version: 66.08
glider: 502
mission: 3
dive: 245
start: 12 16 110 19 21 40
data:
$ID,502
$MISSION,3
$DIVE,245
$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,-30446.713
$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,29
$R_STBD_OVSHOOT,22
$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
$GPS1,161210,191236,-7642.111,17043.842,46,0.9,51,132.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-71.7
$GPS2,161210,192113,-7642.140,17043.689,10,1.3,10,132.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,POLYNYA
$TGT_LATLONG,-7640.000,18000.000
$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,316.2,237633,-17.5,-10.000
$D_GRID,745
$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
$STATE,13,begin dive
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$GC,85,-0.76,-146.0,3.1,-2.8,9,135,8.93,2.35,-32.42,0.000,4,0.201,0.063,2809,1234,3559,0,0,0,0,0,0
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$GC,532,-0.76,-146.0,65.3,-16.6,86,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2651,3562,0,0,0,0,0,0
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$GC,1334,-0.76,-146.0,198.8,-15.7,176,1338,0.00,2.25,0.00,0.000,4,0.000,0.050,2802,1243,3562,0,0,0,0,0,0
$GC,1363,-0.76,-146.0,203.6,-15.3,178,1368,0.00,2.33,0.00,0.000,6,0.000,0.058,2793,2676,3562,0,0,0,0,0,0
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$GC,1683,-0.76,-146.0,254.0,-14.7,207,1684,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2688,3562,0,0,0,0,0,0
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$GC,2102,-0.76,-146.0,317.7,-16.1,246,2110,0.00,1.73,0.00,0.000,6,0.000,0.043,2803,2688,3563,0,0,0,0,0,0
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$GC,2492,-0.76,-146.0,377.7,-15.0,283,2495,0.00,1.75,0.00,0.000,4,0.000,0.064,2797,3767,3562,0,0,0,0,0,0
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$GC,2931,-0.76,-146.0,445.1,-15.1,324,2934,0.00,1.75,0.00,0.000,4,0.000,0.064,2788,3773,3562,0,0,0,0,0,0
$GC,2953,-0.76,-146.0,448.6,-15.8,326,2958,0.10,1.65,0.00,0.000,6,0.174,0.044,2813,2706,3562,0,0,0,0,0,0
$GC,3160,-0.76,-146.0,477.4,-13.9,345,3166,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2705,3562,0,0,0,0,0,0
$GC,3356,-0.76,-146.0,505.3,-13.7,362,3359,0.00,1.73,0.00,0.000,4,0.000,0.067,2806,3765,3562,0,0,0,0,0,0
$GC,3383,-0.76,-146.0,509.3,-14.6,362,3390,0.00,1.67,0.00,0.000,6,0.000,0.044,2807,2712,3562,0,0,0,0,0,0
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$GC,4194,-0.76,-146.0,625.3,-14.5,389,4197,0.00,1.73,0.00,0.000,4,0.000,0.064,2791,3773,3562,0,0,0,0,0,0
$GC,4220,-0.76,-146.0,629.8,-15.3,389,4228,0.00,1.67,0.00,0.000,6,0.000,0.044,2790,2725,3562,0,0,0,0,0,0
$GC,4411,-0.76,-146.0,657.8,-14.7,396,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2724,3562,0,0,0,0,0,0
