version: 66.08
glider: 502
mission: 3
dive: 355
start: 12 26 110 16 41 58
data:
$ID,502
$MISSION,3
$DIVE,355
$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,-30588.83
$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,31
$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
$GPS1,261210,163536,-7632.021,17701.904,34,0.8,34,122.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-72.9
$GPS2,261210,164132,-7632.014,17701.969,12,1.3,12,122.4
$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,312.2,77061,-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,15,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,99,0.00,0.00,-79.88,0.000,2,0.000,0.000,410,2630,3205,0,0,0,0,0,0
$GC,102,-0.76,-146.0,3.1,-1.5,12,131,8.85,1.90,-11.32,0.000,4,0.196,0.076,2801,3760,3559,0,0,0,0,0,0
$GC,241,-0.76,-146.0,25.8,-17.3,35,248,0.00,1.77,0.00,0.000,6,0.000,0.041,2801,2625,3561,0,0,0,0,0,0
$GC,383,-0.76,-146.0,49.9,-16.2,60,390,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2622,3562,0,0,0,0,0,0
$GC,526,-0.76,-146.0,74.2,-17.3,85,533,0.00,1.85,0.00,0.000,4,0.000,0.060,2792,3763,3561,0,0,0,0,0,0
$GC,575,-0.76,-146.0,82.7,-18.0,93,582,0.00,1.75,0.00,0.000,6,0.000,0.042,2792,2663,3562,0,0,0,0,0,0
$GC,721,-0.76,-146.0,107.9,-16.8,115,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2661,3562,0,0,0,0,0,0
$GC,849,-0.76,-146.0,129.5,-16.9,127,852,0.00,1.77,0.00,0.000,4,0.000,0.060,2785,3764,3562,0,0,0,0,0,0
$GC,895,-0.76,-146.0,137.8,-18.2,131,900,0.12,1.70,0.00,0.000,6,0.162,0.041,2818,2661,3562,0,0,0,0,0,0
$GC,1038,-0.76,-146.0,159.9,-15.1,144,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2659,3563,0,0,0,0,0,0
$GC,1173,-0.76,-146.0,180.1,-14.7,157,1176,0.00,1.77,0.00,0.000,4,0.000,0.061,2811,3764,3563,0,0,0,0,0,0
$GC,1219,-0.76,-146.0,187.1,-15.8,161,1223,0.00,1.70,0.00,0.000,6,0.000,0.041,2811,2664,3562,0,0,0,0,0,0
$GC,1362,-0.76,-146.0,207.9,-14.9,174,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2661,3562,0,0,0,0,0,0
$GC,1497,-0.76,-146.0,227.9,-14.6,187,1501,0.00,1.77,0.00,0.000,4,0.000,0.060,2802,3763,3563,0,0,0,0,0,0
$GC,1544,-0.76,-146.0,234.8,-15.0,191,1547,0.00,1.70,0.00,0.000,6,0.000,0.041,2802,2664,3563,0,0,0,0,0,0
$GC,1683,-0.76,-146.0,256.3,-15.3,204,1684,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2662,3563,0,0,0,0,0,0
$GC,1874,-0.76,-146.0,285.0,-14.6,222,1876,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2662,3562,0,0,0,0,0,0
$GC,2067,-0.76,-146.0,313.1,-14.1,240,2070,0.00,1.80,0.00,0.000,4,0.000,0.061,2794,3773,3563,0,0,0,0,0,0
$GC,2102,-0.76,-146.0,318.5,-15.6,243,2106,0.00,1.70,0.00,0.000,6,0.000,0.042,2795,2677,3563,0,0,0,0,0,0
$GC,2305,-0.76,-146.0,349.1,-15.1,262,2309,0.00,1.77,0.00,0.000,4,0.000,0.060,2786,3773,3563,0,0,0,0,0,0
$GC,2350,-0.76,-146.0,356.2,-16.3,266,2355,0.08,1.73,0.00,0.000,6,0.139,0.042,2812,2689,3563,0,0,0,0,0,0
$STATE,2445,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2445,begin apogee
$GC,2451,-0.17,0.0,370.1,14.4,275,2588,0.57,0.00,131.23,1.020,4,0.122,0.000,3002,2491,2960,0,0,0,0,0,0
$STATE,2589,end apogee,CONTROL_FINISHED_OK
$STATE,2589,begin climb
$GC,2591,0.76,146.0,376.0,0.0,287,2746,0.95,2.50,147.00,0.938,4,0.073,0.047,3306,1093,2364,0,0,0,0,0,0
$GC,2870,0.76,146.0,351.4,11.6,312,2875,0.00,2.47,0.00,0.000,6,0.000,0.050,3307,2503,2353,0,0,0,0,0,0
$GC,3069,0.76,146.0,328.4,11.7,330,3073,0.00,2.28,0.00,0.000,4,0.000,0.048,3316,1097,2350,0,0,0,0,0,0
$GC,3198,0.76,146.0,312.9,12.0,341,3202,0.00,2.30,0.00,0.000,6,0.000,0.052,3316,2520,2348,0,0,0,0,0,0
$GC,3396,0.76,146.0,288.2,12.2,359,3400,0.00,1.98,0.00,0.000,4,0.000,0.057,3316,3765,2348,0,0,0,0,0,0
