version: 66.08
glider: 502
mission: 3
dive: 350
start: 12 26 110 7 54 35
data:
$ID,502
$MISSION,3
$DIVE,350
$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,-30582.539
$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,35
$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
$GPS1,261210,074101,-7632.061,17643.812,41,2.0,42,122.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-69.3
$GPS2,261210,075408,-7632.092,17643.781,41,1.4,41,122.9
$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,297.2,84922,-17.5,-10.000
$D_GRID,387
$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,-146.0,0.0,0.0,0,87,0.00,0.00,-69.78,0.000,2,0.000,0.000,418,2672,2988,0,0,0,0,0,0
$GC,90,-0.76,-146.0,3.1,-3.0,10,128,8.98,1.88,-22.98,0.000,4,0.198,0.080,2801,3764,3559,0,0,0,0,0,0
$GC,287,-0.76,-146.0,30.9,-16.1,43,293,0.00,1.77,0.00,0.000,6,0.000,0.042,2801,2630,3562,0,0,0,0,0,0
$GC,428,-0.76,-146.0,53.9,-15.9,68,436,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2628,3563,0,0,0,0,0,0
$GC,574,-0.76,-146.0,76.9,-15.5,93,580,0.00,1.85,0.00,0.000,4,0.000,0.063,2792,3759,3563,0,0,0,0,0,0
$GC,611,-0.76,-146.0,83.2,-17.2,99,617,0.00,1.75,0.00,0.000,6,0.000,0.041,2792,2659,3563,0,0,0,0,0,0
$GC,758,-0.76,-146.0,107.4,-16.4,121,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2659,3563,0,0,0,0,0,0
$GC,884,-0.76,-146.0,128.6,-17.1,133,888,0.00,1.77,0.00,0.000,4,0.000,0.062,2783,3756,3563,0,0,0,0,0,0
$GC,911,-0.76,-146.0,133.9,-18.9,135,920,0.08,1.73,0.00,0.000,6,0.142,0.041,2809,2667,3563,0,0,0,0,0,0
$GC,1048,-0.76,-146.0,154.3,-14.8,148,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2666,3563,0,0,0,0,0,0
$GC,1184,-0.76,-146.0,175.0,-15.0,161,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2666,3563,0,0,0,0,0,0
$GC,1311,-0.76,-146.0,194.1,-14.8,173,1314,0.00,1.77,0.00,0.000,4,0.000,0.060,2802,3766,3563,0,0,0,0,0,0
$GC,1359,-0.76,-146.0,202.2,-15.3,177,1368,0.00,1.75,0.00,0.000,6,0.000,0.041,2802,2666,3563,0,0,0,0,0,0
$GC,1497,-0.76,-146.0,222.2,-14.9,190,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2666,3563,0,0,0,0,0,0
$GC,1632,-0.76,-146.0,242.6,-14.7,203,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2666,3563,0,0,0,0,0,0
$GC,1758,-0.76,-146.0,262.4,-15.7,215,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2666,3563,0,0,0,0,0,0
$GC,1950,-0.76,-146.0,291.2,-14.8,233,1953,0.00,1.77,0.00,0.000,4,0.000,0.061,2794,3764,3564,0,0,0,0,0,0
$GC,1999,-0.76,-146.0,299.2,-15.9,237,2006,0.00,1.73,0.00,0.000,6,0.000,0.041,2794,2674,3563,0,0,0,0,0,0
$GC,2199,-0.76,-146.0,329.1,-15.4,256,2202,0.00,1.75,0.00,0.000,4,0.000,0.061,2785,3757,3563,0,0,0,0,0,0
$GC,2225,-0.76,-146.0,334.0,-15.6,258,2234,0.08,1.70,0.00,0.000,6,0.142,0.041,2811,2682,3563,0,0,0,0,0,0
$GC,2427,-0.76,-146.0,361.4,-13.4,277,2433,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2681,3563,0,0,0,0,0,0
$STATE,2517,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2517,begin apogee
$GC,2522,-0.17,0.0,374.7,14.3,286,2660,0.57,0.00,132.07,1.025,4,0.123,0.000,3001,2484,2960,0,0,0,0,0,0
$STATE,2661,end apogee,CONTROL_FINISHED_OK
$STATE,2661,begin climb
$GC,2663,0.76,146.0,380.3,0.0,298,2821,0.98,2.50,147.18,0.946,4,0.076,0.047,3309,1095,2364,0,0,0,0,0,0
$GC,2957,0.76,146.0,353.9,10.8,324,2961,0.00,2.45,0.00,0.000,6,0.000,0.050,3310,2499,2354,0,0,0,0,0,0
$GC,3154,0.76,146.0,330.2,12.0,342,3158,0.00,2.25,0.00,0.000,4,0.000,0.048,3315,1098,2351,0,0,0,0,0,0
$GC,3276,0.76,146.0,315.4,11.9,352,3284,0.00,2.30,0.00,0.000,6,0.000,0.050,3315,2520,2349,0,0,0,0,0,0
$GC,3476,0.76,146.0,291.4,12.0,371,3479,0.00,1.98,0.00,0.000,4,0.000,0.058,3315,3761,2348,0,0,0,0,0,0
$GC,3592,0.76,146.0,274.4,14.8,381,3599,0.00,1.90,0.00,0.000,6,0.000,0.041,3324,2533,2347,0,0,0,0,0,0