$GC,4595,-0.76,-146.0,684.5,-14.5,402,4596,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2724,3562,0,0,0,0,0,0
$STATE,4716,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4716,begin apogee
$GC,4720,-0.17,0.0,701.7,13.9,406,4864,0.68,0.00,138.10,1.225,4,0.132,0.000,3006,2483,2960,0,0,0,0,0,0
$STATE,4865,end apogee,CONTROL_FINISHED_OK
$STATE,4865,begin climb
$GC,4867,0.76,146.0,706.2,0.0,410,5037,0.98,2.55,154.05,1.128,4,0.069,0.049,3314,1101,2364,0,0,0,0,1,0
$GC,5148,0.76,146.0,678.6,12.4,419,5153,0.00,2.50,0.00,0.000,6,0.000,0.053,3314,2502,2354,0,0,0,0,0,0
$GC,5356,0.76,146.0,650.3,13.8,426,5360,0.00,2.28,0.00,0.000,4,0.000,0.050,3324,1099,2350,0,0,0,0,0,0
$GC,5467,0.76,146.0,635.7,13.2,429,5471,0.00,2.35,0.00,0.000,6,0.000,0.054,3324,2515,2348,0,0,0,0,0,0
$GC,5668,0.76,146.0,607.5,14.2,436,5672,0.00,2.00,0.00,0.000,4,0.000,0.060,3324,3768,2347,0,0,0,0,0,0
$GC,5770,0.76,146.0,591.3,15.7,439,5774,0.00,1.92,0.00,0.000,6,0.000,0.043,3333,2536,2347,0,0,0,0,0,0
$GC,5988,0.76,146.0,558.9,14.8,446,5992,0.00,2.03,0.00,0.000,4,0.000,0.061,3333,3763,2345,0,0,0,0,0,0
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$GC,6266,0.76,146.0,518.5,14.8,454,6274,0.00,1.98,0.00,0.000,6,0.000,0.044,3326,2544,2345,0,0,0,0,0,0
$GC,6458,0.76,146.0,491.9,13.6,463,6462,0.00,1.98,0.00,0.000,4,0.000,0.062,3326,3767,2345,0,0,0,0,0,0
$GC,6491,0.76,146.0,486.8,15.3,466,6495,0.00,1.90,0.00,0.000,6,0.000,0.044,3335,2549,2344,0,0,0,0,0,0
$GC,6695,0.76,146.0,457.3,14.4,485,6696,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2547,2345,0,0,0,0,0,0
$GC,6885,0.76,146.0,429.5,14.8,503,6889,0.00,2.03,0.00,0.000,4,0.000,0.061,3335,3773,2344,0,0,0,0,0,0
$GC,6925,0.76,146.0,422.9,17.3,506,6932,0.12,1.90,0.00,0.000,6,0.171,0.044,3312,2559,2344,0,0,0,0,0,0
$GC,7123,0.76,146.0,396.9,12.5,525,7126,0.00,1.95,0.00,0.000,4,0.000,0.060,3311,3772,2344,0,0,0,0,0,0
$GC,7160,0.76,146.0,391.2,14.6,528,7170,0.00,1.92,0.00,0.000,6,0.000,0.044,3320,2560,2343,0,0,0,0,0,0
$GC,7361,0.76,146.0,365.1,12.9,547,7365,0.00,1.95,0.00,0.000,4,0.000,0.061,3320,3768,2343,0,0,0,0,0,0
$GC,7417,0.76,146.0,356.6,15.5,552,7420,0.00,1.85,0.00,0.000,6,0.000,0.044,3329,2575,2343,0,0,0,0,0,0
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$GC,7811,0.76,146.0,303.5,13.4,589,7815,0.00,1.92,0.00,0.000,4,0.000,0.060,3329,3771,2343,0,0,0,0,0,0
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$GC,8071,0.76,146.0,266.7,13.6,613,8075,0.00,1.92,0.00,0.000,4,0.000,0.060,3338,3774,2343,0,0,0,0,0,0
$GC,8105,0.76,146.0,261.3,15.7,616,8109,0.12,1.83,0.00,0.000,6,0.169,0.043,3314,2595,2343,0,0,0,0,0,0
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$GC,8333,0.76,146.0,232.3,12.8,637,8337,0.00,1.83,0.00,0.000,6,0.000,0.044,3321,2596,2343,0,0,0,0,0,0
