version: 66.08
glider: 502
mission: 3
dive: 346
start: 12 26 110 0 35 40
data:
$ID,502
$MISSION,3
$DIVE,346
$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,-30577.408
$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,35
$R_STBD_OVSHOOT,32
$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
$GPS1,261210,002938,-7631.478,17636.381,16,1.5,16,123.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-70.4
$GPS2,261210,003514,-7631.459,17636.264,11,1.7,11,123.0
$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,354.0,88125,-17.5,-10.000
$D_GRID,388
$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,16,-0.76,-146.0,0.0,0.0,0,87,0.00,0.00,-68.75,0.000,2,0.000,0.000,411,2664,2971,0,0,0,0,0,0
$GC,89,-0.76,-146.0,3.0,-2.5,10,127,9.05,1.88,-23.23,0.000,4,0.200,0.080,2799,3753,3559,0,0,0,0,0,0
$GC,196,-0.76,-146.0,16.2,-17.0,27,203,0.00,1.77,0.00,0.000,6,0.000,0.043,2798,2625,3561,0,0,0,0,0,0
$GC,338,-0.76,-146.0,40.3,-16.4,52,347,0.00,2.22,0.00,0.000,4,0.000,0.050,2798,1241,3562,0,0,0,0,0,0
$GC,376,-0.76,-146.0,46.5,-15.7,58,385,0.08,2.33,0.00,0.000,6,0.129,0.056,2814,2645,3563,0,0,0,0,0,0
$GC,522,-0.76,-146.0,67.6,-14.4,83,529,0.00,1.83,0.00,0.000,4,0.000,0.062,2806,3757,3563,0,0,0,0,0,0
$GC,563,-0.76,-146.0,74.4,-16.7,90,571,0.00,1.75,0.00,0.000,6,0.000,0.042,2806,2656,3563,0,0,0,0,0,0
$GC,707,-0.76,-146.0,96.2,-15.6,115,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2655,3563,0,0,0,0,0,0
$GC,850,-0.76,-146.0,118.3,-15.2,130,853,0.00,1.80,0.00,0.000,4,0.000,0.063,2798,3763,3563,0,0,0,0,0,0
$GC,886,-0.76,-146.0,124.2,-17.4,133,889,0.00,1.70,0.00,0.000,6,0.000,0.041,2798,2663,3563,0,0,0,0,0,0
$GC,1028,-0.76,-146.0,147.2,-16.1,146,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2660,3564,0,0,0,0,0,0
$GC,1164,-0.76,-146.0,169.4,-16.5,159,1167,0.00,1.80,0.00,0.000,4,0.000,0.062,2789,3773,3563,0,0,0,0,0,0
$GC,1199,-0.76,-146.0,175.5,-17.7,162,1202,0.00,1.73,0.00,0.000,6,0.000,0.041,2789,2657,3564,0,0,0,0,0,0
$GC,1340,-0.76,-146.0,199.0,-16.6,175,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2655,3563,0,0,0,0,0,0
$GC,1467,-0.76,-146.0,219.8,-16.7,187,1470,0.00,1.80,0.00,0.000,4,0.000,0.063,2781,3764,3564,0,0,0,0,0,0
$GC,1504,-0.76,-146.0,226.9,-17.6,190,1513,0.08,1.73,0.00,0.000,6,0.142,0.041,2806,2676,3564,0,0,0,0,0,0
$GC,1642,-0.76,-146.0,246.9,-14.6,203,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2676,3564,0,0,0,0,0,0
$GC,1776,-0.76,-146.0,267.4,-14.8,216,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2676,3564,0,0,0,0,0,0
