version: 66.08
glider: 502
mission: 3
dive: 352
start: 12 26 110 11 26 16
data:
$ID,502
$MISSION,3
$DIVE,352
$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,-30585.057
$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,39
$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
$GPS1,261210,112000,-7632.189,17649.881,41,0.9,41,122.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-71.1
$GPS2,261210,112550,-7632.203,17649.898,12,1.3,12,122.7
$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,294.4,82290,-17.5,-10.000
$D_GRID,375
$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,-146.0,0.0,0.0,0,92,0.00,0.00,-74.45,0.000,2,0.000,0.000,417,2661,3094,0,0,0,0,0,0
$GC,95,-0.76,-146.0,3.0,-1.8,11,125,8.85,1.88,-16.50,0.000,4,0.197,0.078,2803,3761,3559,0,0,0,0,0,0
$GC,290,-0.76,-146.0,33.4,-16.8,45,297,0.00,1.77,0.00,0.000,6,0.000,0.041,2803,2624,3563,0,0,0,0,0,0
$GC,426,-0.76,-146.0,56.0,-16.6,70,434,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2623,3563,0,0,0,0,0,0
$GC,566,-0.76,-146.0,78.6,-15.8,95,573,0.00,1.88,0.00,0.000,4,0.000,0.062,2795,3771,3564,0,0,0,0,0,0
$GC,602,-0.76,-146.0,84.9,-18.4,101,610,0.00,1.77,0.00,0.000,6,0.000,0.043,2795,2637,3564,0,0,0,0,0,0
$GC,747,-0.76,-146.0,109.2,-16.8,122,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2635,3564,0,0,0,0,0,0
$GC,874,-0.76,-146.0,130.0,-16.6,134,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2635,3564,0,0,0,0,0,0
$GC,1001,-0.76,-146.0,150.8,-16.4,146,1004,0.00,1.83,0.00,0.000,4,0.000,0.062,2786,3760,3564,0,0,0,0,0,0
$GC,1037,-0.76,-146.0,157.7,-18.0,149,1048,0.08,1.75,0.00,0.000,6,0.139,0.041,2812,2656,3565,0,0,0,0,0,0
$GC,1174,-0.76,-146.0,177.8,-15.1,162,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2656,3565,0,0,0,0,0,0
$GC,1309,-0.76,-146.0,197.8,-14.7,175,1313,0.00,1.80,0.00,0.000,4,0.000,0.062,2805,3769,3565,0,0,0,0,0,0
$GC,1335,-0.76,-146.0,202.2,-15.2,177,1345,0.00,1.75,0.00,0.000,6,0.000,0.041,2805,2666,3564,0,0,0,0,0,0
$GC,1473,-0.76,-146.0,222.0,-15.0,190,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2666,3564,0,0,0,0,0,0
$GC,1608,-0.76,-146.0,242.5,-14.8,203,1612,0.00,1.77,0.00,0.000,4,0.000,0.061,2797,3764,3565,0,0,0,0,0,0
$GC,1633,-0.76,-146.0,246.3,-15.6,205,1637,0.00,1.70,0.00,0.000,6,0.000,0.041,2797,2663,3564,0,0,0,0,0,0
$GC,1773,-0.76,-146.0,268.4,-15.5,218,1774,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2661,3565,0,0,0,0,0,0
$GC,1964,-0.76,-146.0,297.6,-15.0,236,1968,0.00,1.77,0.00,0.000,4,0.000,0.061,2789,3759,3564,0,0,0,0,0,0
$GC,2012,-0.76,-146.0,305.7,-16.5,240,2020,0.00,1.73,0.00,0.000,6,0.000,0.041,2789,2676,3564,0,0,0,0,0,0
$GC,2213,-0.76,-146.0,336.0,-15.4,259,2214,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2676,3565,0,0,0,0,0,0
$GC,2401,-0.76,-146.0,365.1,-15.3,277,2406,0.10,1.77,0.00,0.000,4,0.174,0.062,2808,3760,3564,0,0,0,0,0,0
$GC,2450,-0.76,-146.0,372.6,-15.0,281,2459,0.00,1.73,0.00,0.000,6,0.000,0.041,2808,2674,3564,0,0,0,0,0,0
$STATE,2476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2476,begin apogee
$GC,2482,-0.17,0.0,376.4,14.4,284,2620,0.60,0.00,132.02,1.022,4,0.125,0.000,3003,2493,2960,0,0,0,0,0,0
$STATE,2620,end apogee,CONTROL_FINISHED_OK
$STATE,2621,begin climb
$GC,2622,0.76,146.0,381.9,0.0,296,2782,0.95,2.53,147.12,0.944,4,0.073,0.047,3307,1097,2363,0,0,0,0,0,0
$GC,2898,0.76,146.0,358.3,11.0,320,2906,0.00,2.50,0.00,0.000,6,0.000,0.050,3307,2497,2354,0,0,0,0,0,0
$GC,3098,0.76,146.0,335.1,11.6,339,3102,0.00,2.28,0.00,0.000,4,0.000,0.048,3316,1087,2350,0,0,0,0,0,0
$GC,3228,0.76,146.0,320.0,11.5,350,3233,0.00,2.33,0.00,0.000,6,0.000,0.052,3316,2526,2348,0,0,0,0,0,0
$GC,3426,0.76,146.0,296.7,11.6,368,3429,0.00,1.98,0.00,0.000,4,0.000,0.058,3316,3767,2347,0,0,0,0,0,0
