version: 66.08
glider: 502
mission: 3
dive: 321
start: 12 24 110 3 14 48
data:
$ID,502
$MISSION,3
$DIVE,321
$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,-30543.59
$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,33
$R_STBD_OVSHOOT,33
$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
$GPS1,241210,030822,-7632.330,17515.234,11,3.1,30,124.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-71.3
$GPS2,241210,031422,-7632.329,17515.279,13,3.1,32,124.9
$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,315.9,123172,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,82,0.00,0.00,-62.50,0.000,2,0.000,0.000,420,2663,2848,0,0,0,0,0,0
$GC,85,-0.76,-146.0,3.0,-2.6,9,136,8.85,1.83,-32.90,0.000,4,0.198,0.080,2798,3746,3559,0,0,0,0,0,0
$GC,323,-0.76,-146.0,35.2,-17.4,49,330,0.00,1.75,0.00,0.000,6,0.000,0.044,2799,2648,3562,0,0,0,0,0,0
$GC,464,-0.76,-146.0,59.3,-17.2,74,472,0.00,1.85,0.00,0.000,4,0.000,0.063,2790,3755,3562,0,0,0,0,0,0
$GC,488,-0.76,-146.0,63.0,-17.5,77,495,0.00,1.75,0.00,0.000,6,0.000,0.044,2790,2661,3563,0,0,0,0,0,0
$GC,629,-0.76,-146.0,88.7,-17.4,102,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2660,3563,0,0,0,0,0,0
$GC,769,-0.76,-146.0,113.3,-18.0,120,773,0.00,1.77,0.00,0.000,4,0.000,0.062,2783,3755,3563,0,0,0,0,0,0
$GC,806,-0.76,-146.0,120.1,-19.3,123,810,0.12,1.70,0.00,0.000,6,0.163,0.043,2817,2658,3563,0,0,0,0,0,0
$GC,949,-0.76,-146.0,142.8,-15.4,136,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2656,3563,0,0,0,0,0,0
$GC,1084,-0.76,-146.0,163.9,-15.1,149,1088,0.00,1.77,0.00,0.000,4,0.000,0.063,2810,3754,3563,0,0,0,0,0,0
$GC,1120,-0.76,-146.0,170.2,-15.9,152,1130,0.00,1.73,0.00,0.000,6,0.000,0.043,2810,2671,3563,0,0,0,0,0,0
$GC,1257,-0.76,-146.0,190.8,-15.8,165,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2671,3563,0,0,0,0,0,0
$GC,1384,-0.76,-146.0,210.2,-15.2,177,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2671,3563,0,0,0,0,0,0
$GC,1511,-0.76,-146.0,228.8,-14.5,189,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2671,3563,0,0,0,0,0,0
$GC,1638,-0.76,-146.0,247.1,-14.4,201,1642,0.00,1.75,0.00,0.000,4,0.000,0.063,2801,3753,3563,0,0,0,0,0,0
$GC,1671,-0.76,-146.0,252.5,-15.4,204,1675,0.00,1.70,0.00,0.000,6,0.000,0.043,2801,2690,3563,0,0,0,0,0,0
$GC,1874,-0.76,-146.0,283.3,-14.9,223,1878,0.00,2.28,0.00,0.000,4,0.000,0.050,2801,1240,3563,0,0,0,0,0,0
$GC,1894,-0.76,-146.0,286.9,-15.6,224,1903,0.00,2.38,0.00,0.000,6,0.000,0.056,2792,2675,3564,0,0,0,0,0,0
$GC,2093,-0.76,-146.0,317.7,-16.0,243,2096,0.00,1.75,0.00,0.000,4,0.000,0.061,2784,3773,3563,0,0,0,0,0,0
$GC,2153,-0.76,-146.0,328.0,-16.4,248,2162,0.08,1.73,0.00,0.000,6,0.141,0.043,2809,2690,3563,0,0,0,0,0,0
$GC,2352,-0.76,-146.0,355.9,-13.7,267,2356,0.00,1.75,0.00,0.000,4,0.000,0.062,2802,3769,3563,0,0,0,0,0,0
$GC,2389,-0.76,-146.0,361.9,-14.7,270,2397,0.00,1.70,0.00,0.000,6,0.000,0.042,2802,2699,3563,0,0,0,0,0,0
$STATE,2511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2511,begin apogee
$GC,2517,-0.17,0.0,379.6,14.5,282,2653,0.62,0.00,130.90,1.025,4,0.128,0.000,3004,2486,2961,0,0,0,0,0,0
$STATE,2654,end apogee,CONTROL_FINISHED_OK
$STATE,2654,begin climb
$GC,2657,0.76,146.0,385.3,0.0,294,2811,0.95,2.50,145.52,0.942,4,0.074,0.048,3308,1094,2364,0,0,0,0,0,0
$GC,2909,0.76,146.0,364.9,11.0,317,2914,0.00,2.50,0.00,0.000,6,0.000,0.050,3308,2505,2354,0,0,0,0,0,0
$GC,3107,0.76,146.0,341.6,11.7,335,3111,0.00,2.30,0.00,0.000,4,0.000,0.050,3316,1098,2351,0,0,0,0,0,0
$GC,3226,0.76,146.0,327.9,11.3,345,3230,0.00,2.33,0.00,0.000,6,0.000,0.051,3316,2518,2348,0,0,0,0,0,0
$GC,3423,0.76,146.0,303.9,12.3,363,3427,0.00,2.00,0.00,0.000,4,0.000,0.059,3316,3767,2348,0,0,0,0,0,0
$GC,3513,0.76,146.0,291.3,14.6,371,3517,0.00,1.92,0.00,0.000,6,0.000,0.041,3325,2527,2347,0,0,0,0,0,0
