version: 66.08
glider: 502
mission: 3
dive: 358
start: 12 26 110 21 56 39
data:
$ID,502
$MISSION,3
$DIVE,358
$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,-30592.607
$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,28
$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
$GPS1,261210,214950,-7631.480,17711.406,13,1.5,13,122.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-70.3
$GPS2,261210,215613,-7631.449,17711.348,26,1.4,33,122.2
$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,341.2,72964,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,88,0.00,0.00,-69.82,0.000,2,0.000,0.000,420,2667,2994,0,0,0,0,0,0
$GC,91,-0.76,-146.0,3.1,-2.7,10,128,8.90,1.88,-22.30,0.000,4,0.194,0.079,2803,3766,3558,0,0,0,0,0,0
$GC,255,-0.76,-146.0,26.1,-16.8,37,262,0.00,1.77,0.00,0.000,6,0.000,0.042,2803,2630,3560,0,0,0,0,0,0
$GC,396,-0.76,-146.0,50.1,-16.8,62,404,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2629,3561,0,0,0,0,0,0
$GC,540,-0.76,-146.0,73.9,-16.4,87,547,0.00,1.85,0.00,0.000,4,0.000,0.060,2795,3766,3561,0,0,0,0,0,0
$GC,582,-0.76,-146.0,81.5,-17.8,94,590,0.00,1.77,0.00,0.000,6,0.000,0.041,2795,2649,3561,0,0,0,0,0,0
$GC,724,-0.76,-146.0,105.6,-16.7,116,727,0.00,1.80,0.00,0.000,4,0.000,0.060,2786,3763,3561,0,0,0,0,0,0
$GC,748,-0.76,-146.0,109.9,-17.7,118,752,0.12,1.70,0.00,0.000,6,0.165,0.041,2819,2664,3561,0,0,0,0,0,0
$GC,889,-0.76,-146.0,131.3,-14.5,131,892,0.00,1.77,0.00,0.000,4,0.000,0.060,2813,3763,3562,0,0,0,0,0,0
$GC,914,-0.76,-146.0,135.0,-15.5,133,918,0.00,1.67,0.00,0.000,6,0.000,0.041,2812,2680,3562,0,0,0,0,0,0
$GC,1055,-0.76,-146.0,157.1,-15.6,146,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2677,3562,0,0,0,0,0,0
$GC,1183,-0.76,-146.0,176.6,-15.1,158,1186,0.00,1.75,0.00,0.000,4,0.000,0.061,2804,3759,3562,0,0,0,0,0,0
$GC,1218,-0.76,-146.0,182.2,-16.0,161,1221,0.00,1.65,0.00,0.000,6,0.000,0.041,2804,2691,3562,0,0,0,0,0,0
$GC,1358,-0.76,-146.0,204.1,-15.1,174,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2689,3562,0,0,0,0,0,0
$GC,1486,-0.76,-146.0,223.5,-15.3,186,1490,0.00,1.73,0.00,0.000,4,0.000,0.060,2796,3758,3562,0,0,0,0,0,0
$GC,1532,-0.76,-146.0,231.0,-16.5,190,1536,0.00,1.65,0.00,0.000,6,0.000,0.041,2796,2689,3562,0,0,0,0,0,0
$GC,1672,-0.76,-146.0,252.9,-15.2,203,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2687,3562,0,0,0,0,0,0
$GC,1866,-0.76,-146.0,282.9,-15.6,221,1869,0.00,1.75,0.00,0.000,4,0.000,0.060,2788,3769,3562,0,0,0,0,0,0
