version: 66.08
glider: 502
mission: 3
dive: 320
start: 12 24 110 1 28 32
data:
$ID,502
$MISSION,3
$DIVE,320
$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,-30542.33
$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,39
$R_STBD_OVSHOOT,24
$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
$GPS1,241210,012119,-7632.210,17512.398,9,1.2,14,125.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-73.3
$GPS2,241210,012806,-7632.196,17512.400,37,1.0,37,125.0
$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,325.2,124407,-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,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,-80.28,0.000,2,0.000,0.000,411,2640,3213,0,0,0,0,0,0
$GC,101,-0.76,-146.0,3.1,-0.7,12,131,8.85,1.90,-11.02,0.000,4,0.197,0.079,2803,3765,3560,0,0,0,0,0,0
$GC,268,-0.76,-146.0,30.3,-16.9,41,276,0.00,1.77,0.00,0.000,6,0.000,0.043,2803,2631,3562,0,0,0,0,0,0
$GC,406,-0.76,-146.0,52.9,-16.3,66,414,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2629,3563,0,0,0,0,0,0
$GC,547,-0.76,-146.0,75.4,-16.6,91,554,0.00,1.85,0.00,0.000,4,0.000,0.063,2795,3763,3563,0,0,0,0,0,0
$GC,594,-0.76,-146.0,83.6,-17.1,99,601,0.00,1.77,0.00,0.000,6,0.000,0.043,2796,2627,3563,0,0,0,0,0,0
$GC,738,-0.76,-146.0,107.9,-16.7,121,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2625,3564,0,0,0,0,0,0
$GC,865,-0.76,-146.0,129.6,-17.1,133,869,0.00,1.85,0.00,0.000,4,0.000,0.063,2786,3769,3564,0,0,0,0,0,0
$GC,914,-0.76,-146.0,138.8,-17.7,137,924,0.08,1.77,0.00,0.000,6,0.145,0.042,2812,2656,3564,0,0,0,0,0,0
$GC,1051,-0.76,-146.0,159.7,-15.5,150,1055,0.00,2.20,0.00,0.000,4,0.000,0.049,2812,1248,3564,0,0,0,0,0,0
$GC,1081,-0.76,-146.0,164.5,-15.5,152,1086,0.00,2.28,0.00,0.000,6,0.000,0.056,2803,2655,3564,0,0,0,0,0,0
$GC,1218,-0.76,-146.0,185.4,-15.1,164,1221,0.00,1.77,0.00,0.000,4,0.000,0.061,2794,3770,3563,0,0,0,0,0,0
$GC,1288,-0.76,-146.0,197.6,-15.7,170,1297,0.00,1.75,0.00,0.000,6,0.000,0.042,2794,2670,3564,0,0,0,0,0,0
$GC,1424,-0.76,-146.0,218.9,-16.5,183,1428,0.00,2.25,0.00,0.000,4,0.000,0.050,2794,1232,3563,0,0,0,0,0,0
$GC,1444,-0.76,-146.0,222.9,-16.5,184,1455,0.08,2.38,0.00,0.000,6,0.125,0.056,2810,2666,3564,0,0,0,0,0,0
$GC,1580,-0.76,-146.0,242.1,-14.2,197,1584,0.00,1.75,0.00,0.000,4,0.000,0.061,2803,3763,3564,0,0,0,0,0,0
$GC,1627,-0.76,-146.0,249.3,-15.6,201,1635,0.00,1.70,0.00,0.000,6,0.000,0.042,2803,2666,3563,0,0,0,0,0,0
$GC,1769,-0.76,-146.0,271.0,-15.1,214,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2665,3564,0,0,0,0,0,0
$GC,1961,-0.76,-146.0,298.7,-14.4,232,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2665,3564,0,0,0,0,0,0
