version: 66.08
glider: 502
mission: 3
dive: 342
start: 12 25 110 17 21 14
data:
$ID,502
$MISSION,3
$DIVE,342
$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,-30572.383
$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,22
$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
$GPS1,251210,170946,-7631.992,17631.352,11,2.3,30,123.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-70.2
$GPS2,251210,172046,-7631.918,17631.301,12,3.3,31,123.1
$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,348.7,90299,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,89,0.00,0.00,-72.10,0.000,2,0.000,0.000,420,2647,3037,0,0,0,0,0,0
$GC,92,-0.76,-146.0,3.0,-2.2,10,129,8.82,1.85,-20.52,0.000,4,0.197,0.080,2804,3763,3555,0,0,0,0,0,0
$GC,284,-0.76,-146.0,31.3,-18.0,43,292,0.00,1.77,0.00,0.000,6,0.000,0.042,2803,2627,3557,0,0,0,0,0,0
$GC,422,-0.76,-146.0,54.6,-15.8,68,429,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2626,3557,0,0,0,0,0,0
$GC,562,-0.76,-146.0,77.6,-17.0,93,569,0.00,1.88,0.00,0.000,4,0.000,0.062,2795,3771,3558,0,0,0,0,0,0
$GC,602,-0.76,-146.0,85.0,-18.3,100,610,0.00,1.77,0.00,0.000,6,0.000,0.042,2794,2656,3558,0,0,0,0,0,0
$GC,746,-0.76,-146.0,109.7,-17.1,121,750,0.00,2.22,0.00,0.000,4,0.000,0.050,2794,1238,3558,0,0,0,0,0,0
$GC,766,-0.76,-146.0,113.0,-17.1,122,771,0.12,2.30,0.00,0.000,6,0.155,0.056,2817,2661,3558,0,0,0,0,0,0
$GC,901,-0.76,-146.0,132.3,-13.8,134,905,0.00,1.75,0.00,0.000,4,0.000,0.061,2811,3762,3558,0,0,0,0,0,0
$GC,948,-0.76,-146.0,139.1,-14.2,138,951,0.00,1.70,0.00,0.000,6,0.000,0.041,2811,2660,3558,0,0,0,0,0,0
$GC,1089,-0.76,-146.0,159.9,-14.7,151,1093,0.00,1.80,0.00,0.000,4,0.000,0.063,2802,3764,3558,0,0,0,0,0,0
$GC,1135,-0.76,-146.0,167.3,-15.9,155,1139,0.00,1.67,0.00,0.000,6,0.000,0.041,2802,2680,3558,0,0,0,0,0,0
$GC,1277,-0.76,-146.0,189.1,-15.5,168,1278,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2678,3558,0,0,0,0,0,0
$GC,1403,-0.76,-146.0,208.6,-15.6,180,1407,0.00,1.77,0.00,0.000,4,0.000,0.063,2794,3768,3559,0,0,0,0,0,0
$GC,1438,-0.76,-146.0,214.2,-16.9,183,1441,0.00,1.67,0.00,0.000,6,0.000,0.041,2795,2683,3558,0,0,0,0,0,0
$GC,1579,-0.76,-146.0,236.7,-15.5,196,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2681,3559,0,0,0,0,0,0
$GC,1705,-0.76,-146.0,256.3,-15.3,208,1708,0.00,1.77,0.00,0.000,4,0.000,0.063,2786,3771,3559,0,0,0,0,0,0
$GC,1742,-0.76,-146.0,262.9,-16.6,211,1751,0.08,1.73,0.00,0.000,6,0.139,0.041,2812,2683,3559,0,0,0,0,0,0
$GC,1942,-0.76,-146.0,291.2,-14.3,230,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2682,3558,0,0,0,0,0,0
