version: 66.08
glider: 502
mission: 3
dive: 344
start: 12 25 110 21 2 34
data:
$ID,502
$MISSION,3
$DIVE,344
$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,-30574.895
$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,33
$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
$GPS1,251210,205320,-7631.568,17634.990,9,1.7,10,123.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-72.5
$GPS2,251210,210207,-7631.502,17634.824,11,1.6,11,123.0
$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,4.9,88750,-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,-146.0,0.0,0.0,0,95,0.00,0.00,-77.22,0.000,2,0.000,0.000,420,2621,3146,0,0,0,0,0,0
$GC,98,-0.76,-146.0,3.1,-1.6,11,127,8.93,1.90,-13.93,0.000,4,0.201,0.077,2799,3765,3557,0,0,0,0,0,0
$GC,197,-0.76,-146.0,17.7,-18.0,27,204,0.00,1.77,0.00,0.000,6,0.000,0.042,2799,2633,3559,0,0,0,0,0,0
$GC,332,-0.76,-146.0,41.8,-17.2,52,340,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2631,3559,0,0,0,0,0,0
$GC,472,-0.76,-146.0,65.1,-16.5,77,480,0.00,1.88,0.00,0.000,4,0.000,0.063,2790,3770,3560,0,0,0,0,0,0
$GC,520,-0.76,-146.0,73.7,-18.5,85,527,0.00,1.77,0.00,0.000,6,0.000,0.042,2790,2634,3560,0,0,0,0,0,0
$GC,657,-0.76,-146.0,97.5,-18.0,110,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2633,3560,0,0,0,0,0,0
$GC,795,-0.76,-146.0,120.9,-16.5,124,799,0.00,1.85,0.00,0.000,4,0.000,0.062,2781,3769,3560,0,0,0,0,0,0
$GC,831,-0.76,-146.0,127.1,-17.7,127,835,0.12,1.73,0.00,0.000,6,0.161,0.041,2815,2655,3560,0,0,0,0,0,0
$GC,973,-0.76,-146.0,147.9,-14.3,140,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2654,3561,0,0,0,0,0,0
$GC,1108,-0.76,-146.0,167.4,-13.9,153,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2654,3561,0,0,0,0,0,0
$GC,1234,-0.76,-146.0,185.6,-14.3,165,1238,0.00,1.80,0.00,0.000,4,0.000,0.063,2808,3761,3561,0,0,0,0,0,0
$GC,1271,-0.76,-146.0,191.8,-16.2,168,1281,0.00,1.75,0.00,0.000,6,0.000,0.042,2808,2664,3561,0,0,0,0,0,0
$GC,1408,-0.76,-146.0,212.2,-15.0,181,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2662,3561,0,0,0,0,0,0
$GC,1534,-0.76,-146.0,231.3,-14.8,193,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2662,3561,0,0,0,0,0,0
$GC,1663,-0.76,-146.0,250.3,-15.0,205,1666,0.00,1.80,0.00,0.000,4,0.000,0.061,2799,3770,3561,0,0,0,0,0,0
$GC,1708,-0.76,-146.0,258.1,-16.9,209,1712,0.00,1.70,0.00,0.000,6,0.000,0.042,2799,2671,3560,0,0,0,0,0,0
$GC,1912,-0.76,-146.0,290.3,-16.0,228,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2669,3561,0,0,0,0,0,0
$GC,2103,-0.76,-146.0,320.4,-15.8,246,2104,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2669,3561,0,0,0,0,0,0
$GC,2294,-0.76,-146.0,348.9,-14.5,264,2298,0.00,1.77,0.00,0.000,4,0.000,0.061,2790,3763,3561,0,0,0,0,0,0
$GC,2352,-0.76,-146.0,357.9,-15.3,269,2355,0.00,1.70,0.00,0.000,6,0.000,0.041,2791,2664,3560,0,0,0,0,0,0
$STATE,2521,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2521,begin apogee
$GC,2527,-0.17,0.0,384.1,15.5,285,2664,0.65,0.00,131.57,1.027,4,0.131,0.000,3000,2479,2961,0,0,0,0,0,0
$STATE,2665,end apogee,CONTROL_FINISHED_OK
$STATE,2665,begin climb
$GC,2667,0.76,146.0,390.1,0.0,297,2826,0.98,2.47,146.48,0.949,4,0.075,0.047,3310,1102,2366,0,0,0,0,0,0
$GC,2921,0.76,146.0,368.5,12.2,319,2928,0.00,2.47,0.00,0.000,6,0.000,0.050,3310,2498,2357,0,0,0,0,0,0
$GC,3120,0.76,146.0,344.9,11.6,338,3124,0.00,2.28,0.00,0.000,4,0.000,0.050,3315,1098,2354,0,0,0,0,0,0
$GC,3261,0.76,146.0,328.5,11.8,350,3265,0.00,2.30,0.00,0.000,6,0.000,0.053,3315,2516,2351,0,0,0,0,0,0
$GC,3464,0.76,146.0,304.1,12.0,369,3467,0.00,2.00,0.00,0.000,4,0.000,0.059,3315,3765,2350,0,0,0,0,0,0
$GC,3569,0.76,146.0,289.2,14.0,378,3576,0.00,1.95,0.00,0.000,6,0.000,0.041,3324,2530,2350,0,0,0,0,0,0
