version: 66.08
glider: 502
mission: 3
dive: 324
start: 12 24 110 8 40 27
data:
$ID,502
$MISSION,3
$DIVE,324
$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,-30548.26
$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,36
$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
$GPS1,241210,083006,-7633.028,17526.092,40,1.0,41,124.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-70.9
$GPS2,241210,084001,-7633.100,17526.361,14,1.1,14,124.7
$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,277.5,118444,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,95,0.00,0.00,-76.82,0.000,2,0.000,0.000,420,2665,3151,0,0,0,0,0,0
$GC,98,-0.76,-146.0,3.0,-1.7,11,128,8.80,2.30,-13.88,0.000,4,0.196,0.060,2807,1236,3559,0,0,0,0,0,0
$GC,370,-0.76,-146.0,42.2,-15.6,60,378,0.00,2.35,0.00,0.000,6,0.000,0.056,2798,2652,3563,0,0,0,0,0,0
$GC,509,-0.76,-146.0,65.4,-17.1,85,516,0.00,2.25,0.00,0.000,4,0.000,0.048,2798,1236,3563,0,0,0,0,0,0
$GC,588,-0.76,-146.0,77.9,-15.5,99,596,0.10,2.33,0.00,0.000,6,0.168,0.056,2814,2661,3563,0,0,0,0,0,0
$GC,729,-0.76,-146.0,99.2,-16.1,124,737,0.00,1.80,0.00,0.000,4,0.000,0.063,2806,3758,3563,0,0,0,0,0,0
$GC,767,-0.76,-146.0,105.7,-16.8,128,770,0.00,1.73,0.00,0.000,6,0.000,0.042,2806,2647,3563,0,0,0,0,0,0
$GC,908,-0.76,-146.0,128.0,-15.7,141,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2645,3563,0,0,0,0,0,0
$GC,1034,-0.76,-146.0,148.0,-15.9,153,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2645,3564,0,0,0,0,0,0
$GC,1162,-0.76,-146.0,168.5,-16.3,165,1165,0.00,1.83,0.00,0.000,4,0.000,0.063,2798,3767,3564,0,0,0,0,0,0
$GC,1188,-0.76,-146.0,173.5,-17.2,167,1197,0.00,1.75,0.00,0.000,6,0.000,0.042,2798,2670,3563,0,0,0,0,0,0
$GC,1325,-0.76,-146.0,194.8,-16.0,180,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2670,3563,0,0,0,0,0,0
$GC,1460,-0.76,-146.0,216.7,-15.8,193,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2670,3564,0,0,0,0,0,0
$GC,1588,-0.76,-146.0,237.0,-15.6,205,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2670,3564,0,0,0,0,0,0
$GC,1714,-0.76,-146.0,256.8,-15.1,217,1718,0.00,1.77,0.00,0.000,4,0.000,0.063,2789,3764,3563,0,0,0,0,0,0
$GC,1740,-0.76,-146.0,261.2,-16.0,219,1748,0.00,1.75,0.00,0.000,6,0.000,0.042,2789,2667,3564,0,0,0,0,0,0
$GC,1940,-0.76,-146.0,291.9,-15.5,238,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2667,3563,0,0,0,0,0,0
$GC,2130,-0.76,-146.0,321.6,-16.0,256,2131,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2667,3563,0,0,0,0,0,0
$GC,2321,-0.76,-146.0,351.8,-15.5,274,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2667,3563,0,0,0,0,0,0
$STATE,2478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2479,begin apogee
$GC,2484,-0.17,0.0,376.7,15.9,289,2622,0.68,0.00,130.62,1.019,4,0.132,0.000,3005,2486,2959,0,0,0,0,0,0
$STATE,2623,end apogee,CONTROL_FINISHED_OK
$STATE,2623,begin climb
$GC,2625,0.76,146.0,382.7,0.0,301,2778,0.95,2.47,145.15,0.933,4,0.074,0.048,3310,1101,2365,0,0,0,0,0,0
$GC,2906,0.76,146.0,358.3,11.1,326,2914,0.00,2.50,0.00,0.000,6,0.000,0.051,3310,2499,2353,0,0,0,0,0,0
$GC,3105,0.76,146.0,335.5,11.8,345,3109,0.00,2.25,0.00,0.000,4,0.000,0.049,3315,1103,2350,0,0,0,0,0,0
$GC,3227,0.76,146.0,321.3,11.4,355,3234,0.00,2.30,0.00,0.000,6,0.000,0.052,3315,2522,2348,0,0,0,0,0,0
$GC,3426,0.76,146.0,297.7,11.6,374,3429,0.00,2.00,0.00,0.000,4,0.000,0.060,3315,3771,2348,0,0,0,0,0,0
$GC,3493,0.76,146.0,288.3,14.8,380,3497,0.00,1.98,0.00,0.000,6,0.000,0.043,3324,2536,2347,0,0,0,0,0,0
$GC,3696,0.76,146.0,262.7,12.4,399,3699,0.00,2.00,0.00,0.000,4,0.000,0.059,3324,3773,2346,0,0,0,0,0,0
