version: 66.08
glider: 502
mission: 3
dive: 353
start: 12 26 110 13 12 32
data:
$ID,502
$MISSION,3
$DIVE,353
$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,-30586.316
$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,31
$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
$GPS1,261210,130558,-7632.180,17653.512,10,2.5,29,122.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-70.3
$GPS2,261210,131206,-7632.185,17653.578,39,0.9,44,122.6
$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,298.2,80699,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,100,0.00,0.00,-80.65,0.000,2,0.000,0.000,411,2662,3220,0,0,0,0,0,0
$GC,102,-0.76,-146.0,3.1,-1.0,12,127,8.88,1.85,-10.48,0.000,4,0.198,0.077,2800,3755,3559,0,0,0,0,0,0
$GC,357,-0.76,-146.0,46.1,-17.0,58,365,0.00,1.75,0.00,0.000,6,0.000,0.041,2799,2653,3562,0,0,0,0,0,0
$GC,498,-0.76,-146.0,68.6,-15.7,83,504,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2652,3563,0,0,0,0,0,0
$GC,636,-0.76,-146.0,91.6,-17.0,108,644,0.00,1.83,0.00,0.000,4,0.000,0.062,2791,3750,3563,0,0,0,0,0,0
$GC,673,-0.76,-146.0,97.9,-17.5,114,681,0.00,1.73,0.00,0.000,6,0.000,0.042,2791,2667,3563,0,0,0,0,0,0
$GC,818,-0.76,-146.0,122.3,-17.0,128,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2666,3563,0,0,0,0,0,0
$GC,953,-0.76,-146.0,144.8,-16.5,141,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2666,3563,0,0,0,0,0,0
$GC,1080,-0.76,-146.0,165.8,-16.2,153,1084,0.00,1.77,0.00,0.000,4,0.000,0.061,2784,3763,3563,0,0,0,0,0,0
$GC,1115,-0.76,-146.0,171.9,-17.8,156,1120,0.12,1.70,0.00,0.000,6,0.161,0.041,2818,2659,3564,0,0,0,0,0,0
$GC,1256,-0.76,-146.0,193.2,-14.9,169,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2657,3564,0,0,0,0,0,0
$GC,1382,-0.76,-146.0,211.7,-14.5,181,1386,0.00,1.77,0.00,0.000,4,0.000,0.062,2811,3754,3564,0,0,0,0,0,0
$GC,1409,-0.76,-146.0,216.4,-16.0,183,1418,0.00,1.73,0.00,0.000,6,0.000,0.041,2811,2670,3564,0,0,0,0,0,0
$GC,1548,-0.76,-146.0,236.3,-14.9,196,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2669,3564,0,0,0,0,0,0
$GC,1681,-0.76,-146.0,256.6,-14.6,209,1685,0.00,1.77,0.00,0.000,4,0.000,0.061,2802,3765,3564,0,0,0,0,0,0
$GC,1704,-0.76,-146.0,260.1,-15.8,211,1707,0.00,1.70,0.00,0.000,6,0.000,0.041,2802,2669,3564,0,0,0,0,0,0
$GC,1908,-0.76,-146.0,290.7,-14.9,230,1912,0.00,1.77,0.00,0.000,4,0.000,0.061,2794,3763,3564,0,0,0,0,0,0
$GC,1954,-0.76,-146.0,298.0,-16.1,234,1958,0.00,1.73,0.00,0.000,6,0.000,0.041,2794,2679,3564,0,0,0,0,0,0
$GC,2158,-0.76,-146.0,329.1,-15.6,253,2159,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2677,3564,0,0,0,0,0,0
$GC,2350,-0.76,-146.0,358.2,-15.2,271,2354,0.00,1.75,0.00,0.000,4,0.000,0.060,2786,3757,3564,0,0,0,0,0,0
$GC,2385,-0.76,-146.0,363.8,-15.4,274,2390,0.12,1.67,0.00,0.000,6,0.160,0.042,2820,2677,3564,0,0,0,0,0,0
$STATE,2469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2469,begin apogee
$GC,2475,-0.17,0.0,375.9,13.4,282,2612,0.55,0.00,131.43,1.022,4,0.122,0.000,3003,2494,2961,0,0,0,0,0,0
$STATE,2613,end apogee,CONTROL_FINISHED_OK
$STATE,2613,begin climb
$GC,2615,0.76,146.0,381.5,0.0,294,2770,0.98,2.50,147.05,0.943,4,0.075,0.047,3313,1104,2365,0,0,0,0,0,0
$GC,2917,0.76,146.0,355.4,11.2,321,2921,0.00,2.42,0.00,0.000,6,0.000,0.050,3314,2499,2353,0,0,0,0,0,0
$GC,3115,0.76,146.0,331.3,11.8,339,3119,0.00,2.28,0.00,0.000,4,0.000,0.049,3323,1091,2351,0,0,0,0,0,0
$GC,3239,0.76,146.0,316.4,12.5,350,3243,0.00,2.33,0.00,0.000,6,0.000,0.052,3323,2521,2349,0,0,0,0,0,0
$GC,3442,0.76,146.0,290.9,12.4,369,3445,0.00,1.98,0.00,0.000,4,0.000,0.057,3323,3764,2348,0,0,0,0,0,0
$GC,3532,0.76,146.0,277.7,14.8,377,3536,0.00,1.90,0.00,0.000,6,0.000,0.040,3333,2535,2348,0,0,0,0,0,0
