version: 66.08
glider: 502
mission: 3
dive: 306
start: 12 23 110 0 25 3
data:
$ID,502
$MISSION,3
$DIVE,306
$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,-30524.723
$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,30
$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
$GPS1,231210,001546,-7632.495,17424.992,10,2.8,29,126.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-73.6
$GPS2,231210,002436,-7632.452,17424.926,13,1.2,29,126.2
$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,348.0,144937,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,97,0.00,0.00,-79.70,0.000,2,0.000,0.000,420,2616,3196,0,0,0,0,0,0
$GC,100,-0.76,-146.0,3.1,-1.1,12,123,8.93,0.00,-11.85,0.000,6,0.198,0.000,2806,2615,3559,0,0,0,0,0,0
$GC,261,-0.76,-146.0,28.0,-16.5,39,267,0.00,1.88,0.00,0.000,4,0.000,0.063,2799,3763,3563,0,0,0,0,0,0
$GC,342,-0.76,-146.0,42.2,-16.8,53,349,0.00,1.77,0.00,0.000,6,0.000,0.043,2799,2629,3563,0,0,0,0,0,0
$GC,484,-0.76,-146.0,66.8,-17.4,78,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2626,3563,0,0,0,0,0,0
$GC,627,-0.76,-146.0,91.1,-17.7,103,633,0.00,1.85,0.00,0.000,4,0.000,0.063,2790,3763,3564,0,0,0,0,0,0
$GC,663,-0.76,-146.0,97.6,-17.7,109,670,0.00,1.77,0.00,0.000,6,0.000,0.043,2790,2626,3564,0,0,0,0,0,0
$GC,807,-0.76,-146.0,122.6,-17.5,123,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2623,3564,0,0,0,0,0,0
$GC,933,-0.76,-146.0,144.7,-17.2,135,937,0.00,1.85,0.00,0.000,4,0.000,0.063,2782,3769,3564,0,0,0,0,0,0
$GC,968,-0.76,-146.0,151.2,-18.6,138,973,0.12,1.73,0.00,0.000,6,0.162,0.043,2816,2654,3564,0,0,0,0,0,0
$GC,1111,-0.76,-146.0,172.6,-14.4,151,1115,0.00,1.80,0.00,0.000,4,0.000,0.062,2808,3767,3564,0,0,0,0,0,0
$GC,1136,-0.76,-146.0,177.4,-15.6,153,1146,0.00,1.73,0.00,0.000,6,0.000,0.042,2809,2679,3564,0,0,0,0,0,0
$GC,1273,-0.76,-146.0,197.6,-15.5,166,1277,0.00,2.25,0.00,0.000,4,0.000,0.050,2809,1240,3564,0,0,0,0,0,0
$GC,1293,-0.76,-146.0,200.5,-15.4,167,1297,0.00,2.33,0.00,0.000,6,0.000,0.057,2798,2674,3564,0,0,0,0,0,0
$GC,1429,-0.76,-146.0,222.0,-15.8,179,1433,0.00,1.73,0.00,0.000,4,0.000,0.061,2790,3763,3564,0,0,0,0,0,0
$GC,1455,-0.76,-146.0,227.1,-17.6,181,1465,0.08,1.73,0.00,0.000,6,0.147,0.041,2815,2672,3564,0,0,0,0,0,0
$GC,1591,-0.76,-146.0,246.6,-14.3,194,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2670,3564,0,0,0,0,0,0
$GC,1716,-0.76,-146.0,263.8,-13.5,206,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2670,3564,0,0,0,0,0,0
$GC,1907,-0.76,-146.0,290.3,-14.2,224,1910,0.00,1.77,0.00,0.000,4,0.000,0.063,2808,3768,3564,0,0,0,0,0,0
