version: 66.08
glider: 502
mission: 3
dive: 323
start: 12 24 110 6 50 22
data:
$ID,502
$MISSION,3
$DIVE,323
$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,-30546.1
$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,42
$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
$GPS1,241210,064332,-7632.741,17522.279,13,1.7,13,124.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-70.6
$GPS2,241210,064956,-7632.757,17522.391,17,2.0,17,124.8
$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,283.0,120130,-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,-146.0,0.0,0.0,0,95,0.00,0.00,-76.68,0.000,2,0.000,0.000,419,2634,3142,0,0,0,0,0,0
$GC,98,-0.76,-146.0,3.0,-1.3,11,128,8.82,1.88,-14.32,0.000,4,0.197,0.076,2803,3768,3559,0,0,0,0,0,0
$GC,366,-0.76,-146.0,45.0,-16.7,59,373,0.00,1.77,0.00,0.000,6,0.000,0.042,2803,2659,3562,0,0,0,0,0,0
$GC,504,-0.76,-146.0,67.7,-16.6,84,511,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2657,3562,0,0,0,0,0,0
$GC,645,-0.76,-146.0,91.1,-16.0,109,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2657,3562,0,0,0,0,0,0
$GC,787,-0.76,-146.0,114.6,-16.3,127,790,0.00,1.80,0.00,0.000,4,0.000,0.063,2795,3767,3563,0,0,0,0,0,0
$GC,822,-0.76,-146.0,120.4,-17.0,130,825,0.00,1.75,0.00,0.000,6,0.000,0.042,2795,2638,3563,0,0,0,0,0,0
$GC,963,-0.76,-146.0,143.8,-16.3,143,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2637,3562,0,0,0,0,0,0
$GC,1089,-0.76,-146.0,165.0,-17.0,155,1093,0.00,1.83,0.00,0.000,4,0.000,0.062,2787,3761,3563,0,0,0,0,0,0
$GC,1115,-0.76,-146.0,170.0,-17.4,157,1125,0.08,1.75,0.00,0.000,6,0.143,0.042,2812,2661,3563,0,0,0,0,0,0
$GC,1253,-0.76,-146.0,190.6,-15.4,170,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2660,3563,0,0,0,0,0,0
$GC,1387,-0.76,-146.0,211.3,-14.7,183,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2660,3563,0,0,0,0,0,0
$GC,1515,-0.76,-146.0,230.2,-14.5,195,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2660,3563,0,0,0,0,0,0
$GC,1643,-0.76,-146.0,248.9,-14.2,207,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2660,3563,0,0,0,0,0,0
$GC,1768,-0.76,-146.0,267.8,-14.6,219,1772,0.00,1.80,0.00,0.000,4,0.000,0.063,2805,3768,3563,0,0,0,0,0,0
$GC,1805,-0.76,-146.0,273.9,-15.7,222,1813,0.00,1.75,0.00,0.000,6,0.000,0.041,2804,2673,3563,0,0,0,0,0,0
$GC,2004,-0.76,-146.0,303.4,-15.3,241,2005,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2672,3563,0,0,0,0,0,0
$GC,2196,-0.76,-146.0,332.0,-15.2,259,2197,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2672,3563,0,0,0,0,0,0
$GC,2386,-0.76,-146.0,359.9,-14.8,277,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2671,3563,0,0,0,0,0,0
$STATE,2490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2490,begin apogee
$GC,2495,-0.17,0.0,375.3,14.2,287,2632,0.62,0.00,130.50,1.024,4,0.127,0.000,3007,2488,2961,0,0,0,0,0,0
$STATE,2633,end apogee,CONTROL_FINISHED_OK
$STATE,2633,begin climb
$GC,2635,0.76,146.0,380.4,0.0,299,2789,0.95,2.47,145.57,0.935,4,0.072,0.048,3313,1105,2363,0,0,0,0,0,0
$GC,2930,0.76,146.0,353.3,12.0,326,2935,0.00,2.42,0.00,0.000,6,0.000,0.051,3313,2500,2352,0,0,0,0,0,0
$GC,3128,0.76,146.0,329.6,12.3,344,3132,0.00,2.25,0.00,0.000,4,0.000,0.049,3323,1101,2349,0,0,0,0,0,0
$GC,3246,0.76,146.0,315.3,12.5,354,3251,0.00,2.30,0.00,0.000,6,0.000,0.053,3323,2520,2347,0,0,0,0,0,0
$GC,3444,0.76,146.0,289.9,12.6,372,3447,0.00,1.98,0.00,0.000,4,0.000,0.059,3323,3765,2347,0,0,0,0,0,0
$GC,3512,0.76,146.0,280.0,15.4,378,3516,0.00,1.90,0.00,0.000,6,0.000,0.041,3333,2537,2346,0,0,0,0,0,0
$GC,3717,0.76,146.0,253.6,12.3,397,3720,0.00,1.98,0.00,0.000,4,0.000,0.060,3332,3766,2345,0,0,0,0,0,0
