version: 66.08
glider: 502
mission: 3
dive: 305
start: 12 22 110 22 36 46
data:
$ID,502
$MISSION,3
$DIVE,305
$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,-30523.463
$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,32
$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
$GPS1,221210,223037,-7632.579,17422.881,28,0.9,29,126.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-72.3
$GPS2,221210,223620,-7632.543,17422.881,16,1.0,16,126.3
$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,349.1,145826,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-75.80,0.000,2,0.000,0.000,425,2665,3115,0,0,0,0,0,0
$GC,97,-0.76,-146.0,3.0,-1.4,11,128,8.77,1.88,-15.88,0.000,4,0.197,0.081,2800,3762,3559,0,0,0,0,0,0
$GC,333,-0.76,-146.0,40.7,-17.1,53,341,0.00,1.77,0.00,0.000,6,0.000,0.044,2799,2627,3562,0,0,0,0,0,0
$GC,472,-0.76,-146.0,63.8,-16.9,78,479,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2625,3563,0,0,0,0,0,0
$GC,612,-0.76,-146.0,86.8,-16.1,103,618,0.00,1.85,0.00,0.000,4,0.000,0.062,2790,3760,3563,0,0,0,0,0,0
$GC,669,-0.76,-146.0,96.8,-18.2,113,676,0.00,1.75,0.00,0.000,6,0.000,0.043,2790,2659,3563,0,0,0,0,0,0
$GC,806,-0.76,-146.0,120.9,-17.2,127,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2657,3563,0,0,0,0,0,0
$GC,934,-0.76,-146.0,142.5,-16.9,139,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2658,3563,0,0,0,0,0,0
$GC,1060,-0.76,-146.0,163.4,-16.6,151,1064,0.00,1.80,0.00,0.000,4,0.000,0.063,2782,3767,3563,0,0,0,0,0,0
$GC,1097,-0.76,-146.0,170.4,-17.8,154,1107,0.10,1.75,0.00,0.000,6,0.140,0.043,2815,2661,3563,0,0,0,0,0,0
$GC,1233,-0.76,-146.0,190.6,-14.8,167,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2660,3563,0,0,0,0,0,0
$GC,1361,-0.76,-146.0,209.6,-14.8,179,1364,0.00,1.77,0.00,0.000,4,0.000,0.063,2808,3757,3563,0,0,0,0,0,0
$GC,1407,-0.76,-146.0,216.9,-16.2,183,1411,0.00,1.70,0.00,0.000,6,0.000,0.042,2808,2659,3563,0,0,0,0,0,0
$GC,1548,-0.76,-146.0,238.2,-14.6,196,1552,0.00,2.22,0.00,0.000,4,0.000,0.050,2808,1234,3563,0,0,0,0,0,0
$GC,1569,-0.76,-146.0,242.0,-15.6,197,1579,0.00,2.35,0.00,0.000,6,0.000,0.056,2798,2662,3563,0,0,0,0,0,0
$GC,1705,-0.76,-146.0,263.5,-16.6,210,1708,0.00,1.75,0.00,0.000,4,0.000,0.062,2789,3767,3563,0,0,0,0,0,0
$GC,1761,-0.76,-146.0,273.1,-16.4,215,1765,0.00,1.67,0.00,0.000,6,0.000,0.043,2789,2683,3563,0,0,0,0,0,0
$GC,1964,-0.76,-146.0,305.3,-15.6,234,1969,0.00,2.25,0.00,0.000,4,0.000,0.049,2789,1242,3563,0,0,0,0,0,0
$GC,1982,-0.76,-146.0,308.3,-16.3,235,1987,0.12,2.35,0.00,0.000,6,0.161,0.057,2815,2693,3563,0,0,0,0,0,0
