version: 66.08
glider: 502
mission: 3
dive: 302
start: 12 22 110 17 15 4
data:
$ID,502
$MISSION,3
$DIVE,302
$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,-30519.689
$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,34
$R_STBD_OVSHOOT,24
$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
$GPS1,221210,170850,-7633.319,17415.924,14,1.4,14,126.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-72.8
$GPS2,221210,171438,-7633.315,17415.932,13,1.2,13,126.5
$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,309.4,148881,-17.5,-10.000
$D_GRID,378
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,96,0.00,0.00,-76.45,0.000,2,0.000,0.000,420,2641,3123,0,0,0,0,0,0
$GC,98,-0.76,-146.0,3.0,-1.3,11,129,8.85,2.30,-15.40,0.000,4,0.198,0.063,2810,1243,3560,0,0,0,0,0,0
$GC,370,-0.76,-146.0,41.9,-15.1,60,378,0.00,2.33,0.00,0.000,6,0.000,0.057,2801,2648,3563,0,0,0,0,0,0
$GC,509,-0.76,-146.0,64.5,-16.3,85,517,0.00,2.22,0.00,0.000,4,0.000,0.049,2801,1243,3563,0,0,0,0,0,0
$GC,569,-0.76,-146.0,74.0,-15.2,95,576,0.00,2.30,0.00,0.000,6,0.000,0.057,2791,2655,3563,0,0,0,0,0,0
$GC,704,-0.76,-146.0,96.6,-16.6,120,713,0.00,1.80,0.00,0.000,4,0.000,0.061,2783,3760,3563,0,0,0,0,0,0
$GC,753,-0.76,-146.0,104.7,-17.7,126,757,0.12,1.70,0.00,0.000,6,0.161,0.042,2816,2657,3563,0,0,0,0,0,0
$GC,893,-0.76,-146.0,125.7,-14.3,139,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2655,3564,0,0,0,0,0,0
$GC,1019,-0.76,-146.0,144.0,-14.5,151,1023,0.00,1.80,0.00,0.000,4,0.000,0.063,2809,3767,3564,0,0,0,0,0,0
$GC,1044,-0.76,-146.0,147.5,-15.2,153,1048,0.00,1.70,0.00,0.000,6,0.000,0.043,2810,2669,3564,0,0,0,0,0,0
$GC,1187,-0.76,-146.0,169.5,-15.7,166,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2666,3564,0,0,0,0,0,0
$GC,1322,-0.76,-146.0,190.6,-14.9,179,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2666,3563,0,0,0,0,0,0
$GC,1450,-0.76,-146.0,210.1,-15.5,191,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2666,3564,0,0,0,0,0,0
$GC,1578,-0.76,-146.0,228.9,-14.8,203,1581,0.00,1.77,0.00,0.000,4,0.000,0.062,2801,3765,3563,0,0,0,0,0,0
$GC,1624,-0.76,-146.0,236.2,-16.0,207,1627,0.00,1.73,0.00,0.000,6,0.000,0.043,2800,2651,3564,0,0,0,0,0,0
$GC,1763,-0.76,-146.0,257.4,-15.2,220,1764,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2648,3564,0,0,0,0,0,0
$GC,1955,-0.76,-146.0,285.9,-14.8,238,1959,0.00,1.83,0.00,0.000,4,0.000,0.063,2793,3774,3563,0,0,0,0,0,0
$GC,2015,-0.76,-146.0,296.0,-15.8,243,2023,0.00,1.77,0.00,0.000,6,0.000,0.043,2793,2659,3563,0,0,0,0,0,0
