version: 66.08
glider: 502
mission: 3
dive: 266
start: 12 19 110 9 7 11
data:
$ID,502
$MISSION,3
$DIVE,266
$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,-30473.176
$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,21
$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
$GPS1,191210,090006,-7641.096,17206.801,41,0.8,52,130.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-74.0
$GPS2,191210,090644,-7641.116,17206.803,15,1.8,15,130.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,POLYNYA
$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,300.2,205616,-17.5,-10.000
$D_GRID,636
$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
$STATE,13,begin dive
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$GC,152,-0.76,-146.0,6.2,-9.9,19,159,0.00,2.33,0.00,0.000,6,0.000,0.057,2797,2656,3561,0,0,0,0,0,0
$GC,294,-0.76,-146.0,30.9,-18.1,44,302,0.00,1.83,0.00,0.000,4,0.000,0.063,2788,3763,3562,0,0,0,0,0,0
$GC,327,-0.76,-146.0,37.0,-18.7,49,334,0.00,1.77,0.00,0.000,6,0.000,0.042,2788,2629,3562,0,0,0,0,0,0
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$GC,1067,-0.76,-146.0,164.7,-16.2,146,1071,0.00,1.77,0.00,0.000,4,0.000,0.063,2789,3766,3562,0,0,0,0,0,0
$GC,1091,-0.76,-146.0,168.7,-16.3,148,1095,0.00,1.67,0.00,0.000,6,0.000,0.042,2789,2680,3562,0,0,0,0,0,0
$GC,1232,-0.76,-146.0,192.3,-16.7,161,1236,0.00,1.75,0.00,0.000,4,0.000,0.064,2782,3763,3563,0,0,0,0,0,0
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$GC,1411,-0.76,-146.0,219.7,-14.5,177,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2689,3563,0,0,0,0,0,0
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$GC,1707,-0.76,-146.0,264.6,-15.7,205,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2695,3563,0,0,0,0,0,0
$GC,1898,-0.76,-146.0,294.0,-15.5,223,1902,0.00,1.73,0.00,0.000,4,0.000,0.063,2800,3761,3563,0,0,0,0,0,0
$GC,1937,-0.76,-146.0,300.5,-16.0,226,1945,0.00,1.67,0.00,0.000,6,0.000,0.042,2800,2708,3562,0,0,0,0,0,0
$GC,2135,-0.76,-146.0,331.4,-15.4,245,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2707,3562,0,0,0,0,0,0
$GC,2327,-0.76,-146.0,361.1,-15.6,263,2330,0.00,1.73,0.00,0.000,4,0.000,0.063,2792,3770,3562,0,0,0,0,0,0
$GC,2375,-0.76,-146.0,369.3,-16.3,267,2383,0.00,1.67,0.00,0.000,6,0.000,0.042,2791,2713,3562,0,0,0,0,0,0
$GC,2573,-0.76,-146.0,399.5,-15.5,286,2575,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2713,3562,0,0,0,0,0,0
$GC,2765,-0.76,-146.0,428.5,-15.1,304,2769,0.00,1.70,0.00,0.000,4,0.000,0.063,2783,3763,3562,0,0,0,0,0,0
$GC,2800,-0.76,-146.0,433.9,-15.8,307,2804,0.12,1.65,0.00,0.000,6,0.167,0.042,2817,2694,3562,0,0,0,0,0,0
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$GC,3228,-0.76,-146.0,491.1,-13.4,347,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2719,3562,0,0,0,0,0,0
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$GC,3642,-0.76,-146.0,547.6,-14.0,365,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2733,3562,0,0,0,0,0,0
