version: 66.08
glider: 502
mission: 3
dive: 310
start: 12 23 110 7 25 10
data:
$ID,502
$MISSION,3
$DIVE,310
$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,-30529.75
$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,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
$GPS1,231210,071900,-7632.824,17433.904,40,1.4,40,126.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-71.4
$GPS2,231210,072444,-7632.815,17433.900,13,1.8,13,126.0
$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,311.0,141083,-17.5,-10.000
$D_GRID,381
$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,-146.0,0.0,0.0,0,100,0.00,0.00,-81.53,0.000,2,0.000,0.000,419,2661,3241,0,0,0,0,0,0
$GC,102,-0.76,-146.0,3.1,-1.6,12,127,8.88,1.88,-9.90,0.000,4,0.200,0.080,2799,3761,3559,0,0,0,0,0,0
$GC,280,-0.76,-146.0,32.6,-16.2,43,287,0.00,1.77,0.00,0.000,6,0.000,0.044,2799,2630,3562,0,0,0,0,0,0
$GC,416,-0.76,-146.0,55.1,-16.6,68,424,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2629,3563,0,0,0,0,0,0
$GC,558,-0.76,-146.0,78.2,-16.2,93,566,0.00,1.85,0.00,0.000,4,0.000,0.063,2791,3761,3563,0,0,0,0,0,0
$GC,599,-0.76,-146.0,85.5,-17.6,100,608,0.00,1.75,0.00,0.000,6,0.000,0.043,2791,2662,3563,0,0,0,0,0,0
$GC,745,-0.76,-146.0,109.5,-16.3,121,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2661,3563,0,0,0,0,0,0
$GC,881,-0.76,-146.0,132.1,-16.7,134,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2661,3563,0,0,0,0,0,0
$GC,1007,-0.76,-146.0,153.1,-16.5,146,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2661,3563,0,0,0,0,0,0
$GC,1135,-0.76,-146.0,174.1,-16.4,158,1138,0.00,1.77,0.00,0.000,4,0.000,0.063,2783,3757,3563,0,0,0,0,0,0
$GC,1169,-0.76,-146.0,180.3,-17.8,161,1173,0.12,1.73,0.00,0.000,6,0.163,0.043,2817,2644,3563,0,0,0,0,0,0
$GC,1310,-0.76,-146.0,201.9,-15.0,174,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2642,3564,0,0,0,0,0,0
$GC,1436,-0.76,-146.0,220.4,-14.9,186,1440,0.00,1.80,0.00,0.000,4,0.000,0.062,2810,3757,3564,0,0,0,0,0,0
$GC,1484,-0.76,-146.0,228.2,-14.7,190,1493,0.00,1.73,0.00,0.000,6,0.000,0.043,2810,2672,3564,0,0,0,0,0,0
$GC,1622,-0.76,-146.0,248.4,-14.9,203,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2671,3564,0,0,0,0,0,0
$GC,1756,-0.76,-146.0,269.5,-15.4,216,1757,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2671,3564,0,0,0,0,0,0
$GC,1948,-0.76,-146.0,297.7,-14.8,234,1951,0.00,1.77,0.00,0.000,4,0.000,0.063,2802,3768,3564,0,0,0,0,0,0
$GC,1993,-0.76,-146.0,304.7,-14.9,238,1997,0.00,1.75,0.00,0.000,6,0.000,0.043,2802,2670,3564,0,0,0,0,0,0
$GC,2196,-0.76,-146.0,336.3,-15.5,257,2197,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2669,3563,0,0,0,0,0,0
$GC,2388,-0.76,-146.0,369.1,-17.6,275,2392,0.00,1.83,0.00,0.000,4,0.000,0.065,2795,3762,3564,0,0,0,0,0,0
$GC,2427,-0.76,-146.0,375.6,-15.7,278,2434,0.00,1.73,0.00,0.000,6,0.000,0.042,2795,2677,3564,0,0,0,0,0,0
$STATE,2465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2465,begin apogee
$GC,2470,-0.17,0.0,381.3,15.0,282,2607,0.65,0.00,130.73,1.028,4,0.128,0.000,3004,2483,2961,0,0,0,0,0,0
$STATE,2608,end apogee,CONTROL_FINISHED_OK
$STATE,2608,begin climb
$GC,2610,0.76,146.0,387.5,0.0,294,2764,0.95,2.47,145.35,0.949,4,0.073,0.049,3309,1101,2366,0,0,0,0,0,0
$GC,2895,0.78,158.1,364.8,9.4,320,2919,0.00,2.42,12.15,0.886,6,0.000,0.050,3309,2500,2315,0,0,0,0,0,0
$GC,3109,0.78,158.1,342.0,11.0,340,3113,0.00,2.30,0.00,0.000,4,0.000,0.050,3318,1095,2309,0,0,0,0,0,0
$GC,3219,0.78,158.1,329.4,10.9,349,3227,0.00,2.35,0.00,0.000,6,0.000,0.052,3319,2517,2307,0,0,0,0,0,0