$GC,2215,-0.76,-146.0,325.1,-14.8,262,2218,0.00,1.80,0.00,0.000,4,0.000,0.063,2785,3767,3564,0,0,0,0,0,0
$GC,2264,-0.76,-146.0,333.2,-16.2,266,2272,0.08,1.73,0.00,0.000,6,0.142,0.043,2810,2683,3563,0,0,0,0,0,0
$GC,2463,-0.76,-146.0,359.5,-13.3,285,2467,0.00,1.75,0.00,0.000,4,0.000,0.063,2803,3763,3563,0,0,0,0,0,0
$GC,2513,-0.76,-146.0,367.0,-14.7,289,2521,0.00,1.73,0.00,0.000,6,0.000,0.042,2803,2681,3563,0,0,0,0,0,0
$STATE,2592,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2592,begin apogee
$GC,2597,-0.17,0.0,378.5,14.5,297,2734,0.62,0.00,130.90,1.025,4,0.128,0.000,3005,2485,2960,0,0,0,0,0,0
$STATE,2735,end apogee,CONTROL_FINISHED_OK
$STATE,2735,begin climb
$GC,2737,0.76,146.0,383.8,0.0,309,2892,0.95,2.47,145.23,0.946,4,0.073,0.048,3310,1101,2364,0,0,0,0,0,0
$GC,3022,0.76,146.0,358.9,11.2,335,3026,0.00,2.42,0.00,0.000,6,0.000,0.051,3310,2499,2353,0,0,0,0,0,0
$GC,3220,0.76,146.0,335.6,11.8,353,3224,0.00,2.28,0.00,0.000,4,0.000,0.050,3319,1096,2351,0,0,0,0,0,0
$GC,3350,0.76,146.0,320.3,11.5,364,3354,0.00,2.30,0.00,0.000,6,0.000,0.053,3319,2515,2348,0,0,0,0,0,0
$GC,3548,0.76,146.0,296.9,11.8,382,3551,0.00,2.00,0.00,0.000,4,0.000,0.060,3319,3770,2348,0,0,0,0,0,0
$GC,3627,0.76,146.0,285.7,14.5,389,3630,0.00,1.92,0.00,0.000,6,0.000,0.042,3329,2534,2347,0,0,0,0,0,0
$GC,3830,0.76,146.0,260.2,12.3,408,3833,0.00,2.00,0.00,0.000,4,0.000,0.060,3329,3770,2346,0,0,0,0,0,0
$GC,3867,0.76,146.0,254.6,14.4,411,3875,0.00,1.98,0.00,0.000,6,0.000,0.042,3338,2534,2346,0,0,0,0,0,0
$GC,4070,0.76,146.0,229.4,12.9,430,4073,0.00,1.98,0.00,0.000,4,0.000,0.059,3338,3765,2346,0,0,0,0,0,0
$GC,4105,0.76,146.0,224.1,15.2,433,4110,0.12,1.92,0.00,0.000,6,0.164,0.042,3314,2527,2345,0,0,0,0,0,0
$GC,4241,0.76,146.0,207.1,11.8,445,4244,0.00,2.00,0.00,0.000,4,0.000,0.060,3315,3766,2345,0,0,0,0,0,0
$GC,4278,0.76,146.0,201.8,13.5,448,4287,0.00,1.92,0.00,0.000,6,0.000,0.042,3322,2550,2345,0,0,0,0,0,0
$GC,4416,0.76,146.0,185.7,11.7,461,4424,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2549,2345,0,0,0,0,0,0
$GC,4552,0.76,146.0,170.0,11.4,474,4555,0.00,1.98,0.00,0.000,4,0.000,0.062,3322,3771,2345,0,0,0,0,0,0
$GC,4578,0.76,146.0,166.2,12.9,476,4587,0.00,1.92,0.00,0.000,6,0.000,0.042,3331,2561,2345,0,0,0,0,0,0
$GC,4716,0.76,146.0,149.7,12.5,489,4724,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2560,2345,0,0,0,0,0,0
$GC,4851,0.76,146.0,132.5,12.5,502,4855,0.00,1.95,0.00,0.000,4,0.000,0.060,3331,3768,2345,0,0,0,0,0,0
$GC,4877,0.76,146.0,128.6,14.8,504,4886,0.08,1.90,0.00,0.000,6,0.142,0.041,3315,2562,2345,0,0,0,0,0,0
