version: 66.08
glider: 502
mission: 3
dive: 345
start: 12 25 110 22 49 33
data:
$ID,502
$MISSION,3
$DIVE,345
$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,-30576.152
$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,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
$GPS1,251210,224306,-7631.449,17635.734,42,0.9,47,123.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-72.4
$GPS2,251210,224907,-7631.410,17635.564,11,1.8,16,123.0
$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,4.9,88424,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,86,0.00,0.00,-67.30,0.000,2,0.000,0.000,406,2655,2946,0,0,0,0,0,0
$GC,89,-0.76,-146.0,3.1,-2.4,10,133,9.18,1.88,-25.15,0.000,4,0.203,0.078,2803,3760,3560,0,0,0,0,0,0
$GC,187,-0.76,-146.0,14.3,-17.1,26,195,0.00,1.77,0.00,0.000,6,0.000,0.042,2803,2645,3561,0,0,0,0,0,0
$GC,328,-0.76,-146.0,38.4,-17.1,51,335,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2644,3562,0,0,0,0,0,0
$GC,464,-0.76,-146.0,62.0,-17.3,76,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2644,3563,0,0,0,0,0,0
$GC,604,-0.76,-146.0,85.0,-16.1,101,610,0.00,1.83,0.00,0.000,4,0.000,0.062,2794,3760,3563,0,0,0,0,0,0
$GC,651,-0.76,-146.0,93.3,-17.8,109,658,0.00,1.75,0.00,0.000,6,0.000,0.041,2794,2661,3563,0,0,0,0,0,0
$GC,789,-0.76,-146.0,117.5,-17.5,125,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2660,3563,0,0,0,0,0,0
$GC,916,-0.76,-146.0,139.2,-17.1,137,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2660,3563,0,0,0,0,0,0
$GC,1043,-0.76,-146.0,161.0,-17.0,149,1046,0.00,1.80,0.00,0.000,4,0.000,0.062,2786,3766,3563,0,0,0,0,0,0
$GC,1079,-0.76,-146.0,167.3,-18.5,152,1084,0.12,1.73,0.00,0.000,6,0.164,0.042,2819,2653,3563,0,0,0,0,0,0
$GC,1222,-0.76,-146.0,189.3,-14.9,165,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2652,3563,0,0,0,0,0,0
$GC,1357,-0.76,-146.0,209.2,-14.7,178,1361,0.00,1.83,0.00,0.000,4,0.000,0.063,2812,3771,3563,0,0,0,0,0,0
$GC,1395,-0.76,-146.0,215.5,-15.6,181,1404,0.00,1.75,0.00,0.000,6,0.000,0.041,2812,2667,3563,0,0,0,0,0,0
$GC,1531,-0.76,-146.0,234.8,-14.6,194,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2666,3563,0,0,0,0,0,0
$GC,1656,-0.76,-146.0,252.8,-14.2,206,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2666,3563,0,0,0,0,0,0
$GC,1849,-0.76,-146.0,280.0,-14.2,224,1853,0.00,1.77,0.00,0.000,4,0.000,0.062,2804,3760,3563,0,0,0,0,0,0
$GC,1884,-0.76,-146.0,285.4,-14.9,227,1888,0.00,1.70,0.00,0.000,6,0.000,0.041,2804,2664,3563,0,0,0,0,0,0
$GC,2087,-0.76,-146.0,315.2,-14.5,246,2091,0.00,1.80,0.00,0.000,4,0.000,0.062,2797,3769,3564,0,0,0,0,0,0
$GC,2113,-0.76,-146.0,319.4,-14.9,248,2121,0.00,1.75,0.00,0.000,6,0.000,0.041,2797,2669,3563,0,0,0,0,0,0
$GC,2314,-0.76,-146.0,348.9,-14.8,267,2320,0.00,1.77,0.00,0.000,4,0.000,0.061,2789,3761,3563,0,0,0,0,0,0
$GC,2338,-0.76,-146.0,353.1,-15.8,269,2342,0.00,1.67,0.00,0.000,6,0.000,0.041,2787,2680,3563,0,0,0,0,0,0
$STATE,2529,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2529,begin apogee
$GC,2534,-0.17,0.0,382.9,14.9,287,2672,0.68,0.00,132.15,1.030,4,0.131,0.000,3004,2481,2961,0,0,0,0,0,0
$STATE,2673,end apogee,CONTROL_FINISHED_OK
$STATE,2673,begin climb
$GC,2675,0.76,146.0,389.2,0.0,299,2833,0.95,2.50,147.02,0.950,4,0.074,0.048,3306,1092,2365,0,0,0,0,0,0
$GC,2948,0.76,146.0,366.3,11.3,323,2952,0.00,2.47,0.00,0.000,6,0.000,0.051,3307,2496,2357,0,0,0,0,0,0
$GC,3147,0.76,146.0,343.0,11.6,341,3151,0.00,2.25,0.00,0.000,4,0.000,0.048,3315,1099,2353,0,0,0,0,0,0
$GC,3280,0.76,146.0,327.0,12.0,352,3288,0.00,2.35,0.00,0.000,6,0.000,0.053,3315,2518,2350,0,0,0,0,0,0
$GC,3479,0.76,146.0,302.5,12.6,371,3483,0.00,2.00,0.00,0.000,4,0.000,0.058,3315,3768,2350,0,0,0,0,0,0
$GC,3561,0.76,146.0,290.0,14.9,378,3568,0.00,1.95,0.00,0.000,6,0.000,0.040,3324,2541,2349,0,0,0,0,0,0
