version: 66.08
glider: 502
mission: 3
dive: 312
start: 12 23 110 11 0 58
data:
$ID,502
$MISSION,3
$DIVE,312
$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,-30532.27
$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,29
$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
$GPS1,231210,105437,-7632.583,17440.350,33,0.9,33,125.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-72.5
$GPS2,231210,110032,-7632.564,17440.348,13,1.2,13,125.8
$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,321.2,138280,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-80.30,0.000,2,0.000,0.000,426,2662,3210,0,0,0,0,0,0
$GC,102,-0.76,-146.0,3.2,-1.0,12,131,8.80,1.85,-11.15,0.000,4,0.198,0.081,2799,3755,3560,0,0,0,0,0,0
$GC,235,-0.76,-146.0,24.4,-15.5,34,244,0.00,1.77,0.00,0.000,6,0.000,0.044,2800,2644,3562,0,0,0,0,0,0
$GC,380,-0.76,-146.0,48.2,-16.5,59,386,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2643,3563,0,0,0,0,0,0
$GC,520,-0.76,-146.0,71.7,-15.9,84,528,0.00,1.85,0.00,0.000,4,0.000,0.063,2791,3757,3564,0,0,0,0,0,0
$GC,542,-0.76,-146.0,75.2,-17.4,87,549,0.00,1.75,0.00,0.000,6,0.000,0.043,2791,2659,3564,0,0,0,0,0,0
$GC,683,-0.76,-146.0,100.1,-17.1,112,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2659,3564,0,0,0,0,0,0
$GC,813,-0.76,-146.0,122.2,-17.8,124,817,0.00,1.77,0.00,0.000,4,0.000,0.063,2784,3757,3564,0,0,0,0,0,0
$GC,839,-0.76,-146.0,127.7,-18.2,126,850,0.08,1.75,0.00,0.000,6,0.145,0.043,2810,2654,3564,0,0,0,0,0,0
$GC,975,-0.76,-146.0,148.8,-15.0,139,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2654,3564,0,0,0,0,0,0
$GC,1102,-0.76,-146.0,168.0,-14.9,151,1105,0.00,1.80,0.00,0.000,4,0.000,0.063,2802,3761,3564,0,0,0,0,0,0
$GC,1148,-0.76,-146.0,175.3,-15.7,155,1152,0.00,1.70,0.00,0.000,6,0.000,0.042,2802,2666,3564,0,0,0,0,0,0
$GC,1288,-0.76,-146.0,197.8,-16.3,168,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2663,3564,0,0,0,0,0,0
$GC,1416,-0.76,-146.0,217.8,-15.5,180,1419,0.00,1.77,0.00,0.000,4,0.000,0.063,2794,3757,3564,0,0,0,0,0,0
$GC,1464,-0.76,-146.0,226.5,-16.7,184,1473,0.00,1.75,0.00,0.000,6,0.000,0.043,2794,2654,3564,0,0,0,0,0,0
$GC,1602,-0.76,-146.0,247.5,-15.9,197,1605,0.00,1.80,0.00,0.000,4,0.000,0.064,2786,3759,3564,0,0,0,0,0,0
$GC,1635,-0.76,-146.0,253.6,-17.4,200,1639,0.12,1.67,0.00,0.000,6,0.164,0.042,2819,2678,3564,0,0,0,0,0,0
$GC,1839,-0.76,-146.0,282.3,-13.6,219,1843,0.00,1.77,0.00,0.000,4,0.000,0.063,2813,3767,3564,0,0,0,0,0,0