$GC,3735,0.76,146.0,250.3,13.6,396,3739,0.00,2.00,0.00,0.000,4,0.000,0.057,3332,3773,2347,0,0,0,0,0,0
$GC,3782,0.76,146.0,243.5,15.4,400,3786,0.12,1.95,0.00,0.000,6,0.163,0.041,3309,2518,2347,0,0,0,0,0,0
$GC,3917,0.76,146.0,227.0,11.8,412,3918,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2516,2346,0,0,0,0,0,0
$GC,4045,0.76,146.0,212.1,11.7,424,4048,0.00,2.03,0.00,0.000,4,0.000,0.059,3309,3764,2346,0,0,0,0,0,0
$GC,4091,0.76,146.0,206.1,13.2,428,4094,0.00,1.90,0.00,0.000,6,0.000,0.040,3316,2536,2346,0,0,0,0,0,0
$GC,4233,0.76,146.0,189.3,11.8,441,4236,0.00,2.00,0.00,0.000,4,0.000,0.058,3317,3772,2346,0,0,0,0,0,0
$GC,4257,0.76,146.0,186.1,12.4,443,4261,0.00,1.92,0.00,0.000,6,0.000,0.041,3326,2536,2346,0,0,0,0,0,0
$GC,4398,0.76,146.0,168.4,12.5,456,4399,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2533,2346,0,0,0,0,0,0
$GC,4526,0.76,146.0,152.7,12.2,468,4530,0.00,2.00,0.00,0.000,4,0.000,0.057,3326,3773,2346,0,0,0,0,0,0
$GC,4562,0.76,146.0,147.8,14.4,471,4566,0.00,1.90,0.00,0.000,6,0.000,0.040,3335,2550,2345,0,0,0,0,0,0
$GC,4704,0.76,146.0,129.8,12.4,484,4712,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2547,2345,0,0,0,0,0,0
$GC,4839,0.76,146.0,112.9,12.2,497,4843,0.00,1.98,0.00,0.000,4,0.000,0.059,3335,3769,2345,0,0,0,0,0,0
$GC,4888,0.76,146.0,105.9,14.3,501,4898,0.08,1.92,0.00,0.000,6,0.147,0.040,3319,2558,2345,0,0,0,0,0,0
$GC,5025,0.76,146.0,90.2,11.8,521,5031,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2556,2344,0,0,0,0,0,0
$GC,5161,0.76,146.0,74.7,11.1,546,5170,0.00,2.00,0.00,0.000,4,0.000,0.059,3319,3763,2345,0,0,0,0,0,0
$GC,5209,0.76,146.0,68.7,12.9,554,5217,0.00,1.90,0.00,0.000,6,0.000,0.041,3326,2564,2345,0,0,0,0,0,0
$GC,5350,0.76,146.0,51.9,11.9,579,5356,0.00,1.95,0.00,0.000,4,0.000,0.060,3327,3763,2345,0,0,0,0,0,0
$GC,5375,0.76,146.0,48.6,12.8,583,5382,0.00,1.85,0.00,0.000,6,0.000,0.041,3336,2572,2345,0,0,0,0,0,0
$GC,5513,0.76,146.0,30.8,12.6,608,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2570,2345,0,0,0,0,0,0
$GC,5654,0.76,146.0,12.8,13.4,633,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2570,2344,0,0,0,0,0,0
$FREEZE,8.76,-0.462,-1.894,2,1,0
$FREEZE,8.03,-0.459,-1.893,2,1,0
$FREEZE,7.25,-0.459,-1.893,2,1,0
$FREEZE,6.57,-0.460,-1.892,2,1,0
$FREEZE,5.83,-0.459,-1.891,2,1,0
$FREEZE,5.17,-0.464,-1.891,2,1,0
$FREEZE,4.45,-0.464,-1.890,2,1,0
$FREEZE,3.78,-0.466,-1.890,2,1,0
$FREEZE,2.85,-0.463,-1.889,2,1,0
$STATE,5728,end climb,SURFACE_DEPTH_REACHED
$STATE,5729,begin surface coast
$FREEZE,2.00,-0.462,-1.889,2,1,0
$FREEZE,1.36,-0.467,-1.888,2,1,0
$FREEZE,1.28,-0.535,-1.892,2,1,0
$FREEZE,1.30,-0.644,-1.899,2,1,0
$FINISH,1.3,1.027790
$STATE,5756,end surface coast,CONTROL_FINISHED_OK
$STATE,5756,begin surface
$SM_CCo,5771,82.95,0.728,1,0,1736,300.24
$SM_GC,2.26,0.00,0.00,82.95,0.000,0.000,0.728,417,2665,1736,-8.27,0.42,300.24
$IRIDIUM_FIX,-7545.40,17655.85,261210,111134
$TT8_MAMPS,0.027713
$HUMID,52.52
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.4,17.8
$ALTIM_BOTTOM_PING,301.5,88.8
$24V_AH,20.3,60.181
$10V_AH,9.7,39.741
$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,18.325,65.625,278.475,82.950,0.000,23.046,40.972,168.208,1.500,0.000,45.315,1662.006,2094.393,456.549,1848.360,174.126,0.000,1126.513,0.000,1082.679,0.000,9.002,0.000
$DEVICE_MAMPS,198.135,91.035,1022.040,727.515,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,457.134,844.278,920.351,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47078,650
$CAP_FILE_SIZE,91135,0
$CFSIZE,260165632,231784448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.129,132.5,1
$GPS,261210,145122,-7632.135,17657.635,13,2.2,32,122.5