version: 66.08
glider: 502
mission: 3
dive: 341
start: 12 25 110 15 28 33
data:
$ID,502
$MISSION,3
$DIVE,341
$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,-30571.027
$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,37
$R_STBD_OVSHOOT,25
$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
$GPS1,251210,152206,-7632.248,17628.275,40,0.8,45,123.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-73.2
$GPS2,251210,152808,-7632.213,17628.254,13,0.9,13,123.2
$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,336.9,91638,-17.5,-10.000
$D_GRID,392
$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,18,-0.76,-146.0,0.0,0.0,0,89,0.00,0.00,-69.15,0.000,2,0.000,0.000,415,2653,2976,0,0,0,0,0,0
$GC,92,-0.76,-146.0,3.1,-2.6,10,136,9.05,1.90,-24.12,0.000,4,0.201,0.079,2800,3766,3559,0,0,0,0,0,0
$GC,256,-0.76,-146.0,26.5,-18.3,38,264,0.00,1.77,0.00,0.000,6,0.000,0.042,2800,2655,3561,0,0,0,0,0,0
$GC,395,-0.76,-146.0,50.3,-16.8,63,402,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2655,3562,0,0,0,0,0,0
$GC,533,-0.76,-146.0,72.3,-15.5,88,542,0.00,1.85,0.00,0.000,4,0.000,0.063,2792,3758,3562,0,0,0,0,0,0
$GC,581,-0.76,-146.0,80.4,-16.4,96,590,0.00,1.75,0.00,0.000,6,0.000,0.042,2792,2657,3562,0,0,0,0,0,0
$GC,726,-0.76,-146.0,103.9,-16.9,120,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2656,3562,0,0,0,0,0,0
$GC,854,-0.76,-146.0,125.4,-16.8,132,857,0.00,1.80,0.00,0.000,4,0.000,0.063,2783,3760,3563,0,0,0,0,0,0
$GC,889,-0.76,-146.0,132.0,-18.3,135,894,0.12,1.70,0.00,0.000,6,0.163,0.041,2817,2661,3563,0,0,0,0,0,0
$GC,1032,-0.76,-146.0,154.0,-15.1,148,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2659,3563,0,0,0,0,0,0
$GC,1167,-0.76,-146.0,173.9,-14.9,161,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2659,3563,0,0,0,0,0,0
$GC,1294,-0.76,-146.0,192.1,-14.1,173,1298,0.00,1.80,0.00,0.000,4,0.000,0.063,2810,3764,3563,0,0,0,0,0,0
$GC,1342,-0.76,-146.0,199.7,-14.6,177,1351,0.00,1.73,0.00,0.000,6,0.000,0.041,2810,2676,3563,0,0,0,0,0,0
$GC,1480,-0.76,-146.0,219.1,-14.5,190,1484,0.00,1.77,0.00,0.000,4,0.000,0.063,2801,3764,3563,0,0,0,0,0,0
$GC,1505,-0.76,-146.0,223.2,-15.9,192,1508,0.00,1.65,0.00,0.000,6,0.000,0.041,2801,2693,3563,0,0,0,0,0,0
$GC,1646,-0.76,-146.0,244.9,-15.2,205,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2690,3563,0,0,0,0,0,0
$GC,1772,-0.76,-146.0,264.6,-15.7,217,1775,0.00,1.75,0.00,0.000,4,0.000,0.062,2794,3769,3563,0,0,0,0,0,0
$GC,1795,-0.76,-146.0,268.3,-15.3,219,1798,0.00,1.65,0.00,0.000,6,0.000,0.042,2794,2700,3563,0,0,0,0,0,0
$GC,2002,-0.76,-146.0,300.1,-15.6,238,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2698,3563,0,0,0,0,0,0
$GC,2200,-0.76,-146.0,330.9,-15.2,257,2204,0.00,1.73,0.00,0.000,4,0.000,0.063,2786,3759,3563,0,0,0,0,0,0
$GC,2237,-0.76,-146.0,337.1,-16.0,260,2246,0.08,1.67,0.00,0.000,6,0.142,0.041,2811,2698,3563,0,0,0,0,0,0
$GC,2437,-0.76,-146.0,363.4,-13.1,279,2441,0.00,1.73,0.00,0.000,4,0.000,0.063,2804,3759,3563,0,0,0,0,0,0
$GC,2460,-0.76,-146.0,366.8,-13.7,281,2464,0.00,1.65,0.00,0.000,6,0.000,0.041,2804,2692,3563,0,0,0,0,0,0
$STATE,2630,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2630,begin apogee
$GC,2635,-0.17,0.0,390.3,14.1,297,2773,0.62,0.00,132.32,1.034,4,0.127,0.000,3006,2495,2960,0,0,0,0,0,0
$STATE,2774,end apogee,CONTROL_FINISHED_OK
$STATE,2774,begin climb
$GC,2776,0.76,146.0,395.8,0.0,309,2935,0.95,2.53,147.15,0.956,4,0.071,0.048,3311,1099,2366,0,0,0,0,0,0
$GC,3029,0.76,146.0,373.9,11.4,331,3037,0.00,2.47,0.00,0.000,6,0.000,0.050,3312,2497,2357,0,0,0,0,0,0
$GC,3227,0.76,146.0,349.1,12.3,350,3231,0.00,2.28,0.00,0.000,4,0.000,0.049,3321,1095,2354,0,0,0,0,0,0
$GC,3338,0.76,146.0,335.3,12.2,359,3346,0.00,2.35,0.00,0.000,6,0.000,0.052,3321,2517,2351,0,0,0,0,0,0