$GC,3759,0.76,146.0,263.6,12.9,397,3763,0.00,1.98,0.00,0.000,4,0.000,0.060,3324,3767,2349,0,0,0,0,0,0
$GC,3808,0.76,146.0,256.0,15.0,401,3816,0.00,1.95,0.00,0.000,6,0.000,0.041,3333,2538,2349,0,0,0,0,0,0
$GC,4011,0.76,146.0,228.7,14.0,420,4015,0.00,1.98,0.00,0.000,4,0.000,0.058,3333,3768,2348,0,0,0,0,0,0
$GC,4057,0.76,146.0,221.4,15.5,424,4061,0.12,1.88,0.00,0.000,6,0.165,0.041,3310,2557,2348,0,0,0,0,0,0
$GC,4197,0.76,146.0,203.6,12.1,437,4198,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2556,2348,0,0,0,0,0,0
$GC,4325,0.76,146.0,188.7,11.7,449,4328,0.00,1.95,0.00,0.000,4,0.000,0.059,3310,3767,2347,0,0,0,0,0,0
$GC,4362,0.76,146.0,183.5,13.8,452,4371,0.00,1.90,0.00,0.000,6,0.000,0.041,3318,2563,2348,0,0,0,0,0,0
$GC,4498,0.76,146.0,167.1,12.0,465,4499,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2562,2347,0,0,0,0,0,0
$GC,4625,0.76,146.0,151.5,12.3,477,4628,0.00,1.95,0.00,0.000,4,0.000,0.060,3318,3768,2347,0,0,0,0,0,0
$GC,4671,0.76,146.0,145.4,13.2,481,4674,0.00,1.85,0.00,0.000,6,0.000,0.041,3326,2566,2347,0,0,0,0,0,0
$GC,4811,0.76,146.0,127.4,12.4,494,4815,0.00,1.95,0.00,0.000,4,0.000,0.060,3327,3769,2347,0,0,0,0,0,0
$GC,4826,0.76,146.0,125.0,12.7,495,4837,0.00,1.88,0.00,0.000,6,0.000,0.041,3336,2574,2347,0,0,0,0,0,0
$GC,4965,0.76,146.0,107.6,13.0,508,4969,0.00,1.92,0.00,0.000,4,0.000,0.060,3336,3767,2347,0,0,0,0,0,0
$GC,5001,0.76,146.0,102.5,13.8,511,5005,0.12,1.83,0.00,0.000,6,0.163,0.041,3311,2586,2347,0,0,0,0,0,0
$GC,5136,0.76,146.0,86.6,11.5,534,5143,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2583,2347,0,0,0,0,0,0
$GC,5275,0.76,146.0,71.0,11.4,559,5282,0.00,1.92,0.00,0.000,4,0.000,0.060,3311,3767,2347,0,0,0,0,0,0
$GC,5306,0.76,146.0,67.0,12.5,564,5314,0.00,1.85,0.00,0.000,6,0.000,0.041,3319,2601,2347,0,0,0,0,0,0
$GC,5443,0.76,146.0,50.6,11.6,589,5449,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2600,2347,0,0,0,0,0,0
$GC,5581,0.76,146.0,33.7,12.7,614,5589,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2600,2346,0,0,0,0,0,0
$GC,5720,0.76,146.0,16.6,12.2,639,5727,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2600,2346,0,0,0,0,0,0
$FREEZE,8.60,-0.720,-1.895,2,1,0
$FREEZE,7.90,-0.715,-1.894,2,1,0
$FREEZE,7.13,-0.714,-1.894,2,1,0
$FREEZE,6.40,-0.713,-1.893,2,1,0
$FREEZE,5.57,-0.711,-1.893,2,1,0
$FREEZE,5.08,-0.711,-1.892,2,1,0
$FREEZE,4.31,-0.713,-1.892,2,1,0
$FREEZE,3.79,-0.713,-1.891,2,1,0
$FREEZE,2.90,-0.712,-1.891,2,1,0
$STATE,5826,end climb,SURFACE_DEPTH_REACHED
$STATE,5828,begin surface coast
$FREEZE,1.97,-0.713,-1.890,2,1,0
$FREEZE,1.31,-0.713,-1.890,2,1,0
$FREEZE,1.27,-0.832,-1.683,2,1,0
$FREEZE,1.22,-0.764,-1.852,2,1,0
$FREEZE,1.23,-0.959,-1.898,2,1,0
$FINISH,1.2,1.027791
$STATE,5859,end surface coast,CONTROL_FINISHED_OK
$STATE,5859,begin surface
$SM_CCo,5875,75.55,0.099,0,0,1737,300.24
$SM_GC,2.19,0.00,0.00,75.55,0.000,0.000,0.099,419,2664,1737,-8.27,0.40,300.24
$IRIDIUM_FIX,-7545.40,17637.47,251210,202041
$TT8_MAMPS,0.027713
$HUMID,52.95
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,20.0,19.0
$ALTIM_BOTTOM_PING,350.2,46.4
$24V_AH,20.3,59.332
$10V_AH,9.7,39.068
$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,18.675,65.475,279.175,75.550,0.000,29.833,36.964,186.154,2.000,0.000,16.910,1687.072,2129.115,469.546,1864.804,169.961,0.000,1149.185,0.000,1099.952,0.000,10.605,0.000
$DEVICE_MAMPS,203.490,117.045,1030.455,99.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,465.867,855.629,922.828,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47048,663
$CAP_FILE_SIZE,91707,0
$CFSIZE,260165632,232214528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.180,312.0,1
$GPS,261210,002938,-7631.478,17636.381,16,1.5,16,123.0