$GC,1966,-0.76,-146.0,296.3,-15.0,234,1970,0.00,1.77,0.00,0.000,4,0.000,0.062,2799,3769,3564,0,0,0,0,0,0
$GC,1994,-0.76,-146.0,300.8,-15.7,236,2002,0.00,1.73,0.00,0.000,6,0.000,0.042,2799,2681,3563,0,0,0,0,0,0
$GC,2193,-0.76,-146.0,331.0,-15.5,255,2195,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2681,3564,0,0,0,0,0,0
$GC,2382,-0.76,-146.0,359.6,-15.2,273,2386,0.00,1.75,0.00,0.000,4,0.000,0.062,2791,3763,3564,0,0,0,0,0,0
$GC,2420,-0.76,-146.0,366.1,-16.7,276,2429,0.00,1.70,0.00,0.000,6,0.000,0.041,2791,2691,3563,0,0,0,0,0,0
$STATE,2521,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2521,begin apogee
$GC,2527,-0.17,0.0,381.7,15.7,286,2665,0.65,0.00,132.57,1.024,4,0.128,0.000,3001,2493,2961,0,0,0,0,0,0
$STATE,2666,end apogee,CONTROL_FINISHED_OK
$STATE,2666,begin climb
$GC,2668,0.76,146.0,387.4,0.0,298,2826,0.98,2.50,148.07,0.949,4,0.073,0.048,3312,1095,2365,0,0,0,0,0,0
$GC,2918,0.76,146.0,366.3,10.8,320,2923,0.00,2.50,0.00,0.000,6,0.000,0.050,3312,2500,2356,0,0,0,0,0,0
$GC,3116,0.76,146.0,343.1,11.7,338,3120,0.00,2.28,0.00,0.000,4,0.000,0.048,3321,1098,2352,0,0,0,0,0,0
$GC,3258,0.76,146.0,326.2,12.2,350,3263,0.00,2.30,0.00,0.000,6,0.000,0.052,3322,2518,2349,0,0,0,0,0,0
$GC,3456,0.76,146.0,301.7,12.4,368,3459,0.00,2.00,0.00,0.000,4,0.000,0.059,3322,3773,2348,0,0,0,0,0,0
$GC,3557,0.76,146.0,287.1,15.1,377,3561,0.00,1.95,0.00,0.000,6,0.000,0.042,3332,2544,2348,0,0,0,0,0,0
$GC,3760,0.76,146.0,260.2,12.9,396,3763,0.00,1.98,0.00,0.000,4,0.000,0.060,3332,3764,2347,0,0,0,0,0,0
$GC,3794,0.76,146.0,255.0,15.6,399,3798,0.00,1.90,0.00,0.000,6,0.000,0.040,3341,2536,2347,0,0,0,0,0,0
$GC,3999,0.76,146.0,226.1,14.4,418,4002,0.00,1.98,0.00,0.000,4,0.000,0.058,3341,3764,2347,0,0,0,0,0,0
$GC,4035,0.76,146.0,220.6,15.8,421,4039,0.15,1.90,0.00,0.000,6,0.159,0.041,3309,2537,2347,0,0,0,0,0,0
$GC,4172,0.76,146.0,203.9,11.8,433,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2534,2347,0,0,0,0,0,0
$GC,4308,0.76,146.0,187.9,11.6,446,4311,0.00,1.98,0.00,0.000,4,0.000,0.059,3310,3764,2347,0,0,0,0,0,0
$GC,4364,0.76,146.0,180.2,13.6,451,4368,0.00,1.88,0.00,0.000,6,0.000,0.041,3317,2550,2347,0,0,0,0,0,0
$GC,4505,0.76,146.0,162.6,12.1,464,4509,0.00,1.98,0.00,0.000,4,0.000,0.059,3317,3771,2346,0,0,0,0,0,0
$GC,4522,0.76,146.0,160.1,12.3,465,4530,0.00,1.92,0.00,0.000,6,0.000,0.040,3327,2556,2347,0,0,0,0,0,0
$GC,4659,0.76,146.0,143.2,12.5,478,4663,0.00,1.95,0.00,0.000,4,0.000,0.059,3326,3764,2346,0,0,0,0,0,0
$GC,4685,0.76,146.0,139.0,14.0,480,4695,0.00,1.90,0.00,0.000,6,0.000,0.040,3336,2558,2346,0,0,0,0,0,0
