version: 66.08
glider: 502
mission: 3
dive: 343
start: 12 25 110 19 11 29
data:
$ID,502
$MISSION,3
$DIVE,343
$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,-30573.639
$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,38
$R_STBD_OVSHOOT,28
$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
$GPS1,251210,190406,-7631.751,17633.518,39,1.0,40,123.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-68.6
$GPS2,251210,191102,-7631.702,17633.465,13,1.0,13,123.1
$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,357.0,89349,-17.5,-10.000
$D_GRID,386
$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,15,-0.76,-146.0,0.0,0.0,0,100,0.00,0.00,-82.18,0.000,2,0.000,0.000,426,2664,3249,0,0,0,0,0,0
$GC,102,-0.76,-146.0,3.2,-1.8,12,127,9.02,1.88,-9.55,0.000,4,0.201,0.078,2801,3758,3560,0,0,0,0,0,0
$GC,255,-0.76,-146.0,29.7,-17.3,38,264,0.00,1.77,0.00,0.000,6,0.000,0.042,2802,2644,3563,0,0,0,0,0,0
$GC,399,-0.76,-146.0,53.1,-15.8,63,405,0.00,1.83,0.00,0.000,4,0.000,0.062,2793,3757,3564,0,0,0,0,0,0
$GC,426,-0.76,-146.0,57.7,-17.1,67,433,0.00,1.75,0.00,0.000,6,0.000,0.042,2793,2658,3564,0,0,0,0,0,0
$GC,568,-0.76,-146.0,82.6,-17.2,92,575,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2657,3564,0,0,0,0,0,0
$GC,714,-0.76,-146.0,107.7,-17.1,114,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2657,3564,0,0,0,0,0,0
$GC,842,-0.76,-146.0,129.2,-17.0,126,845,0.00,1.80,0.00,0.000,4,0.000,0.063,2784,3765,3564,0,0,0,0,0,0
$GC,890,-0.76,-146.0,138.3,-17.8,130,900,0.08,1.75,0.00,0.000,6,0.140,0.041,2809,2665,3564,0,0,0,0,0,0
$GC,1027,-0.76,-146.0,158.8,-15.4,143,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2663,3564,0,0,0,0,0,0
$GC,1163,-0.76,-146.0,179.6,-15.2,156,1166,0.00,1.77,0.00,0.000,4,0.000,0.062,2803,3759,3565,0,0,0,0,0,0
$GC,1188,-0.76,-146.0,183.5,-15.9,158,1192,0.00,1.67,0.00,0.000,6,0.000,0.041,2802,2674,3565,0,0,0,0,0,0
$GC,1331,-0.76,-146.0,205.2,-15.1,171,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2672,3565,0,0,0,0,0,0
$GC,1466,-0.76,-146.0,226.0,-15.4,184,1470,0.00,1.77,0.00,0.000,4,0.000,0.062,2794,3767,3564,0,0,0,0,0,0
$GC,1513,-0.76,-146.0,233.3,-15.8,188,1516,0.00,1.70,0.00,0.000,6,0.000,0.041,2794,2670,3564,0,0,0,0,0,0
$GC,1652,-0.76,-146.0,255.7,-15.5,201,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2669,3564,0,0,0,0,0,0
$GC,1844,-0.76,-146.0,284.9,-15.1,219,1848,0.00,1.77,0.00,0.000,4,0.000,0.063,2785,3759,3564,0,0,0,0,0,0
$GC,1867,-0.76,-146.0,288.6,-15.7,221,1871,0.12,1.67,0.00,0.000,6,0.161,0.041,2819,2676,3564,0,0,0,0,0,0