$GC,8474,0.76,146.0,213.8,12.7,650,8475,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2593,2342,0,0,0,0,0,0
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$GC,9027,0.76,146.0,139.1,13.5,702,9031,0.00,1.88,0.00,0.000,4,0.000,0.062,3330,3773,2342,0,0,0,0,0,0
$GC,9086,0.76,146.0,130.0,15.2,707,9096,0.08,1.85,0.00,0.000,6,0.147,0.044,3315,2610,2342,0,0,0,0,0,0
$GC,9222,0.76,146.0,113.6,11.9,720,9223,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2609,2342,0,0,0,0,0,0
$GC,9351,0.76,146.0,98.4,11.7,733,9358,0.00,1.92,0.00,0.000,4,0.000,0.063,3314,3771,2342,0,0,0,0,0,0
$GC,9377,0.76,146.0,95.0,12.7,737,9383,0.00,1.83,0.00,0.000,6,0.000,0.044,3322,2604,2341,0,0,0,0,0,0
$GC,9518,0.76,146.0,77.1,13.1,762,9525,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2603,2342,0,0,0,0,0,0
$GC,9663,0.76,146.0,58.6,12.3,787,9669,0.00,1.90,0.00,0.000,4,0.000,0.061,3322,3775,2341,0,0,0,0,0,0
$GC,9700,0.76,146.0,53.3,14.3,793,9707,0.00,1.80,0.00,0.000,6,0.000,0.044,3331,2620,2342,0,0,0,0,0,0
$GC,9841,0.76,146.0,34.7,13.2,818,9849,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2618,2342,0,0,0,0,0,0
$GC,9987,0.76,146.0,16.3,12.9,843,9994,0.00,1.88,0.00,0.000,4,0.000,0.061,3331,3777,2342,0,0,0,0,0,0
$GC,10025,0.76,146.0,10.6,14.9,849,10031,0.00,1.80,0.00,0.000,6,0.000,0.042,3340,2618,2342,0,0,0,0,0,0
$FREEZE,8.44,-1.397,-1.898,2,1,0
$FREEZE,7.65,-1.393,-1.898,2,1,0
$FREEZE,7.02,-1.391,-1.897,2,1,0
$FREEZE,6.09,-1.389,-1.897,2,1,0
$FREEZE,5.30,-1.387,-1.896,2,1,0
$FREEZE,4.51,-1.386,-1.895,2,1,0
$FREEZE,3.75,-1.385,-1.895,2,1,0
$FREEZE,2.83,-1.387,-1.894,2,1,0
$STATE,10079,end climb,SURFACE_DEPTH_REACHED
$STATE,10079,begin surface coast
$FREEZE,2.07,-1.379,-1.893,2,1,0
$FREEZE,1.44,-1.386,-1.893,2,1,0
$FREEZE,1.43,-1.416,-0.776,2,1,0
$FINISH,1.4,1.011396
$STATE,10102,end surface coast,FINISH_DEPTH_REACHED
$STATE,10102,begin surface
$SM_CCo,10117,80.97,0.726,1,0,1736,300.24
$SM_GC,2.20,0.00,0.00,80.97,0.000,0.000,0.726,417,2660,1736,-8.27,0.28,300.24
$IRIDIUM_FIX,-7603.11,17208.16,161210,191911
$TT8_MAMPS,0.028462
$HUMID,52.28
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.4,17.5
$ALTIM_BOTTOM_PING,653.3,59.3
$24V_AH,20.4,47.867
$10V_AH,9.8,30.050
$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,18.800,111.100,292.150,80.975,0.000,57.347,87.810,204.584,3.500,0.000,11.875,2295.818,5274.949,532.982,2405.289,213.847,0.000,1463.116,0.000,1536.135,0.000,20.941,0.000
$DEVICE_MAMPS,201.195,121.635,1224.765,725.985,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,608.465,1067.844,889.112,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258304
$DATA_FILE_SIZE,60317,861
$CAP_FILE_SIZE,134715,0
$CFSIZE,260165632,238178304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.110,259.5,1
$GPS,161210,221306,-7642.214,17047.039,45,1.0,45,132.4