$GC,5014,0.76,146.0,113.1,11.6,517,5018,0.00,1.95,0.00,0.000,4,0.000,0.062,3315,3770,2345,0,0,0,0,0,0
$GC,5039,0.76,146.0,110.0,12.0,519,5042,0.00,1.88,0.00,0.000,6,0.000,0.043,3323,2557,2345,0,0,0,0,0,0
$GC,5174,0.76,146.0,94.0,11.6,536,5181,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2556,2344,0,0,0,0,0,0
$GC,5313,0.76,146.0,77.9,11.6,561,5320,0.00,1.98,0.00,0.000,4,0.000,0.061,3323,3775,2344,0,0,0,0,0,0
$GC,5343,0.76,146.0,73.8,13.2,566,5352,0.00,1.90,0.00,0.000,6,0.000,0.043,3332,2574,2344,0,0,0,0,0,0
$GC,5484,0.76,146.0,56.6,11.9,591,5490,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2573,2344,0,0,0,0,0,0
$GC,5622,0.76,146.0,39.7,12.0,616,5630,0.00,1.98,0.00,0.000,4,0.000,0.062,3332,3768,2343,0,0,0,0,0,0
$GC,5643,0.76,146.0,36.9,13.2,619,5650,0.00,1.85,0.00,0.000,6,0.000,0.042,3341,2576,2344,0,0,0,0,0,0
$GC,5782,0.76,146.0,18.8,12.9,644,5790,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2575,2344,0,0,0,0,0,0
$FREEZE,8.70,-0.356,-1.892,2,1,0
$FREEZE,8.13,-0.359,-1.892,2,1,0
$FREEZE,7.32,-0.363,-1.892,2,1,0
$FREEZE,6.54,-0.363,-1.891,2,1,0
$FREEZE,5.75,-0.358,-1.890,2,1,0
$FREEZE,5.05,-0.353,-1.890,2,1,0
$FREEZE,4.15,-0.353,-1.889,2,1,0
$FREEZE,3.46,-0.351,-1.889,2,1,0
$FREEZE,2.85,-0.350,-1.888,2,1,0
$STATE,5906,end climb,SURFACE_DEPTH_REACHED
$STATE,5906,begin surface coast
$FREEZE,1.73,-0.350,-1.887,2,1,0
$FREEZE,1.36,-0.367,-0.970,2,1,0
$FREEZE,1.30,-0.405,-1.887,2,1,0
$FREEZE,1.32,-0.392,-0.960,2,1,0
$FINISH,1.3,1.014171
$STATE,5933,end surface coast,CONTROL_FINISHED_OK
$STATE,5933,begin surface
$SM_CCo,5949,76.43,0.101,0,0,1737,300.24
$SM_GC,2.27,0.00,0.00,76.43,0.000,0.000,0.101,422,2671,1737,-8.26,0.59,300.24
$IRIDIUM_FIX,-7554.21,17416.44,221210,151504
$TT8_MAMPS,0.027713
$HUMID,52.55
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,17.9
$24V_AH,20.5,54.712
$10V_AH,9.8,35.453
$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,18.450,75.150,276.125,76.425,0.000,25.313,40.533,180.356,1.500,0.000,14.622,1714.374,2148.933,473.370,1882.081,163.610,0.000,1162.171,0.000,1117.908,0.000,7.774,0.000
$DEVICE_MAMPS,198.135,90.270,1025.100,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,470.798,869.604,947.154,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258036
$DATA_FILE_SIZE,47170,670
$CAP_FILE_SIZE,94442,0
$CFSIZE,260165632,234496000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.035,296.3,1
$GPS,221210,185637,-7633.059,17418.328,30,1.0,30,126.4