version: 66.08
glider: 502
mission: 3
dive: 304
start: 12 22 110 20 50 34
data:
$ID,502
$MISSION,3
$DIVE,304
$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,-30522.205
$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,33
$R_STBD_OVSHOOT,33
$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
$GPS1,221210,204419,-7632.754,17420.680,9,1.3,14,126.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-72.7
$GPS2,221210,205008,-7632.739,17420.664,17,2.0,17,126.3
$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,340.2,146796,-17.5,-10.000
$D_GRID,376
$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,-146.0,0.0,0.0,0,81,0.00,0.00,-62.70,0.000,2,0.000,0.000,419,2667,2841,0,0,0,0,0,0
$GC,84,-0.76,-146.0,3.0,-2.6,9,132,8.80,1.85,-34.22,0.000,4,0.197,0.081,2801,3754,3558,0,0,0,0,0,0
$GC,358,-0.76,-146.0,41.8,-16.7,55,364,0.00,1.77,0.00,0.000,6,0.000,0.044,2801,2621,3562,0,0,0,0,0,0
$GC,499,-0.76,-146.0,66.0,-16.8,80,508,0.00,1.88,0.00,0.000,4,0.000,0.063,2792,3749,3562,0,0,0,0,0,0
$GC,537,-0.76,-146.0,72.8,-18.7,86,545,0.00,1.73,0.00,0.000,6,0.000,0.043,2792,2664,3561,0,0,0,0,0,0
$GC,682,-0.76,-146.0,97.9,-17.3,111,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2664,3562,0,0,0,0,0,0
$GC,825,-0.76,-146.0,123.0,-17.1,125,829,0.00,1.77,0.00,0.000,4,0.000,0.063,2785,3757,3562,0,0,0,0,0,0
$GC,862,-0.76,-146.0,129.4,-18.0,128,866,0.12,1.70,0.00,0.000,6,0.164,0.042,2819,2658,3562,0,0,0,0,0,0
$GC,1004,-0.76,-146.0,150.9,-14.6,141,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2655,3562,0,0,0,0,0,0
$GC,1139,-0.76,-146.0,170.8,-14.3,154,1142,0.00,1.77,0.00,0.000,4,0.000,0.063,2812,3753,3563,0,0,0,0,0,0
$GC,1165,-0.76,-146.0,175.7,-17.0,156,1174,0.00,1.70,0.00,0.000,6,0.000,0.043,2812,2678,3562,0,0,0,0,0,0
$GC,1302,-0.76,-146.0,196.8,-16.0,169,1306,0.00,2.25,0.00,0.000,4,0.000,0.050,2811,1239,3562,0,0,0,0,0,0
$GC,1323,-0.76,-146.0,200.7,-15.1,170,1332,0.00,2.33,0.00,0.000,6,0.000,0.056,2801,2653,3563,0,0,0,0,0,0
$GC,1461,-0.76,-146.0,221.4,-15.5,183,1464,0.00,1.77,0.00,0.000,4,0.000,0.061,2792,3770,3562,0,0,0,0,0,0
$GC,1518,-0.76,-146.0,231.5,-17.4,188,1522,0.00,1.67,0.00,0.000,6,0.000,0.043,2793,2684,3562,0,0,0,0,0,0
$GC,1658,-0.76,-146.0,254.4,-16.3,201,1662,0.00,2.25,0.00,0.000,4,0.000,0.050,2793,1240,3562,0,0,0,0,0,0
$GC,1698,-0.76,-146.0,260.6,-14.3,204,1703,0.12,2.33,0.00,0.000,6,0.158,0.057,2818,2676,3562,0,0,0,0,0,0
$GC,1898,-0.76,-146.0,287.2,-13.9,222,1902,0.00,1.73,0.00,0.000,4,0.000,0.061,2812,3763,3562,0,0,0,0,0,0
