version: 66.08
glider: 502
mission: 3
dive: 319
start: 12 23 110 23 41 46
data:
$ID,502
$MISSION,3
$DIVE,319
$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,-30541.074
$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,35
$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
$GPS1,231210,232555,-7632.288,17509.668,40,1.0,40,125.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-73.8
$GPS2,231210,234120,-7632.250,17509.713,15,1.1,15,125.1
$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,325.3,125572,-17.5,-10.000
$D_GRID,380
$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,-146.0,0.0,0.0,0,81,0.00,0.00,-63.33,0.000,2,0.000,0.000,413,2654,2863,0,0,0,0,0,0
$GC,83,-0.76,-146.0,3.0,-2.7,9,129,8.88,1.90,-31.38,0.000,4,0.197,0.080,2802,3763,3559,0,0,0,0,0,0
$GC,285,-0.76,-146.0,29.1,-17.3,44,293,0.00,1.80,0.00,0.000,6,0.000,0.043,2802,2636,3562,0,0,0,0,0,0
$GC,423,-0.76,-146.0,51.9,-16.8,69,430,0.00,1.85,0.00,0.000,4,0.000,0.063,2793,3764,3563,0,0,0,0,0,0
$GC,452,-0.76,-146.0,57.5,-18.0,74,461,0.00,1.75,0.00,0.000,6,0.000,0.042,2793,2667,3562,0,0,0,0,0,0
$GC,593,-0.76,-146.0,81.7,-16.6,99,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2667,3563,0,0,0,0,0,0
$GC,734,-0.76,-146.0,106.2,-17.6,122,738,0.00,1.77,0.00,0.000,4,0.000,0.063,2785,3760,3563,0,0,0,0,0,0
$GC,759,-0.76,-146.0,110.6,-18.2,124,763,0.12,1.73,0.00,0.000,6,0.164,0.042,2819,2649,3563,0,0,0,0,0,0
$GC,899,-0.76,-146.0,132.2,-14.6,137,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2646,3563,0,0,0,0,0,0
$GC,1027,-0.76,-146.0,150.4,-14.0,149,1030,0.00,1.80,0.00,0.000,4,0.000,0.063,2811,3760,3563,0,0,0,0,0,0
$GC,1052,-0.76,-146.0,153.9,-14.7,151,1056,0.00,1.70,0.00,0.000,6,0.000,0.042,2811,2667,3563,0,0,0,0,0,0
$GC,1194,-0.76,-146.0,175.1,-15.4,164,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2664,3563,0,0,0,0,0,0
$GC,1330,-0.76,-146.0,195.5,-14.6,177,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2664,3563,0,0,0,0,0,0
$GC,1456,-0.76,-146.0,214.2,-14.6,189,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2664,3563,0,0,0,0,0,0
$GC,1584,-0.76,-146.0,233.0,-14.7,201,1587,0.00,1.77,0.00,0.000,4,0.000,0.063,2803,3760,3563,0,0,0,0,0,0
$GC,1630,-0.76,-146.0,240.0,-15.7,205,1634,0.00,1.70,0.00,0.000,6,0.000,0.042,2803,2666,3563,0,0,0,0,0,0
$GC,1770,-0.76,-146.0,261.8,-15.1,218,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2663,3563,0,0,0,0,0,0
$GC,1961,-0.76,-146.0,291.1,-15.3,236,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2663,3563,0,0,0,0,0,0
$GC,2152,-0.76,-146.0,318.6,-14.3,254,2156,0.00,1.77,0.00,0.000,4,0.000,0.063,2795,3761,3563,0,0,0,0,0,0
$GC,2175,-0.76,-146.0,322.2,-14.7,256,2179,0.00,1.70,0.00,0.000,6,0.000,0.042,2795,2667,3563,0,0,0,0,0,0
$GC,2380,-0.76,-146.0,353.0,-15.1,275,2384,0.00,1.77,0.00,0.000,4,0.000,0.063,2786,3760,3563,0,0,0,0,0,0
$GC,2403,-0.76,-146.0,356.6,-15.1,277,2407,0.08,1.73,0.00,0.000,6,0.144,0.042,2811,2678,3563,0,0,0,0,0,0
$STATE,2583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2583,begin apogee
$GC,2588,-0.17,0.0,381.2,13.3,294,2726,0.60,0.00,130.98,1.032,4,0.125,0.000,3007,2480,2959,0,0,0,0,0,0
$STATE,2727,end apogee,CONTROL_FINISHED_OK
$STATE,2727,begin climb
$GC,2728,0.76,146.0,386.1,0.0,306,2882,0.95,2.47,145.10,0.946,4,0.071,0.048,3313,1103,2365,0,0,0,0,0,0
$GC,2985,0.76,146.0,364.0,11.8,329,2990,0.00,2.45,0.00,0.000,6,0.000,0.050,3313,2494,2354,0,0,0,0,0,0
$GC,3183,0.76,146.0,339.5,12.8,347,3187,0.00,2.28,0.00,0.000,4,0.000,0.049,3323,1093,2351,0,0,0,0,0,0
$GC,3302,0.76,146.0,324.7,12.4,357,3306,0.00,2.33,0.00,0.000,6,0.000,0.054,3323,2524,2349,0,0,0,0,0,0
$GC,3499,0.76,146.0,299.6,12.8,375,3503,0.00,2.00,0.00,0.000,4,0.000,0.059,3323,3778,2348,0,0,0,0,0,0
