version: 66.08
glider: 502
mission: 3
dive: 311
start: 12 23 110 9 13 54
data:
$ID,502
$MISSION,3
$DIVE,311
$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,-30531.01
$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,37
$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
$GPS1,231210,090328,-7632.787,17436.939,8,2.3,27,125.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-74.1
$GPS2,231210,091328,-7632.723,17436.928,15,5.1,34,125.9
$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,313.1,139768,-17.5,-10.000
$D_GRID,379
$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,-146.0,0.0,0.0,0,97,0.00,0.00,-80.35,0.000,2,0.000,0.000,413,2641,3210,0,0,0,0,0,0
$GC,100,-0.76,-146.0,3.1,-0.9,12,130,8.88,1.92,-11.07,0.000,4,0.197,0.080,2801,3767,3560,0,0,0,0,0,0
$GC,243,-0.76,-146.0,26.4,-17.1,36,252,0.00,1.77,0.00,0.000,6,0.000,0.044,2801,2657,3562,0,0,0,0,0,0
$GC,388,-0.76,-146.0,49.4,-15.7,61,394,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2657,3563,0,0,0,0,0,0
$GC,528,-0.76,-146.0,72.5,-16.3,86,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2656,3563,0,0,0,0,0,0
$GC,672,-0.76,-146.0,96.3,-16.8,111,679,0.00,1.83,0.00,0.000,4,0.000,0.062,2793,3771,3563,0,0,0,0,0,0
$GC,708,-0.76,-146.0,103.0,-19.0,116,712,0.00,1.75,0.00,0.000,6,0.000,0.043,2793,2644,3563,0,0,0,0,0,0
$GC,849,-0.76,-146.0,127.0,-16.9,129,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2641,3563,0,0,0,0,0,0
$GC,977,-0.76,-146.0,148.9,-16.8,141,980,0.00,1.83,0.00,0.000,4,0.000,0.062,2784,3765,3563,0,0,0,0,0,0
$GC,1003,-0.76,-146.0,154.4,-18.3,143,1013,0.08,1.75,0.00,0.000,6,0.147,0.042,2810,2659,3563,0,0,0,0,0,0
$GC,1140,-0.76,-146.0,175.4,-15.7,156,1144,0.00,1.80,0.00,0.000,4,0.000,0.062,2803,3769,3563,0,0,0,0,0,0
$GC,1164,-0.76,-146.0,179.5,-16.2,158,1168,0.00,1.73,0.00,0.000,6,0.000,0.043,2803,2658,3563,0,0,0,0,0,0
$GC,1306,-0.76,-146.0,202.2,-15.9,171,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2655,3563,0,0,0,0,0,0
$GC,1433,-0.76,-146.0,222.2,-15.6,183,1436,0.00,1.80,0.00,0.000,4,0.000,0.063,2795,3763,3563,0,0,0,0,0,0
$GC,1469,-0.76,-146.0,228.0,-16.2,186,1472,0.00,1.67,0.00,0.000,6,0.000,0.042,2795,2681,3563,0,0,0,0,0,0
$GC,1612,-0.76,-146.0,250.3,-15.6,199,1616,0.00,1.75,0.00,0.000,4,0.000,0.062,2787,3763,3563,0,0,0,0,0,0
$GC,1635,-0.76,-146.0,254.8,-15.9,201,1639,0.12,1.65,0.00,0.000,6,0.164,0.042,2821,2694,3563,0,0,0,0,0,0
$GC,1838,-0.76,-146.0,282.9,-13.8,220,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2693,3563,0,0,0,0,0,0
$GC,2029,-0.76,-146.0,309.3,-13.9,238,2032,0.00,1.75,0.00,0.000,4,0.000,0.062,2814,3773,3563,0,0,0,0,0,0
$GC,2055,-0.76,-146.0,313.6,-14.9,240,2063,0.00,1.67,0.00,0.000,6,0.000,0.042,2814,2719,3563,0,0,0,0,0,0
$GC,2256,-0.76,-146.0,341.6,-14.4,259,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2718,3563,0,0,0,0,0,0
$GC,2444,-0.76,-146.0,368.7,-14.2,277,2448,0.00,1.70,0.00,0.000,4,0.000,0.063,2806,3767,3563,0,0,0,0,0,0
$GC,2489,-0.76,-146.0,375.2,-14.8,281,2493,0.00,1.65,0.00,0.000,6,0.000,0.044,2806,2703,3563,0,0,0,0,0,0
$STATE,2521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2521,begin apogee
$GC,2526,-0.17,0.0,380.3,15.3,284,2662,0.62,0.00,130.93,1.026,4,0.127,0.000,3007,2490,2961,0,0,0,0,0,0
$STATE,2663,end apogee,CONTROL_FINISHED_OK
$STATE,2663,begin climb
$GC,2665,0.76,146.0,385.6,0.0,296,2820,0.95,2.50,145.38,0.946,4,0.072,0.049,3313,1098,2364,0,0,0,0,0,0
$GC,2909,0.76,146.0,365.5,10.3,318,2917,0.00,2.50,0.00,0.000,6,0.000,0.050,3313,2506,2355,0,0,0,0,0,0
$GC,3107,0.76,146.0,341.3,12.7,337,3111,0.00,2.30,0.00,0.000,4,0.000,0.049,3323,1095,2351,0,0,0,0,0,0
$GC,3236,0.76,146.0,325.6,11.8,348,3240,0.00,2.30,0.00,0.000,6,0.000,0.052,3323,2516,2348,0,0,0,0,0,0
$GC,3435,0.76,146.0,300.1,12.8,366,3438,0.00,2.00,0.00,0.000,4,0.000,0.059,3323,3773,2348,0,0,0,0,0,0