$GC,1866,-0.76,-146.0,286.7,-14.8,221,1873,0.00,1.73,0.00,0.000,6,0.000,0.042,2813,2687,3564,0,0,0,0,0,0
$GC,2065,-0.76,-146.0,315.3,-14.9,240,2069,0.00,2.28,0.00,0.000,4,0.000,0.050,2812,1236,3564,0,0,0,0,0,0
$GC,2097,-0.76,-146.0,320.3,-14.9,242,2106,0.00,2.38,0.00,0.000,6,0.000,0.056,2802,2679,3564,0,0,0,0,0,0
$GC,2297,-0.76,-146.0,349.7,-14.9,261,2301,0.00,1.73,0.00,0.000,4,0.000,0.062,2795,3767,3564,0,0,0,0,0,0
$GC,2356,-0.76,-146.0,359.7,-15.3,266,2365,0.00,1.70,0.00,0.000,6,0.000,0.043,2795,2696,3564,0,0,0,0,0,0
$STATE,2457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2457,begin apogee
$GC,2462,-0.17,0.0,375.6,15.8,276,2600,0.65,0.00,130.90,1.026,4,0.126,0.000,3005,2481,2960,0,0,0,0,0,0
$STATE,2600,end apogee,CONTROL_FINISHED_OK
$STATE,2600,begin climb
$GC,2602,0.76,146.0,381.9,0.0,288,2757,0.95,2.47,145.07,0.942,4,0.072,0.048,3310,1101,2365,0,0,0,0,0,0
$GC,2869,0.76,146.0,360.3,10.5,312,2876,0.00,2.47,0.00,0.000,6,0.000,0.050,3311,2504,2354,0,0,0,0,0,0
$GC,3068,0.76,146.0,338.2,11.3,331,3072,0.00,2.28,0.00,0.000,4,0.000,0.049,3315,1097,2351,0,0,0,0,0,0
$GC,3201,0.76,146.0,323.0,10.7,342,3209,0.00,2.33,0.00,0.000,6,0.000,0.051,3315,2507,2349,0,0,0,0,0,0
$GC,3399,0.76,146.0,299.7,11.9,361,3403,0.00,2.03,0.00,0.000,4,0.000,0.060,3316,3778,2348,0,0,0,0,0,0
$GC,3478,0.76,146.0,288.6,14.8,368,3482,0.00,1.98,0.00,0.000,6,0.000,0.042,3325,2510,2348,0,0,0,0,0,0
$GC,3681,0.76,146.0,261.9,12.8,387,3684,0.00,2.05,0.00,0.000,4,0.000,0.059,3324,3780,2347,0,0,0,0,0,0
$GC,3760,0.76,146.0,250.2,14.9,394,3764,0.00,1.92,0.00,0.000,6,0.000,0.041,3334,2543,2347,0,0,0,0,0,0
$GC,3966,0.76,146.0,222.8,13.0,413,3970,0.00,1.98,0.00,0.000,4,0.000,0.060,3334,3770,2346,0,0,0,0,0,0
$GC,4003,0.76,146.0,217.0,15.2,416,4012,0.08,1.95,0.00,0.000,6,0.145,0.042,3319,2549,2346,0,0,0,0,0,0
$GC,4140,0.76,146.0,200.2,12.2,429,4144,0.00,1.98,0.00,0.000,4,0.000,0.060,3318,3768,2346,0,0,0,0,0,0
$GC,4186,0.76,146.0,193.8,14.2,433,4190,0.00,1.88,0.00,0.000,6,0.000,0.041,3326,2558,2346,0,0,0,0,0,0
$GC,4327,0.76,146.0,176.3,12.0,446,4331,0.00,1.95,0.00,0.000,4,0.000,0.060,3326,3769,2346,0,0,0,0,0,0
$GC,4363,0.76,146.0,171.6,13.9,449,4366,0.00,1.88,0.00,0.000,6,0.000,0.041,3336,2560,2346,0,0,0,0,0,0
$GC,4505,0.76,146.0,153.6,12.2,462,4513,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2559,2346,0,0,0,0,0,0
$GC,4640,0.76,146.0,136.7,12.2,475,4644,0.00,1.95,0.00,0.000,4,0.000,0.060,3335,3768,2345,0,0,0,0,0,0
$GC,4689,0.76,146.0,129.6,13.9,479,4698,0.08,1.90,0.00,0.000,6,0.143,0.043,3318,2576,2345,0,0,0,0,0,0
