version: 66.08
glider: 502
mission: 3
dive: 322
start: 12 24 110 5 1 28
data:
$ID,502
$MISSION,3
$DIVE,322
$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,-30544.844
$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,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
$GPS1,241210,045506,-7632.552,17518.689,33,1.0,33,124.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-73.2
$GPS2,241210,050102,-7632.562,17518.775,14,1.0,14,124.9
$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,298.3,121677,-17.5,-10.000
$D_GRID,378
$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,-146.0,0.0,0.0,0,95,0.00,0.00,-76.45,0.000,2,0.000,0.000,419,2662,3136,0,0,0,0,0,0
$GC,97,-0.76,-146.0,3.0,-1.5,11,128,8.93,2.30,-14.35,0.000,4,0.200,0.060,2810,1229,3556,0,0,0,0,0,0
$GC,368,-0.76,-146.0,41.8,-14.7,60,377,0.00,2.35,0.00,0.000,6,0.000,0.057,2801,2646,3559,0,0,0,0,0,0
$GC,506,-0.76,-146.0,64.0,-16.5,85,514,0.00,2.25,0.00,0.000,4,0.000,0.049,2801,1230,3559,0,0,0,0,0,0
$GC,538,-0.76,-146.0,69.3,-16.5,90,547,0.00,2.35,0.00,0.000,6,0.000,0.057,2792,2651,3559,0,0,0,0,0,0
$GC,678,-0.76,-146.0,92.5,-16.6,115,685,0.00,1.80,0.00,0.000,4,0.000,0.061,2784,3771,3559,0,0,0,0,0,0
$GC,725,-0.76,-146.0,100.8,-17.7,123,729,0.12,1.73,0.00,0.000,6,0.163,0.043,2818,2657,3559,0,0,0,0,0,0
$GC,867,-0.76,-146.0,122.0,-14.4,136,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2654,3560,0,0,0,0,0,0
$GC,1002,-0.76,-146.0,141.6,-14.6,149,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2655,3560,0,0,0,0,0,0
$GC,1129,-0.76,-146.0,159.9,-14.4,161,1133,0.00,1.80,0.00,0.000,4,0.000,0.063,2811,3764,3560,0,0,0,0,0,0
$GC,1167,-0.76,-146.0,166.0,-15.8,164,1176,0.00,1.75,0.00,0.000,6,0.000,0.042,2810,2663,3560,0,0,0,0,0,0
$GC,1303,-0.76,-146.0,185.9,-14.6,177,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2662,3559,0,0,0,0,0,0
$GC,1430,-0.76,-146.0,205.0,-15.1,189,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2662,3560,0,0,0,0,0,0
$GC,1558,-0.76,-146.0,223.9,-14.8,201,1559,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2662,3560,0,0,0,0,0,0
$GC,1684,-0.76,-146.0,242.4,-14.6,213,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2662,3560,0,0,0,0,0,0
$GC,1810,-0.76,-146.0,260.6,-14.3,225,1814,0.00,1.80,0.00,0.000,4,0.000,0.063,2802,3765,3559,0,0,0,0,0,0
$GC,1837,-0.76,-146.0,264.9,-16.1,227,1844,0.00,1.75,0.00,0.000,6,0.000,0.042,2802,2662,3560,0,0,0,0,0,0
$GC,2035,-0.76,-146.0,294.3,-14.9,246,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2662,3560,0,0,0,0,0,0
$GC,2226,-0.76,-146.0,323.1,-15.0,264,2230,0.00,1.80,0.00,0.000,4,0.000,0.064,2795,3764,3560,0,0,0,0,0,0
$GC,2261,-0.76,-146.0,328.4,-15.5,267,2264,0.00,1.73,0.00,0.000,6,0.000,0.043,2795,2667,3559,0,0,0,0,0,0
$GC,2465,-0.76,-146.0,359.3,-15.4,286,2466,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2665,3560,0,0,0,0,0,0
$STATE,2591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2591,begin apogee
$GC,2596,-0.17,0.0,378.7,14.9,298,2733,0.65,0.00,130.30,1.027,4,0.129,0.000,3004,2485,2960,0,0,0,0,0,0
$STATE,2734,end apogee,CONTROL_FINISHED_OK
$STATE,2734,begin climb
$GC,2736,0.76,146.0,384.6,0.0,310,2890,0.95,2.50,145.75,0.942,4,0.074,0.049,3308,1095,2364,0,0,0,0,0,0
$GC,3024,0.76,146.0,359.6,11.1,336,3032,0.00,2.50,0.00,0.000,6,0.000,0.051,3309,2520,2352,0,0,0,0,0,0
$GC,3223,0.76,146.0,336.7,11.3,355,3227,0.00,2.30,0.00,0.000,4,0.000,0.049,3317,1094,2350,0,0,0,0,0,0
$GC,3364,0.76,146.0,320.9,11.2,367,3368,0.00,2.30,0.00,0.000,6,0.000,0.053,3318,2515,2348,0,0,0,0,0,0
$GC,3562,0.76,146.0,297.1,12.0,385,3565,0.00,2.00,0.00,0.000,4,0.000,0.059,3317,3771,2347,0,0,0,0,0,0
$GC,3645,0.76,146.0,285.0,15.2,392,3652,0.00,1.98,0.00,0.000,6,0.000,0.041,3327,2533,2346,0,0,0,0,0,0