$GC,3520,0.76,146.0,283.2,15.3,376,3527,0.00,1.95,0.00,0.000,6,0.000,0.040,3325,2534,2347,0,0,0,0,0,0
$GC,3719,0.76,146.0,259.0,12.3,395,3722,0.00,1.98,0.00,0.000,4,0.000,0.058,3325,3760,2346,0,0,0,0,0,0
$GC,3786,0.76,146.0,249.0,15.0,401,3790,0.00,1.90,0.00,0.000,6,0.000,0.041,3335,2532,2346,0,0,0,0,0,0
$GC,3930,0.76,146.0,230.5,13.0,414,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2529,2346,0,0,0,0,0,0
$GC,4065,0.76,146.0,213.2,12.3,427,4068,0.00,2.00,0.00,0.000,4,0.000,0.058,3334,3771,2346,0,0,0,0,0,0
$GC,4100,0.76,146.0,208.3,14.9,430,4104,0.12,1.90,0.00,0.000,6,0.164,0.041,3311,2547,2346,0,0,0,0,0,0
$GC,4240,0.76,146.0,192.0,11.0,443,4244,0.00,1.98,0.00,0.000,4,0.000,0.059,3311,3768,2346,0,0,0,0,0,0
$GC,4277,0.76,146.0,186.8,13.0,446,4286,0.00,1.92,0.00,0.000,6,0.000,0.041,3319,2555,2345,0,0,0,0,0,0
$GC,4415,0.76,146.0,171.0,11.9,459,4419,0.00,1.95,0.00,0.000,4,0.000,0.057,3318,3765,2345,0,0,0,0,0,0
$GC,4439,0.76,146.0,167.7,12.7,461,4442,0.00,1.85,0.00,0.000,6,0.000,0.039,3328,2562,2345,0,0,0,0,0,0
$GC,4581,0.76,146.0,150.1,12.3,474,4588,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2560,2345,0,0,0,0,0,0
$GC,4716,0.76,146.0,132.9,12.6,487,4719,0.00,1.95,0.00,0.000,4,0.000,0.057,3328,3768,2345,0,0,0,0,0,0
$GC,4741,0.76,146.0,129.7,13.6,489,4745,0.00,1.85,0.00,0.000,6,0.000,0.039,3338,2569,2344,0,0,0,0,0,0
$GC,4884,0.76,146.0,111.1,12.5,502,4891,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2567,2345,0,0,0,0,0,0
$GC,5020,0.76,146.0,93.7,12.3,519,5026,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2567,2345,0,0,0,0,0,0
$GC,5155,0.76,146.0,76.8,12.2,544,5163,0.00,1.98,0.00,0.000,4,0.000,0.059,3337,3761,2344,0,0,0,0,0,0
$GC,5192,0.76,146.0,71.8,13.8,550,5200,0.10,1.88,0.00,0.000,6,0.134,0.041,3312,2576,2344,0,0,0,0,0,0
$GC,5335,0.76,147.4,56.4,9.9,575,5341,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2574,2344,0,0,0,0,0,0
$GC,5469,0.76,147.4,41.9,11.0,600,5477,0.00,1.95,0.00,0.000,4,0.000,0.059,3312,3754,2343,0,0,0,0,0,0
$GC,5501,0.76,147.4,38.2,12.1,605,5509,0.00,1.83,0.00,0.000,6,0.000,0.041,3320,2579,2344,0,0,0,0,0,0
$GC,5640,0.76,147.4,21.6,12.4,630,5648,0.00,2.38,0.00,0.000,4,0.000,0.050,3328,1096,2343,0,0,0,0,0,0
$GC,5662,0.76,147.4,18.8,12.5,633,5670,0.00,2.40,0.00,0.000,6,0.000,0.050,3328,2584,2343,0,0,0,0,0,0
$FREEZE,8.60,-0.555,-1.893,2,1,0
$FREEZE,8.00,-0.555,-1.893,2,1,0
$FREEZE,7.38,-0.553,-1.892,2,1,0
$FREEZE,6.70,-0.550,-1.892,2,1,0
$FREEZE,6.03,-0.544,-1.891,2,1,0
$FREEZE,5.36,-0.554,-1.891,2,1,0
$FREEZE,4.68,-0.547,-1.890,2,1,0
$FREEZE,3.82,-0.540,-1.890,2,1,0
$FREEZE,2.89,-0.535,-1.889,2,1,0
$STATE,5788,end climb,SURFACE_DEPTH_REACHED
$STATE,5788,begin surface coast
$FREEZE,2.03,-0.545,-1.889,2,1,0
$FREEZE,1.55,-0.550,-1.888,2,1,0
$FREEZE,1.22,-0.591,-1.891,2,1,0
$FREEZE,1.31,-0.587,-1.883,2,1,0
$FINISH,1.3,1.027571
$STATE,5813,end surface coast,CONTROL_FINISHED_OK
$STATE,5813,begin surface
$SM_CCo,5829,80.53,0.727,1,0,1737,300.24
$SM_GC,2.08,0.00,0.00,80.53,0.000,0.000,0.727,420,2657,1737,-8.26,0.20,300.24
$IRIDIUM_FIX,-7545.40,17646.14,261210,090941
$TT8_MAMPS,0.028462
$HUMID,52.40
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,18.2
$ALTIM_BOTTOM_PING,300.3,92.1
$24V_AH,20.3,60.074
$10V_AH,9.8,39.657
$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,18.375,70.475,279.150,80.525,0.000,30.220,37.318,178.571,1.750,0.000,13.096,1672.852,2081.532,494.820,1850.897,173.037,0.000,1175.755,0.000,1092.476,0.000,9.010,0.000
$DEVICE_MAMPS,196.605,117.810,1022.040,726.750,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,462.613,855.758,934.176,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47166,659
$CAP_FILE_SIZE,92904,0
$CFSIZE,260165632,231837696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.130,149.4,1
$GPS,261210,130558,-7632.180,17653.512,10,2.5,29,122.6