
$GC,3555,0.76,146.0,285.7,16.0,374,3564,0.00,1.95,0.00,0.000,6,0.000,0.040,3332,2535,2347,0,0,0,0,0,0
$GC,3754,0.76,146.0,258.8,13.3,393,3758,0.00,1.98,0.00,0.000,4,0.000,0.059,3332,3761,2346,0,0,0,0,0,0
$GC,3780,0.76,146.0,254.6,15.0,395,3788,0.08,1.95,0.00,0.000,6,0.147,0.040,3317,2535,2346,0,0,0,0,0,0
$GC,3980,0.76,146.0,230.3,12.3,414,3984,0.00,1.98,0.00,0.000,4,0.000,0.058,3317,3762,2346,0,0,0,0,0,0
$GC,4017,0.76,146.0,224.8,14.3,417,4026,0.00,1.92,0.00,0.000,6,0.000,0.041,3324,2546,2346,0,0,0,0,0,0
$GC,4153,0.76,146.0,207.6,12.8,430,4157,0.00,1.98,0.00,0.000,4,0.000,0.060,3324,3768,2346,0,0,0,0,0,0
$GC,4179,0.76,146.0,203.6,14.4,432,4189,0.00,1.92,0.00,0.000,6,0.000,0.040,3333,2557,2346,0,0,0,0,0,0
$GC,4316,0.76,146.0,185.7,13.0,445,4320,0.00,1.95,0.00,0.000,4,0.000,0.058,3333,3768,2346,0,0,0,0,0,0
$GC,4340,0.76,146.0,182.2,14.2,447,4345,0.12,1.85,0.00,0.000,6,0.165,0.040,3309,2567,2345,0,0,0,0,0,0
$GC,4481,0.76,146.0,165.4,11.3,460,4482,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2565,2345,0,0,0,0,0,0
$GC,4609,0.76,146.0,150.6,11.9,472,4612,0.00,1.92,0.00,0.000,4,0.000,0.060,3309,3760,2344,0,0,0,0,0,0
$GC,4624,0.76,146.0,148.3,12.1,473,4633,0.00,1.88,0.00,0.000,6,0.000,0.041,3318,2573,2345,0,0,0,0,0,0
$GC,4760,0.76,146.0,131.4,12.6,486,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2572,2345,0,0,0,0,0,0
$GC,4887,0.76,146.0,115.1,13.2,498,4891,0.00,1.92,0.00,0.000,4,0.000,0.060,3317,3765,2344,0,0,0,0,0,0
$GC,4924,0.76,146.0,109.4,14.6,501,4933,0.00,1.88,0.00,0.000,6,0.000,0.040,3326,2574,2344,0,0,0,0,0,0
$GC,5063,0.76,146.0,91.4,13.1,519,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2573,2344,0,0,0,0,0,0
$GC,5203,0.76,146.0,73.0,13.0,544,5211,0.00,1.95,0.00,0.000,4,0.000,0.060,3326,3754,2344,0,0,0,0,0,0
$GC,5249,0.76,146.0,66.9,14.8,551,5255,0.00,1.83,0.00,0.000,6,0.000,0.041,3335,2580,2344,0,0,0,0,0,0
$GC,5391,0.76,146.0,47.2,13.7,576,5400,0.00,1.95,0.00,0.000,4,0.000,0.059,3335,3760,2344,0,0,0,0,0,0
$GC,5417,0.76,146.0,43.2,14.3,580,5426,0.10,1.85,0.00,0.000,6,0.135,0.041,3311,2595,2344,0,0,0,0,0,0
$GC,5562,0.76,146.0,26.0,11.3,605,5568,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2594,2344,0,0,0,0,0,0
$GC,5702,0.76,146.0,9.4,11.8,630,5710,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2593,2343,0,0,0,0,0,0
$FREEZE,7.28,-0.870,-1.894,2,1,0
$FREEZE,6.60,-0.871,-1.893,2,1,0
$FREEZE,5.83,-0.887,-1.893,2,1,0
$FREEZE,5.25,-0.888,-1.893,2,1,0
$FREEZE,4.64,-0.890,-1.892,2,1,0
$FREEZE,3.96,-0.890,-1.892,2,1,0
$FREEZE,3.20,-0.893,-1.891,2,1,0
$FREEZE,2.55,-0.893,-1.891,2,1,0
$STATE,5759,end climb,SURFACE_DEPTH_REACHED
$STATE,5759,begin surface coast
$FREEZE,1.65,-0.891,-1.890,2,1,0
$FREEZE,1.33,-0.924,-1.891,2,1,0
$FREEZE,1.30,-0.976,-1.895,2,1,0
$FREEZE,1.23,-0.932,-0.993,2,1,0
$FREEZE,1.32,-0.893,-1.888,2,1,0
$FINISH,1.3,1.027655
$STATE,5790,end surface coast,CONTROL_FINISHED_OK
$STATE,5790,begin surface
$SM_CCo,5806,75.88,0.101,0,0,1736,300.24
$SM_GC,2.23,0.00,0.00,75.88,0.000,0.000,0.101,416,2656,1736,-8.27,0.17,300.24
$IRIDIUM_FIX,-7545.40,17636.38,261210,020211
$TT8_MAMPS,0.028462
$HUMID,52.59
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,18.1
$ALTIM_BOTTOM_PING,350.2,48.1
$24V_AH,20.3,59.550
$10V_AH,9.7,39.235
$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,18.225,65.800,279.075,75.875,0.000,58.648,76.066,397.050,1.500,0.000,15.563,1637.670,2217.875,471.686,2112.769,183.684,0.000,1130.548,0.000,1064.082,0.000,10.612,0.000
$DEVICE_MAMPS,195.075,113.985,1027.395,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,452.345,825.036,891.757,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258164
$DATA_FILE_SIZE,43833,644
$CAP_FILE_SIZE,96267,0
$CFSIZE,260165632,232103936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.110,262.5,1
$GPS,261210,040728,-7631.782,17638.893,11,2.8,30,123.0