$GC,1912,-0.76,-146.0,290.8,-17.2,225,1916,0.10,1.65,0.00,0.000,6,0.174,0.042,2813,2700,3562,0,0,0,0,0,0
$GC,2116,-0.76,-146.0,319.7,-13.9,244,2117,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2699,3562,0,0,0,0,0,0
$GC,2305,-0.76,-146.0,346.5,-13.8,262,2308,0.00,1.73,0.00,0.000,4,0.000,0.061,2806,3766,3562,0,0,0,0,0,0
$GC,2340,-0.76,-146.0,351.5,-14.5,265,2343,0.00,1.65,0.00,0.000,6,0.000,0.042,2806,2698,3562,0,0,0,0,0,0
$STATE,2403,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2403,begin apogee
$GC,2409,-0.17,0.0,361.1,14.5,271,2546,0.62,0.00,131.38,1.017,4,0.127,0.000,3007,2486,2960,0,0,0,0,0,0
$STATE,2547,end apogee,CONTROL_FINISHED_OK
$STATE,2547,begin climb
$GC,2549,0.76,146.0,367.0,0.0,283,2706,0.95,2.47,146.93,0.936,4,0.073,0.047,3311,1102,2365,0,0,0,0,0,0
$GC,2814,0.76,146.0,344.8,11.4,307,2818,0.00,2.45,0.00,0.000,6,0.000,0.050,3312,2493,2355,0,0,0,0,0,0
$GC,3013,0.76,146.0,321.5,12.0,325,3017,0.00,2.28,0.00,0.000,4,0.000,0.049,3315,1099,2352,0,0,0,0,0,0
$GC,3138,0.76,146.0,307.1,11.7,336,3142,0.00,2.30,0.00,0.000,6,0.000,0.051,3315,2524,2349,0,0,0,0,0,0
$GC,3335,0.76,146.0,283.4,11.7,354,3339,0.00,1.98,0.00,0.000,4,0.000,0.057,3315,3765,2349,0,0,0,0,0,0
$GC,3439,0.76,146.0,269.1,14.6,363,3442,0.00,1.90,0.00,0.000,6,0.000,0.039,3325,2537,2348,0,0,0,0,0,0
$GC,3644,0.76,146.0,242.2,13.4,382,3647,0.00,1.98,0.00,0.000,4,0.000,0.058,3324,3764,2347,0,0,0,0,0,0
$GC,3690,0.76,146.0,235.4,14.5,386,3694,0.00,1.90,0.00,0.000,6,0.000,0.041,3334,2540,2347,0,0,0,0,0,0
$GC,3831,0.76,146.0,216.3,13.3,399,3834,0.00,1.98,0.00,0.000,4,0.000,0.057,3334,3767,2347,0,0,0,0,0,0
$GC,3856,0.76,146.0,212.9,14.1,401,3860,0.12,1.88,0.00,0.000,6,0.168,0.040,3310,2555,2347,0,0,0,0,0,0
$GC,3996,0.76,146.0,195.8,11.5,414,3997,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2553,2347,0,0,0,0,0,0
$GC,4123,0.76,146.0,181.6,10.8,426,4127,0.00,1.95,0.00,0.000,4,0.000,0.057,3310,3767,2346,0,0,0,0,0,0
$GC,4161,0.76,146.0,176.6,12.8,429,4169,0.00,1.90,0.00,0.000,6,0.000,0.040,3318,2563,2346,0,0,0,0,0,0
$GC,4296,0.76,146.0,161.0,11.5,442,4300,0.00,1.95,0.00,0.000,4,0.000,0.059,3318,3772,2346,0,0,0,0,0,0
$GC,4322,0.76,146.0,157.3,12.7,444,4332,0.00,1.90,0.00,0.000,6,0.000,0.041,3327,2566,2346,0,0,0,0,0,0
$GC,4459,0.76,146.0,140.3,12.6,457,4462,0.00,1.95,0.00,0.000,4,0.000,0.059,3327,3774,2346,0,0,0,0,0,0
$GC,4495,0.76,146.0,134.6,14.3,460,4505,0.00,1.88,0.00,0.000,6,0.000,0.041,3336,2592,2346,0,0,0,0,0,0
$GC,4633,0.76,146.0,117.3,13.2,473,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2591,2346,0,0,0,0,0,0
