version: 66.08
glider: 502
mission: 3
dive: 307
start: 12 23 110 2 10 46
data:
$ID,502
$MISSION,3
$DIVE,307
$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,-30525.979
$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,35
$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
$GPS1,231210,020437,-7632.526,17426.949,31,0.8,31,126.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-73.9
$GPS2,231210,021020,-7632.493,17426.855,9,1.8,9,126.2
$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,339.5,144106,-17.5,-10.000
$D_GRID,377
$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,16,-0.76,-146.0,0.0,0.0,0,95,0.00,0.00,-77.40,0.000,2,0.000,0.000,428,2635,3142,0,0,0,0,0,0
$GC,98,-0.76,-146.0,3.0,-1.2,11,128,8.93,1.95,-14.40,0.000,4,0.197,0.078,2802,3767,3558,0,0,0,0,0,0
$GC,174,-0.76,-146.0,13.2,-16.8,23,180,0.00,1.77,0.00,0.000,6,0.000,0.043,2803,2638,3560,0,0,0,0,0,0
$GC,311,-0.76,-146.0,35.9,-16.9,48,319,0.00,1.88,0.00,0.000,4,0.000,0.063,2794,3760,3561,0,0,0,0,0,0
$GC,348,-0.76,-146.0,42.3,-18.2,54,356,0.00,1.75,0.00,0.000,6,0.000,0.042,2794,2663,3561,0,0,0,0,0,0
$GC,488,-0.76,-146.0,65.9,-17.4,79,494,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2663,3561,0,0,0,0,0,0
$GC,623,-0.76,-146.0,90.1,-17.5,104,631,0.00,1.83,0.00,0.000,4,0.000,0.062,2785,3763,3562,0,0,0,0,0,0
$GC,648,-0.76,-146.0,94.8,-18.2,108,657,0.08,1.73,0.00,0.000,6,0.146,0.042,2811,2677,3562,0,0,0,0,0,0
$GC,787,-0.76,-146.0,117.1,-15.9,123,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2677,3562,0,0,0,0,0,0
$GC,913,-0.76,-146.0,137.6,-16.2,135,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2677,3562,0,0,0,0,0,0
$GC,1041,-0.76,-146.0,157.9,-15.8,147,1044,0.00,1.77,0.00,0.000,4,0.000,0.063,2804,3772,3562,0,0,0,0,0,0
$GC,1067,-0.76,-146.0,162.9,-17.3,149,1076,0.00,1.75,0.00,0.000,6,0.000,0.043,2804,2669,3562,0,0,0,0,0,0
$GC,1204,-0.76,-146.0,184.5,-15.8,162,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2669,3562,0,0,0,0,0,0
$GC,1339,-0.76,-146.0,206.5,-15.8,175,1343,0.00,1.77,0.00,0.000,4,0.000,0.063,2797,3766,3562,0,0,0,0,0,0
$GC,1365,-0.76,-146.0,210.3,-16.0,177,1369,0.00,1.67,0.00,0.000,6,0.000,0.042,2796,2684,3562,0,0,0,0,0,0
$GC,1508,-0.76,-146.0,232.8,-15.0,190,1515,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2683,3562,0,0,0,0,0,0
$GC,1641,-0.76,-146.0,254.4,-16.5,203,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2683,3562,0,0,0,0,0,0
$GC,1833,-0.76,-146.0,284.8,-16.1,221,1836,0.00,1.75,0.00,0.000,4,0.000,0.063,2788,3764,3562,0,0,0,0,0,0
$GC,1859,-0.76,-146.0,289.6,-16.4,223,1867,0.00,1.70,0.00,0.000,6,0.000,0.042,2788,2692,3562,0,0,0,0,0,0
$GC,2058,-0.76,-146.0,321.4,-16.0,242,2063,0.10,1.80,0.00,0.000,4,0.178,0.063,2807,3762,3562,0,0,0,0,0,0
$GC,2118,-0.76,-146.0,331.0,-15.4,247,2125,0.00,1.67,0.00,0.000,6,0.000,0.042,2806,2704,3563,0,0,0,0,0,0
$GC,2316,-0.76,-146.0,359.0,-14.4,266,2320,0.00,1.73,0.00,0.000,4,0.000,0.063,2799,3764,3562,0,0,0,0,0,0
$GC,2339,-0.76,-146.0,362.5,-14.7,268,2343,0.00,1.67,0.00,0.000,6,0.000,0.042,2799,2711,3562,0,0,0,0,0,0
$STATE,2444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2445,begin apogee
$GC,2450,-0.17,0.0,378.4,14.5,278,2587,0.62,0.00,131.00,1.027,4,0.129,0.000,3001,2480,2960,0,0,0,0,0,0
$STATE,2588,end apogee,CONTROL_FINISHED_OK
$STATE,2588,begin climb
$GC,2590,0.76,146.0,384.5,0.0,290,2745,0.98,2.47,145.57,0.949,4,0.073,0.048,3313,1099,2364,0,0,0,0,0,0
$GC,2842,0.76,146.0,363.2,11.1,313,2847,0.00,2.47,0.00,0.000,6,0.000,0.050,3314,2503,2354,0,0,0,0,0,0
$GC,3040,0.76,146.0,339.8,11.7,331,3044,0.00,2.28,0.00,0.000,4,0.000,0.049,3324,1101,2351,0,0,0,0,0,0
$GC,3186,0.76,146.0,322.4,12.4,343,3192,0.00,2.28,0.00,0.000,6,0.000,0.053,3323,2507,2349,0,0,0,0,0,0