$GC,3730,0.76,146.0,257.9,14.7,402,3734,0.00,1.92,0.00,0.000,6,0.000,0.043,3334,2536,2346,0,0,0,0,0,0
$GC,3935,0.76,146.0,231.1,13.0,421,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2533,2346,0,0,0,0,0,0
$GC,4062,0.76,146.0,214.4,12.9,433,4066,0.00,2.00,0.00,0.000,4,0.000,0.059,3334,3771,2346,0,0,0,0,0,0
$GC,4108,0.76,146.0,207.8,14.8,437,4113,0.12,1.92,0.00,0.000,6,0.165,0.043,3310,2543,2346,0,0,0,0,0,0
$GC,4245,0.76,146.0,191.7,11.4,449,4253,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2540,2345,0,0,0,0,0,0
$GC,4381,0.76,146.0,176.2,11.2,462,4384,0.00,2.00,0.00,0.000,4,0.000,0.060,3310,3772,2345,0,0,0,0,0,0
$GC,4407,0.76,146.0,172.5,13.3,464,4415,0.00,1.95,0.00,0.000,6,0.000,0.043,3318,2549,2345,0,0,0,0,0,0
$GC,4543,0.76,146.0,156.8,11.7,477,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2548,2344,0,0,0,0,0,0
$GC,4669,0.76,146.0,141.7,11.7,489,4673,0.00,1.98,0.00,0.000,4,0.000,0.060,3318,3765,2344,0,0,0,0,0,0
$GC,4706,0.76,146.0,136.6,13.6,492,4715,0.00,1.92,0.00,0.000,6,0.000,0.041,3327,2556,2344,0,0,0,0,0,0
$GC,4842,0.76,146.0,120.3,12.3,505,4846,0.00,1.98,0.00,0.000,4,0.000,0.060,3328,3771,2344,0,0,0,0,0,0
$GC,4869,0.76,146.0,116.4,14.1,507,4878,0.00,1.90,0.00,0.000,6,0.000,0.041,3337,2570,2344,0,0,0,0,0,0
$GC,5005,0.76,146.0,99.8,12.4,520,5013,0.00,1.98,0.00,0.000,4,0.000,0.060,3337,3756,2345,0,0,0,0,0,0
$GC,5037,0.76,146.0,95.3,14.5,525,5046,0.12,1.85,0.00,0.000,6,0.161,0.042,3311,2573,2344,0,0,0,0,0,0
$GC,5178,0.76,146.0,78.8,10.9,550,5185,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2572,2344,0,0,0,0,0,0
$GC,5318,0.76,146.0,63.0,11.3,575,5325,0.00,1.95,0.00,0.000,4,0.000,0.060,3311,3765,2344,0,0,0,0,0,0
$GC,5347,0.76,146.0,59.3,13.1,580,5355,0.00,1.88,0.00,0.000,6,0.000,0.041,3319,2583,2344,0,0,0,0,0,0
$GC,5486,0.76,146.0,42.9,11.5,605,5494,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2582,2343,0,0,0,0,0,0
$GC,5625,0.76,146.0,26.4,11.5,630,5633,0.00,1.95,0.00,0.000,4,0.000,0.060,3319,3758,2343,0,0,0,0,0,0
$GC,5657,0.76,146.0,22.5,12.5,635,5664,0.00,1.85,0.00,0.000,6,0.000,0.043,3328,2576,2343,0,0,0,0,0,0
$FREEZE,8.99,-0.384,-1.891,2,1,0
$FREEZE,8.28,-0.361,-1.891,2,1,0
$FREEZE,7.53,-0.332,-1.890,2,1,0
$FREEZE,6.93,-0.337,-1.890,2,1,0
$FREEZE,5.88,-0.333,-1.889,2,1,0
$FREEZE,5.16,-0.327,-1.888,2,1,0
$FREEZE,4.42,-0.330,-1.888,2,1,0
$GC,5799,0.76,146.0,4.4,13.2,660,5807,0.00,1.98,0.00,0.000,4,0.000,0.060,3328,3767,2343,0,0,0,0,0,0
$FREEZE,2.09,-0.325,-1.886,2,1,0
$STATE,5814,end climb,SURFACE_DEPTH_REACHED
$STATE,5814,begin surface coast
$FREEZE,1.38,-0.328,-1.886,2,1,0
$FINISH,1.4,1.027595
$STATE,5822,end surface coast,CONTROL_FINISHED_OK
$STATE,5822,begin surface
$SM_CCo,5839,80.72,0.719,1,0,1735,300.24
$SM_GC,2.15,0.00,0.00,80.72,0.000,0.000,0.719,424,2642,1735,-8.25,-0.23,300.24
$IRIDIUM_FIX,-7545.40,17523.36,241210,080836
$TT8_MAMPS,0.028462
$HUMID,52.75
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,13.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.3,17.8
$ALTIM_BOTTOM_PING,350.2,92.5
$24V_AH,20.4,57.090
$10V_AH,9.7,37.295
$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,18.300,68.400,275.775,80.725,0.000,59.721,76.706,255.716,1.500,0.000,15.727,1666.808,2175.106,480.258,2029.750,176.419,0.000,1146.216,0.000,1077.084,0.000,10.726,0.000
$DEVICE_MAMPS,195.840,63.495,1018.980,719.100,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,465.743,859.736,938.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47118,663
$CAP_FILE_SIZE,93567,0
$CFSIZE,260165632,233345024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.294,154.5,1
$GPS,241210,102002,-7633.391,17529.982,13,1.6,13,124.7