version: 66.08
glider: 502
mission: 3
dive: 356
start: 12 26 110 18 26 33
data:
$ID,502
$MISSION,3
$DIVE,356
$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,-30590.088
$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,37
$R_STBD_OVSHOOT,28
$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
$GPS1,261210,182001,-7631.844,17705.783,9,1.3,14,122.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-71.5
$GPS2,261210,182607,-7631.824,17705.777,12,1.2,17,122.3
$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,323.0,75399,-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,16,-0.76,-146.0,0.0,0.0,0,82,0.00,0.00,-63.83,0.000,2,0.000,0.000,415,2657,2870,0,0,0,0,0,0
$GC,85,-0.76,-146.0,3.1,-3.0,9,135,8.75,1.88,-30.12,0.000,4,0.194,0.079,2799,3759,3559,0,0,0,0,0,0
$GC,190,-0.76,-146.0,14.1,-18.9,26,198,0.00,1.77,0.00,0.000,6,0.000,0.041,2799,2644,3561,0,0,0,0,0,0
$GC,330,-0.76,-146.0,37.4,-16.6,51,337,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2644,3561,0,0,0,0,0,0
$GC,468,-0.76,-146.0,60.1,-16.3,76,476,0.00,1.85,0.00,0.000,4,0.000,0.061,2790,3760,3562,0,0,0,0,0,0
$GC,524,-0.76,-146.0,69.4,-17.6,85,531,0.00,1.75,0.00,0.000,6,0.000,0.041,2790,2659,3562,0,0,0,0,0,0
$GC,659,-0.76,-146.0,93.2,-17.4,110,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2658,3562,0,0,0,0,0,0
$GC,796,-0.76,-146.0,115.9,-16.5,126,800,0.00,1.80,0.00,0.000,4,0.000,0.061,2783,3768,3563,0,0,0,0,0,0
$GC,832,-0.76,-146.0,122.1,-18.0,129,836,0.12,1.73,0.00,0.000,6,0.161,0.041,2817,2657,3563,0,0,0,0,0,0
$GC,972,-0.76,-146.0,142.9,-14.3,142,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2655,3563,0,0,0,0,0,0
$GC,1099,-0.76,-146.0,160.8,-14.2,154,1103,0.00,1.80,0.00,0.000,4,0.000,0.061,2809,3769,3563,0,0,0,0,0,0
$GC,1126,-0.76,-146.0,165.3,-15.3,156,1134,0.00,1.75,0.00,0.000,6,0.000,0.042,2809,2667,3563,0,0,0,0,0,0
$GC,1261,-0.76,-146.0,184.8,-14.6,169,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2667,3563,0,0,0,0,0,0
$GC,1389,-0.76,-146.0,203.5,-14.5,181,1392,0.00,1.77,0.00,0.000,4,0.000,0.060,2801,3767,3563,0,0,0,0,0,0
$GC,1425,-0.76,-146.0,208.9,-16.3,184,1428,0.00,1.70,0.00,0.000,6,0.000,0.041,2801,2670,3563,0,0,0,0,0,0
$GC,1565,-0.76,-146.0,230.6,-15.1,197,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2669,3563,0,0,0,0,0,0
$GC,1693,-0.76,-146.0,249.7,-15.5,209,1700,0.00,1.77,0.00,0.000,4,0.000,0.061,2792,3765,3563,0,0,0,0,0,0
$GC,1740,-0.76,-146.0,257.4,-16.2,213,1744,0.00,1.67,0.00,0.000,6,0.000,0.041,2793,2681,3563,0,0,0,0,0,0