$GC,3716,0.76,146.0,265.3,12.7,390,3720,0.00,2.00,0.00,0.000,4,0.000,0.059,3325,3766,2346,0,0,0,0,0,0
$GC,3754,0.76,146.0,259.5,14.6,393,3761,0.00,1.95,0.00,0.000,6,0.000,0.041,3335,2538,2346,0,0,0,0,0,0
$GC,3954,0.76,146.0,233.5,12.9,412,3958,0.00,1.98,0.00,0.000,4,0.000,0.059,3335,3764,2346,0,0,0,0,0,0
$GC,3989,0.76,146.0,228.3,15.3,415,3993,0.12,1.90,0.00,0.000,6,0.167,0.041,3311,2545,2346,0,0,0,0,0,0
$GC,4129,0.76,146.0,211.4,11.6,428,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2542,2346,0,0,0,0,0,0
$GC,4257,0.76,146.0,196.6,11.8,440,4260,0.00,1.98,0.00,0.000,4,0.000,0.060,3311,3765,2346,0,0,0,0,0,0
$GC,4303,0.76,146.0,190.8,12.8,444,4306,0.00,1.88,0.00,0.000,6,0.000,0.041,3319,2552,2346,0,0,0,0,0,0
$GC,4445,0.76,146.0,173.4,12.0,457,4453,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2550,2345,0,0,0,0,0,0
$GC,4581,0.76,146.0,157.0,11.6,470,4584,0.00,1.98,0.00,0.000,4,0.000,0.060,3319,3768,2345,0,0,0,0,0,0
$GC,4628,0.76,146.0,150.7,13.4,474,4632,0.00,1.90,0.00,0.000,6,0.000,0.042,3328,2551,2345,0,0,0,0,0,0
$GC,4770,0.76,146.0,133.1,12.2,487,4777,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2549,2345,0,0,0,0,0,0
$GC,4906,0.76,146.0,116.2,12.5,500,4909,0.00,1.98,0.00,0.000,4,0.000,0.060,3328,3768,2345,0,0,0,0,0,0
$GC,4942,0.76,146.0,110.7,13.6,503,4952,0.00,1.92,0.00,0.000,6,0.000,0.041,3338,2559,2344,0,0,0,0,0,0
$GC,5080,0.76,146.0,92.7,13.7,520,5089,0.00,2.00,0.00,0.000,4,0.000,0.060,3338,3767,2344,0,0,0,0,0,0
$GC,5107,0.76,146.0,89.0,14.0,524,5116,0.10,1.90,0.00,0.000,6,0.138,0.041,3313,2567,2344,0,0,0,0,0,0
$GC,5253,0.76,146.0,71.7,11.7,549,5259,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2567,2344,0,0,0,0,0,0
$GC,5394,0.76,146.0,55.8,10.8,574,5402,0.00,1.98,0.00,0.000,4,0.000,0.061,3313,3757,2344,0,0,0,0,0,0
$GC,5438,0.76,146.0,50.5,13.1,581,5445,0.00,1.85,0.00,0.000,6,0.000,0.042,3321,2572,2344,0,0,0,0,0,0
$GC,5580,0.76,146.0,33.4,11.8,606,5589,0.00,1.98,0.00,0.000,4,0.000,0.060,3321,3763,2344,0,0,0,0,0,0
$GC,5615,0.76,146.0,28.9,14.0,611,5621,0.00,1.83,0.00,0.000,6,0.000,0.042,3330,2589,2344,0,0,0,0,0,0
$GC,5757,0.76,146.0,10.6,12.7,636,5766,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2589,2343,0,0,0,0,0,0
$FREEZE,8.67,-0.396,-1.895,2,1,0
$FREEZE,8.07,-0.396,-1.894,2,1,0
$FREEZE,7.39,-0.399,-1.894,2,1,0
$FREEZE,6.63,-0.398,-1.893,2,1,0
$FREEZE,5.82,-0.400,-1.893,2,1,0
$FREEZE,5.20,-0.397,-1.893,2,1,0
$FREEZE,4.32,-0.402,-1.892,2,1,0
$FREEZE,3.56,-0.397,-1.891,2,1,0
$FREEZE,2.71,-0.396,-1.891,2,1,0
$STATE,5820,end climb,SURFACE_DEPTH_REACHED
$STATE,5820,begin surface coast
$FREEZE,1.75,-0.392,-1.890,2,1,0
$FREEZE,1.42,-0.395,-1.890,2,1,0
$FREEZE,1.37,-0.464,-1.894,2,1,0
$FREEZE,1.33,-0.425,-1.234,2,1,0
$FINISH,1.3,1.018214
$STATE,5846,end surface coast,CONTROL_FINISHED_OK
$STATE,5846,begin surface
$SM_CCo,5862,80.93,0.728,1,0,1737,300.24
$SM_GC,2.27,0.00,0.00,80.93,0.000,0.000,0.728,419,2661,1737,-8.27,0.31,300.24
$IRIDIUM_FIX,-7545.40,17514.18,241210,010150
$TT8_MAMPS,0.028462
$HUMID,52.95
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,18.2
$24V_AH,20.4,56.762
$10V_AH,9.8,37.040
$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,18.425,74.125,276.425,80.925,0.000,27.556,36.510,171.470,2.000,0.000,34.430,1658.033,2149.166,487.213,1849.786,171.177,0.000,1166.609,0.000,1084.223,0.000,10.705,0.000
$DEVICE_MAMPS,198.135,103.275,1025.100,728.280,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,456.492,839.400,916.844,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43791,650
$CAP_FILE_SIZE,93082,0
$CFSIZE,260165632,233496576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.109,170.5,1
$GPS,241210,045506,-7632.552,17518.689,33,1.0,33,124.9