$GC,3576,0.76,146.0,288.2,16.0,382,3580,0.00,2.00,0.00,0.000,6,0.000,0.043,3328,2507,2347,0,0,0,0,0,0
$GC,3779,0.76,146.0,261.6,12.8,401,3782,0.00,2.03,0.00,0.000,4,0.000,0.060,3328,3763,2347,0,0,0,0,0,0
$GC,3817,0.76,146.0,256.1,14.4,404,3824,0.00,1.95,0.00,0.000,6,0.000,0.042,3337,2537,2347,0,0,0,0,0,0
$GC,4016,0.76,146.0,230.0,12.8,423,4020,0.00,1.98,0.00,0.000,4,0.000,0.059,3337,3764,2346,0,0,0,0,0,0
$GC,4065,0.76,146.0,222.4,15.2,427,4076,0.10,1.95,0.00,0.000,6,0.139,0.041,3313,2543,2346,0,0,0,0,0,0
$GC,4203,0.76,146.0,206.7,11.6,440,4206,0.00,1.98,0.00,0.000,4,0.000,0.060,3313,3767,2346,0,0,0,0,0,0
$GC,4228,0.76,146.0,202.8,12.8,442,4237,0.00,1.92,0.00,0.000,6,0.000,0.041,3321,2554,2346,0,0,0,0,0,0
$GC,4364,0.76,146.0,186.4,12.7,455,4368,0.00,1.98,0.00,0.000,4,0.000,0.060,3321,3772,2346,0,0,0,0,0,0
$GC,4389,0.76,146.0,183.2,13.0,457,4392,0.00,1.88,0.00,0.000,6,0.000,0.043,3330,2565,2346,0,0,0,0,0,0
$GC,4529,0.76,146.0,165.0,12.6,470,4533,0.00,1.95,0.00,0.000,4,0.000,0.061,3330,3767,2346,0,0,0,0,0,0
$GC,4557,0.76,146.0,160.8,14.1,472,4566,0.00,1.90,0.00,0.000,6,0.000,0.041,3340,2568,2346,0,0,0,0,0,0
$GC,4693,0.76,146.0,143.1,13.2,485,4694,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2567,2345,0,0,0,0,0,0
$GC,4819,0.76,146.0,126.4,13.0,497,4823,0.00,1.92,0.00,0.000,4,0.000,0.061,3339,3762,2345,0,0,0,0,0,0
$GC,4856,0.76,146.0,120.6,15.0,500,4866,0.10,1.88,0.00,0.000,6,0.136,0.041,3315,2584,2345,0,0,0,0,0,0
$GC,4993,0.76,146.0,104.7,11.4,513,4994,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2584,2345,0,0,0,0,0,0
$GC,5119,0.76,146.0,89.9,11.6,533,5126,0.00,1.92,0.00,0.000,4,0.000,0.061,3315,3765,2345,0,0,0,0,0,0
$GC,5156,0.76,146.0,85.2,13.3,539,5163,0.00,1.85,0.00,0.000,6,0.000,0.042,3323,2576,2345,0,0,0,0,0,0
$GC,5295,0.76,146.0,68.0,12.4,564,5303,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2575,2345,0,0,0,0,0,0
$GC,5434,0.76,146.0,50.9,12.1,589,5441,0.00,1.95,0.00,0.000,4,0.000,0.061,3322,3774,2344,0,0,0,0,0,0
$GC,5481,0.76,146.0,44.5,14.0,597,5488,0.00,1.85,0.00,0.000,6,0.000,0.043,3332,2591,2344,0,0,0,0,0,0
$GC,5618,0.76,146.0,26.7,12.3,622,5626,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2589,2344,0,0,0,0,0,0
$FREEZE,8.85,-0.607,-1.896,2,1,0
$GC,5758,0.76,146.0,8.9,13.0,647,5766,0.00,1.92,0.00,0.000,4,0.000,0.062,3332,3770,2344,0,0,0,0,0,0
$FREEZE,6.40,-0.572,-1.894,2,1,0
$FREEZE,5.55,-0.571,-1.893,2,1,0
$FREEZE,4.77,-0.564,-1.892,2,1,0
$FREEZE,3.82,-0.552,-1.892,2,1,0
$FREEZE,3.01,-0.567,-1.891,2,1,0
$FREEZE,2.14,-0.543,-1.890,2,1,0
$STATE,5804,end climb,SURFACE_DEPTH_REACHED
$STATE,5804,begin surface coast
$FREEZE,1.44,-0.558,-1.890,2,1,0
$FREEZE,1.27,-0.647,-0.427,2,1,0
$FINISH,1.3,1.006180
$STATE,5818,end surface coast,FINISH_DEPTH_REACHED
$STATE,5818,begin surface
$SM_CCo,5836,80.72,0.725,1,0,1735,300.24
$SM_GC,2.30,0.00,0.00,80.72,0.000,0.000,0.725,412,2642,1735,-8.29,-0.23,300.24
$IRIDIUM_FIX,-7545.40,17504.21,231210,232330
$TT8_MAMPS,0.028462
$HUMID,52.36
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,18.8
$ALTIM_BOTTOM_PING,351.4,88.8
$24V_AH,20.4,56.546
$10V_AH,9.7,36.873
$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,18.350,73.150,276.075,80.725,0.000,89.132,155.654,416.470,1.750,0.000,16.206,1672.409,2257.104,470.174,2276.212,179.612,0.000,1138.201,0.000,1080.490,0.000,10.722,0.000
$DEVICE_MAMPS,196.605,80.325,1031.985,725.220,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,461.416,848.750,921.969,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46971,656
$CAP_FILE_SIZE,98733,0
$CFSIZE,260165632,233594880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.041,281.7,1
$GPS,241210,012119,-7632.210,17512.398,9,1.2,14,125.0