version: 66.08
glider: 502
mission: 3
dive: 314
start: 12 23 110 14 30 52
data:
$ID,502
$MISSION,3
$DIVE,314
$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,-30534.785
$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,25
$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
$GPS1,231210,142437,-7632.493,17449.172,29,0.9,29,125.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-73.1
$GPS2,231210,143026,-7632.476,17449.357,15,1.0,15,125.6
$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,321.2,134382,-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,-146.0,0.0,0.0,0,87,0.00,0.00,-68.38,0.000,2,0.000,0.000,429,2662,2966,0,0,0,0,0,0
$GC,89,-0.76,-146.0,3.0,-2.0,10,133,8.77,1.85,-25.17,0.000,4,0.197,0.080,2798,3762,3560,0,0,0,0,0,0
$GC,205,-0.76,-146.0,16.5,-17.5,29,212,0.00,1.77,0.00,0.000,6,0.000,0.043,2799,2631,3561,0,0,0,0,0,0
$GC,343,-0.76,-146.0,39.8,-16.6,54,351,0.00,1.88,0.00,0.000,4,0.000,0.063,2790,3756,3561,0,0,0,0,0,0
$GC,380,-0.76,-146.0,46.3,-17.7,60,388,0.00,1.75,0.00,0.000,6,0.000,0.043,2790,2662,3561,0,0,0,0,0,0
$GC,520,-0.76,-146.0,70.2,-17.6,85,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2661,3562,0,0,0,0,0,0
$GC,655,-0.76,-146.0,93.8,-16.6,110,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2661,3563,0,0,0,0,0,0
$GC,792,-0.76,-146.0,116.9,-16.8,126,795,0.00,1.80,0.00,0.000,4,0.000,0.063,2782,3770,3562,0,0,0,0,0,0
$GC,829,-0.76,-146.0,124.1,-18.5,129,839,0.08,1.75,0.00,0.000,6,0.143,0.043,2808,2669,3562,0,0,0,0,0,0
$GC,965,-0.76,-146.0,145.3,-15.4,142,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2668,3563,0,0,0,0,0,0
$GC,1092,-0.76,-146.0,164.9,-14.8,154,1096,0.00,2.25,0.00,0.000,4,0.000,0.050,2808,1230,3563,0,0,0,0,0,0
$GC,1113,-0.76,-146.0,168.7,-15.9,155,1122,0.00,2.38,0.00,0.000,6,0.000,0.056,2799,2674,3563,0,0,0,0,0,0
$GC,1249,-0.76,-146.0,189.3,-15.8,168,1253,0.00,1.75,0.00,0.000,4,0.000,0.061,2791,3774,3563,0,0,0,0,0,0
$GC,1317,-0.76,-146.0,201.0,-17.4,174,1321,0.00,1.70,0.00,0.000,6,0.000,0.043,2790,2680,3563,0,0,0,0,0,0
$GC,1458,-0.76,-146.0,224.4,-16.9,187,1462,0.00,2.25,0.00,0.000,4,0.000,0.050,2790,1241,3563,0,0,0,0,0,0
$GC,1498,-0.76,-146.0,230.9,-15.4,190,1503,0.12,2.35,0.00,0.000,6,0.161,0.057,2815,2692,3563,0,0,0,0,0,0
$GC,1635,-0.76,-146.0,249.7,-13.6,202,1640,0.00,1.70,0.00,0.000,4,0.000,0.063,2808,3763,3563,0,0,0,0,0,0
$GC,1702,-0.76,-146.0,259.9,-14.2,208,1705,0.00,1.65,0.00,0.000,6,0.000,0.042,2809,2694,3563,0,0,0,0,0,0
$GC,1905,-0.76,-146.0,288.3,-14.2,227,1906,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2693,3563,0,0,0,0,0,0
$GC,2098,-0.76,-146.0,316.0,-14.7,245,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2693,3563,0,0,0,0,0,0
$GC,2286,-0.76,-146.0,343.8,-14.4,263,2290,0.00,1.75,0.00,0.000,4,0.000,0.063,2801,3771,3563,0,0,0,0,0,0
$GC,2324,-0.76,-146.0,349.9,-15.4,266,2333,0.00,1.67,0.00,0.000,6,0.000,0.043,2801,2714,3563,0,0,0,0,0,0
$STATE,2500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2500,begin apogee
$GC,2505,-0.17,0.0,375.5,14.1,283,2643,0.62,0.00,130.77,1.024,4,0.127,0.000,3003,2486,2960,0,0,0,0,0,0
$STATE,2643,end apogee,CONTROL_FINISHED_OK
$STATE,2643,begin climb
$GC,2645,0.76,146.0,381.3,0.0,295,2800,0.95,2.47,145.10,0.942,4,0.073,0.048,3307,1100,2364,0,0,0,0,0,0
$GC,2897,0.76,146.0,360.7,10.7,318,2902,0.00,2.47,0.00,0.000,6,0.000,0.051,3307,2498,2355,0,0,0,0,0,0
$GC,3095,0.76,146.0,337.9,11.4,336,3099,0.00,2.28,0.00,0.000,4,0.000,0.049,3315,1099,2351,0,0,0,0,0,0
$GC,3213,0.76,146.0,324.7,11.0,346,3217,0.00,2.30,0.00,0.000,6,0.000,0.052,3315,2518,2349,0,0,0,0,0,0
$GC,3411,0.76,146.0,301.5,11.9,364,3414,0.00,2.00,0.00,0.000,4,0.000,0.059,3315,3770,2348,0,0,0,0,0,0