$GC,2152,-0.76,-146.0,326.5,-14.6,250,2155,0.00,1.80,0.00,0.000,4,0.000,0.063,2797,3773,3564,0,0,0,0,0,0
$GC,2200,-0.76,-146.0,334.5,-15.7,254,2208,0.00,1.75,0.00,0.000,6,0.000,0.043,2797,2679,3563,0,0,0,0,0,0
$GC,2399,-0.76,-146.0,364.5,-15.3,273,2403,0.00,1.77,0.00,0.000,4,0.000,0.063,2788,3770,3563,0,0,0,0,0,0
$GC,2433,-0.76,-146.0,370.1,-16.5,276,2437,0.10,1.70,0.00,0.000,6,0.171,0.043,2813,2676,3563,0,0,0,0,0,0
$STATE,2496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2496,begin apogee
$GC,2501,-0.17,0.0,379.4,13.9,282,2639,0.57,0.00,131.15,1.026,4,0.125,0.000,3002,2493,2960,0,0,0,0,0,0
$STATE,2640,end apogee,CONTROL_FINISHED_OK
$STATE,2640,begin climb
$GC,2642,0.76,146.0,385.2,0.0,294,2796,0.95,2.50,145.40,0.941,4,0.073,0.048,3307,1104,2364,0,0,0,0,0,0
$GC,2914,0.76,146.0,361.7,11.4,319,2919,0.00,2.45,0.00,0.000,6,0.000,0.050,3307,2503,2353,0,0,0,0,0,0
$GC,3114,0.76,146.0,338.1,11.6,337,3118,0.00,2.28,0.00,0.000,4,0.000,0.050,3315,1096,2350,0,0,0,0,0,0
$GC,3243,0.76,146.0,322.9,11.3,348,3247,0.00,2.30,0.00,0.000,6,0.000,0.051,3315,2517,2348,0,0,0,0,0,0
$GC,3441,0.76,146.0,299.0,12.3,366,3445,0.00,2.00,0.00,0.000,4,0.000,0.058,3315,3773,2347,0,0,0,0,0,0
$GC,3535,0.76,146.0,285.5,13.9,374,3543,0.00,1.98,0.00,0.000,6,0.000,0.042,3324,2532,2346,0,0,0,0,0,0
$GC,3733,0.76,146.0,260.8,12.5,393,3737,0.00,1.98,0.00,0.000,4,0.000,0.058,3324,3767,2346,0,0,0,0,0,0
$GC,3760,0.76,146.0,256.9,13.9,395,3767,0.00,1.98,0.00,0.000,6,0.000,0.041,3334,2526,2346,0,0,0,0,0,0
$GC,3960,0.76,146.0,231.1,13.3,414,3963,0.00,2.00,0.00,0.000,4,0.000,0.060,3333,3765,2346,0,0,0,0,0,0
$GC,3985,0.76,146.0,227.1,13.9,416,3995,0.08,1.95,0.00,0.000,6,0.145,0.041,3318,2543,2346,0,0,0,0,0,0
$GC,4122,0.76,146.0,210.5,11.8,429,4126,0.00,1.98,0.00,0.000,4,0.000,0.060,3318,3765,2345,0,0,0,0,0,0
$GC,4148,0.76,146.0,206.7,13.1,431,4157,0.00,1.95,0.00,0.000,6,0.000,0.041,3326,2535,2346,0,0,0,0,0,0
$GC,4284,0.76,146.0,190.4,11.8,444,4288,0.00,1.98,0.00,0.000,4,0.000,0.060,3326,3766,2345,0,0,0,0,0,0
$GC,4309,0.76,146.0,187.2,13.3,446,4313,0.00,1.90,0.00,0.000,6,0.000,0.041,3335,2544,2345,0,0,0,0,0,0
$GC,4450,0.76,146.0,168.6,12.8,459,4453,0.00,1.98,0.00,0.000,4,0.000,0.060,3335,3764,2345,0,0,0,0,0,0
$GC,4485,0.76,146.0,163.6,14.4,462,4489,0.12,1.88,0.00,0.000,6,0.164,0.041,3310,2555,2344,0,0,0,0,0,0
$GC,4627,0.76,146.0,146.9,11.5,475,4631,0.00,1.98,0.00,0.000,4,0.000,0.062,3311,3772,2344,0,0,0,0,0,0
$GC,4651,0.76,146.0,143.8,11.9,477,4654,0.00,1.88,0.00,0.000,6,0.000,0.043,3318,2564,2344,0,0,0,0,0,0