$GC,1945,-0.76,-146.0,288.5,-14.6,232,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2680,3563,0,0,0,0,0,0
$GC,2134,-0.76,-146.0,318.1,-15.5,250,2138,0.00,1.75,0.00,0.000,4,0.000,0.061,2785,3759,3563,0,0,0,0,0,0
$GC,2172,-0.76,-146.0,324.6,-16.1,253,2180,0.08,1.70,0.00,0.000,6,0.139,0.041,2810,2683,3563,0,0,0,0,0,0
$GC,2372,-0.76,-146.0,352.1,-13.9,272,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2681,3563,0,0,0,0,0,0
$STATE,2443,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2443,begin apogee
$GC,2449,-0.17,0.0,362.2,13.7,279,2586,0.60,0.00,130.98,1.016,4,0.121,0.000,3008,2484,2960,0,0,0,0,0,0
$STATE,2587,end apogee,CONTROL_FINISHED_OK
$STATE,2587,begin climb
$GC,2589,0.76,146.0,367.8,0.0,291,2744,0.95,2.47,146.55,0.936,4,0.072,0.047,3313,1099,2364,0,0,0,0,0,0
$GC,2867,0.76,146.0,343.4,11.3,316,2874,0.00,2.45,0.00,0.000,6,0.000,0.050,3313,2493,2353,0,0,0,0,0,0
$GC,3065,0.76,146.0,319.7,12.0,335,3069,0.00,2.25,0.00,0.000,4,0.000,0.048,3323,1097,2351,0,0,0,0,0,0
$GC,3186,0.76,146.0,304.5,12.8,345,3194,0.00,2.33,0.00,0.000,6,0.000,0.052,3323,2512,2348,0,0,0,0,0,0
$GC,3387,0.76,146.0,279.6,12.9,364,3391,0.00,2.00,0.00,0.000,4,0.000,0.059,3323,3767,2348,0,0,0,0,0,0
$GC,3478,0.76,146.0,266.0,15.3,372,3482,0.00,1.92,0.00,0.000,6,0.000,0.040,3333,2523,2347,0,0,0,0,0,0
$GC,3683,0.76,146.0,239.3,12.4,391,3686,0.00,2.00,0.00,0.000,4,0.000,0.058,3333,3765,2347,0,0,0,0,0,0
$GC,3731,0.76,146.0,231.9,14.8,395,3742,0.08,1.95,0.00,0.000,6,0.145,0.039,3317,2534,2346,0,0,0,0,0,0
$GC,3867,0.76,146.0,216.4,11.3,408,3871,0.00,1.98,0.00,0.000,4,0.000,0.058,3317,3763,2346,0,0,0,0,0,0
$GC,3902,0.76,146.0,212.0,12.8,411,3906,0.00,1.90,0.00,0.000,6,0.000,0.040,3324,2536,2346,0,0,0,0,0,0
$GC,4043,0.76,146.0,195.3,11.6,424,4047,0.00,1.98,0.00,0.000,4,0.000,0.057,3324,3764,2346,0,0,0,0,0,0
$GC,4090,0.76,146.0,189.1,13.9,428,4094,0.00,1.85,0.00,0.000,6,0.000,0.040,3333,2564,2346,0,0,0,0,0,0
$GC,4231,0.76,146.0,171.6,12.2,441,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2562,2345,0,0,0,0,0,0
$GC,4358,0.76,146.0,156.2,12.2,453,4362,0.00,1.95,0.00,0.000,4,0.000,0.058,3334,3773,2345,0,0,0,0,0,0
$GC,4417,0.76,146.0,147.4,15.4,458,4426,0.08,1.90,0.00,0.000,6,0.144,0.041,3317,2573,2346,0,0,0,0,0,0
$GC,4554,0.76,146.0,131.7,11.2,471,4557,0.00,1.92,0.00,0.000,4,0.000,0.059,3317,3766,2345,0,0,0,0,0,0
$GC,4580,0.76,146.0,127.9,13.1,473,4590,0.00,1.88,0.00,0.000,6,0.000,0.040,3325,2576,2345,0,0,0,0,0,0
$GC,4717,0.76,146.0,111.9,12.0,486,4721,0.00,1.92,0.00,0.000,4,0.000,0.057,3324,3772,2344,0,0,0,0,0,0
