version: 66.08
glider: 502
mission: 3
dive: 351
start: 12 26 110 9 40 16
data:
$ID,502
$MISSION,3
$DIVE,351
$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,-30583.797
$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,34
$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
$GPS1,261210,093408,-7632.172,17646.709,13,1.3,13,122.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-69.0
$GPS2,261210,093950,-7632.186,17646.740,18,2.0,18,122.8
$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,293.1,83652,-17.5,-10.000
$D_GRID,378
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,99,0.00,0.00,-80.97,0.000,2,0.000,0.000,427,2657,3223,0,0,0,0,0,0
$GC,101,-0.76,-146.0,3.1,-1.0,12,126,9.02,1.90,-10.38,0.000,4,0.200,0.077,2803,3770,3560,0,0,0,0,0,0
$GC,298,-0.76,-146.0,36.2,-16.8,46,306,0.00,1.80,0.00,0.000,6,0.000,0.042,2803,2638,3563,0,0,0,0,0,0
$GC,442,-0.76,-146.0,60.0,-16.8,71,448,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2638,3563,0,0,0,0,0,0
$GC,581,-0.76,-146.0,83.5,-16.4,96,590,0.00,1.88,0.00,0.000,4,0.000,0.061,2794,3767,3564,0,0,0,0,0,0
$GC,608,-0.76,-146.0,88.2,-17.7,100,617,0.00,1.75,0.00,0.000,6,0.000,0.041,2794,2664,3563,0,0,0,0,0,0
$GC,755,-0.76,-146.0,112.5,-16.6,119,759,0.00,2.22,0.00,0.000,4,0.000,0.049,2794,1243,3563,0,0,0,0,0,0
$GC,775,-0.76,-146.0,116.8,-17.2,120,785,0.08,2.35,0.00,0.000,6,0.127,0.057,2810,2663,3564,0,0,0,0,0,0
$GC,913,-0.76,-146.0,137.4,-15.5,133,917,0.00,1.75,0.00,0.000,4,0.000,0.060,2803,3764,3564,0,0,0,0,0,0
$GC,950,-0.76,-146.0,144.6,-16.8,136,960,0.00,1.73,0.00,0.000,6,0.000,0.041,2803,2670,3564,0,0,0,0,0,0
$GC,1089,-0.76,-146.0,165.9,-16.1,149,1093,0.00,2.25,0.00,0.000,4,0.000,0.049,2803,1235,3564,0,0,0,0,0,0
$GC,1109,-0.76,-146.0,170.1,-16.6,150,1118,0.00,2.38,0.00,0.000,6,0.000,0.056,2796,2673,3564,0,0,0,0,0,0
$GC,1246,-0.76,-146.0,191.8,-16.4,163,1250,0.00,1.75,0.00,0.000,4,0.000,0.059,2787,3773,3564,0,0,0,0,0,0
$GC,1282,-0.76,-146.0,198.1,-17.7,166,1286,0.10,1.73,0.00,0.000,6,0.172,0.041,2813,2659,3564,0,0,0,0,0,0
$GC,1424,-0.76,-146.0,218.7,-13.9,179,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2657,3564,0,0,0,0,0,0
$GC,1559,-0.76,-146.0,237.4,-13.6,192,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2657,3563,0,0,0,0,0,0
$GC,1685,-0.76,-146.0,254.8,-13.6,204,1689,0.00,1.80,0.00,0.000,4,0.000,0.062,2806,3763,3564,0,0,0,0,0,0
$GC,1723,-0.76,-146.0,260.5,-15.4,207,1730,0.00,1.75,0.00,0.000,6,0.000,0.041,2806,2663,3564,0,0,0,0,0,0
$GC,1923,-0.76,-146.0,288.7,-14.2,226,1926,0.00,1.80,0.00,0.000,4,0.000,0.061,2798,3768,3564,0,0,0,0,0,0
$GC,1949,-0.76,-146.0,293.2,-15.4,228,1959,0.00,1.73,0.00,0.000,6,0.000,0.041,2798,2680,3564,0,0,0,0,0,0
$GC,2148,-0.76,-146.0,322.1,-14.7,247,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2680,3564,0,0,0,0,0,0
$GC,2340,-0.76,-146.0,349.9,-14.7,265,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2680,3564,0,0,0,0,0,0
$STATE,2498,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2498,begin apogee
$GC,2504,-0.17,0.0,373.8,15.1,280,2642,0.62,0.00,132.07,1.026,4,0.125,0.000,3001,2482,2960,0,0,0,0,0,0
$STATE,2642,end apogee,CONTROL_FINISHED_OK
$STATE,2642,begin climb
$GC,2645,0.76,146.0,379.9,0.0,292,2803,0.98,2.50,147.12,0.945,4,0.073,0.047,3313,1094,2364,0,0,0,0,0,0
$GC,2938,0.76,146.0,353.8,11.7,318,2942,0.00,2.45,0.00,0.000,6,0.000,0.050,3313,2500,2353,0,0,0,0,0,0
$GC,3135,0.76,146.0,330.3,11.7,336,3139,0.00,2.25,0.00,0.000,4,0.000,0.048,3323,1099,2350,0,0,0,0,0,0
$GC,3253,0.76,146.0,316.5,11.4,346,3257,0.00,2.30,0.00,0.000,6,0.000,0.050,3323,2525,2348,0,0,0,0,0,0
$GC,3452,0.76,146.0,292.1,12.0,364,3455,0.00,2.00,0.00,0.000,4,0.000,0.058,3323,3773,2347,0,0,0,0,0,0