$GC,3826,-0.76,-146.0,572.7,-13.6,371,3830,0.00,1.67,0.00,0.000,4,0.000,0.064,2795,3766,3562,0,0,0,0,0,0
$GC,3881,-0.76,-146.0,580.8,-14.2,372,3885,0.00,1.62,0.00,0.000,6,0.000,0.043,2795,2743,3562,0,0,0,0,0,0
$GC,4078,-0.76,-146.0,608.0,-13.9,379,4079,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2741,3562,0,0,0,0,0,0
$GC,4261,-0.76,-146.0,633.8,-14.1,385,4262,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2741,3562,0,0,0,0,0,0
$STATE,4290,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4290,begin apogee
$GC,4295,-0.17,0.0,638.2,14.2,386,4439,0.65,0.00,136.98,1.193,4,0.130,0.000,3004,2497,2960,0,0,0,0,0,0
$STATE,4440,end apogee,CONTROL_FINISHED_OK
$STATE,4440,begin climb
$GC,4441,0.76,146.0,643.1,0.0,390,4604,0.98,2.58,151.95,1.114,4,0.073,0.048,3309,1092,2364,0,0,0,0,0,0
$GC,4712,0.76,146.0,617.5,12.7,399,4717,0.00,2.47,0.00,0.000,6,0.000,0.051,3309,2505,2354,0,0,0,0,0,0
$GC,4925,0.76,146.0,588.5,13.7,406,4929,0.00,2.28,0.00,0.000,4,0.000,0.050,3318,1101,2350,0,0,0,0,0,0
$GC,5035,0.76,146.0,573.6,13.1,409,5040,0.00,2.35,0.00,0.000,6,0.000,0.053,3319,2516,2348,0,0,0,0,0,0
$GC,5237,0.76,146.0,545.4,14.0,416,5241,0.00,2.00,0.00,0.000,4,0.000,0.059,3319,3768,2347,0,0,0,0,0,0
$GC,5308,0.76,146.0,534.0,16.6,418,5313,0.00,1.95,0.00,0.000,6,0.000,0.042,3328,2545,2347,0,0,0,0,0,0
$GC,5522,0.76,146.0,503.1,14.5,425,5525,0.00,1.98,0.00,0.000,4,0.000,0.060,3328,3768,2346,0,0,0,0,0,0
$GC,5560,0.76,146.0,496.9,16.1,426,5568,0.00,1.98,0.00,0.000,6,0.000,0.042,3337,2529,2346,0,0,0,0,0,0
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$GC,5784,0.76,146.0,462.1,17.4,447,5792,0.10,1.95,0.00,0.000,6,0.148,0.043,3315,2549,2346,0,0,0,0,0,0
$GC,5983,0.76,146.0,435.3,12.5,466,5986,0.00,1.95,0.00,0.000,4,0.000,0.060,3314,3763,2346,0,0,0,0,0,0
$GC,6008,0.76,146.0,431.4,15.1,468,6016,0.00,1.95,0.00,0.000,6,0.000,0.042,3322,2540,2346,0,0,0,0,0,0
$GC,6208,0.76,146.0,405.4,12.7,487,6212,0.00,2.00,0.00,0.000,4,0.000,0.061,3322,3767,2345,0,0,0,0,0,0
$GC,6234,0.76,146.0,401.2,14.4,489,6242,0.00,1.92,0.00,0.000,6,0.000,0.041,3331,2556,2345,0,0,0,0,0,0
$GC,6434,0.76,146.0,373.8,13.8,508,6438,0.00,1.95,0.00,0.000,4,0.000,0.060,3331,3762,2344,0,0,0,0,0,0
$GC,6457,0.76,146.0,370.1,15.6,510,6461,0.00,1.88,0.00,0.000,6,0.000,0.042,3341,2553,2345,0,0,0,0,0,0
$GC,6660,0.76,146.0,340.4,14.7,529,6663,0.00,1.95,0.00,0.000,4,0.000,0.060,3341,3762,2345,0,0,0,0,0,0
$GC,6693,0.76,146.0,335.0,17.1,532,6697,0.15,1.85,0.00,0.000,6,0.161,0.042,3309,2563,2344,0,0,0,0,0,0
$GC,6897,0.76,146.0,310.6,11.8,551,6901,0.00,1.98,0.00,0.000,4,0.000,0.062,3309,3778,2344,0,0,0,0,0,0
$GC,6930,0.76,146.0,306.1,13.5,554,6934,0.00,1.90,0.00,0.000,6,0.000,0.043,3317,2580,2344,0,0,0,0,0,0
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$GC,7171,0.76,146.0,276.2,13.9,576,7178,0.00,1.88,0.00,0.000,6,0.000,0.042,3326,2584,2343,0,0,0,0,0,0
$GC,7371,0.76,146.0,251.3,12.6,595,7375,0.00,1.90,0.00,0.000,4,0.000,0.060,3326,3763,2344,0,0,0,0,0,0
$GC,7406,0.76,146.0,246.4,14.2,598,7410,0.00,1.80,0.00,0.000,6,0.000,0.042,3335,2597,2344,0,0,0,0,0,0