$GC,2132,-0.76,-146.0,318.5,-14.0,248,2136,0.00,1.75,0.00,0.000,4,0.000,0.062,2805,3762,3558,0,0,0,0,0,0
$GC,2178,-0.76,-146.0,325.3,-15.2,252,2182,0.00,1.65,0.00,0.000,6,0.000,0.041,2805,2692,3558,0,0,0,0,0,0
$GC,2382,-0.76,-146.0,353.8,-13.7,271,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2690,3559,0,0,0,0,0,0
$GC,2572,-0.76,-146.0,380.2,-14.1,289,2576,0.00,1.75,0.00,0.000,4,0.000,0.063,2798,3763,3558,0,0,0,0,0,0
$GC,2587,-0.76,-146.0,382.7,-14.2,290,2595,0.00,1.67,0.00,0.000,6,0.000,0.041,2798,2705,3559,0,0,0,0,0,0
$STATE,2604,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2604,begin apogee
$GC,2610,-0.17,0.0,385.0,14.7,292,2746,0.62,0.00,131.15,1.029,4,0.127,0.000,3000,2496,2961,0,0,0,0,0,0
$STATE,2747,end apogee,CONTROL_FINISHED_OK
$STATE,2747,begin climb
$GC,2749,0.76,146.0,390.1,0.0,304,2905,0.98,2.53,147.15,0.949,4,0.073,0.048,3311,1095,2365,0,0,0,0,0,0
$GC,3017,0.76,146.0,365.1,12.3,328,3022,0.00,2.47,0.00,0.000,6,0.000,0.050,3311,2500,2354,0,0,0,0,0,0
$GC,3216,0.76,146.0,340.0,12.7,346,3220,0.00,2.28,0.00,0.000,4,0.000,0.048,3321,1088,2350,0,0,0,0,0,0
$GC,3345,0.76,146.0,324.1,11.8,357,3350,0.00,2.33,0.00,0.000,6,0.000,0.052,3321,2523,2348,0,0,0,0,0,0
$GC,3543,0.76,146.0,299.3,12.2,375,3547,0.00,1.98,0.00,0.000,4,0.000,0.058,3321,3765,2347,0,0,0,0,0,0
$GC,3626,0.76,146.0,287.2,14.6,382,3634,0.00,1.95,0.00,0.000,6,0.000,0.039,3331,2533,2347,0,0,0,0,0,0
$GC,3824,0.76,146.0,261.9,12.1,401,3828,0.00,2.00,0.00,0.000,4,0.000,0.059,3331,3773,2346,0,0,0,0,0,0
$GC,3851,0.76,146.0,257.9,14.0,403,3860,0.00,1.95,0.00,0.000,6,0.000,0.041,3340,2541,2346,0,0,0,0,0,0
$GC,4051,0.76,146.0,231.9,13.2,422,4055,0.00,1.98,0.00,0.000,4,0.000,0.060,3340,3764,2346,0,0,0,0,0,0
$GC,4108,0.76,146.0,223.4,15.1,427,4112,0.15,1.88,0.00,0.000,6,0.157,0.040,3308,2550,2346,0,0,0,0,0,0
$GC,4249,0.76,146.0,207.0,11.6,440,4250,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,2548,2346,0,0,0,0,0,0
$GC,4376,0.76,146.0,192.9,11.2,452,4380,0.00,1.98,0.00,0.000,4,0.000,0.060,3307,3768,2346,0,0,0,0,0,0
$GC,4412,0.76,146.0,187.9,13.1,455,4423,0.00,1.92,0.00,0.000,6,0.000,0.041,3316,2555,2345,0,0,0,0,0,0
$GC,4549,0.76,146.0,172.1,11.7,468,4553,0.00,1.98,0.00,0.000,4,0.000,0.060,3316,3775,2345,0,0,0,0,0,0
$GC,4584,0.76,146.0,167.5,13.6,471,4588,0.00,1.88,0.00,0.000,6,0.000,0.041,3325,2565,2345,0,0,0,0,0,0
$GC,4727,0.76,146.0,150.2,12.4,484,4731,0.00,1.95,0.00,0.000,4,0.000,0.059,3325,3769,2345,0,0,0,0,0,0
$GC,4763,0.76,146.0,145.3,14.2,487,4767,0.00,1.85,0.00,0.000,6,0.000,0.041,3334,2572,2345,0,0,0,0,0,0