$GC,4821,0.76,146.0,121.3,13.0,493,4825,0.00,1.95,0.00,0.000,4,0.000,0.059,3336,3768,2346,0,0,0,0,0,0
$GC,4845,0.76,146.0,117.6,14.4,495,4849,0.12,1.85,0.00,0.000,6,0.161,0.041,3311,2568,2346,0,0,0,0,0,0
$GC,4985,0.76,146.0,100.8,11.3,508,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2567,2345,0,0,0,0,0,0
$GC,5120,0.76,146.0,85.8,11.2,531,5126,0.00,1.95,0.00,0.000,4,0.000,0.060,3311,3763,2345,0,0,0,0,0,0
$GC,5157,0.76,146.0,81.0,13.1,537,5164,0.00,1.88,0.00,0.000,6,0.000,0.041,3319,2580,2345,0,0,0,0,0,0
$GC,5301,0.76,146.0,63.1,12.7,562,5308,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2579,2345,0,0,0,0,0,0
$GC,5443,0.76,146.0,46.2,11.7,587,5450,0.00,1.92,0.00,0.000,4,0.000,0.059,3319,3764,2345,0,0,0,0,0,0
$GC,5480,0.76,146.0,41.2,13.8,593,5487,0.00,1.85,0.00,0.000,6,0.000,0.040,3328,2573,2345,0,0,0,0,0,0
$GC,5623,0.76,146.0,23.2,11.8,618,5632,0.00,2.38,0.00,0.000,4,0.000,0.052,3328,1096,2344,0,0,0,0,0,0
$GC,5638,0.76,146.0,21.4,11.7,620,5647,0.00,2.42,0.00,0.000,6,0.000,0.053,3328,2576,2344,0,0,0,0,0,0
$FREEZE,8.33,-0.769,-1.895,2,1,0
$FREEZE,7.45,-0.772,-1.894,2,1,0
$FREEZE,6.87,-0.772,-1.894,2,1,0
$FREEZE,5.94,-0.774,-1.893,2,1,0
$FREEZE,5.20,-0.775,-1.893,2,1,0
$FREEZE,4.33,-0.773,-1.892,2,1,0
$FREEZE,3.72,-0.776,-1.891,2,1,0
$FREEZE,3.05,-0.782,-1.891,2,1,0
$FREEZE,2.32,-0.778,-1.890,2,1,0
$STATE,5787,end climb,SURFACE_DEPTH_REACHED
$STATE,5787,begin surface coast
$FREEZE,1.24,-0.776,-1.890,2,1,0
$FREEZE,1.49,-0.778,-1.886,2,1,0
$FREEZE,1.36,-0.811,-1.891,2,1,0
$FREEZE,1.37,-0.872,-0.958,2,1,0
$FREEZE,1.29,-0.876,-0.188,2,1,0
$FINISH,1.3,1.002552
$STATE,5818,end surface coast,FINISH_DEPTH_REACHED
$STATE,5818,begin surface
$SM_CCo,5834,80.68,0.727,1,0,1735,300.24
$SM_GC,2.12,0.00,0.00,80.68,0.000,0.000,0.727,425,2658,1735,-8.25,0.23,300.24
$IRIDIUM_FIX,-7545.40,17627.15,251210,222239
$TT8_MAMPS,0.027713
$HUMID,52.75
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,18.0
$ALTIM_BOTTOM_PING,350.1,46.5
$24V_AH,20.3,59.440
$10V_AH,9.7,39.150
$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,18.625,78.750,280.650,80.675,0.000,29.351,36.602,167.473,1.500,0.000,11.877,1663.148,2132.856,484.572,1805.244,178.413,0.000,1161.130,0.000,1079.259,0.000,10.609,0.000
$DEVICE_MAMPS,199.665,109.395,1024.335,726.750,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,456.513,838.525,903.053,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47111,650
$CAP_FILE_SIZE,93951,0
$CFSIZE,260165632,232161280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.143,292.2,1
$GPS,261210,021537,-7631.589,17637.428,39,1.1,39,123.0