version: 66.08
glider: 502
mission: 3
dive: 313
start: 12 23 110 12 46 52
data:
$ID,502
$MISSION,3
$DIVE,313
$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,-30533.525
$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,31
$R_STBD_OVSHOOT,26
$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
$GPS1,231210,123914,-7632.512,17444.355,11,1.1,11,125.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-73.4
$GPS2,231210,124626,-7632.496,17444.500,16,1.0,16,125.7
$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,323.2,136482,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,97,0.00,0.00,-79.18,0.000,2,0.000,0.000,435,2665,3184,0,0,0,0,0,0
$GC,100,-0.76,-146.0,3.1,-1.0,12,129,8.88,1.85,-12.38,0.000,4,0.197,0.082,2801,3754,3560,0,0,0,0,0,0
$GC,201,-0.76,-146.0,19.0,-17.5,29,209,0.00,1.77,0.00,0.000,6,0.000,0.044,2801,2628,3561,0,0,0,0,0,0
$GC,338,-0.76,-146.0,42.4,-16.6,54,346,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2627,3562,0,0,0,0,0,0
$GC,477,-0.76,-146.0,65.4,-16.9,79,484,0.00,1.88,0.00,0.000,4,0.000,0.063,2792,3768,3562,0,0,0,0,0,0
$GC,514,-0.76,-146.0,71.7,-17.8,85,522,0.00,1.77,0.00,0.000,6,0.000,0.044,2793,2656,3563,0,0,0,0,0,0
$GC,651,-0.76,-146.0,95.4,-17.3,110,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2656,3563,0,0,0,0,0,0
$GC,789,-0.76,-146.0,118.4,-16.5,125,792,0.00,1.80,0.00,0.000,4,0.000,0.063,2785,3760,3563,0,0,0,0,0,0
$GC,835,-0.76,-146.0,126.6,-17.1,129,840,0.12,1.70,0.00,0.000,6,0.164,0.042,2819,2663,3563,0,0,0,0,0,0
$GC,976,-0.76,-146.0,147.7,-14.6,142,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2662,3563,0,0,0,0,0,0
$GC,1104,-0.76,-146.0,166.0,-14.3,154,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2662,3563,0,0,0,0,0,0
$GC,1232,-0.76,-146.0,184.5,-14.3,166,1235,0.00,1.80,0.00,0.000,4,0.000,0.063,2812,3768,3563,0,0,0,0,0,0
$GC,1279,-0.76,-146.0,192.4,-15.0,170,1288,0.00,1.75,0.00,0.000,6,0.000,0.042,2812,2669,3563,0,0,0,0,0,0
$GC,1417,-0.76,-146.0,212.4,-14.9,183,1421,0.00,1.77,0.00,0.000,4,0.000,0.062,2803,3760,3563,0,0,0,0,0,0
$GC,1455,-0.76,-146.0,218.8,-15.2,186,1464,0.00,1.70,0.00,0.000,6,0.000,0.043,2803,2694,3563,0,0,0,0,0,0
$GC,1590,-0.76,-146.0,238.7,-14.8,199,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2693,3563,0,0,0,0,0,0
$GC,1717,-0.76,-146.0,257.9,-15.1,211,1721,0.00,2.28,0.00,0.000,4,0.000,0.050,2803,1243,3564,0,0,0,0,0,0
$GC,1734,-0.76,-146.0,260.5,-15.5,212,1738,0.00,2.35,0.00,0.000,6,0.000,0.057,2797,2692,3563,0,0,0,0,0,0
$GC,1932,-0.76,-146.0,291.0,-15.6,230,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2692,3563,0,0,0,0,0,0
$GC,2123,-0.76,-146.0,320.6,-15.2,248,2126,0.00,1.73,0.00,0.000,4,0.000,0.061,2789,3773,3563,0,0,0,0,0,0
$GC,2172,-0.76,-146.0,328.8,-15.8,252,2180,0.00,1.73,0.00,0.000,6,0.000,0.043,2789,2689,3564,0,0,0,0,0,0
$GC,2370,-0.76,-146.0,360.0,-15.7,271,2374,0.10,1.77,0.00,0.000,4,0.177,0.063,2807,3766,3563,0,0,0,0,0,0
$GC,2398,-0.76,-146.0,364.5,-15.7,273,2406,0.00,1.70,0.00,0.000,6,0.000,0.042,2808,2668,3563,0,0,0,0,0,0
$STATE,2477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2477,begin apogee
$GC,2482,-0.17,0.0,376.2,14.4,281,2620,0.60,0.00,131.27,1.024,4,0.125,0.000,3003,2489,2960,0,0,0,0,0,0
$STATE,2621,end apogee,CONTROL_FINISHED_OK
$STATE,2621,begin climb
$GC,2623,0.76,146.0,381.9,0.0,293,2778,0.95,2.47,145.23,0.942,4,0.073,0.048,3308,1102,2365,0,0,0,0,0,0
$GC,2879,0.76,146.0,361.0,10.9,316,2886,0.00,2.47,0.00,0.000,6,0.000,0.050,3309,2497,2354,0,0,0,0,0,0
$GC,3077,0.76,146.0,338.1,11.5,335,3080,0.00,2.28,0.00,0.000,4,0.000,0.048,3318,1097,2351,0,0,0,0,0,0
$GC,3190,0.76,146.0,325.1,11.0,345,3194,0.00,2.30,0.00,0.000,6,0.000,0.052,3318,2518,2349,0,0,0,0,0,0