$GC,4906,0.76,146.0,126.9,12.6,500,4909,0.00,1.95,0.00,0.000,4,0.000,0.060,3334,3775,2345,0,0,0,0,0,0
$GC,4942,0.76,146.0,121.6,14.6,503,4946,0.12,1.83,0.00,0.000,6,0.162,0.041,3309,2600,2345,0,0,0,0,0,0
$GC,5084,0.76,146.0,104.7,11.6,516,5091,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2597,2344,0,0,0,0,0,0
$GC,5220,0.76,146.0,88.8,11.4,538,5227,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2597,2344,0,0,0,0,0,0
$GC,5359,0.76,146.0,73.3,11.1,563,5366,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2597,2344,0,0,0,0,0,0
$GC,5497,0.76,146.0,58.3,11.4,588,5504,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2597,2344,0,0,0,0,0,0
$GC,5635,0.76,146.0,43.4,11.0,613,5642,0.00,1.90,0.00,0.000,4,0.000,0.060,3309,3765,2344,0,0,0,0,0,0
$GC,5682,0.76,146.0,37.8,12.3,621,5689,0.00,1.83,0.00,0.000,6,0.000,0.041,3317,2590,2344,0,0,0,0,0,0
$GC,5820,0.76,146.0,21.7,11.7,646,5828,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2589,2344,0,0,0,0,0,0
$FREEZE,8.87,-0.630,-1.896,2,1,0
$FREEZE,8.34,-0.630,-1.895,2,1,0
$FREEZE,7.53,-0.634,-1.895,2,1,0
$FREEZE,6.90,-0.631,-1.894,2,1,0
$FREEZE,6.26,-0.630,-1.894,2,1,0
$FREEZE,5.56,-0.629,-1.893,2,1,0
$FREEZE,4.56,-0.627,-1.892,2,1,0
$FREEZE,3.89,-0.630,-1.892,2,1,0
$GC,5964,0.76,146.0,3.9,12.6,671,5971,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2589,2343,0,0,0,0,0,0
$FREEZE,2.05,-0.629,-1.891,2,1,0
$STATE,5978,end climb,SURFACE_DEPTH_REACHED
$STATE,5978,begin surface coast
$FREEZE,1.44,-0.628,-1.890,2,1,0
$FREEZE,1.30,-0.750,-1.005,2,1,0
$FREEZE,1.30,-0.874,-1.906,2,1,0
$FREEZE,1.29,-0.798,-1.663,2,1,0
$FINISH,1.3,1.024447
$STATE,6003,end surface coast,CONTROL_FINISHED_OK
$STATE,6003,begin surface
$SM_CCo,6019,75.53,0.101,0,0,1736,300.24
$SM_GC,2.16,0.00,0.00,75.53,0.000,0.000,0.101,432,2661,1736,-8.23,0.34,300.24
$IRIDIUM_FIX,-7545.40,17636.38,251210,171720
$TT8_MAMPS,0.027713
$HUMID,52.91
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,20.0,18.3
$ALTIM_BOTTOM_PING,350.9,48.2
$24V_AH,20.3,59.027
$10V_AH,9.7,38.816
$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,18.400,73.300,278.300,75.525,0.000,84.950,142.178,182.470,1.750,0.000,33.738,1739.657,2299.472,464.377,2087.557,174.703,0.000,1156.932,0.000,1133.091,0.000,10.612,0.000
$DEVICE_MAMPS,196.605,107.865,1028.925,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,476.312,874.506,942.851,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47044,677
$CAP_FILE_SIZE,97278,0
$CFSIZE,260165632,232374272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.148,337.3,1
$GPS,251210,190406,-7631.751,17633.518,39,1.0,40,123.1