version: 66.08
glider: 502
mission: 3
dive: 348
start: 12 26 110 4 14 18
data:
$ID,502
$MISSION,3
$DIVE,348
$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,-30579.928
$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,30
$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
$GPS1,261210,040728,-7631.782,17638.893,11,2.8,30,123.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-69.8
$GPS2,261210,041352,-7631.781,17638.855,13,2.8,32,123.0
$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,322.5,87025,-17.5,-10.000
$D_GRID,394
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,83,0.00,0.00,-63.78,0.000,2,0.000,0.000,410,2658,2864,0,0,0,0,0,0
$GC,86,-0.76,-146.0,3.0,-2.5,9,131,9.00,1.90,-31.23,0.000,4,0.198,0.079,2799,3764,3559,0,0,0,0,0,0
$GC,217,-0.76,-146.0,17.1,-17.7,30,226,0.00,1.77,0.00,0.000,6,0.000,0.041,2798,2652,3562,0,0,0,0,0,0
$GC,363,-0.76,-146.0,42.0,-17.1,55,369,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2651,3563,0,0,0,0,0,0
$GC,503,-0.76,-146.0,65.7,-16.6,80,511,0.00,1.85,0.00,0.000,4,0.000,0.063,2790,3749,3563,0,0,0,0,0,0
$GC,549,-0.76,-146.0,73.1,-17.7,87,556,0.00,1.75,0.00,0.000,6,0.000,0.041,2790,2649,3563,0,0,0,0,0,0
$GC,690,-0.76,-146.0,97.8,-17.0,112,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2648,3563,0,0,0,0,0,0
$GC,833,-0.76,-146.0,121.8,-16.5,126,836,0.00,1.80,0.00,0.000,4,0.000,0.063,2782,3757,3563,0,0,0,0,0,0
$GC,860,-0.76,-146.0,127.0,-17.5,128,868,0.10,1.75,0.00,0.000,6,0.138,0.041,2816,2657,3563,0,0,0,0,0,0
$GC,995,-0.76,-146.0,147.1,-15.0,141,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2656,3563,0,0,0,0,0,0
$GC,1122,-0.76,-146.0,165.5,-14.8,153,1126,0.00,1.77,0.00,0.000,4,0.000,0.061,2808,3754,3563,0,0,0,0,0,0
$GC,1149,-0.76,-146.0,169.2,-15.3,155,1153,0.00,1.70,0.00,0.000,6,0.000,0.041,2808,2655,3563,0,0,0,0,0,0
$GC,1291,-0.76,-146.0,190.9,-15.3,168,1295,0.00,2.22,0.00,0.000,4,0.000,0.049,2809,1233,3563,0,0,0,0,0,0
$GC,1311,-0.76,-146.0,193.9,-15.4,169,1315,0.00,2.30,0.00,0.000,6,0.000,0.055,2798,2659,3563,0,0,0,0,0,0
$GC,1447,-0.76,-146.0,215.5,-15.8,181,1450,0.00,1.77,0.00,0.000,4,0.000,0.060,2789,3773,3564,0,0,0,0,0,0
$GC,1482,-0.76,-146.0,221.5,-17.0,184,1486,0.00,1.70,0.00,0.000,6,0.000,0.041,2789,2673,3563,0,0,0,0,0,0
$GC,1625,-0.76,-146.0,245.1,-16.8,197,1628,0.00,1.77,0.00,0.000,4,0.000,0.062,2782,3768,3563,0,0,0,0,0,0
$GC,1656,-0.76,-146.0,250.5,-17.4,199,1665,0.10,1.73,0.00,0.000,6,0.134,0.042,2815,2683,3563,0,0,0,0,0,0
$GC,1791,-0.76,-146.0,270.6,-14.4,212,1795,0.00,2.25,0.00,0.000,4,0.000,0.048,2815,1245,3564,0,0,0,0,0,0
