version: 66.08
glider: 502
mission: 3
dive: 349
start: 12 26 110 6 0 34
data:
$ID,502
$MISSION,3
$DIVE,349
$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,-30581.189
$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,36
$R_STBD_OVSHOOT,33
$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
$GPS1,261210,055400,-7631.952,17641.168,40,0.9,40,122.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-70.4
$GPS2,261210,060008,-7631.956,17641.160,12,1.4,12,122.9
$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,306.7,86043,-17.5,-10.000
$D_GRID,389
$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,15,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,82,0.00,0.00,-63.25,0.000,2,0.000,0.000,419,2664,2857,0,0,0,0,0,0
$GC,85,-0.76,-146.0,3.0,-2.1,9,135,8.80,1.80,-32.00,0.000,4,0.196,0.078,2799,3754,3558,0,0,0,0,0,0
$GC,241,-0.76,-146.0,22.1,-17.0,35,248,0.00,1.77,0.00,0.000,6,0.000,0.043,2799,2623,3561,0,0,0,0,0,0
$GC,379,-0.76,-146.0,46.0,-16.3,60,386,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2621,3562,0,0,0,0,0,0
$GC,518,-0.76,-146.0,68.8,-16.0,85,525,0.00,1.85,0.00,0.000,4,0.000,0.061,2790,3755,3562,0,0,0,0,0,0
$GC,554,-0.76,-146.0,75.3,-18.2,91,562,0.00,1.75,0.00,0.000,6,0.000,0.042,2790,2654,3562,0,0,0,0,0,0
$GC,693,-0.76,-146.0,99.6,-17.4,116,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2654,3562,0,0,0,0,0,0
$GC,830,-0.76,-146.0,122.8,-17.5,129,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2654,3562,0,0,0,0,0,0
$GC,965,-0.76,-146.0,146.1,-16.8,142,969,0.00,1.80,0.00,0.000,4,0.000,0.063,2782,3761,3562,0,0,0,0,0,0
$GC,1000,-0.76,-146.0,152.4,-18.1,145,1005,0.12,1.73,0.00,0.000,6,0.161,0.041,2816,2645,3562,0,0,0,0,0,0
$GC,1142,-0.76,-146.0,173.8,-14.4,158,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2643,3562,0,0,0,0,0,0
$GC,1268,-0.76,-146.0,192.6,-14.7,170,1272,0.00,1.80,0.00,0.000,4,0.000,0.061,2808,3756,3562,0,0,0,0,0,0
$GC,1295,-0.76,-146.0,197.2,-16.4,172,1303,0.00,1.75,0.00,0.000,6,0.000,0.041,2808,2654,3562,0,0,0,0,0,0
$GC,1431,-0.76,-146.0,216.9,-15.1,185,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2654,3562,0,0,0,0,0,0
$GC,1558,-0.76,-146.0,235.7,-14.6,197,1562,0.00,1.80,0.00,0.000,4,0.000,0.063,2800,3763,3562,0,0,0,0,0,0
$GC,1594,-0.76,-146.0,241.1,-16.1,200,1597,0.00,1.73,0.00,0.000,6,0.000,0.041,2800,2664,3562,0,0,0,0,0,0
$GC,1733,-0.76,-146.0,262.9,-15.5,213,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2662,3562,0,0,0,0,0,0
$GC,1924,-0.76,-146.0,291.4,-14.7,231,1925,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2662,3562,0,0,0,0,0,0
$GC,2115,-0.76,-146.0,319.6,-14.8,249,2119,0.00,1.77,0.00,0.000,4,0.000,0.061,2791,3757,3562,0,0,0,0,0,0
$GC,2165,-0.76,-146.0,327.5,-15.9,253,2172,0.00,1.73,0.00,0.000,6,0.000,0.041,2791,2672,3562,0,0,0,0,0,0
$GC,2363,-0.76,-146.0,357.3,-15.0,272,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2670,3562,0,0,0,0,0,0
$STATE,2511,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2511,begin apogee
$GC,2517,-0.17,0.0,380.2,15.7,286,2655,0.68,0.00,131.48,1.026,4,0.126,0.000,3009,2490,2960,0,0,0,0,0,0
$STATE,2655,end apogee,CONTROL_FINISHED_OK
$STATE,2655,begin climb
$GC,2657,0.76,146.0,386.5,0.0,298,2813,0.95,2.50,147.18,0.946,4,0.073,0.048,3312,1102,2363,0,0,0,0,0,0
$GC,2946,0.76,146.0,361.0,11.6,324,2950,0.00,2.42,0.00,0.000,6,0.000,0.050,3313,2491,2353,0,0,0,0,0,0
$GC,3143,0.76,146.0,336.9,12.3,342,3147,0.00,2.25,0.00,0.000,4,0.000,0.049,3322,1095,2350,0,0,0,0,0,0
$GC,3254,0.76,146.0,323.1,12.1,351,3263,0.00,2.35,0.00,0.000,6,0.000,0.052,3323,2520,2348,0,0,0,0,0,0
$GC,3453,0.76,146.0,298.5,12.5,370,3457,0.00,2.00,0.00,0.000,4,0.000,0.058,3323,3769,2347,0,0,0,0,0,0