$GC,2186,-0.76,-146.0,336.9,-14.0,254,2190,0.00,1.70,0.00,0.000,4,0.000,0.063,2809,3763,3563,0,0,0,0,0,0
$GC,2220,-0.76,-146.0,342.3,-15.1,257,2224,0.00,1.65,0.00,0.000,6,0.000,0.042,2808,2692,3563,0,0,0,0,0,0
$GC,2424,-0.76,-146.0,371.8,-14.3,276,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2690,3563,0,0,0,0,0,0
$STATE,2453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2453,begin apogee
$GC,2458,-0.17,0.0,376.4,13.9,279,2595,0.60,0.00,130.52,1.026,4,0.125,0.000,3003,2494,2960,0,0,0,0,0,0
$STATE,2596,end apogee,CONTROL_FINISHED_OK
$STATE,2596,begin climb
$GC,2598,0.76,146.0,381.5,0.0,291,2751,0.95,2.47,144.62,0.947,4,0.074,0.048,3308,1105,2365,0,0,0,0,0,0
$GC,2857,0.76,146.0,360.0,11.0,314,2864,0.00,2.47,0.00,0.000,6,0.000,0.050,3308,2503,2354,0,0,0,0,0,0
$GC,3055,0.76,146.0,336.5,11.9,333,3059,0.00,2.30,0.00,0.000,4,0.000,0.050,3317,1096,2351,0,0,0,0,0,0
$GC,3172,0.76,146.0,322.4,12.1,343,3179,0.00,2.33,0.00,0.000,6,0.000,0.053,3317,2528,2349,0,0,0,0,0,0
$GC,3370,0.76,146.0,297.6,12.7,362,3374,0.00,1.98,0.00,0.000,4,0.000,0.060,3317,3766,2348,0,0,0,0,0,0
$GC,3430,0.76,146.0,288.4,15.4,367,3438,0.00,1.95,0.00,0.000,6,0.000,0.041,3327,2542,2348,0,0,0,0,0,0
$GC,3630,0.76,146.0,262.6,12.8,386,3633,0.00,1.98,0.00,0.000,4,0.000,0.060,3326,3767,2346,0,0,0,0,0,0
$GC,3656,0.76,146.0,258.5,14.4,388,3664,0.05,1.95,0.00,0.000,6,0.152,0.041,3317,2546,2347,0,0,0,0,0,0
$GC,3858,0.76,146.0,234.7,11.7,407,3862,0.00,1.98,0.00,0.000,4,0.000,0.061,3319,3767,2346,0,0,0,0,0,0
$GC,3928,0.76,146.0,224.8,13.6,413,3937,0.00,1.92,0.00,0.000,6,0.000,0.041,3326,2553,2346,0,0,0,0,0,0
$GC,4064,0.76,146.0,208.5,12.2,426,4068,0.00,1.95,0.00,0.000,4,0.000,0.061,3326,3763,2346,0,0,0,0,0,0
$GC,4090,0.76,146.0,204.6,13.5,428,4098,0.00,1.90,0.00,0.000,6,0.000,0.041,3335,2562,2346,0,0,0,0,0,0
$GC,4226,0.76,146.0,187.6,12.8,441,4229,0.00,1.95,0.00,0.000,4,0.000,0.060,3335,3772,2346,0,0,0,0,0,0
$GC,4252,0.76,146.0,183.4,15.0,443,4261,0.10,1.90,0.00,0.000,6,0.138,0.041,3311,2570,2346,0,0,0,0,0,0
$GC,4390,0.76,146.0,167.7,11.3,456,4397,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2570,2345,0,0,0,0,0,0
$GC,4525,0.76,146.0,152.7,10.9,469,4529,0.00,1.92,0.00,0.000,4,0.000,0.061,3311,3763,2345,0,0,0,0,0,0
$GC,4583,0.76,146.0,145.6,13.2,474,4586,0.00,1.83,0.00,0.000,6,0.000,0.042,3318,2582,2345,0,0,0,0,0,0
$GC,4724,0.76,146.0,129.6,11.2,487,4725,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2580,2345,0,0,0,0,0,0
$GC,4851,0.76,146.0,115.8,10.6,499,4854,0.00,1.90,0.00,0.000,4,0.000,0.060,3319,3763,2345,0,0,0,0,0,0