$GC,3475,0.76,146.0,276.7,14.9,366,3479,0.00,1.92,0.00,0.000,6,0.000,0.040,3325,2522,2348,0,0,0,0,0,0
$GC,3679,0.76,146.0,250.6,12.2,385,3682,0.00,2.03,0.00,0.000,4,0.000,0.059,3325,3773,2346,0,0,0,0,0,0
$GC,3725,0.76,146.0,244.2,14.5,389,3729,0.00,1.92,0.00,0.000,6,0.000,0.041,3335,2533,2346,0,0,0,0,0,0
$GC,3866,0.76,146.0,226.0,12.9,402,3870,0.00,1.98,0.00,0.000,4,0.000,0.057,3335,3763,2346,0,0,0,0,0,0
$GC,3902,0.76,146.0,221.0,14.4,405,3906,0.12,1.88,0.00,0.000,6,0.164,0.040,3311,2552,2346,0,0,0,0,0,0
$GC,4043,0.76,146.0,205.0,10.6,418,4047,0.00,1.95,0.00,0.000,4,0.000,0.059,3310,3762,2346,0,0,0,0,0,0
$GC,4068,0.76,146.0,202.0,11.7,420,4071,0.00,1.88,0.00,0.000,6,0.000,0.041,3318,2551,2346,0,0,0,0,0,0
$GC,4209,0.76,146.0,185.6,11.3,433,4213,0.00,1.95,0.00,0.000,4,0.000,0.059,3318,3762,2345,0,0,0,0,0,0
$GC,4245,0.76,146.0,181.0,13.4,436,4248,0.00,1.85,0.00,0.000,6,0.000,0.041,3328,2565,2345,0,0,0,0,0,0
$GC,4387,0.76,146.0,163.9,12.1,449,4390,0.00,1.95,0.00,0.000,4,0.000,0.059,3327,3773,2345,0,0,0,0,0,0
$GC,4424,0.76,146.0,159.0,13.9,452,4427,0.00,1.85,0.00,0.000,6,0.000,0.041,3337,2580,2345,0,0,0,0,0,0
$GC,4566,0.76,146.0,140.7,12.6,465,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2577,2345,0,0,0,0,0,0
$GC,4701,0.76,146.0,123.4,12.9,478,4705,0.00,1.90,0.00,0.000,4,0.000,0.057,3337,3764,2345,0,0,0,0,0,0
$GC,4770,0.76,146.0,113.6,14.6,484,4774,0.12,1.83,0.00,0.000,6,0.161,0.041,3312,2582,2345,0,0,0,0,0,0
$GC,4904,0.76,146.0,97.6,11.4,498,4912,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2580,2344,0,0,0,0,0,0
$GC,5048,0.76,146.0,81.6,11.2,523,5055,0.00,1.92,0.00,0.000,4,0.000,0.059,3312,3767,2344,0,0,0,0,0,0
$GC,5086,0.76,146.0,76.9,12.6,529,5093,0.00,1.85,0.00,0.000,6,0.000,0.041,3319,2603,2344,0,0,0,0,0,0
$GC,5227,0.76,146.0,60.0,11.9,554,5235,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2603,2344,0,0,0,0,0,0
$GC,5372,0.76,146.0,43.8,11.8,579,5379,0.00,1.88,0.00,0.000,4,0.000,0.058,3319,3763,2344,0,0,0,0,0,0
$GC,5413,0.76,146.0,38.1,12.7,586,5422,0.00,1.83,0.00,0.000,6,0.000,0.041,3328,2612,2344,0,0,0,0,0,0
$GC,5560,0.76,146.0,20.6,12.1,611,5569,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2611,2344,0,0,0,0,0,0
$FREEZE,8.59,-0.528,-1.893,2,1,0
$FREEZE,7.83,-0.529,-1.893,2,1,0
$FREEZE,7.25,-0.532,-1.892,2,1,0
$FREEZE,6.53,-0.532,-1.892,2,1,0
$FREEZE,5.80,-0.531,-1.891,2,1,0
$FREEZE,4.80,-0.528,-1.890,2,1,0
$FREEZE,4.27,-0.530,-1.890,2,1,0
$FREEZE,3.27,-0.531,-1.889,2,1,0
$FREEZE,2.68,-0.530,-1.889,2,1,0
$STATE,5703,end climb,SURFACE_DEPTH_REACHED
$STATE,5703,begin surface coast
$FREEZE,1.81,-0.534,-1.888,2,1,0
$FREEZE,1.32,-0.539,-1.888,2,1,0
$FREEZE,1.30,-0.654,-1.315,2,1,0
$FREEZE,1.33,-0.613,-1.892,2,1,0
$FINISH,1.3,1.027691
$STATE,5729,end surface coast,CONTROL_FINISHED_OK
$STATE,5729,begin surface
$SM_CCo,5745,80.68,0.727,1,0,1736,300.24
$SM_GC,2.16,0.00,0.00,80.68,0.000,0.000,0.727,423,2655,1736,-8.25,0.14,300.24
$IRIDIUM_FIX,-7554.21,17635.83,261210,141456
$TT8_MAMPS,0.027713
$HUMID,52.87
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,18.1
$ALTIM_BOTTOM_PING,300.7,84.1
$24V_AH,20.3,60.396
$10V_AH,9.7,39.905
$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,18.375,68.925,278.225,80.675,0.000,27.249,39.816,182.452,1.250,0.000,13.415,1643.380,2095.547,455.705,1826.206,174.172,0.000,1121.146,0.000,1079.688,0.000,8.983,0.000
$DEVICE_MAMPS,195.840,123.930,1019.745,726.750,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,449.462,831.950,914.762,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43687,639
$CAP_FILE_SIZE,91026,0
$CFSIZE,260165632,231690240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.056, 97.6,1
$GPS,261210,182001,-7631.844,17705.783,9,1.3,14,122.3