$GC,2072,-0.76,-146.0,315.9,-13.1,240,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2674,3564,0,0,0,0,0,0
$GC,2260,-0.76,-146.0,341.5,-13.7,258,2264,0.00,1.77,0.00,0.000,4,0.000,0.063,2812,3766,3564,0,0,0,0,0,0
$GC,2305,-0.76,-146.0,348.2,-15.0,262,2309,0.00,1.67,0.00,0.000,6,0.000,0.041,2812,2684,3564,0,0,0,0,0,0
$GC,2509,-0.76,-146.0,377.2,-13.4,281,2510,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2683,3564,0,0,0,0,0,0
$STATE,2559,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2559,begin apogee
$GC,2564,-0.17,0.0,384.8,14.4,286,2702,0.60,0.00,132.57,1.031,4,0.124,0.000,3008,2486,2961,0,0,0,0,0,0
$STATE,2703,end apogee,CONTROL_FINISHED_OK
$STATE,2703,begin climb
$GC,2705,0.76,146.0,390.4,0.0,298,2864,0.95,2.50,147.62,0.950,4,0.074,0.048,3309,1102,2364,0,0,0,0,0,0
$GC,2945,0.76,146.0,370.9,10.3,319,2949,0.00,2.50,0.00,0.000,6,0.000,0.050,3310,2501,2355,0,0,0,0,0,0
$GC,3144,0.76,146.0,348.4,11.7,337,3148,0.00,2.30,0.00,0.000,4,0.000,0.049,3315,1090,2351,0,0,0,0,0,0
$GC,3277,0.76,146.0,332.9,11.3,348,3284,0.00,2.33,0.00,0.000,6,0.000,0.053,3315,2517,2348,0,0,0,0,0,0
$GC,3475,0.76,146.0,309.7,12.0,367,3479,0.00,2.00,0.00,0.000,4,0.000,0.058,3315,3764,2348,0,0,0,0,0,0
$GC,3576,0.76,146.0,295.5,14.5,376,3579,0.00,1.90,0.00,0.000,6,0.000,0.040,3324,2536,2347,0,0,0,0,0,0
$GC,3781,0.76,146.0,269.9,12.4,395,3785,0.00,1.98,0.00,0.000,4,0.000,0.059,3324,3761,2346,0,0,0,0,0,0
$GC,3838,0.76,146.0,261.4,14.5,400,3841,0.00,1.90,0.00,0.000,6,0.000,0.041,3333,2538,2346,0,0,0,0,0,0
$GC,4043,0.76,146.0,234.8,12.6,419,4046,0.00,1.98,0.00,0.000,4,0.000,0.058,3333,3763,2346,0,0,0,0,0,0
$GC,4113,0.76,146.0,223.5,15.6,425,4123,0.08,1.90,0.00,0.000,6,0.143,0.040,3317,2561,2346,0,0,0,0,0,0
$GC,4251,0.76,146.0,206.9,11.9,438,4255,0.00,1.95,0.00,0.000,4,0.000,0.059,3317,3768,2346,0,0,0,0,0,0
$GC,4277,0.76,146.0,202.7,14.0,440,4287,0.00,1.92,0.00,0.000,6,0.000,0.040,3325,2554,2346,0,0,0,0,0,0
$GC,4414,0.76,146.0,186.0,12.2,453,4417,0.00,1.95,0.00,0.000,4,0.000,0.059,3325,3761,2346,0,0,0,0,0,0
$GC,4450,0.76,146.0,181.1,14.0,456,4454,0.00,1.85,0.00,0.000,6,0.000,0.041,3334,2563,2346,0,0,0,0,0,0
$GC,4593,0.76,146.0,162.6,12.7,469,4596,0.00,1.95,0.00,0.000,4,0.000,0.059,3334,3768,2346,0,0,0,0,0,0
$GC,4630,0.76,146.0,156.7,14.5,472,4639,0.10,1.88,0.00,0.000,6,0.135,0.041,3310,2585,2345,0,0,0,0,0,0
$GC,4767,0.76,146.0,141.1,11.0,485,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2584,2345,0,0,0,0,0,0
$GC,4902,0.76,146.0,125.7,11.1,498,4906,0.00,1.90,0.00,0.000,4,0.000,0.060,3310,3763,2345,0,0,0,0,0,0