$GC,4743,0.76,146.0,108.0,14.3,488,4753,0.00,1.85,0.00,0.000,6,0.000,0.040,3333,2600,2345,0,0,0,0,0,0
$GC,4881,0.76,146.0,91.1,13.2,507,4888,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2599,2344,0,0,0,0,0,0
$GC,5018,0.76,146.0,74.0,12.0,532,5026,0.00,1.92,0.00,0.000,4,0.000,0.057,3333,3768,2345,0,0,0,0,0,0
$GC,5061,0.76,146.0,68.1,14.5,539,5070,0.12,1.83,0.00,0.000,6,0.161,0.040,3309,2594,2344,0,0,0,0,0,0
$GC,5201,0.76,146.0,52.6,10.6,564,5208,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2594,2344,0,0,0,0,0,0
$GC,5339,0.76,146.0,37.7,10.4,589,5346,0.00,1.90,0.00,0.000,4,0.000,0.058,3309,3765,2344,0,0,0,0,0,0
$GC,5380,0.76,146.0,32.5,12.6,596,5388,0.00,1.83,0.00,0.000,6,0.000,0.040,3316,2612,2344,0,0,0,0,0,0
$GC,5524,0.76,146.0,15.9,11.6,621,5531,0.00,1.88,0.00,0.000,4,0.000,0.058,3316,3767,2344,0,0,0,0,0,0
$GC,5543,0.76,146.0,12.8,13.5,624,5551,0.00,1.83,0.00,0.000,6,0.000,0.040,3325,2615,2344,0,0,0,0,0,0
$FREEZE,8.49,-0.709,-1.893,2,1,0
$FREEZE,7.74,-0.709,-1.892,2,1,0
$FREEZE,7.22,-0.712,-1.892,2,1,0
$FREEZE,6.47,-0.712,-1.891,2,1,0
$FREEZE,6.00,-0.711,-1.891,2,1,0
$FREEZE,5.35,-0.710,-1.891,2,1,0
$FREEZE,4.78,-0.708,-1.890,2,1,0
$FREEZE,3.86,-0.709,-1.889,2,1,0
$FREEZE,3.38,-0.708,-1.889,2,1,0
$FREEZE,2.54,-0.707,-1.888,2,1,0
$STATE,5624,end climb,SURFACE_DEPTH_REACHED
$STATE,5626,begin surface coast
$FREEZE,1.66,-0.709,-1.888,2,1,0
$FREEZE,1.25,-0.733,-1.036,2,1,0
$FREEZE,1.28,-0.729,-0.939,2,1,0
$FREEZE,1.42,-0.719,-1.887,2,1,0
$FINISH,1.4,1.027627
$STATE,5651,end surface coast,CONTROL_FINISHED_OK
$STATE,5651,begin surface
$SM_CCo,5667,75.30,0.100,0,0,1737,300.24
$SM_GC,2.10,0.00,0.00,75.30,0.000,0.000,0.100,423,2655,1737,-8.26,0.14,300.24
$IRIDIUM_FIX,-7545.40,17655.35,261210,161611
$TT8_MAMPS,0.028462
$HUMID,53.22
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,18.2
$ALTIM_BOTTOM_PING,350.6,25.9
$24V_AH,20.3,60.490
$10V_AH,9.7,39.988
$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,18.275,72.725,277.525,75.300,0.000,28.258,37.023,190.001,1.750,0.000,17.967,1639.648,1970.903,475.301,1848.372,181.307,0.000,1149.455,0.000,1074.997,0.000,10.542,0.000
$DEVICE_MAMPS,193.545,126.990,1015.920,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,450.849,845.267,940.242,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43750,642
$CAP_FILE_SIZE,92999,0
$CFSIZE,260165632,231641088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.030,  8.6,1
$GPS,261210,200331,-7631.672,17708.930,38,1.3,38,122.2