$GC,3767,0.76,146.0,264.2,12.4,397,3771,0.00,2.00,0.00,0.000,4,0.000,0.060,3324,3765,2349,0,0,0,0,0,0
$GC,3801,0.76,146.0,259.4,14.3,400,3804,0.00,1.92,0.00,0.000,6,0.000,0.041,3334,2523,2349,0,0,0,0,0,0
$GC,4008,0.76,146.0,232.6,12.7,419,4011,0.00,2.00,0.00,0.000,4,0.000,0.060,3334,3760,2349,0,0,0,0,0,0
$GC,4065,0.76,146.0,224.1,14.6,424,4070,0.12,1.90,0.00,0.000,6,0.167,0.041,3310,2539,2348,0,0,0,0,0,0
$GC,4208,0.76,146.0,207.0,11.6,437,4216,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2536,2348,0,0,0,0,0,0
$GC,4343,0.76,146.0,191.2,11.5,450,4347,0.00,1.98,0.00,0.000,4,0.000,0.058,3310,3760,2348,0,0,0,0,0,0
$GC,4377,0.76,146.0,186.8,13.0,453,4381,0.00,1.90,0.00,0.000,6,0.000,0.041,3318,2537,2347,0,0,0,0,0,0
$GC,4519,0.76,146.0,169.2,11.9,466,4520,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2535,2348,0,0,0,0,0,0
$GC,4646,0.76,146.0,153.5,12.1,478,4650,0.00,1.98,0.00,0.000,4,0.000,0.059,3318,3760,2347,0,0,0,0,0,0
$GC,4692,0.76,146.0,147.3,14.3,482,4696,0.00,1.88,0.00,0.000,6,0.000,0.041,3328,2550,2348,0,0,0,0,0,0
$GC,4835,0.76,146.0,128.7,12.5,495,4838,0.00,1.98,0.00,0.000,4,0.000,0.060,3327,3768,2347,0,0,0,0,0,0
$GC,4858,0.76,146.0,125.0,14.5,497,4862,0.00,1.85,0.00,0.000,6,0.000,0.041,3337,2568,2348,0,0,0,0,0,0
$GC,5001,0.76,146.0,106.4,13.0,510,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2566,2348,0,0,0,0,0,0
$GC,5137,0.76,146.0,88.4,13.5,531,5144,0.00,1.98,0.00,0.000,4,0.000,0.060,3337,3759,2348,0,0,0,0,0,0
$GC,5183,0.76,146.0,81.5,15.2,539,5191,0.12,1.85,0.00,0.000,6,0.163,0.041,3312,2568,2347,0,0,0,0,0,0
$GC,5324,0.76,146.0,64.8,11.3,564,5332,0.00,1.98,0.00,0.000,4,0.000,0.061,3312,3754,2347,0,0,0,0,0,0
$GC,5356,0.76,146.0,60.5,12.9,569,5364,0.00,1.83,0.00,0.000,6,0.000,0.041,3319,2580,2347,0,0,0,0,0,0
$GC,5493,0.76,146.0,44.3,11.8,594,5501,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2579,2347,0,0,0,0,0,0
$GC,5634,0.76,146.0,27.7,12.2,619,5641,0.00,1.92,0.00,0.000,4,0.000,0.059,3319,3762,2347,0,0,0,0,0,0
$GC,5669,0.76,146.0,23.0,13.3,625,5677,0.00,1.83,0.00,0.000,6,0.000,0.041,3328,2590,2346,0,0,0,0,0,0
$FREEZE,8.45,-0.688,-1.895,2,1,0
$FREEZE,7.79,-0.686,-1.894,2,1,0
$FREEZE,6.94,-0.685,-1.894,2,1,0
$FREEZE,6.15,-0.687,-1.893,2,1,0
$FREEZE,4.93,-0.686,-1.892,2,1,0
$FREEZE,4.19,-0.685,-1.892,2,1,0
$FREEZE,3.46,-0.685,-1.891,2,1,0
$GC,5815,0.76,146.0,3.5,13.9,650,5823,0.00,2.38,0.00,0.000,4,0.000,0.047,3339,1102,2346,0,0,0,0,0,0
$FREEZE,1.38,-0.699,-1.890,2,1,0
$STATE,5829,end climb,SURFACE_DEPTH_REACHED
$STATE,5829,begin surface coast
$FREEZE,1.34,-0.804,-1.896,2,1,0
$FREEZE,1.36,-0.789,-1.875,2,1,0
$FREEZE,1.26,-0.709,-1.889,2,1,0
$FREEZE,1.40,-0.795,-1.895,2,1,0
$FINISH,1.4,1.027746
$STATE,5853,end surface coast,CONTROL_FINISHED_OK
$STATE,5853,begin surface
$SM_CCo,5872,75.47,0.100,0,0,1737,300.24
$SM_GC,2.14,0.00,0.00,75.47,0.000,0.000,0.100,414,2650,1737,-8.28,0.03,300.24
$IRIDIUM_FIX,-7545.40,17637.47,251210,202055
$TT8_MAMPS,0.029211
$HUMID,52.48
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.3,17.4
$ALTIM_BOTTOM_PING,350.7,47.4
$24V_AH,20.3,59.237
$10V_AH,9.7,38.984
$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,18.550,70.850,278.050,75.475,0.000,58.884,113.662,183.922,1.750,0.000,11.852,1667.748,2218.190,465.470,1953.989,178.018,0.000,1136.453,0.000,1088.024,0.000,10.607,0.000
$DEVICE_MAMPS,201.195,77.265,1026.630,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,461.109,845.796,916.993,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47108,656
$CAP_FILE_SIZE,92110,0
$CFSIZE,260165632,232263680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.200,324.0,1
$GPS,251210,224306,-7631.449,17635.734,42,0.9,47,123.0