$GC,4929,0.76,146.0,122.1,12.7,500,4937,0.00,1.85,0.00,0.000,6,0.000,0.041,3317,2590,2345,0,0,0,0,0,0
$GC,5066,0.76,146.0,106.5,11.6,513,5070,0.00,1.90,0.00,0.000,4,0.000,0.060,3317,3762,2345,0,0,0,0,0,0
$GC,5093,0.76,146.0,102.6,13.5,515,5102,0.00,1.85,0.00,0.000,6,0.000,0.041,3326,2594,2345,0,0,0,0,0,0
$GC,5232,0.76,146.0,85.6,11.5,538,5241,0.00,1.92,0.00,0.000,4,0.000,0.060,3326,3757,2345,0,0,0,0,0,0
$GC,5256,0.76,146.0,82.7,12.6,541,5263,0.00,1.77,0.00,0.000,6,0.000,0.041,3335,2612,2344,0,0,0,0,0,0
$GC,5397,0.76,146.0,64.7,12.2,566,5405,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2611,2344,0,0,0,0,0,0
$GC,5542,0.76,146.0,47.3,12.0,591,5548,0.00,1.88,0.00,0.000,4,0.000,0.060,3335,3765,2345,0,0,0,0,0,0
$GC,5592,0.76,146.0,41.0,13.9,599,5600,0.12,1.77,0.00,0.000,6,0.164,0.041,3310,2621,2345,0,0,0,0,0,0
$GC,5736,0.77,147.7,25.2,9.9,624,5743,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2620,2344,0,0,0,0,0,0
$GC,5879,0.77,147.7,10.1,10.4,649,5886,0.00,1.88,0.00,0.000,4,0.000,0.061,3310,3768,2344,0,0,0,0,0,0
$FREEZE,8.57,-0.681,-1.895,2,1,0
$FREEZE,7.77,-0.681,-1.895,2,1,0
$FREEZE,7.01,-0.681,-1.894,2,1,0
$FREEZE,6.04,-0.681,-1.893,2,1,0
$GC,5912,0.77,147.7,6.0,12.2,654,5921,0.00,1.80,0.00,0.000,6,0.000,0.040,3318,2625,2344,0,0,0,0,0,0
$FREEZE,3.86,-0.682,-1.892,2,1,0
$FREEZE,3.45,-0.682,-1.891,2,1,0
$FREEZE,2.68,-0.682,-1.891,2,1,0
$STATE,5937,end climb,SURFACE_DEPTH_REACHED
$STATE,5938,begin surface coast
$FREEZE,2.08,-0.683,-1.890,2,1,0
$FREEZE,1.33,-0.681,-1.890,2,1,0
$FREEZE,1.33,-0.743,-1.890,2,1,0
$FREEZE,1.34,-0.741,-1.870,2,1,0
$FINISH,1.3,1.027389
$STATE,5962,end surface coast,CONTROL_FINISHED_OK
$STATE,5963,begin surface
$SM_CCo,5978,80.72,0.728,1,0,1736,300.24
$SM_GC,2.08,0.00,0.00,80.72,0.000,0.000,0.728,430,2621,1736,-8.23,-0.82,300.24
$IRIDIUM_FIX,-7554.21,17645.09,251210,171705
$TT8_MAMPS,0.028462
$HUMID,52.28
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,18.4
$ALTIM_BOTTOM_PING,351.3,47.7
$24V_AH,20.3,59.139
$10V_AH,9.8,38.900
$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,18.575,76.175,280.200,80.725,0.000,27.885,47.991,228.451,1.750,0.000,14.645,1700.804,2204.670,489.488,1917.209,175.883,0.000,1185.261,0.000,1107.575,0.000,12.075,0.000
$DEVICE_MAMPS,201.195,78.030,1031.220,727.515,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,464.870,849.277,911.483,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258180
$DATA_FILE_SIZE,47103,662
$CAP_FILE_SIZE,95927,0
$CFSIZE,260165632,232316928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.190,329.2,1
$GPS,251210,205320,-7631.568,17634.990,9,1.7,10,123.0