$GC,3383,0.76,146.0,297.7,12.7,362,3387,0.00,2.03,0.00,0.000,4,0.000,0.061,3323,3769,2347,0,0,0,0,0,0
$GC,3500,0.76,146.0,279.8,15.1,372,3508,0.00,1.98,0.00,0.000,6,0.000,0.041,3333,2527,2347,0,0,0,0,0,0
$GC,3698,0.76,146.0,253.2,13.1,391,3702,0.00,2.00,0.00,0.000,4,0.000,0.060,3333,3772,2346,0,0,0,0,0,0
$GC,3745,0.76,146.0,246.5,15.5,395,3750,0.12,1.92,0.00,0.000,6,0.165,0.042,3309,2538,2346,0,0,0,0,0,0
$GC,3881,0.76,146.0,229.7,11.8,407,3884,0.00,1.98,0.00,0.000,4,0.000,0.060,3309,3765,2346,0,0,0,0,0,0
$GC,3905,0.76,146.0,226.5,12.9,409,3908,0.00,1.90,0.00,0.000,6,0.000,0.042,3317,2542,2346,0,0,0,0,0,0
$GC,4046,0.76,146.0,208.8,12.2,422,4047,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2540,2346,0,0,0,0,0,0
$GC,4173,0.76,146.0,193.3,12.3,434,4177,0.00,1.98,0.00,0.000,4,0.000,0.060,3317,3766,2345,0,0,0,0,0,0
$GC,4219,0.76,146.0,187.1,13.8,438,4223,0.00,1.88,0.00,0.000,6,0.000,0.041,3327,2555,2346,0,0,0,0,0,0
$GC,4362,0.76,146.0,168.3,13.2,451,4369,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2553,2345,0,0,0,0,0,0
$GC,4497,0.76,146.0,150.3,13.6,464,4501,0.00,1.95,0.00,0.000,4,0.000,0.060,3327,3765,2345,0,0,0,0,0,0
$GC,4532,0.76,146.0,145.2,15.4,467,4536,0.00,1.85,0.00,0.000,6,0.000,0.041,3336,2564,2345,0,0,0,0,0,0
$GC,4673,0.76,146.0,126.1,13.3,480,4674,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2562,2345,0,0,0,0,0,0
$GC,4800,0.76,146.0,109.0,13.4,492,4804,0.00,1.95,0.00,0.000,4,0.000,0.060,3336,3771,2345,0,0,0,0,0,0
$GC,4847,0.76,146.0,101.3,16.1,496,4857,0.10,1.90,0.00,0.000,6,0.135,0.042,3312,2570,2344,0,0,0,0,0,0
$GC,4986,0.76,146.0,85.6,11.6,520,4994,0.00,1.98,0.00,0.000,4,0.000,0.062,3312,3761,2344,0,0,0,0,0,0
$GC,5007,0.76,146.0,83.2,11.5,523,5013,0.00,1.85,0.00,0.000,6,0.000,0.042,3319,2573,2344,0,0,0,0,0,0
$GC,5143,0.76,146.0,67.2,11.3,548,5151,0.00,1.98,0.00,0.000,4,0.000,0.060,3320,3763,2344,0,0,0,0,0,0
$GC,5168,0.76,146.0,64.0,12.8,552,5177,0.00,1.88,0.00,0.000,6,0.000,0.042,3328,2582,2344,0,0,0,0,0,0
$GC,5306,0.76,146.0,47.7,12.4,577,5313,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2581,2344,0,0,0,0,0,0
$GC,5444,0.76,146.0,30.7,12.3,602,5452,0.00,1.95,0.00,0.000,4,0.000,0.060,3328,3763,2344,0,0,0,0,0,0
$GC,5508,0.76,146.0,21.6,14.8,613,5516,0.00,1.85,0.00,0.000,6,0.000,0.041,3338,2597,2344,0,0,0,0,0,0
$FREEZE,8.68,-0.336,-1.893,2,1,0
$FREEZE,7.82,-0.327,-1.893,2,1,0
$FREEZE,7.06,-0.314,-1.892,2,1,0
$FREEZE,6.37,-0.308,-1.892,2,1,0
$FREEZE,5.45,-0.288,-1.891,2,1,0
$FREEZE,4.63,-0.310,-1.891,2,1,0
$FREEZE,3.75,-0.277,-1.890,2,1,0
$FREEZE,2.96,-0.274,-1.889,2,1,0
$STATE,5643,end climb,SURFACE_DEPTH_REACHED
$STATE,5643,begin surface coast
$FREEZE,2.10,-0.274,-1.889,2,1,0
$FREEZE,1.26,-0.267,-1.888,2,1,0
$FREEZE,1.45,-0.278,-1.889,2,1,0
$FREEZE,1.48,-0.345,-1.145,2,1,0
$FINISH,1.5,1.016906
$STATE,5668,end surface coast,CONTROL_FINISHED_OK
$STATE,5668,begin surface
$SM_CCo,5684,80.12,0.728,1,0,1737,300.24
$SM_GC,2.25,0.00,0.00,80.12,0.000,0.000,0.728,412,2656,1737,-8.29,0.17,300.24
$IRIDIUM_FIX,-7545.40,17417.37,231210,000057
$TT8_MAMPS,0.028462
$HUMID,52.32
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.3,17.7
$24V_AH,20.5,55.227
$10V_AH,9.8,35.868
$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,18.500,72.900,276.575,80.125,0.000,22.156,39.658,179.360,1.250,0.000,10.709,1632.446,2041.796,478.693,1801.678,166.019,0.000,1147.953,0.000,1066.567,0.000,7.773,0.000
$DEVICE_MAMPS,197.370,117.810,1027.395,727.515,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,449.986,830.274,903.223,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258164
$DATA_FILE_SIZE,43718,641
$CAP_FILE_SIZE,92370,0
$CFSIZE,260165632,234225664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.067,286.9,1
$GPS,231210,034744,-7632.623,17429.010,11,1.6,11,126.1