$GC,3536,0.76,146.0,310.7,12.4,378,3540,0.00,2.00,0.00,0.000,4,0.000,0.058,3321,3771,2351,0,0,0,0,0,0
$GC,3629,0.76,146.0,297.6,15.4,386,3633,0.00,1.92,0.00,0.000,6,0.000,0.042,3329,2536,2350,0,0,0,0,0,0
$GC,3832,0.76,146.0,270.3,12.8,405,3836,0.00,1.98,0.00,0.000,4,0.000,0.058,3329,3766,2349,0,0,0,0,0,0
$GC,3870,0.76,146.0,264.3,15.5,408,3877,0.00,1.95,0.00,0.000,6,0.000,0.041,3338,2535,2349,0,0,0,0,0,0
$GC,4069,0.76,146.0,237.2,13.5,427,4073,0.00,1.98,0.00,0.000,4,0.000,0.058,3338,3765,2349,0,0,0,0,0,0
$GC,4115,0.76,146.0,230.4,15.3,431,4119,0.12,1.88,0.00,0.000,6,0.167,0.041,3315,2552,2348,0,0,0,0,0,0
$GC,4258,0.76,146.0,213.4,11.5,444,4265,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2549,2348,0,0,0,0,0,0
$GC,4393,0.76,146.0,197.3,11.8,457,4396,0.00,1.98,0.00,0.000,4,0.000,0.060,3314,3771,2347,0,0,0,0,0,0
$GC,4439,0.76,146.0,191.1,14.3,461,4442,0.00,1.88,0.00,0.000,6,0.000,0.041,3322,2559,2347,0,0,0,0,0,0
$GC,4581,0.76,146.0,173.0,12.9,474,4585,0.00,1.95,0.00,0.000,4,0.000,0.060,3322,3764,2347,0,0,0,0,0,0
$GC,4628,0.76,146.0,165.9,15.0,478,4631,0.00,1.83,0.00,0.000,6,0.000,0.041,3331,2580,2347,0,0,0,0,0,0
$GC,4768,0.76,146.0,147.1,12.9,491,4769,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2577,2347,0,0,0,0,0,0
$GC,4896,0.76,146.0,130.0,13.7,503,4900,0.00,1.92,0.00,0.000,4,0.000,0.060,3331,3770,2347,0,0,0,0,0,0
$GC,4942,0.76,146.0,123.1,15.5,507,4946,0.00,1.85,0.00,0.000,6,0.000,0.041,3341,2574,2347,0,0,0,0,0,0
$GC,5084,0.76,146.0,103.3,13.8,520,5092,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2573,2347,0,0,0,0,0,0
$GC,5222,0.76,146.0,83.9,13.9,543,5230,0.00,1.95,0.00,0.000,4,0.000,0.060,3341,3768,2347,0,0,0,0,0,0
$GC,5263,0.76,146.0,77.5,15.7,550,5272,0.10,1.88,0.00,0.000,6,0.138,0.041,3316,2586,2347,0,0,0,0,0,0
$GC,5405,0.76,146.0,60.4,12.2,575,5412,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2584,2347,0,0,0,0,0,0
$GC,5542,0.76,146.0,44.4,11.4,600,5549,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2585,2347,0,0,0,0,0,0
$GC,5682,0.76,146.0,28.2,11.9,625,5689,0.00,1.92,0.00,0.000,4,0.000,0.060,3316,3767,2346,0,0,0,0,0,0
$GC,5711,0.76,146.0,24.1,13.5,630,5719,0.00,1.88,0.00,0.000,6,0.000,0.041,3323,2580,2347,0,0,0,0,0,0
$FREEZE,8.48,-0.709,-1.896,2,1,0
$FREEZE,7.67,-0.708,-1.895,2,1,0
$FREEZE,7.01,-0.708,-1.895,2,1,0
$FREEZE,6.08,-0.708,-1.894,2,1,0
$FREEZE,5.56,-0.708,-1.894,2,1,0
$GC,5857,0.76,146.0,5.6,12.8,655,5864,0.00,1.92,0.00,0.000,4,0.000,0.060,3323,3764,2346,0,0,0,0,0,0
$FREEZE,3.38,-0.710,-1.892,2,1,0
$FREEZE,2.43,-0.710,-1.891,2,1,0
$STATE,5877,end climb,SURFACE_DEPTH_REACHED
$STATE,5877,begin surface coast
$FREEZE,1.73,-0.712,-1.891,2,1,0
$FREEZE,1.26,-0.751,-1.396,2,1,0
$FREEZE,1.39,-0.727,-1.891,2,1,0
$FREEZE,1.27,-0.867,-1.659,2,1,0
$FINISH,1.3,1.024388
$STATE,5901,end surface coast,CONTROL_FINISHED_OK
$STATE,5901,begin surface
$SM_CCo,5919,80.82,0.727,1,0,1736,300.24
$SM_GC,2.17,0.00,0.00,80.82,0.000,0.000,0.727,429,2647,1736,-8.24,-0.06,300.24
$IRIDIUM_FIX,-7545.40,17619.11,251210,131329
$TT8_MAMPS,0.028462
$HUMID,52.67
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,18.5
$ALTIM_BOTTOM_PING,350.9,54.0
$24V_AH,20.3,58.926
$10V_AH,9.8,38.728
$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,18.575,72.225,279.475,80.825,0.000,30.058,41.979,184.542,1.750,0.000,14.188,1683.852,2166.262,485.447,1854.555,183.577,0.000,1167.928,0.000,1098.673,0.000,13.574,0.000
$DEVICE_MAMPS,201.195,78.795,1034.280,726.750,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,465.119,847.847,907.412,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47104,662
$CAP_FILE_SIZE,93570,0
$CFSIZE,260165632,232431616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.106,352.0,1
$GPS,251210,170946,-7631.992,17631.352,11,2.3,30,123.1