$GC,3789,0.76,146.0,249.0,12.9,400,3793,0.00,1.98,0.00,0.000,4,0.000,0.058,3324,3760,2346,0,0,0,0,0,0
$GC,3836,0.76,146.0,242.5,15.6,404,3839,0.00,1.88,0.00,0.000,6,0.000,0.041,3333,2548,2346,0,0,0,0,0,0
$GC,3977,0.76,146.0,223.6,13.3,417,3981,0.00,1.98,0.00,0.000,4,0.000,0.060,3333,3768,2346,0,0,0,0,0,0
$GC,4013,0.76,146.0,218.5,14.7,420,4017,0.12,1.88,0.00,0.000,6,0.163,0.041,3310,2556,2346,0,0,0,0,0,0
$GC,4155,0.76,146.0,201.9,11.1,433,4163,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2553,2346,0,0,0,0,0,0
$GC,4291,0.76,146.0,187.0,10.7,446,4294,0.00,1.95,0.00,0.000,4,0.000,0.057,3309,3765,2346,0,0,0,0,0,0
$GC,4317,0.76,146.0,183.7,11.4,448,4326,0.00,1.90,0.00,0.000,6,0.000,0.040,3317,2560,2346,0,0,0,0,0,0
$GC,4454,0.76,146.0,168.6,11.6,461,4461,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2560,2346,0,0,0,0,0,0
$GC,4589,0.76,146.0,152.2,12.2,474,4593,0.00,1.95,0.00,0.000,4,0.000,0.059,3317,3769,2346,0,0,0,0,0,0
$GC,4635,0.76,146.0,145.9,13.7,478,4639,0.00,1.85,0.00,0.000,6,0.000,0.041,3326,2568,2346,0,0,0,0,0,0
$GC,4777,0.76,146.0,127.6,12.9,491,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2566,2345,0,0,0,0,0,0
$GC,4913,0.76,146.0,111.1,11.7,504,4916,0.00,1.92,0.00,0.000,4,0.000,0.060,3326,3760,2345,0,0,0,0,0,0
$GC,4950,0.76,146.0,105.6,14.3,507,4959,0.00,1.88,0.00,0.000,6,0.000,0.039,3335,2572,2345,0,0,0,0,0,0
$GC,5087,0.76,146.0,88.5,12.6,528,5096,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2572,2345,0,0,0,0,0,0
$GC,5233,0.76,146.0,71.0,12.3,553,5239,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2572,2345,0,0,0,0,0,0
$GC,5373,0.76,146.0,52.8,13.1,578,5381,0.00,1.98,0.00,0.000,4,0.000,0.060,3335,3767,2344,0,0,0,0,0,0
$GC,5421,0.76,146.0,45.7,14.7,586,5430,0.10,1.88,0.00,0.000,6,0.135,0.040,3310,2578,2344,0,0,0,0,0,0
$GC,5568,0.76,146.0,29.7,10.7,611,5575,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2578,2344,0,0,0,0,0,0
$GC,5710,0.76,146.0,13.7,12.3,636,5718,0.00,1.95,0.00,0.000,4,0.000,0.059,3311,3758,2343,0,0,0,0,0,0
$FREEZE,8.57,-0.649,-1.895,2,1,0
$FREEZE,7.92,-0.652,-1.895,2,1,0
$GC,5755,0.76,146.0,7.9,13.5,643,5762,0.00,1.83,0.00,0.000,6,0.000,0.041,3318,2587,2344,0,0,0,0,0,0
$FREEZE,6.15,-0.650,-1.893,2,1,0
$FREEZE,5.31,-0.649,-1.893,2,1,0
$FREEZE,4.73,-0.649,-1.892,2,1,0
$FREEZE,3.94,-0.650,-1.892,2,1,0
$FREEZE,3.35,-0.649,-1.891,2,1,0
$FREEZE,2.63,-0.653,-1.891,2,1,0
$STATE,5798,end climb,SURFACE_DEPTH_REACHED
$STATE,5798,begin surface coast
$FREEZE,1.76,-0.651,-1.890,2,1,0
$FREEZE,1.21,-0.663,-1.890,2,1,0
$FREEZE,1.29,-0.685,-1.161,2,1,0
$FREEZE,1.31,-0.722,-0.970,2,1,0
$FREEZE,1.22,-0.736,-0.877,2,1,0
$FINISH,1.2,1.012938
$STATE,5830,end surface coast,CONTROL_FINISHED_OK
$STATE,5830,begin surface
$SM_CCo,5847,75.57,0.100,0,0,1737,300.24
$SM_GC,2.28,0.00,0.00,75.57,0.000,0.000,0.100,434,2654,1737,-8.22,0.11,300.24
$IRIDIUM_FIX,-7545.40,17636.93,261210,070720
$TT8_MAMPS,0.028462
$HUMID,52.59
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,18.1
$ALTIM_BOTTOM_PING,351.3,37.7
$24V_AH,20.3,59.859
$10V_AH,9.7,39.491
$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,18.450,61.775,279.250,75.575,0.000,85.139,153.891,278.009,2.250,0.000,42.667,1658.258,2238.840,484.953,2153.917,184.142,0.000,1159.246,0.000,1085.167,0.000,13.513,0.000
$DEVICE_MAMPS,198.135,112.455,1025.100,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,459.708,851.886,937.341,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258172
$DATA_FILE_SIZE,47245,655
$CAP_FILE_SIZE,96236,0
$CFSIZE,260165632,231940096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,12
$CURRENT,0.135,175.9,1
$GPS,261210,093408,-7632.172,17646.709,13,1.3,13,122.8