$GC,4826,0.76,146.0,113.7,11.7,492,4833,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2576,2345,0,0,0,0,0,0
$GC,4959,0.76,146.0,98.0,11.5,506,4968,0.00,1.98,0.00,0.000,4,0.000,0.060,3318,3770,2345,0,0,0,0,0,0
$GC,5008,0.76,146.0,91.6,13.7,514,5017,0.00,1.88,0.00,0.000,6,0.000,0.042,3326,2587,2344,0,0,0,0,0,0
$GC,5155,0.76,146.0,73.9,11.6,539,5161,0.00,1.92,0.00,0.000,4,0.000,0.062,3326,3768,2345,0,0,0,0,0,0
$GC,5185,0.76,146.0,69.8,13.3,544,5193,0.00,1.88,0.00,0.000,6,0.000,0.042,3335,2590,2344,0,0,0,0,0,0
$GC,5329,0.76,146.0,52.0,12.3,569,5336,0.00,1.92,0.00,0.000,4,0.000,0.061,3335,3771,2344,0,0,0,0,0,0
$GC,5359,0.76,146.0,47.5,14.0,574,5369,0.08,1.88,0.00,0.000,6,0.143,0.042,3318,2597,2344,0,0,0,0,0,0
$GC,5507,0.76,146.0,30.4,11.7,599,5513,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2597,2344,0,0,0,0,0,0
$GC,5648,0.76,146.0,13.9,11.1,624,5656,0.00,1.92,0.00,0.000,4,0.000,0.061,3317,3760,2344,0,0,0,0,0,0
$GC,5662,0.76,146.0,12.1,12.2,626,5671,0.00,1.83,0.00,0.000,6,0.000,0.042,3325,2610,2344,0,0,0,0,0,0
$FREEZE,8.87,-0.344,-1.894,2,1,0
$FREEZE,8.23,-0.337,-1.894,2,1,0
$FREEZE,7.40,-0.330,-1.894,2,1,0
$FREEZE,6.89,-0.330,-1.893,2,1,0
$FREEZE,6.03,-0.327,-1.893,2,1,0
$FREEZE,5.40,-0.327,-1.893,2,1,0
$FREEZE,4.71,-0.328,-1.892,2,1,0
$FREEZE,4.08,-0.326,-1.892,2,1,0
$FREEZE,3.35,-0.329,-1.891,2,1,0
$FREEZE,2.71,-0.329,-1.891,2,1,0
$STATE,5741,end climb,SURFACE_DEPTH_REACHED
$STATE,5741,begin surface coast
$FREEZE,1.51,-0.329,-1.890,2,1,0
$FREEZE,1.27,-0.370,-0.259,2,1,0
$FINISH,1.3,1.003654
$STATE,5756,end surface coast,FINISH_DEPTH_REACHED
$STATE,5756,begin surface
$SM_CCo,5772,75.85,0.101,0,0,1736,300.24
$SM_GC,2.16,0.00,0.00,75.85,0.000,0.000,0.101,435,2664,1736,-8.22,0.40,300.24
$IRIDIUM_FIX,-7545.40,17427.46,231210,090951
$TT8_MAMPS,0.028462
$HUMID,52.44
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,18.1
$24V_AH,20.5,55.761
$10V_AH,9.8,36.281
$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,18.350,81.400,275.975,75.850,0.000,27.835,37.673,185.840,1.750,0.000,14.494,1638.648,2087.140,486.724,1831.996,167.145,0.000,1172.570,0.000,1085.908,0.000,7.767,0.000
$DEVICE_MAMPS,198.135,114.750,1025.865,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,449.743,827.155,900.824,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43864,641
$CAP_FILE_SIZE,94499,0
$CFSIZE,260165632,233971712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064, 84.5,1
$GPS,231210,123914,-7632.512,17444.355,11,1.1,11,125.7