$GC,4887,0.76,146.0,110.8,13.6,502,4897,0.00,1.88,0.00,0.000,6,0.000,0.042,3328,2580,2345,0,0,0,0,0,0
$GC,5026,0.76,146.0,94.2,12.0,519,5032,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2580,2344,0,0,0,0,0,0
$GC,5160,0.76,146.0,77.1,12.7,544,5168,0.00,1.95,0.00,0.000,4,0.000,0.060,3328,3761,2344,0,0,0,0,0,0
$GC,5197,0.76,146.0,72.2,14.8,550,5205,0.00,1.85,0.00,0.000,6,0.000,0.042,3336,2596,2344,0,0,0,0,0,0
$GC,5335,0.76,146.0,54.5,13.4,575,5341,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2594,2344,0,0,0,0,0,0
$GC,5470,0.76,146.0,36.8,13.4,600,5478,0.00,1.92,0.00,0.000,4,0.000,0.061,3337,3760,2344,0,0,0,0,0,0
$GC,5506,0.76,146.0,31.8,15.0,606,5516,0.10,1.83,0.00,0.000,6,0.139,0.043,3313,2611,2344,0,0,0,0,0,0
$GC,5647,0.76,146.0,15.3,11.9,631,5653,0.00,1.88,0.00,0.000,4,0.000,0.063,3312,3763,2344,0,0,0,0,0,0
$GC,5682,0.76,146.0,10.7,13.4,637,5690,0.00,1.77,0.00,0.000,6,0.000,0.042,3319,2620,2344,0,0,0,0,0,0
$FREEZE,8.72,-0.473,-1.894,2,1,0
$FREEZE,7.99,-0.468,-1.893,2,1,0
$FREEZE,7.35,-0.471,-1.893,2,1,0
$FREEZE,6.53,-0.468,-1.892,2,1,0
$FREEZE,5.83,-0.468,-1.891,2,1,0
$FREEZE,5.02,-0.462,-1.891,2,1,0
$FREEZE,4.52,-0.460,-1.890,2,1,0
$FREEZE,3.80,-0.456,-1.890,2,1,0
$FREEZE,3.08,-0.439,-1.889,2,1,0
$FREEZE,2.32,-0.413,-1.888,2,1,0
$STATE,5748,end climb,SURFACE_DEPTH_REACHED
$STATE,5748,begin surface coast
$FREEZE,1.63,-0.374,-1.888,2,1,0
$FREEZE,1.35,-0.299,-1.023,2,1,0
$FREEZE,1.33,-0.266,-1.032,2,1,0
$FREEZE,1.28,-0.354,-0.911,2,1,0
$FREEZE,1.28,-0.296,-1.017,2,1,0
$FINISH,1.3,1.015025
$STATE,5782,end surface coast,CONTROL_FINISHED_OK
$STATE,5782,begin surface
$SM_CCo,5797,75.45,0.102,0,0,1736,300.24
$SM_GC,2.13,0.00,0.00,75.45,0.000,0.000,0.102,420,2617,1736,-8.26,-0.93,300.24
$IRIDIUM_FIX,-7554.21,17416.44,221210,202050
$TT8_MAMPS,0.028462
$HUMID,52.55
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,18.1
$24V_AH,20.5,55.022
$10V_AH,9.7,35.702
$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,18.300,78.250,275.150,75.450,0.000,30.865,35.411,170.979,1.500,0.000,17.508,1661.507,2075.084,476.408,1839.943,170.730,0.000,1157.053,0.000,1087.814,0.000,7.775,0.000
$DEVICE_MAMPS,196.605,81.090,1025.865,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,458.513,847.601,930.129,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258172
$DATA_FILE_SIZE,46897,653
$CAP_FILE_SIZE,94189,0
$CFSIZE,260165632,234336256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.122,336.9,1
$GPS,231210,001546,-7632.495,17424.992,10,2.8,29,126.2