$GC,1819,-0.76,-146.0,274.8,-14.0,214,1823,0.00,2.35,0.00,0.000,6,0.000,0.056,2806,2690,3564,0,0,0,0,0,0
$GC,2022,-0.76,-146.0,304.4,-14.8,233,2026,0.00,1.73,0.00,0.000,4,0.000,0.061,2798,3770,3563,0,0,0,0,0,0
$GC,2071,-0.76,-146.0,312.5,-16.1,237,2078,0.00,1.70,0.00,0.000,6,0.000,0.041,2798,2694,3563,0,0,0,0,0,0
$GC,2269,-0.76,-146.0,343.0,-15.8,256,2271,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2693,3564,0,0,0,0,0,0
$GC,2460,-0.76,-146.0,372.0,-15.3,274,2461,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2693,3563,0,0,0,0,0,0
$STATE,2501,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2501,begin apogee
$GC,2506,-0.17,0.0,378.7,15.4,278,2644,0.62,0.00,131.80,1.024,4,0.124,0.000,3003,2497,2961,0,0,0,0,0,0
$STATE,2645,end apogee,CONTROL_FINISHED_OK
$STATE,2645,begin climb
$GC,2647,0.76,146.0,384.0,0.0,290,2802,0.98,2.53,147.25,0.947,4,0.075,0.048,3313,1097,2365,0,0,0,0,0,0
$GC,2930,0.76,146.0,359.2,11.7,315,2938,0.00,2.50,0.00,0.000,6,0.000,0.050,3313,2497,2353,0,0,0,0,0,0
$GC,3129,0.76,146.0,335.3,12.0,334,3133,0.00,2.25,0.00,0.000,4,0.000,0.048,3323,1097,2351,0,0,0,0,0,0
$GC,3238,0.76,146.0,322.5,11.1,343,3246,0.00,2.35,0.00,0.000,6,0.000,0.051,3323,2527,2349,0,0,0,0,0,0
$GC,3437,0.76,146.0,298.3,12.2,362,3441,0.00,1.98,0.00,0.000,4,0.000,0.058,3322,3767,2349,0,0,0,0,0,0
$GC,3516,0.76,146.0,286.8,14.6,369,3520,0.00,1.90,0.00,0.000,6,0.000,0.040,3332,2539,2348,0,0,0,0,0,0
$GC,3718,0.76,146.0,259.4,13.1,388,3722,0.00,1.98,0.00,0.000,4,0.000,0.057,3332,3765,2347,0,0,0,0,0,0
$GC,3754,0.76,146.0,254.3,15.3,391,3757,0.00,1.90,0.00,0.000,6,0.000,0.039,3342,2538,2347,0,0,0,0,0,0
$GC,3958,0.76,146.0,226.0,13.7,410,3962,0.00,1.98,0.00,0.000,4,0.000,0.058,3342,3761,2346,0,0,0,0,0,0
$GC,3983,0.76,146.0,222.3,14.8,412,3987,0.15,1.88,0.00,0.000,6,0.161,0.041,3310,2551,2346,0,0,0,0,0,0
$GC,4123,0.76,146.0,204.9,12.0,425,4124,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2549,2346,0,0,0,0,0,0
$GC,4249,0.76,146.0,189.7,11.9,437,4253,0.00,1.98,0.00,0.000,4,0.000,0.060,3309,3768,2346,0,0,0,0,0,0
$GC,4297,0.76,146.0,182.8,14.1,441,4306,0.00,1.90,0.00,0.000,6,0.000,0.041,3317,2562,2346,0,0,0,0,0,0
$GC,4435,0.76,146.0,166.6,12.0,454,4443,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2561,2346,0,0,0,0,0,0
$GC,4571,0.76,146.0,150.3,11.8,467,4574,0.00,1.95,0.00,0.000,4,0.000,0.060,3317,3768,2346,0,0,0,0,0,0
$GC,4607,0.76,146.0,145.0,13.1,470,4617,0.00,1.90,0.00,0.000,6,0.000,0.040,3326,2563,2346,0,0,0,0,0,0
$GC,4744,0.76,146.0,128.6,12.3,483,4747,0.00,1.95,0.00,0.000,4,0.000,0.060,3326,3771,2345,0,0,0,0,0,0