$GC,1922,-0.76,-146.0,292.7,-14.2,225,1930,0.00,1.73,0.00,0.000,6,0.000,0.043,2808,2686,3564,0,0,0,0,0,0
$GC,2121,-0.76,-146.0,322.4,-15.4,244,2124,0.00,1.75,0.00,0.000,4,0.000,0.063,2800,3764,3564,0,0,0,0,0,0
$GC,2147,-0.76,-146.0,327.1,-16.3,246,2156,0.00,1.70,0.00,0.000,6,0.000,0.041,2800,2695,3564,0,0,0,0,0,0
$GC,2346,-0.76,-146.0,357.0,-14.8,265,2350,0.00,1.73,0.00,0.000,4,0.000,0.062,2791,3763,3564,0,0,0,0,0,0
$GC,2373,-0.76,-146.0,361.5,-15.0,267,2380,0.00,1.70,0.00,0.000,6,0.000,0.042,2791,2694,3564,0,0,0,0,0,0
$STATE,2475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2475,begin apogee
$GC,2480,-0.17,0.0,377.1,15.2,277,2618,0.65,0.00,131.10,1.027,4,0.130,0.000,3000,2481,2961,0,0,0,0,0,0
$STATE,2619,end apogee,CONTROL_FINISHED_OK
$STATE,2619,begin climb
$GC,2620,0.76,146.0,383.2,0.0,289,2775,0.98,2.47,145.52,0.946,4,0.073,0.048,3312,1092,2365,0,0,0,0,0,0
$GC,2892,0.76,146.0,358.9,11.9,313,2899,0.00,2.45,0.00,0.000,6,0.000,0.051,3312,2498,2354,0,0,0,0,0,0
$GC,3091,0.76,146.0,335.6,12.1,332,3095,0.00,2.28,0.00,0.000,4,0.000,0.049,3322,1093,2351,0,0,0,0,0,0
$GC,3224,0.76,146.0,319.6,11.7,343,3231,0.00,2.35,0.00,0.000,6,0.000,0.054,3322,2517,2348,0,0,0,0,0,0
$GC,3423,0.76,146.0,294.9,12.7,362,3426,0.00,2.00,0.00,0.000,4,0.000,0.060,3322,3771,2348,0,0,0,0,0,0
$GC,3505,0.76,146.0,282.4,15.0,369,3513,0.00,1.98,0.00,0.000,6,0.000,0.042,3332,2535,2347,0,0,0,0,0,0
$GC,3704,0.76,146.0,256.2,13.7,388,3707,0.00,1.98,0.00,0.000,4,0.000,0.058,3332,3765,2346,0,0,0,0,0,0
$GC,3730,0.76,146.0,252.0,14.8,390,3739,0.10,1.95,0.00,0.000,6,0.142,0.041,3309,2540,2346,0,0,0,0,0,0
$GC,3930,0.76,146.0,228.6,11.0,409,3933,0.00,1.98,0.00,0.000,4,0.000,0.060,3309,3764,2346,0,0,0,0,0,0
$GC,3976,0.76,146.0,222.8,13.1,413,3980,0.00,1.88,0.00,0.000,6,0.000,0.041,3316,2555,2346,0,0,0,0,0,0
$GC,4117,0.76,146.0,207.2,11.0,426,4118,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2553,2346,0,0,0,0,0,0
$GC,4243,0.76,146.0,192.7,11.5,438,4247,0.00,1.95,0.00,0.000,4,0.000,0.060,3316,3766,2346,0,0,0,0,0,0
$GC,4289,0.76,146.0,186.8,14.1,442,4293,0.00,1.88,0.00,0.000,6,0.000,0.041,3326,2555,2346,0,0,0,0,0,0
$GC,4432,0.76,146.0,169.9,11.6,455,4436,0.00,1.95,0.00,0.000,4,0.000,0.060,3325,3765,2346,0,0,0,0,0,0
$GC,4456,0.76,146.0,166.4,13.1,457,4459,0.00,1.88,0.00,0.000,6,0.000,0.041,3335,2555,2345,0,0,0,0,0,0
$GC,4597,0.76,146.0,148.9,12.5,470,4600,0.00,1.95,0.00,0.000,4,0.000,0.060,3335,3764,2345,0,0,0,0,0,0
$GC,4633,0.76,146.0,143.9,14.0,473,4638,0.12,1.85,0.00,0.000,6,0.163,0.041,3310,2568,2345,0,0,0,0,0,0