$GC,1955,-0.76,-146.0,295.8,-14.8,227,1958,0.00,1.67,0.00,0.000,6,0.000,0.042,2812,2676,3563,0,0,0,0,0,0
$GC,2158,-0.76,-146.0,324.8,-14.4,246,2159,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2674,3563,0,0,0,0,0,0
$GC,2349,-0.76,-146.0,351.8,-14.2,264,2352,0.00,1.75,0.00,0.000,4,0.000,0.063,2803,3763,3562,0,0,0,0,0,0
$GC,2398,-0.76,-146.0,359.6,-15.9,268,2406,0.00,1.73,0.00,0.000,6,0.000,0.042,2803,2676,3562,0,0,0,0,0,0
$STATE,2509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2509,begin apogee
$GC,2514,-0.17,0.0,376.1,15.0,279,2652,0.62,0.00,130.38,1.027,4,0.129,0.000,3004,2493,2961,0,0,0,0,0,0
$STATE,2653,end apogee,CONTROL_FINISHED_OK
$STATE,2653,begin climb
$GC,2654,0.76,146.0,382.1,0.0,291,2809,0.95,2.47,145.10,0.948,4,0.073,0.048,3310,1102,2365,0,0,0,0,0,0
$GC,2912,0.76,146.0,361.6,10.6,314,2916,0.00,2.45,0.00,0.000,6,0.000,0.051,3310,2497,2355,0,0,0,0,0,0
$GC,3109,0.76,146.0,338.8,11.4,332,3113,0.00,2.28,0.00,0.000,4,0.000,0.050,3319,1094,2351,0,0,0,0,0,0
$GC,3251,0.76,146.0,322.4,11.7,344,3256,0.00,2.30,0.00,0.000,6,0.000,0.054,3319,2516,2349,0,0,0,0,0,0
$GC,3448,0.76,146.0,298.9,11.8,362,3452,0.00,2.00,0.00,0.000,4,0.000,0.060,3319,3770,2348,0,0,0,0,0,0
$GC,3539,0.76,146.0,286.4,14.5,370,3543,0.00,1.92,0.00,0.000,6,0.000,0.043,3328,2535,2348,0,0,0,0,0,0
$GC,3743,0.76,146.0,259.9,12.5,389,3746,0.00,1.98,0.00,0.000,4,0.000,0.060,3328,3762,2347,0,0,0,0,0,0
$GC,3776,0.76,146.0,255.0,14.7,392,3780,0.00,1.90,0.00,0.000,6,0.000,0.042,3337,2536,2347,0,0,0,0,0,0
$GC,3981,0.76,146.0,228.2,12.9,411,3982,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2533,2346,0,0,0,0,0,0
$GC,4108,0.76,146.0,211.3,13.6,423,4112,0.00,1.98,0.00,0.000,4,0.000,0.059,3337,3763,2346,0,0,0,0,0,0
$GC,4189,0.76,146.0,198.2,15.2,430,4199,0.10,1.90,0.00,0.000,6,0.138,0.042,3313,2560,2346,0,0,0,0,0,0
$GC,4326,0.76,146.0,181.9,11.7,443,4327,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2558,2346,0,0,0,0,0,0
$GC,4452,0.76,146.0,167.7,11.1,455,4456,0.00,1.95,0.00,0.000,4,0.000,0.060,3313,3768,2346,0,0,0,0,0,0
$GC,4487,0.76,146.0,163.3,13.0,458,4490,0.00,1.88,0.00,0.000,6,0.000,0.042,3321,2557,2346,0,0,0,0,0,0
$GC,4628,0.76,146.0,146.9,11.3,471,4632,0.00,1.95,0.00,0.000,4,0.000,0.060,3321,3764,2346,0,0,0,0,0,0
$GC,4666,0.76,146.0,141.5,12.8,474,4675,0.00,1.88,0.00,0.000,6,0.000,0.041,3330,2577,2345,0,0,0,0,0,0
$GC,4804,0.76,146.0,125.4,12.1,487,4811,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2577,2345,0,0,0,0,0,0