$GC,3555,0.76,146.0,277.2,14.9,373,3558,0.00,1.92,0.00,0.000,6,0.000,0.041,3333,2533,2347,0,0,0,0,0,0
$GC,3758,0.76,146.0,250.2,12.9,392,3761,0.00,1.98,0.00,0.000,4,0.000,0.057,3333,3762,2346,0,0,0,0,0,0
$GC,3806,0.76,146.0,243.2,14.8,396,3816,0.08,1.95,0.00,0.000,6,0.145,0.040,3316,2537,2346,0,0,0,0,0,0
$GC,3944,0.76,146.0,227.2,11.9,409,3951,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2537,2346,0,0,0,0,0,0
$GC,4079,0.76,146.0,211.5,11.0,422,4082,0.00,1.98,0.00,0.000,4,0.000,0.058,3317,3762,2346,0,0,0,0,0,0
$GC,4135,0.76,146.0,204.1,13.5,427,4139,0.00,1.88,0.00,0.000,6,0.000,0.041,3323,2550,2346,0,0,0,0,0,0
$GC,4276,0.76,146.0,186.6,12.4,440,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2549,2346,0,0,0,0,0,0
$GC,4403,0.76,146.0,170.9,12.4,452,4407,0.00,1.98,0.00,0.000,4,0.000,0.059,3324,3768,2345,0,0,0,0,0,0
$GC,4440,0.76,146.0,165.3,14.4,455,4449,0.00,1.92,0.00,0.000,6,0.000,0.040,3333,2554,2345,0,0,0,0,0,0
$GC,4577,0.76,146.0,147.3,13.3,468,4578,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2552,2345,0,0,0,0,0,0
$GC,4703,0.76,146.0,130.9,13.0,480,4707,0.00,1.95,0.00,0.000,4,0.000,0.058,3333,3762,2344,0,0,0,0,0,0
$GC,4749,0.76,146.0,124.7,13.5,484,4753,0.12,1.85,0.00,0.000,6,0.161,0.040,3309,2565,2345,0,0,0,0,0,0
$GC,4892,0.76,146.0,108.7,10.7,497,4899,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2563,2344,0,0,0,0,0,0
$GC,5029,0.76,146.0,93.4,11.3,515,5035,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2563,2344,0,0,0,0,0,0
$GC,5168,0.76,146.0,78.3,10.7,540,5177,0.00,1.98,0.00,0.000,4,0.000,0.060,3309,3755,2344,0,0,0,0,0,0
$GC,5206,0.76,146.0,73.6,12.6,546,5214,0.00,1.88,0.00,0.000,6,0.000,0.041,3317,2570,2344,0,0,0,0,0,0
$GC,5350,0.76,146.0,57.1,11.8,571,5356,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2570,2344,0,0,0,0,0,0
$GC,5490,0.76,146.0,40.8,11.0,596,5499,0.00,1.98,0.00,0.000,4,0.000,0.060,3317,3763,2344,0,0,0,0,0,0
$GC,5517,0.76,146.0,37.4,12.4,600,5526,0.00,1.88,0.00,0.000,6,0.000,0.041,3325,2577,2344,0,0,0,0,0,0
$GC,5663,0.76,146.0,20.6,11.7,625,5671,0.00,1.92,0.00,0.000,4,0.000,0.060,3326,3762,2344,0,0,0,0,0,0
$GC,5713,0.76,146.0,13.7,14.8,633,5720,0.00,1.83,0.00,0.000,6,0.000,0.041,3335,2587,2343,0,0,0,0,0,0
$FREEZE,8.48,-0.443,-1.894,2,1,0
$FREEZE,7.64,-0.442,-1.893,2,1,0
$FREEZE,6.91,-0.448,-1.893,2,1,0
$FREEZE,5.95,-0.452,-1.892,2,1,0
$FREEZE,5.28,-0.452,-1.891,2,1,0
$FREEZE,4.38,-0.451,-1.891,2,1,0
$FREEZE,3.55,-0.457,-1.890,2,1,0
$FREEZE,2.51,-0.454,-1.889,2,1,0
$STATE,5789,end climb,SURFACE_DEPTH_REACHED
$STATE,5789,begin surface coast
$FREEZE,1.88,-0.456,-1.889,2,1,0
$FREEZE,1.23,-0.484,-0.297,2,1,0
$FINISH,1.2,1.004221
$STATE,5803,end surface coast,FINISH_DEPTH_REACHED
$STATE,5803,begin surface
$SM_CCo,5819,81.47,0.727,1,0,1736,300.24
$SM_GC,2.05,0.00,0.00,81.47,0.000,0.000,0.727,423,2657,1736,-8.26,0.20,300.24
$IRIDIUM_FIX,-7545.40,17646.14,261210,070711
$TT8_MAMPS,0.028462
$HUMID,52.63
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,18.0
$ALTIM_BOTTOM_PING,351.5,36.3
$24V_AH,20.3,59.966
$10V_AH,9.7,39.573
$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,18.550,71.300,279.200,81.475,0.000,27.409,36.687,164.418,1.750,0.000,19.448,1648.038,2133.465,491.213,1811.818,170.013,0.000,1167.162,0.000,1079.578,0.000,10.573,0.000
$DEVICE_MAMPS,200.430,106.335,1025.865,726.750,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,455.092,841.056,920.235,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258096
$DATA_FILE_SIZE,47089,648
$CAP_FILE_SIZE,91824,0
$CFSIZE,260165632,231890944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.133,165.1,1
$GPS,261210,112000,-7632.189,17649.881,41,0.9,41,122.7