$GC,3845,0.76,146.0,260.6,11.8,411,3846,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2533,2346,0,0,0,0,0,0
$GC,4035,0.76,146.0,237.1,12.4,429,4039,0.00,1.98,0.00,0.000,4,0.000,0.059,3327,3763,2346,0,0,0,0,0,0
$GC,4081,0.76,146.0,230.7,14.3,433,4085,0.00,1.92,0.00,0.000,6,0.000,0.042,3337,2524,2346,0,0,0,0,0,0
$GC,4223,0.76,146.0,212.3,12.9,446,4226,0.00,2.00,0.00,0.000,4,0.000,0.060,3337,3764,2345,0,0,0,0,0,0
$GC,4248,0.76,146.0,208.0,14.6,448,4258,0.10,1.95,0.00,0.000,6,0.136,0.041,3313,2541,2345,0,0,0,0,0,0
$GC,4385,0.76,146.0,192.2,11.5,461,4386,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2540,2345,0,0,0,0,0,0
$GC,4512,0.76,146.0,177.8,11.3,473,4516,0.00,1.98,0.00,0.000,4,0.000,0.060,3313,3764,2345,0,0,0,0,0,0
$GC,4538,0.76,146.0,174.1,12.8,475,4548,0.00,1.95,0.00,0.000,6,0.000,0.041,3320,2539,2344,0,0,0,0,0,0
$GC,4675,0.76,146.0,158.2,11.3,488,4676,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2539,2344,0,0,0,0,0,0
$GC,4803,0.76,146.0,143.9,11.3,500,4806,0.00,1.98,0.00,0.000,4,0.000,0.060,3320,3761,2344,0,0,0,0,0,0
$GC,4849,0.76,146.0,137.8,13.8,504,4852,0.00,1.88,0.00,0.000,6,0.000,0.042,3329,2553,2344,0,0,0,0,0,0
$GC,4989,0.76,146.0,120.6,12.1,517,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2550,2344,0,0,0,0,0,0
$GC,5117,0.76,146.0,104.9,12.2,529,5121,0.00,1.98,0.00,0.000,4,0.000,0.060,3330,3771,2344,0,0,0,0,0,0
$GC,5143,0.76,146.0,101.7,13.0,531,5146,0.00,1.90,0.00,0.000,6,0.000,0.042,3339,2552,2344,0,0,0,0,0,0
$GC,5281,0.76,146.0,83.5,12.6,555,5289,0.00,2.00,0.00,0.000,4,0.000,0.060,3339,3760,2344,0,0,0,0,0,0
$GC,5311,0.76,146.0,79.0,14.5,560,5320,0.10,1.90,0.00,0.000,6,0.137,0.042,3315,2565,2343,0,0,0,0,0,0
$GC,5450,0.76,146.0,62.6,11.1,585,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2563,2343,0,0,0,0,0,0
$GC,5589,0.76,146.0,46.3,11.8,610,5598,0.00,1.98,0.00,0.000,4,0.000,0.061,3315,3756,2343,0,0,0,0,0,0
$GC,5625,0.76,146.0,41.8,12.9,616,5633,0.00,1.90,0.00,0.000,6,0.000,0.042,3322,2562,2344,0,0,0,0,0,0
$GC,5766,0.76,146.0,25.2,12.2,641,5773,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2560,2343,0,0,0,0,0,0
$FREEZE,8.77,-0.487,-1.894,2,1,0
$FREEZE,7.99,-0.487,-1.894,2,1,0
$GC,5909,0.76,146.0,8.0,11.4,666,5917,0.00,2.00,0.00,0.000,4,0.000,0.060,3322,3768,2342,0,0,0,0,0,0
$FREEZE,5.68,-0.463,-1.892,2,1,0
$FREEZE,4.94,-0.442,-1.892,2,1,0
$FREEZE,4.05,-0.433,-1.891,2,1,0
$FREEZE,3.17,-0.432,-1.891,2,1,0
$FREEZE,2.36,-0.431,-1.890,2,1,0
$STATE,5946,end climb,SURFACE_DEPTH_REACHED
$STATE,5946,begin surface coast
$FREEZE,1.60,-0.431,-1.890,2,1,0
$FREEZE,1.39,-0.441,-1.889,2,1,0
$FREEZE,1.38,-0.509,-1.893,2,1,0
$FREEZE,1.37,-0.539,-1.890,2,1,0
$FINISH,1.4,1.027668
$STATE,5971,end surface coast,CONTROL_FINISHED_OK
$STATE,5971,begin surface
$SM_CCo,5989,80.55,0.724,1,0,1737,300.24
$SM_GC,2.27,0.00,0.00,80.55,0.000,0.000,0.724,424,2635,1737,-8.25,-0.42,300.24
$IRIDIUM_FIX,-7554.21,17511.87,241210,030353
$TT8_MAMPS,0.028462
$HUMID,52.52
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.3,17.5
$ALTIM_BOTTOM_PING,351.2,85.2
$24V_AH,20.4,56.869
$10V_AH,9.7,37.125
$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,18.325,68.300,276.050,80.550,0.000,31.282,38.104,181.971,2.000,0.000,15.116,1718.657,2198.728,464.355,1891.555,164.772,0.000,1140.248,0.000,1104.034,0.000,10.708,0.000
$DEVICE_MAMPS,199.665,65.025,1027.395,724.455,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,475.506,874.967,959.233,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47025,676
$CAP_FILE_SIZE,92097,0
$CFSIZE,260165632,233439232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.175,158.9,1
$GPS,241210,064332,-7632.741,17522.279,13,1.7,13,124.8