version: 66.08
glider: 502
mission: 3
dive: 357
start: 12 26 110 20 13 52
data:
$ID,502
$MISSION,3
$DIVE,357
$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,-30591.352
$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,36
$R_STBD_OVSHOOT,26
$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
$GPS1,261210,200331,-7631.672,17708.930,38,1.3,38,122.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-71.6
$GPS2,261210,201326,-7631.615,17708.867,15,0.9,15,122.2
$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,332.2,74048,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,89,0.00,0.00,-71.80,0.000,2,0.000,0.000,410,2657,3037,0,0,0,0,0,0
$GC,92,-0.76,-146.0,3.1,-2.7,10,129,8.93,1.85,-19.62,0.000,4,0.195,0.074,2800,3765,3559,0,0,0,0,0,0
$GC,319,-0.76,-146.0,37.3,-16.7,50,327,0.00,1.77,0.00,0.000,6,0.000,0.042,2801,2649,3560,0,0,0,0,0,0
$GC,459,-0.76,-146.0,60.6,-17.0,75,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2648,3561,0,0,0,0,0,0
$GC,597,-0.76,-146.0,83.3,-15.6,100,605,0.00,1.85,0.00,0.000,4,0.000,0.060,2792,3766,3561,0,0,0,0,0,0
$GC,640,-0.76,-146.0,90.7,-16.8,107,647,0.00,1.77,0.00,0.000,6,0.000,0.041,2792,2628,3561,0,0,0,0,0,0
$GC,783,-0.76,-146.0,114.4,-16.9,125,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2627,3561,0,0,0,0,0,0
$GC,911,-0.76,-146.0,135.2,-16.7,137,914,0.00,1.85,0.00,0.000,4,0.000,0.060,2784,3769,3561,0,0,0,0,0,0
$GC,957,-0.76,-146.0,143.1,-16.6,141,961,0.12,1.70,0.00,0.000,6,0.161,0.042,2818,2669,3562,0,0,0,0,0,0
$GC,1099,-0.76,-146.0,163.7,-14.1,154,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2667,3562,0,0,0,0,0,0
$GC,1234,-0.76,-146.0,182.8,-14.1,167,1238,0.00,1.77,0.00,0.000,4,0.000,0.060,2811,3764,3562,0,0,0,0,0,0
$GC,1260,-0.76,-146.0,187.1,-15.5,169,1270,0.00,1.73,0.00,0.000,6,0.000,0.041,2812,2676,3562,0,0,0,0,0,0
$GC,1398,-0.76,-146.0,206.1,-14.2,182,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2676,3562,0,0,0,0,0,0
$GC,1533,-0.76,-146.0,225.8,-14.6,195,1537,0.00,1.77,0.00,0.000,4,0.000,0.061,2803,3769,3562,0,0,0,0,0,0
$GC,1579,-0.76,-146.0,232.7,-15.1,199,1583,0.00,1.70,0.00,0.000,6,0.000,0.042,2803,2675,3562,0,0,0,0,0,0
$GC,1719,-0.76,-146.0,254.0,-15.1,212,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2673,3562,0,0,0,0,0,0
$GC,1911,-0.76,-146.0,282.7,-15.1,230,1914,0.00,1.77,0.00,0.000,4,0.000,0.060,2797,3769,3562,0,0,0,0,0,0
$GC,1937,-0.76,-146.0,287.2,-15.7,232,1946,0.00,1.73,0.00,0.000,6,0.000,0.041,2797,2682,3562,0,0,0,0,0,0
$GC,2135,-0.76,-146.0,317.1,-15.6,251,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2681,3562,0,0,0,0,0,0
$GC,2327,-0.76,-146.0,346.0,-15.2,269,2331,0.00,1.75,0.00,0.000,4,0.000,0.060,2789,3762,3562,0,0,0,0,0,0
$GC,2377,-0.76,-146.0,354.3,-16.0,273,2385,0.00,1.67,0.00,0.000,6,0.000,0.041,2789,2701,3562,0,0,0,0,0,0
$STATE,2425,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2425,begin apogee
$GC,2430,-0.17,0.0,361.6,15.4,278,2567,0.68,0.00,130.82,1.017,4,0.129,0.000,3004,2489,2961,0,0,0,0,0,0
$STATE,2568,end apogee,CONTROL_FINISHED_OK
$STATE,2568,begin climb
$GC,2570,0.76,146.0,367.6,0.0,290,2725,0.95,2.50,146.90,0.936,4,0.069,0.047,3311,1098,2365,0,0,0,0,0,0
$GC,2871,0.76,146.0,340.8,10.4,317,2876,0.00,2.42,0.00,0.000,6,0.000,0.050,3311,2497,2353,0,0,0,0,0,0
$GC,3069,0.76,146.0,318.4,11.1,335,3073,0.00,2.25,0.00,0.000,4,0.000,0.048,3320,1096,2350,0,0,0,0,0,0
$GC,3199,0.76,146.0,304.1,11.2,346,3203,0.00,2.30,0.00,0.000,6,0.000,0.051,3320,2521,2348,0,0,0,0,0,0
$GC,3398,0.76,146.0,280.2,12.2,364,3402,0.00,1.98,0.00,0.000,4,0.000,0.057,3320,3764,2348,0,0,0,0,0,0
$GC,3492,0.76,146.0,266.1,15.3,372,3499,0.00,1.95,0.00,0.000,6,0.000,0.040,3330,2535,2348,0,0,0,0,0,0