$GC,3502,0.76,146.0,288.8,14.4,372,3506,0.00,1.95,0.00,0.000,6,0.000,0.043,3324,2548,2348,0,0,0,0,0,0
$GC,3705,0.76,146.0,262.9,12.3,391,3708,0.00,1.98,0.00,0.000,4,0.000,0.060,3324,3769,2346,0,0,0,0,0,0
$GC,3742,0.76,146.0,257.4,14.3,394,3749,0.00,1.98,0.00,0.000,6,0.000,0.041,3333,2524,2346,0,0,0,0,0,0
$GC,3942,0.76,146.0,231.8,12.9,413,3946,0.00,2.00,0.00,0.000,4,0.000,0.060,3334,3764,2346,0,0,0,0,0,0
$GC,4010,0.76,146.0,221.8,15.0,419,4014,0.12,1.90,0.00,0.000,6,0.165,0.041,3310,2542,2346,0,0,0,0,0,0
$GC,4151,0.76,146.0,205.8,10.9,432,4154,0.00,1.98,0.00,0.000,4,0.000,0.060,3309,3764,2346,0,0,0,0,0,0
$GC,4176,0.76,146.0,202.1,12.9,434,4186,0.00,1.92,0.00,0.000,6,0.000,0.041,3318,2555,2345,0,0,0,0,0,0
$GC,4313,0.76,146.0,185.9,12.5,447,4314,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2554,2346,0,0,0,0,0,0
$GC,4440,0.76,146.0,169.9,13.1,459,4443,0.00,1.95,0.00,0.000,4,0.000,0.059,3318,3767,2346,0,0,0,0,0,0
$GC,4464,0.76,146.0,166.5,14.0,461,4468,0.00,1.88,0.00,0.000,6,0.000,0.041,3327,2556,2345,0,0,0,0,0,0
$GC,4605,0.76,146.0,148.0,12.6,474,4606,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2553,2345,0,0,0,0,0,0
$GC,4732,0.76,146.0,131.9,12.4,486,4733,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2553,2345,0,0,0,0,0,0
$GC,4860,0.76,146.0,116.4,12.3,498,4863,0.00,1.95,0.00,0.000,4,0.000,0.060,3327,3765,2345,0,0,0,0,0,0
$GC,4908,0.76,146.0,109.1,14.7,502,4917,0.00,1.90,0.00,0.000,6,0.000,0.041,3336,2565,2345,0,0,0,0,0,0
$GC,5047,0.76,146.0,91.1,13.3,521,5053,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2564,2344,0,0,0,0,0,0
$GC,5182,0.76,146.0,73.2,12.4,546,5190,0.00,1.98,0.00,0.000,4,0.000,0.060,3336,3756,2344,0,0,0,0,0,0
$GC,5207,0.76,146.0,69.7,13.4,550,5215,0.10,1.90,0.00,0.000,6,0.138,0.043,3312,2565,2344,0,0,0,0,0,0
$GC,5348,0.76,146.0,54.3,10.9,575,5355,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2563,2344,0,0,0,0,0,0
$GC,5485,0.76,146.0,38.8,11.0,600,5492,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2564,2344,0,0,0,0,0,0
$GC,5624,0.76,146.0,23.5,11.5,625,5631,0.00,1.98,0.00,0.000,4,0.000,0.061,3312,3773,2344,0,0,0,0,0,0
$GC,5682,0.76,146.0,16.1,13.0,635,5690,0.00,1.88,0.00,0.000,6,0.000,0.043,3320,2573,2344,0,0,0,0,0,0
$FREEZE,8.67,-0.352,-1.895,2,1,0
$FREEZE,7.90,-0.351,-1.894,2,1,0
$FREEZE,7.26,-0.350,-1.894,2,1,0
$FREEZE,6.65,-0.350,-1.894,2,1,0
$FREEZE,6.02,-0.354,-1.893,2,1,0
$FREEZE,5.09,-0.352,-1.893,2,1,0
$FREEZE,4.63,-0.351,-1.892,2,1,0
$FREEZE,3.79,-0.351,-1.892,2,1,0
$FREEZE,3.02,-0.350,-1.891,2,1,0
$FREEZE,2.35,-0.353,-1.891,2,1,0
$STATE,5793,end climb,SURFACE_DEPTH_REACHED
$STATE,5793,begin surface coast
$FREEZE,1.42,-0.357,-1.890,2,1,0
$FREEZE,1.36,-0.490,-1.015,2,1,0
$FREEZE,1.29,-0.494,-0.511,2,1,0
$FINISH,1.3,1.007447
$STATE,5814,end surface coast,FINISH_DEPTH_REACHED
$STATE,5814,begin surface
$SM_CCo,5830,83.45,0.724,1,0,1736,300.24
$SM_GC,2.19,0.00,0.00,83.45,0.000,0.000,0.724,420,2659,1736,-8.27,0.25,300.24
$IRIDIUM_FIX,-7545.40,17436.64,231210,121239
$TT8_MAMPS,0.028462
$HUMID,52.67
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,18.7
$24V_AH,20.5,55.980
$10V_AH,9.7,36.447
$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,18.325,71.350,275.875,83.450,0.000,30.866,41.702,171.915,1.500,0.000,16.010,1678.732,2105.181,477.117,1854.791,159.844,0.000,1157.463,0.000,1101.159,0.000,7.760,0.000
$DEVICE_MAMPS,197.370,94.860,1024.335,724.455,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,461.767,849.933,919.493,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47040,657
$CAP_FILE_SIZE,93029,0
$CFSIZE,260165632,233865216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.145,107.9,1
$GPS,231210,161020,-7632.558,17454.441,13,2.0,13,125.5