$GC,4768,0.76,146.0,99.3,13.1,486,4777,0.00,1.95,0.00,0.000,4,0.000,0.059,3336,3769,2345,0,0,0,0,0,0
$GC,4813,0.76,146.0,92.9,14.1,493,4821,0.12,1.85,0.00,0.000,6,0.164,0.041,3312,2581,2345,0,0,0,0,0,0
$GC,4958,0.76,146.0,76.1,11.5,518,4965,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2580,2345,0,0,0,0,0,0
$GC,5102,0.76,146.0,59.4,11.1,543,5109,0.00,1.95,0.00,0.000,4,0.000,0.060,3312,3759,2345,0,0,0,0,0,0
$GC,5128,0.76,146.0,56.1,12.9,547,5134,0.00,1.83,0.00,0.000,6,0.000,0.042,3319,2589,2345,0,0,0,0,0,0
$GC,5270,0.76,146.0,38.7,12.4,572,5279,0.00,1.95,0.00,0.000,4,0.000,0.059,3319,3768,2345,0,0,0,0,0,0
$GC,5304,0.76,146.0,34.1,13.8,577,5311,0.00,1.83,0.00,0.000,6,0.000,0.041,3328,2599,2345,0,0,0,0,0,0
$GC,5446,0.76,146.0,16.0,12.6,602,5455,0.00,1.92,0.00,0.000,4,0.000,0.059,3328,3763,2344,0,0,0,0,0,0
$GC,5483,0.76,146.0,10.8,14.2,608,5492,0.00,1.80,0.00,0.000,6,0.000,0.041,3337,2628,2344,0,0,0,0,0,0
$FREEZE,8.48,-1.248,-1.895,2,1,0
$FREEZE,7.65,-1.237,-1.895,2,1,0
$FREEZE,6.69,-1.234,-1.894,2,1,0
$FREEZE,6.07,-1.237,-1.893,2,1,0
$FREEZE,5.02,-1.240,-1.893,2,1,0
$FREEZE,4.34,-1.233,-1.892,2,1,0
$FREEZE,3.43,-1.233,-1.891,2,1,0
$FREEZE,2.61,-1.240,-1.891,2,1,0
$STATE,5539,end climb,SURFACE_DEPTH_REACHED
$STATE,5539,begin surface coast
$FREEZE,1.54,-1.241,-1.890,2,1,0
$FREEZE,1.27,-1.245,-1.889,2,1,0
$FREEZE,1.34,-1.293,-1.892,2,1,0
$FREEZE,1.22,-1.299,-0.933,2,1,0
$FINISH,1.2,1.013763
$STATE,5566,end surface coast,FINISH_DEPTH_REACHED
$STATE,5567,begin surface
$SM_CCo,5582,75.88,0.102,0,0,1736,300.24
$SM_GC,2.17,0.00,0.00,75.88,0.000,0.000,0.102,419,2625,1736,-8.26,-0.71,300.24
$IRIDIUM_FIX,-7545.40,17713.79,261210,202005
$TT8_MAMPS,0.028462
$HUMID,52.91
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.4,17.7
$ALTIM_BOTTOM_PING,300.4,74.9
$24V_AH,20.3,60.683
$10V_AH,9.7,40.153
$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,18.425,75.775,278.300,75.875,0.000,29.157,38.195,187.576,1.750,0.000,33.898,1596.755,2010.936,455.966,1809.236,175.409,0.000,1111.614,0.000,1039.904,0.000,8.965,0.000
$DEVICE_MAMPS,194.310,78.795,1016.685,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,436.511,813.639,905.469,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258180
$DATA_FILE_SIZE,43686,621
$CAP_FILE_SIZE,91527,0
$CFSIZE,260165632,231534592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.110,320.8,1
$GPS,261210,233206,-7631.351,17713.412,32,0.9,32,122.1