$GC,4769,0.76,146.0,124.8,13.3,485,4778,0.00,1.90,0.00,0.000,6,0.000,0.041,3336,2568,2345,0,0,0,0,0,0
$GC,4905,0.76,146.0,107.4,12.9,498,4906,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2567,2345,0,0,0,0,0,0
$GC,5033,0.76,146.0,90.5,12.5,516,5041,0.00,1.98,0.00,0.000,4,0.000,0.060,3335,3757,2345,0,0,0,0,0,0
$GC,5066,0.76,146.0,85.9,14.8,521,5073,0.12,1.83,0.00,0.000,6,0.159,0.041,3311,2585,2345,0,0,0,0,0,0
$GC,5209,0.76,146.0,68.9,11.2,546,5217,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2584,2345,0,0,0,0,0,0
$GC,5353,0.76,146.0,53.1,10.5,571,5360,0.00,1.92,0.00,0.000,4,0.000,0.060,3310,3764,2344,0,0,0,0,0,0
$GC,5383,0.76,146.0,49.3,11.8,576,5391,0.00,1.85,0.00,0.000,6,0.000,0.041,3318,2592,2344,0,0,0,0,0,0
$GC,5530,0.76,146.0,33.7,10.4,601,5537,0.00,1.95,0.00,0.000,4,0.000,0.060,3318,3767,2344,0,0,0,0,0,0
$GC,5556,0.76,146.0,30.5,10.9,605,5562,0.00,1.83,0.00,0.000,6,0.000,0.041,3327,2594,2344,0,0,0,0,0,0
$GC,5699,0.76,146.0,13.8,11.8,630,5708,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2592,2344,0,0,0,0,0,0
$FREEZE,8.37,-1.170,-1.895,2,1,0
$FREEZE,7.51,-1.168,-1.894,2,1,0
$FREEZE,6.81,-1.161,-1.893,2,1,0
$FREEZE,6.01,-1.162,-1.893,2,1,0
$FREEZE,5.24,-1.162,-1.892,2,1,0
$FREEZE,4.46,-1.161,-1.892,2,1,0
$FREEZE,3.88,-1.164,-1.891,2,1,0
$FREEZE,3.24,-1.165,-1.891,2,1,0
$FREEZE,2.43,-1.165,-1.890,2,1,0
$STATE,5789,end climb,SURFACE_DEPTH_REACHED
$STATE,5789,begin surface coast
$FREEZE,1.50,-1.168,-1.890,2,1,0
$FREEZE,1.34,-1.240,-0.966,2,1,0
$FINISH,1.3,1.014254
$STATE,5803,end surface coast,FINISH_DEPTH_REACHED
$STATE,5804,begin surface
$SM_CCo,5819,80.45,0.724,1,0,1737,300.24
$SM_GC,2.17,0.00,0.00,80.45,0.000,0.000,0.724,425,2662,1737,-8.24,0.31,300.24
$IRIDIUM_FIX,-7545.40,17636.38,261210,020247
$TT8_MAMPS,0.027713
$HUMID,52.04
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,18.2
$ALTIM_BOTTOM_PING,351.2,42.3
$24V_AH,20.3,59.658
$10V_AH,9.8,39.318
$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,18.525,78.350,279.050,80.450,0.000,28.750,49.804,177.493,2.250,0.000,34.039,1656.640,2113.321,487.042,1860.680,178.646,0.000,1166.864,0.000,1077.723,0.000,13.609,0.000
$DEVICE_MAMPS,198.135,110.160,1023.570,723.690,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,454.456,838.913,912.737,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47057,647
$CAP_FILE_SIZE,94746,0
$CFSIZE,260165632,232046592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.107,218.8,1
$GPS,261210,055400,-7631.952,17641.168,40,0.9,40,122.9