$GC,3389,0.76,146.0,300.8,12.4,363,3392,0.00,2.00,0.00,0.000,4,0.000,0.059,3318,3773,2348,0,0,0,0,0,0
$GC,3489,0.76,146.0,285.8,15.1,372,3493,0.00,1.92,0.00,0.000,6,0.000,0.042,3327,2536,2348,0,0,0,0,0,0
$GC,3692,0.76,146.0,257.5,13.4,391,3696,0.00,1.98,0.00,0.000,4,0.000,0.060,3327,3764,2347,0,0,0,0,0,0
$GC,3730,0.76,146.0,251.7,14.8,394,3738,0.00,1.95,0.00,0.000,6,0.000,0.041,3337,2542,2347,0,0,0,0,0,0
$GC,3930,0.76,146.0,224.7,13.4,413,3931,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2540,2347,0,0,0,0,0,0
$GC,4057,0.76,146.0,207.8,13.0,425,4061,0.00,1.98,0.00,0.000,4,0.000,0.060,3337,3768,2347,0,0,0,0,0,0
$GC,4095,0.76,146.0,201.8,15.3,428,4104,0.10,1.95,0.00,0.000,6,0.140,0.041,3313,2544,2347,0,0,0,0,0,0
$GC,4231,0.76,146.0,186.0,11.3,441,4235,0.00,1.98,0.00,0.000,4,0.000,0.060,3313,3769,2347,0,0,0,0,0,0
$GC,4268,0.76,146.0,180.6,13.7,444,4277,0.00,1.95,0.00,0.000,6,0.000,0.042,3321,2546,2346,0,0,0,0,0,0
$GC,4406,0.76,146.0,164.2,12.3,457,4409,0.00,1.98,0.00,0.000,4,0.000,0.060,3320,3768,2346,0,0,0,0,0,0
$GC,4432,0.76,146.0,160.2,13.9,459,4441,0.00,1.92,0.00,0.000,6,0.000,0.042,3330,2554,2346,0,0,0,0,0,0
$GC,4568,0.76,146.0,143.2,12.5,472,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2553,2346,0,0,0,0,0,0
$GC,4695,0.76,146.0,126.8,12.8,484,4699,0.00,1.95,0.00,0.000,4,0.000,0.060,3330,3764,2345,0,0,0,0,0,0
$GC,4742,0.76,146.0,120.3,14.7,488,4745,0.00,1.85,0.00,0.000,6,0.000,0.041,3339,2567,2345,0,0,0,0,0,0
$GC,4882,0.76,146.0,101.4,13.1,501,4886,0.00,1.95,0.00,0.000,4,0.000,0.060,3340,3772,2345,0,0,0,0,0,0
$GC,4912,0.76,146.0,97.0,14.9,505,4921,0.12,1.88,0.00,0.000,6,0.164,0.042,3315,2569,2345,0,0,0,0,0,0
$GC,5053,0.76,146.0,80.0,11.2,530,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2568,2345,0,0,0,0,0,0
$GC,5192,0.76,146.0,63.2,11.9,555,5199,0.00,1.95,0.00,0.000,4,0.000,0.061,3315,3766,2345,0,0,0,0,0,0
$GC,5218,0.76,146.0,59.8,13.2,559,5224,0.00,1.85,0.00,0.000,6,0.000,0.042,3322,2577,2345,0,0,0,0,0,0
$GC,5355,0.76,146.0,42.8,11.9,584,5363,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2576,2344,0,0,0,0,0,0
$GC,5494,0.76,146.0,26.1,12.4,609,5501,0.00,1.95,0.00,0.000,4,0.000,0.060,3322,3773,2344,0,0,0,0,0,0
$GC,5547,0.76,146.0,18.7,13.6,618,5555,0.00,1.90,0.00,0.000,6,0.000,0.044,3331,2579,2345,0,0,0,0,0,0
$FREEZE,8.54,-0.316,-1.895,2,1,0
$FREEZE,7.74,-0.316,-1.895,2,1,0
$FREEZE,7.02,-0.314,-1.894,2,1,0
$FREEZE,6.26,-0.316,-1.894,2,1,0
$FREEZE,5.49,-0.314,-1.893,2,1,0
$FREEZE,4.78,-0.315,-1.893,2,1,0
$FREEZE,4.04,-0.315,-1.892,2,1,0
$FREEZE,3.25,-0.316,-1.892,2,1,0
$FREEZE,2.26,-0.316,-1.891,2,1,0
$STATE,5672,end climb,SURFACE_DEPTH_REACHED
$STATE,5672,begin surface coast
$FREEZE,1.55,-0.317,-1.890,2,1,0
$FREEZE,1.36,-0.432,-1.590,2,1,0
$FREEZE,1.37,-0.635,-1.909,2,1,0
$FREEZE,1.23,-0.464,-0.360,2,1,0
$FINISH,1.2,1.005175
$STATE,5697,end surface coast,FINISH_DEPTH_REACHED
$STATE,5697,begin surface
$SM_CCo,5713,80.15,0.723,1,0,1736,300.24
$SM_GC,2.25,0.00,0.00,80.15,0.000,0.000,0.723,430,2662,1736,-8.24,0.34,300.24
$IRIDIUM_FIX,-7545.40,17437.51,231210,101006
$TT8_MAMPS,0.028462
$HUMID,52.59
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,17.6
$24V_AH,20.5,55.872
$10V_AH,9.8,36.364
$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,18.475,74.150,276.500,80.150,0.000,23.217,41.793,252.732,1.500,0.000,17.306,1639.781,2045.793,482.371,1905.913,164.704,0.000,1152.131,0.000,1074.593,0.000,7.773,0.000
$DEVICE_MAMPS,197.370,98.685,1024.335,722.925,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,452.229,836.338,916.935,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43931,644
$CAP_FILE_SIZE,92832,0
$CFSIZE,260165632,233922560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.109, 91.0,1
$GPS,231210,142437,-7632.493,17449.172,29,0.9,29,125.6