$GC,3763,0.76,146.0,246.8,15.5,401,3767,0.00,1.90,0.00,0.000,6,0.000,0.041,3342,2541,2345,0,0,0,0,0,0
$GC,3905,0.76,146.0,227.6,13.5,414,3907,0.12,0.00,0.00,0.000,6,0.164,0.000,3308,2537,2345,0,0,0,0,0,0
$GC,4032,0.76,146.0,212.7,11.5,426,4036,0.00,2.00,0.00,0.000,4,0.000,0.060,3308,3773,2345,0,0,0,0,0,0
$GC,4066,0.76,146.0,208.3,12.7,429,4070,0.00,1.92,0.00,0.000,6,0.000,0.043,3316,2540,2345,0,0,0,0,0,0
$GC,4208,0.76,146.0,191.7,11.8,442,4209,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2537,2345,0,0,0,0,0,0
$GC,4334,0.76,146.0,177.0,11.6,454,4338,0.00,2.00,0.00,0.000,4,0.000,0.060,3316,3775,2345,0,0,0,0,0,0
$GC,4370,0.76,146.0,171.9,13.7,457,4381,0.00,1.95,0.00,0.000,6,0.000,0.042,3325,2545,2345,0,0,0,0,0,0
$GC,4508,0.76,146.0,155.5,12.1,470,4511,0.00,1.98,0.00,0.000,4,0.000,0.060,3325,3764,2345,0,0,0,0,0,0
$GC,4543,0.76,146.0,150.6,14.0,473,4547,0.00,1.88,0.00,0.000,6,0.000,0.042,3334,2556,2344,0,0,0,0,0,0
$GC,4686,0.76,146.0,132.5,12.5,486,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2554,2344,0,0,0,0,0,0
$GC,4821,0.76,146.0,115.2,12.7,499,4825,0.00,1.98,0.00,0.000,4,0.000,0.060,3334,3774,2344,0,0,0,0,0,0
$GC,4867,0.76,146.0,108.5,14.7,503,4872,0.12,1.90,0.00,0.000,6,0.163,0.043,3311,2558,2344,0,0,0,0,0,0
$GC,5005,0.76,146.0,92.4,11.0,521,5012,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2555,2344,0,0,0,0,0,0
$GC,5142,0.76,146.0,76.8,11.3,546,5149,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2555,2343,0,0,0,0,0,0
$GC,5281,0.76,146.0,61.9,10.9,571,5287,0.00,1.98,0.00,0.000,4,0.000,0.060,3310,3767,2343,0,0,0,0,0,0
$GC,5311,0.76,146.0,58.2,11.7,576,5319,0.00,1.92,0.00,0.000,6,0.000,0.041,3318,2559,2343,0,0,0,0,0,0
$GC,5450,0.76,146.0,42.9,11.2,601,5457,0.00,2.33,0.00,0.000,4,0.000,0.050,3328,1082,2343,0,0,0,0,0,0
$GC,5469,0.76,146.0,40.3,11.4,604,5477,0.00,2.42,0.00,0.000,6,0.000,0.054,3328,2562,2343,0,0,0,0,0,0
$GC,5611,0.76,146.0,23.3,12.7,629,5619,0.00,1.92,0.00,0.000,4,0.000,0.060,3328,3765,2342,0,0,0,0,0,0
$GC,5659,0.76,146.0,16.4,14.1,637,5667,0.00,1.88,0.00,0.000,6,0.000,0.041,3337,2562,2342,0,0,0,0,0,0
$FREEZE,8.98,-0.433,-1.890,2,1,0
$FREEZE,8.23,-0.486,-1.890,2,1,0
$FREEZE,7.44,-0.293,-1.888,2,1,0
$FREEZE,6.78,-0.294,-1.888,2,1,0
$FREEZE,6.13,-0.282,-1.888,2,1,0
$FREEZE,5.29,-0.281,-1.888,2,1,0
$FREEZE,4.60,-0.289,-1.888,2,1,0
$FREEZE,3.78,-0.295,-1.887,2,1,0
$FREEZE,3.16,-0.300,-1.887,2,1,0
$FREEZE,2.53,-0.288,-1.887,2,1,0
$STATE,5771,end climb,SURFACE_DEPTH_REACHED
$STATE,5771,begin surface coast
$FREEZE,1.62,-0.287,-1.886,2,1,0
$FREEZE,1.40,-0.411,-0.677,2,1,0
$FREEZE,1.41,-0.382,-1.655,2,1,0
$FREEZE,1.32,-0.322,-0.955,2,1,0
$FREEZE,1.26,-0.375,-0.928,2,1,0
$FINISH,1.3,1.013702
$STATE,5803,end surface coast,CONTROL_FINISHED_OK
$STATE,5803,begin surface
$SM_CCo,5819,81.30,0.721,1,0,1736,300.24
$SM_GC,2.18,0.00,0.00,81.30,0.000,0.000,0.721,429,2661,1736,-8.23,0.31,300.24
$IRIDIUM_FIX,-7545.40,17523.36,241210,040439
$TT8_MAMPS,0.029211
$HUMID,52.48
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,17.8
$24V_AH,20.5,56.977
$10V_AH,9.8,37.209
$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,18.275,60.000,276.075,81.300,0.000,29.636,39.632,197.993,1.500,0.000,17.883,1677.198,2117.103,461.156,1880.053,162.550,0.000,1118.405,0.000,1082.201,0.000,7.774,0.000
$DEVICE_MAMPS,196.605,85.680,1023.570,720.630,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,465.050,860.748,939.991,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47254,661
$CAP_FILE_SIZE,89776,0
$CFSIZE,260165632,233394176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.251,156.7,1
$GPS,241210,083006,-7633.028,17526.092,40,1.0,41,124.7