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$GC,7801,0.76,146.0,193.6,13.8,635,7805,0.00,1.90,0.00,0.000,4,0.000,0.060,3335,3771,2343,0,0,0,0,0,0
$GC,7827,0.76,146.0,189.2,16.1,637,7836,0.08,1.85,0.00,0.000,6,0.148,0.043,3319,2609,2343,0,0,0,0,0,0
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$GC,8273,0.76,146.0,133.3,14.7,679,8277,0.00,1.80,0.00,0.000,6,0.000,0.041,3326,2605,2343,0,0,0,0,0,0
$GC,8415,0.76,146.0,115.3,12.3,692,8419,0.00,1.88,0.00,0.000,4,0.000,0.060,3326,3765,2343,0,0,0,0,0,0
$GC,8441,0.76,146.0,111.2,14.6,694,8451,0.00,1.83,0.00,0.000,6,0.000,0.042,3335,2612,2342,0,0,0,0,0,0
$GC,8579,0.76,146.0,93.4,13.8,711,8585,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2611,2343,0,0,0,0,0,0
$GC,8720,0.76,146.0,74.7,13.8,736,8728,0.00,1.90,0.00,0.000,4,0.000,0.061,3335,3758,2343,0,0,0,0,0,0
$GC,8775,0.76,146.0,66.4,15.8,745,8782,0.12,1.77,0.00,0.000,6,0.166,0.043,3310,2621,2343,0,0,0,0,0,0
$GC,8919,0.76,146.0,49.0,11.0,770,8927,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2620,2343,0,0,0,0,0,0
$GC,9064,0.76,146.0,32.3,12.3,795,9070,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2620,2343,0,0,0,0,0,0
$GC,9203,0.76,146.0,16.4,10.9,820,9212,0.00,1.90,0.00,0.000,4,0.000,0.061,3310,3765,2342,0,0,0,0,0,0
$GC,9241,0.76,146.0,12.0,12.3,826,9250,0.00,1.80,0.00,0.000,6,0.000,0.042,3317,2628,2343,0,0,0,0,0,0
$FREEZE,8.62,-1.050,-1.896,2,1,0
$FREEZE,8.06,-1.040,-1.895,2,1,0
$FREEZE,7.17,-1.028,-1.894,2,1,0
$FREEZE,6.68,-1.035,-1.895,2,1,0
$FREEZE,5.90,-0.958,-1.894,2,1,0
$FREEZE,5.21,-0.845,-1.893,2,1,0
$FREEZE,4.51,-0.782,-1.893,2,1,0
$FREEZE,3.82,-0.678,-1.890,2,1,0
$FREEZE,3.07,-0.690,-1.890,2,1,0
$FREEZE,2.40,-0.684,-1.890,2,1,0
$STATE,9320,end climb,SURFACE_DEPTH_REACHED
$STATE,9320,begin surface coast
$FREEZE,1.43,-0.679,-1.890,2,1,0
$FREEZE,1.51,-0.769,-0.937,2,1,0
$FREEZE,1.51,-0.808,-0.964,2,1,0
$FREEZE,1.32,-0.805,-0.838,2,1,0
$FREEZE,1.42,-1.035,-0.843,2,1,0
$FINISH,1.4,1.012419
$STATE,9353,end surface coast,FINISH_DEPTH_REACHED
$STATE,9353,begin surface
$SM_CCo,9367,81.38,0.734,1,0,1736,300.24
$SM_GC,2.39,0.00,0.00,81.38,0.000,0.000,0.734,420,2627,1736,-8.27,-0.65,300.24
$IRIDIUM_FIX,-7554.21,17202.75,191210,060645
$TT8_MAMPS,0.028462
$HUMID,52.36
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,18.4
$ALTIM_BOTTOM_PING,603.7,54.3
$24V_AH,20.3,50.554
$10V_AH,9.8,32.165
$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,18.850,113.150,288.925,81.375,0.000,27.625,38.490,219.679,3.000,0.000,16.316,2239.919,4575.755,538.316,2289.418,212.698,0.000,1450.801,0.000,1478.982,0.000,19.216,0.000
$DEVICE_MAMPS,200.430,64.260,1193.400,733.635,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,596.068,1035.649,894.899,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258308
$DATA_FILE_SIZE,57120,844
$CAP_FILE_SIZE,132236,0
$CFSIZE,260165632,236720128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.084,162.3,1
$GPS,191210,114606,-7641.127,17212.621,42,0.9,42,130.2