$GC,3418,0.78,158.1,306.1,11.8,368,3421,0.00,2.00,0.00,0.000,4,0.000,0.059,3319,3773,2306,0,0,0,0,0,0
$GC,3497,0.78,158.1,295.1,14.4,375,3501,0.00,1.92,0.00,0.000,6,0.000,0.044,3328,2541,2306,0,0,0,0,0,0
$GC,3703,0.78,158.1,270.4,11.6,394,3706,0.00,1.98,0.00,0.000,4,0.000,0.059,3328,3765,2305,0,0,0,0,0,0
$GC,3759,0.78,158.1,262.5,13.9,399,3763,0.00,1.90,0.00,0.000,6,0.000,0.041,3337,2541,2305,0,0,0,0,0,0
$GC,3964,0.78,158.1,236.4,13.0,418,3965,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2538,2304,0,0,0,0,0,0
$GC,4091,0.78,158.1,219.8,13.2,430,4095,0.00,1.98,0.00,0.000,4,0.000,0.060,3337,3764,2304,0,0,0,0,0,0
$GC,4127,0.78,158.1,213.8,15.3,433,4138,0.08,1.92,0.00,0.000,6,0.149,0.041,3321,2555,2304,0,0,0,0,0,0
$GC,4265,0.78,158.1,196.6,12.5,446,4268,0.00,1.95,0.00,0.000,4,0.000,0.060,3321,3764,2304,0,0,0,0,0,0
$GC,4301,0.78,158.1,191.4,15.1,449,4304,0.00,1.88,0.00,0.000,6,0.000,0.041,3329,2557,2303,0,0,0,0,0,0
$GC,4444,0.78,158.1,172.5,12.8,462,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2555,2304,0,0,0,0,0,0
$GC,4578,0.78,158.1,154.7,12.8,475,4582,0.00,1.95,0.00,0.000,4,0.000,0.060,3329,3764,2303,0,0,0,0,0,0
$GC,4614,0.78,158.1,149.7,15.4,478,4617,0.00,1.85,0.00,0.000,6,0.000,0.041,3338,2567,2303,0,0,0,0,0,0
$GC,4754,0.78,158.1,130.2,13.5,491,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2564,2303,0,0,0,0,0,0
$GC,4882,0.78,158.1,113.1,13.5,503,4885,0.00,1.95,0.00,0.000,4,0.000,0.060,3338,3770,2303,0,0,0,0,0,0
$GC,4930,0.78,158.1,105.6,15.6,507,4939,0.08,1.90,0.00,0.000,6,0.139,0.043,3320,2568,2303,0,0,0,0,0,0
$GC,5067,0.78,158.1,88.9,12.3,528,5074,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2567,2303,0,0,0,0,0,0
$GC,5206,0.78,158.1,72.5,11.8,553,5214,0.00,1.95,0.00,0.000,4,0.000,0.062,3320,3764,2302,0,0,0,0,0,0
$GC,5243,0.78,158.1,67.5,13.3,559,5249,0.00,1.85,0.00,0.000,6,0.000,0.042,3328,2575,2302,0,0,0,0,0,0
$GC,5379,0.78,158.1,49.8,13.0,584,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2574,2302,0,0,0,0,0,0
$GC,5519,0.78,158.1,31.8,12.6,609,5526,0.00,1.95,0.00,0.000,4,0.000,0.061,3328,3770,2302,0,0,0,0,0,0
$GC,5560,0.78,158.1,25.5,15.0,616,5569,0.00,1.90,0.00,0.000,6,0.000,0.043,3337,2574,2302,0,0,0,0,0,0
$FREEZE,8.53,-0.518,-1.893,2,1,0
$FREEZE,7.91,-0.504,-1.893,2,1,0
$FREEZE,6.96,-0.515,-1.892,2,1,0
$GC,5702,0.78,158.1,7.0,13.2,641,5709,0.00,1.95,0.00,0.000,4,0.000,0.059,3337,3773,2302,0,0,0,0,0,0
$FREEZE,4.69,-0.473,-1.891,2,1,0
$FREEZE,3.63,-0.466,-1.890,2,1,0
$FREEZE,2.83,-0.465,-1.890,2,1,0
$STATE,5728,end climb,SURFACE_DEPTH_REACHED
$STATE,5728,begin surface coast
$FREEZE,1.67,-0.464,-1.889,2,1,0
$FINISH,1.7,1.027642
$STATE,5735,end surface coast,CONTROL_FINISHED_OK
$STATE,5736,begin surface
$SM_CCo,5753,75.28,0.722,1,0,1737,300.24
$SM_GC,2.15,0.00,0.00,75.28,0.000,0.000,0.722,415,2642,1737,-8.28,-0.23,300.24
$IRIDIUM_FIX,-7545.40,17427.46,231210,050505
$TT8_MAMPS,0.028462
$HUMID,53.15
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,18.3
$24V_AH,20.5,55.553
$10V_AH,9.8,36.114
$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,18.300,65.750,288.225,75.275,0.000,25.939,38.387,177.542,1.500,0.000,14.208,1639.575,2099.705,479.275,1802.385,164.698,0.000,1144.865,0.000,1072.737,0.000,7.775,0.000
$DEVICE_MAMPS,199.665,80.325,1028.160,722.160,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,453.746,828.918,888.553,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43838,646
$CAP_FILE_SIZE,89986,0
$CFSIZE,260165632,234082304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.043,195.8,1
$GPS,231210,090328,-7632.787,17436.939,8,2.3,27,125.9