$GC,3692,0.76,146.0,240.2,12.8,391,3695,0.00,1.98,0.00,0.000,4,0.000,0.057,3330,3765,2346,0,0,0,0,0,0
$GC,3738,0.76,146.0,233.4,15.0,395,3742,0.00,1.90,0.00,0.000,6,0.000,0.040,3339,2541,2347,0,0,0,0,0,0
$GC,3879,0.76,146.0,214.0,13.4,408,3883,0.00,1.98,0.00,0.000,4,0.000,0.057,3339,3770,2346,0,0,0,0,0,0
$GC,3915,0.76,146.0,208.7,15.3,411,3920,0.15,1.90,0.00,0.000,6,0.164,0.040,3308,2546,2346,0,0,0,0,0,0
$GC,4051,0.76,146.0,192.5,11.5,423,4054,0.00,1.98,0.00,0.000,4,0.000,0.058,3308,3770,2346,0,0,0,0,0,0
$GC,4087,0.76,146.0,188.0,13.0,426,4090,0.00,1.88,0.00,0.000,6,0.000,0.041,3316,2560,2346,0,0,0,0,0,0
$GC,4229,0.76,146.0,170.9,11.9,439,4233,0.00,1.95,0.00,0.000,4,0.000,0.057,3316,3768,2346,0,0,0,0,0,0
$GC,4253,0.76,146.0,167.6,12.5,441,4257,0.00,1.88,0.00,0.000,6,0.000,0.040,3325,2558,2346,0,0,0,0,0,0
$GC,4395,0.76,146.0,150.7,12.0,454,4396,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2556,2346,0,0,0,0,0,0
$GC,4522,0.76,146.0,136.3,11.2,466,4525,0.00,1.95,0.00,0.000,4,0.000,0.058,3325,3764,2346,0,0,0,0,0,0
$GC,4579,0.76,146.0,128.4,14.0,471,4583,0.00,1.85,0.00,0.000,6,0.000,0.040,3334,2566,2346,0,0,0,0,0,0
$GC,4722,0.76,146.0,110.9,12.1,484,4725,0.00,1.95,0.00,0.000,4,0.000,0.057,3334,3774,2345,0,0,0,0,0,0
$GC,4748,0.76,146.0,106.9,13.0,486,4758,0.08,1.88,0.00,0.000,6,0.144,0.041,3317,2595,2345,0,0,0,0,0,0
$GC,4884,0.76,146.0,91.7,11.4,505,4891,0.00,1.90,0.00,0.000,4,0.000,0.058,3317,3768,2344,0,0,0,0,0,0
$GC,4911,0.76,146.0,88.2,12.5,509,4919,0.00,1.83,0.00,0.000,6,0.000,0.040,3325,2594,2344,0,0,0,0,0,0
$GC,5050,0.76,146.0,71.6,12.4,534,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2594,2345,0,0,0,0,0,0
$GC,5189,0.76,146.0,54.8,11.8,559,5195,0.00,1.90,0.00,0.000,4,0.000,0.059,3325,3768,2345,0,0,0,0,0,0
$GC,5225,0.76,146.0,50.2,13.6,565,5232,0.00,1.83,0.00,0.000,6,0.000,0.041,3334,2593,2344,0,0,0,0,0,0
$GC,5364,0.76,146.0,32.5,13.3,590,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2592,2344,0,0,0,0,0,0
$GC,5503,0.76,146.0,14.7,13.7,615,5509,0.00,1.90,0.00,0.000,4,0.000,0.058,3334,3767,2344,0,0,0,0,0,0
$FREEZE,8.82,-0.613,-1.894,2,1,0
$FREEZE,8.06,-0.613,-1.893,2,1,0
$FREEZE,7.19,-0.621,-1.893,2,1,0
$FREEZE,6.50,-0.621,-1.892,2,1,0
$GC,5562,0.76,146.0,6.5,14.0,625,5570,0.12,1.80,0.00,0.000,6,0.166,0.039,3310,2608,2344,0,0,0,0,0,0
$FREEZE,3.94,-0.623,-1.890,2,1,0
$FREEZE,3.27,-0.621,-1.890,2,1,0
$FREEZE,2.59,-0.623,-1.889,2,1,0
$STATE,5589,end climb,SURFACE_DEPTH_REACHED
$STATE,5589,begin surface coast
$FREEZE,1.79,-0.623,-1.889,2,1,0
$FREEZE,1.26,-0.626,-1.889,2,1,0
$FREEZE,1.22,-0.694,-1.794,2,1,0
$FREEZE,1.16,-0.676,-1.794,2,1,0
$FINISH,1.2,1.026311
$STATE,5616,end surface coast,CONTROL_FINISHED_OK
$STATE,5616,begin surface
$SM_CCo,5632,75.95,0.101,0,0,1736,300.24
$SM_GC,2.26,0.00,0.00,75.95,0.000,0.000,0.101,425,2666,1736,-8.25,0.45,300.24
$IRIDIUM_FIX,-7545.40,17714.23,261210,202001
$TT8_MAMPS,0.028462
$HUMID,52.52
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,18.3
$ALTIM_BOTTOM_PING,301.0,74.9
$24V_AH,20.3,60.590
$10V_AH,9.7,40.072
$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,18.475,72.700,277.725,75.950,0.000,47.659,78.059,264.326,1.500,0.000,16.020,1618.636,2054.255,464.790,1990.545,182.077,0.000,1127.396,0.000,1067.115,0.000,8.964,0.000
$DEVICE_MAMPS,195.075,113.220,1017.450,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,444.736,831.892,926.298,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43695,633
$CAP_FILE_SIZE,95670,0
$CFSIZE,260165632,231583744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076,334.0,1
$GPS,261210,214950,-7631.480,17711.406,13,1.5,13,122.2