$GC,4792,0.76,146.0,127.0,11.7,490,4793,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2562,2344,0,0,0,0,0,0
$GC,4919,0.76,146.0,112.3,11.8,502,4923,0.00,1.95,0.00,0.000,4,0.000,0.060,3318,3764,2344,0,0,0,0,0,0
$GC,4955,0.76,146.0,107.0,14.0,505,4965,0.00,1.90,0.00,0.000,6,0.000,0.041,3327,2563,2344,0,0,0,0,0,0
$GC,5093,0.76,146.0,90.7,12.0,525,5099,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2563,2344,0,0,0,0,0,0
$GC,5230,0.76,146.0,73.9,11.8,550,5238,0.00,2.00,0.00,0.000,4,0.000,0.060,3328,3765,2343,0,0,0,0,0,0
$GC,5277,0.76,146.0,67.4,13.6,558,5285,0.00,1.88,0.00,0.000,6,0.000,0.042,3337,2581,2343,0,0,0,0,0,0
$GC,5418,0.76,146.0,49.7,12.3,583,5424,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2581,2343,0,0,0,0,0,0
$GC,5552,0.76,146.0,32.2,12.4,608,5560,0.00,1.95,0.00,0.000,4,0.000,0.060,3337,3758,2343,0,0,0,0,0,0
$GC,5595,0.76,146.0,26.4,14.6,615,5603,0.12,1.85,0.00,0.000,6,0.164,0.043,3312,2575,2343,0,0,0,0,0,0
$GC,5734,0.76,146.0,9.9,11.1,640,5742,0.00,2.38,0.00,0.000,4,0.000,0.050,3321,1090,2343,0,0,0,0,0,0
$FREEZE,7.96,-0.493,-1.894,2,1,0
$FREEZE,7.37,-0.483,-1.894,2,1,0
$GC,5756,0.76,146.0,7.4,11.8,643,5763,0.00,2.42,0.00,0.000,6,0.000,0.053,3321,2585,2342,0,0,0,0,0,0
$FREEZE,5.49,-0.453,-1.893,2,1,0
$FREEZE,4.77,-0.446,-1.892,2,1,0
$FREEZE,4.07,-0.449,-1.892,2,1,0
$FREEZE,3.31,-0.444,-1.891,2,1,0
$FREEZE,2.52,-0.439,-1.891,2,1,0
$STATE,5794,end climb,SURFACE_DEPTH_REACHED
$STATE,5794,begin surface coast
$FREEZE,1.65,-0.438,-1.890,2,1,0
$FREEZE,1.39,-0.481,-1.772,2,1,0
$FREEZE,1.39,-0.530,-1.847,2,1,0
$FREEZE,1.32,-0.513,-0.999,2,1,0
$FINISH,1.3,1.014757
$STATE,5820,end surface coast,CONTROL_FINISHED_OK
$STATE,5820,begin surface
$SM_CCo,5836,80.55,0.722,1,0,1737,300.24
$SM_GC,2.27,0.00,0.00,80.55,0.000,0.000,0.722,422,2662,1737,-8.26,0.34,300.24
$IRIDIUM_FIX,-7545.40,17504.21,231210,232312
$TT8_MAMPS,0.027713
$HUMID,52.75
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.8
$24V_AH,20.4,56.655
$10V_AH,9.7,36.957
$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,18.525,87.600,276.550,80.550,0.000,29.725,36.754,213.425,1.000,0.000,37.919,1676.034,2089.167,489.483,1910.233,171.863,0.000,1184.184,0.000,1105.263,0.000,7.765,0.000
$DEVICE_MAMPS,197.370,113.985,1025.865,722.160,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,458.571,843.572,910.510,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43788,653
$CAP_FILE_SIZE,97645,0
$CFSIZE,260165632,233549824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.042,216.6,1
$GPS,241210,030822,-7632.330,17515.234,11,3.1,30,124.9