$GC,3514,0.76,146.0,288.0,15.4,373,3518,0.00,1.92,0.00,0.000,6,0.000,0.042,3333,2536,2347,0,0,0,0,0,0
$GC,3716,0.76,146.0,260.1,13.7,392,3720,0.00,1.98,0.00,0.000,4,0.000,0.059,3333,3764,2346,0,0,0,0,0,0
$GC,3751,0.76,146.0,255.2,15.2,395,3756,0.12,1.92,0.00,0.000,6,0.162,0.041,3309,2523,2346,0,0,0,0,0,0
$GC,3950,0.76,146.0,232.0,11.5,413,3954,0.00,2.00,0.00,0.000,4,0.000,0.060,3309,3763,2346,0,0,0,0,0,0
$GC,4019,0.76,146.0,223.4,13.3,419,4022,0.00,1.88,0.00,0.000,6,0.000,0.042,3317,2553,2346,0,0,0,0,0,0
$GC,4161,0.76,146.0,206.8,11.3,432,4165,0.00,1.95,0.00,0.000,4,0.000,0.060,3317,3763,2346,0,0,0,0,0,0
$GC,4198,0.76,146.0,202.3,12.8,435,4202,0.00,1.85,0.00,0.000,6,0.000,0.041,3326,2560,2346,0,0,0,0,0,0
$GC,4340,0.76,146.0,185.1,11.7,448,4348,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2559,2346,0,0,0,0,0,0
$GC,4475,0.76,146.0,168.9,11.7,461,4479,0.00,1.95,0.00,0.000,4,0.000,0.060,3326,3766,2345,0,0,0,0,0,0
$GC,4532,0.76,146.0,161.4,13.8,466,4536,0.00,1.85,0.00,0.000,6,0.000,0.041,3335,2566,2345,0,0,0,0,0,0
$GC,4673,0.76,146.0,143.6,12.6,479,4674,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2564,2345,0,0,0,0,0,0
$GC,4801,0.76,146.0,127.7,12.5,491,4804,0.00,1.95,0.00,0.000,4,0.000,0.061,3335,3771,2345,0,0,0,0,0,0
$GC,4847,0.76,146.0,121.5,14.8,495,4852,0.12,1.85,0.00,0.000,6,0.163,0.043,3311,2576,2344,0,0,0,0,0,0
$GC,4989,0.76,146.0,105.2,10.9,508,4997,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2573,2344,0,0,0,0,0,0
$GC,5130,0.76,146.0,89.4,10.8,529,5136,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2573,2344,0,0,0,0,0,0
$GC,5270,0.76,146.0,73.5,10.9,554,5279,0.00,1.98,0.00,0.000,4,0.000,0.061,3311,3768,2344,0,0,0,0,0,0
$GC,5308,0.76,146.0,68.9,12.8,560,5316,0.00,1.88,0.00,0.000,6,0.000,0.042,3318,2586,2344,0,0,0,0,0,0
$GC,5454,0.76,146.0,52.0,11.6,585,5460,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2585,2344,0,0,0,0,0,0
$GC,5595,0.76,146.0,34.8,12.1,610,5604,0.00,1.95,0.00,0.000,4,0.000,0.061,3318,3763,2344,0,0,0,0,0,0
$GC,5629,0.76,146.0,30.5,13.7,615,5636,0.00,1.83,0.00,0.000,6,0.000,0.041,3327,2589,2343,0,0,0,0,0,0
$GC,5774,0.76,146.0,11.7,12.8,640,5781,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2587,2344,0,0,0,0,0,0
$FREEZE,8.90,-0.458,-1.896,2,1,0
$FREEZE,8.08,-0.459,-1.895,2,1,0
$FREEZE,7.42,-0.456,-1.894,2,1,0
$FREEZE,6.68,-0.451,-1.894,2,1,0
$FREEZE,5.96,-0.456,-1.893,2,1,0
$FREEZE,5.03,-0.454,-1.893,2,1,0
$FREEZE,4.37,-0.452,-1.892,2,1,0
$FREEZE,3.57,-0.455,-1.892,2,1,0
$FREEZE,2.79,-0.455,-1.891,2,1,0
$STATE,5841,end climb,SURFACE_DEPTH_REACHED
$STATE,5841,begin surface coast
$FREEZE,1.95,-0.459,-1.890,2,1,0
$FREEZE,1.35,-0.461,-1.890,2,1,0
$FREEZE,1.27,-0.737,-1.890,2,1,0
$FREEZE,1.41,-0.486,-1.818,2,1,0
$FINISH,1.4,1.026641
$STATE,5869,end surface coast,CONTROL_FINISHED_OK
$STATE,5869,begin surface
$SM_CCo,5885,83.07,0.726,1,0,1737,300.24
$SM_GC,2.31,0.00,0.00,83.07,0.000,0.000,0.726,427,2662,1737,-8.25,0.34,300.24
$IRIDIUM_FIX,-7545.40,17436.64,231210,090959
$TT8_MAMPS,0.027713
$HUMID,52.67
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,20.0,18.2
$24V_AH,20.5,55.668
$10V_AH,9.7,36.199
$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,18.450,68.775,276.300,83.075,0.000,60.695,77.605,239.860,1.750,0.000,36.156,1680.397,2236.549,464.077,2024.324,175.740,0.000,1140.330,0.000,1092.550,0.000,7.773,0.000
$DEVICE_MAMPS,197.370,103.275,1025.865,725.985,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,460.630,845.705,917.117,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258096
$DATA_FILE_SIZE,47121,655
$CAP_FILE_SIZE,96792,0
$CFSIZE,260165632,234020864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.017,103.6,1
$GPS,231210,105437,-7632.583,17440.350,33,0.9,33,125.8