$GC,4775,0.76,146.0,128.0,10.6,486,4783,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2566,2345,0,0,0,0,0,0
$GC,4910,0.76,146.0,112.7,11.4,499,4914,0.00,1.95,0.00,0.000,4,0.000,0.061,3310,3774,2345,0,0,0,0,0,0
$GC,4945,0.76,146.0,108.1,14.0,502,4949,0.00,1.85,0.00,0.000,6,0.000,0.043,3318,2578,2345,0,0,0,0,0,0
$GC,5084,0.76,146.0,91.4,11.8,520,5091,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2576,2345,0,0,0,0,0,0
$GC,5228,0.76,146.0,74.6,11.7,545,5235,0.00,1.98,0.00,0.000,4,0.000,0.061,3318,3771,2344,0,0,0,0,0,0
$GC,5276,0.76,146.0,68.2,13.2,553,5283,0.00,1.85,0.00,0.000,6,0.000,0.042,3327,2581,2344,0,0,0,0,0,0
$GC,5417,0.76,146.0,50.7,12.4,578,5425,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2580,2344,0,0,0,0,0,0
$GC,5562,0.76,146.0,33.1,11.7,603,5568,0.00,1.92,0.00,0.000,4,0.000,0.061,3327,3767,2344,0,0,0,0,0,0
$GC,5624,0.76,146.0,23.7,14.6,614,5633,0.00,1.85,0.00,0.000,6,0.000,0.042,3336,2603,2344,0,0,0,0,0,0
$FREEZE,8.39,-0.642,-1.894,2,1,0
$FREEZE,7.59,-0.635,-1.893,2,1,0
$FREEZE,6.83,-0.606,-1.892,2,1,0
$FREEZE,5.91,-0.565,-1.892,2,1,0
$FREEZE,5.08,-0.544,-1.891,2,1,0
$FREEZE,4.33,-0.516,-1.890,2,1,0
$GC,5773,0.76,146.0,4.3,13.6,639,5780,0.00,1.90,0.00,0.000,4,0.000,0.060,3336,3776,2344,0,0,0,0,0,0
$FREEZE,2.05,-0.415,-1.888,2,1,0
$STATE,5787,end climb,SURFACE_DEPTH_REACHED
$STATE,5788,begin surface coast
$FREEZE,1.29,-0.332,-1.887,2,1,0
$FREEZE,1.34,-0.367,-1.814,2,1,0
$FREEZE,1.35,-0.346,-1.889,2,1,0
$FREEZE,1.26,-0.317,-1.888,2,1,0
$FINISH,1.3,1.027625
$STATE,5813,end surface coast,CONTROL_FINISHED_OK
$STATE,5813,begin surface
$SM_CCo,5830,75.57,0.102,0,0,1736,300.24
$SM_GC,2.21,0.00,0.00,75.57,0.000,0.000,0.102,428,2635,1736,-8.24,-0.42,300.24
$IRIDIUM_FIX,-7554.21,17416.44,231210,000012
$TT8_MAMPS,0.027713
$HUMID,52.75
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.4,17.7
$24V_AH,20.5,55.119
$10V_AH,9.7,35.786
$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,18.450,80.950,276.625,75.575,0.000,51.628,111.707,179.704,1.500,0.000,30.729,1644.811,2209.469,476.640,1944.697,169.377,0.000,1146.197,0.000,1075.013,0.000,7.776,0.000
$DEVICE_MAMPS,198.135,62.730,1026.630,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,452.807,832.386,916.120,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258096
$DATA_FILE_SIZE,43701,645
$CAP_FILE_SIZE,94970,0
$CFSIZE,260165632,234278912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.096,322.8,1
$GPS,231210,020437,-7632.526,17426.949,31,0.8,31,126.2