$GC,4939,0.76,146.0,108.6,12.3,500,4942,0.00,1.92,0.00,0.000,4,0.000,0.060,3330,3770,2346,0,0,0,0,0,0
$GC,4974,0.76,146.0,103.7,14.4,503,4977,0.00,1.83,0.00,0.000,6,0.000,0.042,3339,2592,2344,0,0,0,0,0,0
$GC,5113,0.76,146.0,85.3,12.9,525,5120,0.00,1.90,0.00,0.000,4,0.000,0.061,3339,3761,2345,0,0,0,0,0,0
$GC,5139,0.76,146.0,81.5,13.8,529,5146,0.12,1.83,0.00,0.000,6,0.164,0.043,3314,2589,2344,0,0,0,0,0,0
$GC,5283,0.76,146.0,64.7,10.8,554,5291,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2588,2344,0,0,0,0,0,0
$GC,5427,0.76,146.0,48.8,10.7,579,5434,0.00,1.95,0.00,0.000,4,0.000,0.062,3314,3765,2344,0,0,0,0,0,0
$GC,5457,0.76,146.0,44.9,12.7,584,5466,0.00,1.83,0.00,0.000,6,0.000,0.042,3322,2614,2344,0,0,0,0,0,0
$GC,5603,0.76,146.0,27.6,11.8,609,5610,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2613,2344,0,0,0,0,0,0
$GC,5744,0.76,146.0,11.0,12.1,634,5752,0.00,1.90,0.00,0.000,4,0.000,0.062,3322,3760,2344,0,0,0,0,0,0
$FREEZE,8.60,-0.533,-1.893,2,1,0
$FREEZE,7.75,-0.462,-1.892,2,1,0
$FREEZE,6.99,-0.457,-1.891,2,1,0
$GC,5778,0.76,146.0,7.0,12.1,639,5785,0.00,1.80,0.00,0.000,6,0.000,0.042,3330,2607,2344,0,0,0,0,0,0
$FREEZE,5.06,-0.398,-1.890,2,1,0
$FREEZE,4.25,-0.396,-1.890,2,1,0
$FREEZE,3.58,-0.403,-1.889,2,1,0
$FREEZE,2.67,-0.391,-1.889,2,1,0
$STATE,5810,end climb,SURFACE_DEPTH_REACHED
$STATE,5810,begin surface coast
$FREEZE,2.10,-0.390,-1.888,2,1,0
$FREEZE,1.39,-0.392,-1.888,2,1,0
$FREEZE,1.28,-0.466,-1.892,2,1,0
$FREEZE,1.27,-0.462,-1.850,2,1,0
$FINISH,1.3,1.027097
$STATE,5836,end surface coast,CONTROL_FINISHED_OK
$STATE,5836,begin surface
$SM_CCo,5851,80.90,0.729,1,0,1736,300.24
$SM_GC,2.15,0.00,0.00,80.90,0.000,0.000,0.729,433,2664,1736,-8.23,0.40,300.24
$IRIDIUM_FIX,-7545.40,17427.46,221210,191907
$TT8_MAMPS,0.028462
$HUMID,52.67
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,18.5
$24V_AH,20.5,54.930
$10V_AH,9.8,35.619
$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,18.350,77.775,275.475,80.900,0.000,30.010,39.544,172.775,1.750,0.000,17.939,1666.414,2145.979,478.887,1841.577,162.149,0.000,1159.050,0.000,1097.354,0.000,7.773,0.000
$DEVICE_MAMPS,196.605,108.630,1026.630,729.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,455.434,836.403,907.989,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,257972
$DATA_FILE_SIZE,43799,648
$CAP_FILE_SIZE,93736,0
$CFSIZE,260165632,234397696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.128,336.5,1
$GPS,221210,223037,-7632.579,17422.881,28,0.9,29,126.3