$GC,3569,0.76,146.0,281.3,15.0,380,3577,0.00,1.95,0.00,0.000,6,0.000,0.040,3332,2540,2346,0,0,0,0,0,0
$GC,3769,0.76,146.0,255.3,12.9,399,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2540,2346,0,0,0,0,0,0
$GC,3961,0.76,146.0,230.3,12.9,417,3964,0.00,2.00,0.00,0.000,4,0.000,0.059,3332,3781,2346,0,0,0,0,0,0
$GC,4031,0.76,146.0,219.5,14.8,423,4041,0.08,1.98,0.00,0.000,6,0.145,0.041,3317,2538,2346,0,0,0,0,0,0
$GC,4167,0.76,146.0,203.7,11.6,436,4168,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2537,2345,0,0,0,0,0,0
$GC,4293,0.76,146.0,188.9,11.5,448,4297,0.00,2.00,0.00,0.000,4,0.000,0.058,3317,3780,2345,0,0,0,0,0,0
$GC,4339,0.76,146.0,182.9,12.9,452,4343,0.00,1.92,0.00,0.000,6,0.000,0.041,3325,2539,2345,0,0,0,0,0,0
$GC,4482,0.76,146.0,165.6,11.9,465,4489,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2536,2345,0,0,0,0,0,0
$GC,4617,0.76,146.0,149.3,12.0,478,4621,0.00,1.98,0.00,0.000,4,0.000,0.057,3325,3770,2344,0,0,0,0,0,0
$GC,4665,0.76,146.0,142.2,14.9,482,4674,0.00,1.92,0.00,0.000,6,0.000,0.041,3334,2553,2344,0,0,0,0,0,0
$GC,4803,0.76,146.0,125.0,12.5,495,4807,0.00,1.98,0.00,0.000,4,0.000,0.058,3334,3778,2345,0,0,0,0,0,0
$GC,4827,0.76,146.0,121.4,13.5,497,4831,0.12,1.90,0.00,0.000,6,0.162,0.040,3310,2555,2344,0,0,0,0,0,0
$GC,4968,0.76,146.0,105.3,10.9,510,4969,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2553,2344,0,0,0,0,0,0
$GC,5097,0.76,146.0,91.4,11.0,529,5104,0.00,2.00,0.00,0.000,4,0.000,0.059,3310,3767,2344,0,0,0,0,0,0
$GC,5138,0.76,146.0,86.4,12.6,536,5146,0.00,1.90,0.00,0.000,6,0.000,0.041,3316,2567,2344,0,0,0,0,0,0
$GC,5277,0.76,146.0,70.3,11.3,561,5284,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2566,2344,0,0,0,0,0,0
$GC,5413,0.76,146.0,54.6,11.1,586,5421,0.00,2.00,0.00,0.000,4,0.000,0.060,3316,3777,2343,0,0,0,0,0,0
$GC,5445,0.76,146.0,50.6,13.1,591,5453,0.00,1.88,0.00,0.000,6,0.000,0.040,3325,2567,2343,0,0,0,0,0,0
$GC,5583,0.76,146.0,33.4,11.8,616,5591,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2566,2343,0,0,0,0,0,0
$GC,5723,0.76,146.0,16.7,11.5,641,5729,0.00,1.95,0.00,0.000,4,0.000,0.059,3325,3771,2343,0,0,0,0,0,0
$GC,5769,0.76,146.0,10.4,13.2,649,5776,0.00,1.85,0.00,0.000,6,0.000,0.041,3334,2580,2343,0,0,0,0,0,0
$FREEZE,8.15,-1.118,-1.895,2,1,0
$FREEZE,7.51,-1.125,-1.894,2,1,0
$FREEZE,6.69,-1.118,-1.894,2,1,0
$FREEZE,5.65,-1.116,-1.893,2,1,0
$FREEZE,5.02,-1.131,-1.892,2,1,0
$FREEZE,4.28,-1.131,-1.892,2,1,0
$FREEZE,3.74,-1.133,-1.891,2,1,0
$FREEZE,3.09,-1.125,-1.891,2,1,0
$FREEZE,2.43,-1.121,-1.890,2,1,0
$STATE,5829,end climb,SURFACE_DEPTH_REACHED
$STATE,5829,begin surface coast
$FREEZE,1.40,-1.114,-1.889,2,1,0
$FREEZE,1.15,-1.178,-1.893,2,1,0
$FREEZE,1.24,-1.157,-1.892,2,1,0
$FREEZE,1.25,-1.141,-0.935,2,1,0
$FINISH,1.2,1.013794
$STATE,5854,end surface coast,FINISH_DEPTH_REACHED
$STATE,5855,begin surface
$SM_CCo,5870,75.55,0.100,0,0,1736,300.24
$SM_GC,2.10,0.00,0.00,75.55,0.000,0.000,0.100,426,2671,1736,-8.24,0.62,300.24
$IRIDIUM_FIX,-7545.40,17655.35,261210,040414
$TT8_MAMPS,0.028462
$HUMID,52.99
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,18.3
$ALTIM_BOTTOM_PING,350.8,43.5
$24V_AH,20.3,59.752
$10V_AH,9.8,39.403
$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,18.250,62.400,278.650,75.550,0.000,31.425,38.466,190.691,2.000,0.000,13.733,1681.091,2127.146,472.289,1866.423,175.884,0.000,1143.376,0.000,1093.657,0.000,13.552,0.000
$DEVICE_MAMPS,195.840,94.095,1025.865,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,465.902,860.489,936.978,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46988,663
$CAP_FILE_SIZE,91156,0
$CFSIZE,260165632,231993344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.123,192.0,1
$GPS,261210,074101,-7632.061,17643.812,41,2.0,42,122.9