version: 66.08
glider: 502
mission: 3
dive: 292
start: 12 21 110 21 32 2
data:
$ID,502
$MISSION,3
$DIVE,292
$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,-30507.107
$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,31
$R_STBD_OVSHOOT,20
$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
$GPS1,211210,212514,-7632.507,17348.441,9,1.7,10,127.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-72.9
$GPS2,211210,213137,-7632.483,17348.484,13,1.4,30,127.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,POLYNYA_tmp
$TGT_LATLONG,-7630.000,17400.000
$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,280.8,6777,-17.5,-10.000
$D_GRID,463
$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,-146.0,0.0,0.0,0,100,0.00,0.00,-80.80,0.000,2,0.000,0.000,421,2647,3203,0,0,0,0,0,0
$GC,102,-0.76,-146.0,3.1,-1.2,12,132,8.82,2.30,-11.68,0.000,4,0.199,0.063,2808,1241,3560,0,0,0,0,0,0
$GC,386,-0.76,-146.0,45.5,-14.5,61,393,0.00,2.30,0.00,0.000,6,0.000,0.057,2799,2652,3563,0,0,0,0,0,0
$GC,528,-0.76,-146.0,68.7,-16.1,86,537,0.00,1.83,0.00,0.000,4,0.000,0.061,2791,3769,3563,0,0,0,0,0,0
$GC,578,-0.76,-146.0,77.4,-17.7,94,588,0.00,1.80,0.00,0.000,6,0.000,0.044,2791,2641,3563,0,0,0,0,0,0
$GC,727,-0.76,-146.0,102.6,-16.9,119,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2639,3563,0,0,0,0,0,0
$GC,854,-0.76,-146.0,124.4,-17.3,131,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2640,3563,0,0,0,0,0,0
$GC,982,-0.76,-146.0,145.9,-16.8,143,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2640,3563,0,0,0,0,0,0
$GC,1109,-0.76,-146.0,167.0,-16.1,155,1112,0.00,1.83,0.00,0.000,4,0.000,0.063,2783,3767,3563,0,0,0,0,0,0
$GC,1156,-0.76,-146.0,176.1,-17.5,159,1166,0.10,1.77,0.00,0.000,6,0.139,0.043,2816,2655,3563,0,0,0,0,0,0
$GC,1295,-0.76,-146.0,195.6,-14.5,172,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2654,3564,0,0,0,0,0,0
$GC,1429,-0.76,-146.0,215.1,-14.3,185,1433,0.00,1.80,0.00,0.000,4,0.000,0.063,2809,3767,3564,0,0,0,0,0,0
$GC,1476,-0.76,-146.0,222.1,-14.9,189,1480,0.00,1.73,0.00,0.000,6,0.000,0.043,2809,2656,3564,0,0,0,0,0,0
$GC,1619,-0.76,-146.0,242.7,-14.3,202,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2655,3564,0,0,0,0,0,0
$GC,1753,-0.76,-146.0,262.8,-14.6,215,1757,0.00,1.80,0.00,0.000,4,0.000,0.064,2801,3764,3564,0,0,0,0,0,0
$GC,1787,-0.76,-146.0,268.2,-16.3,218,1791,0.00,1.70,0.00,0.000,6,0.000,0.042,2800,2671,3564,0,0,0,0,0,0
$GC,1990,-0.76,-146.0,298.9,-14.8,237,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2669,3564,0,0,0,0,0,0
$GC,2183,-0.76,-146.0,327.4,-14.7,255,2187,0.00,1.77,0.00,0.000,4,0.000,0.063,2793,3764,3564,0,0,0,0,0,0
$GC,2233,-0.76,-146.0,335.6,-16.0,259,2240,0.00,1.75,0.00,0.000,6,0.000,0.042,2793,2669,3564,0,0,0,0,0,0
$GC,2432,-0.76,-146.0,365.5,-15.5,278,2436,0.00,1.77,0.00,0.000,4,0.000,0.063,2784,3766,3564,0,0,0,0,0,0
$GC,2455,-0.76,-146.0,369.5,-15.8,280,2459,0.12,1.70,0.00,0.000,6,0.165,0.043,2818,2674,3564,0,0,0,0,0,0
$GC,2658,-0.76,-146.0,397.1,-13.4,299,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2673,3564,0,0,0,0,0,0
$GC,2848,-0.76,-146.0,422.2,-13.0,317,2852,0.00,1.77,0.00,0.000,4,0.000,0.064,2811,3767,3564,0,0,0,0,0,0
$GC,2885,-0.76,-146.0,427.7,-14.8,320,2893,0.00,1.73,0.00,0.000,6,0.000,0.043,2811,2687,3563,0,0,0,0,0,0
$GC,3085,-0.76,-146.0,454.3,-13.4,339,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2687,3563,0,0,0,0,0,0
$STATE,3156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3156,begin apogee
$GC,3161,-0.17,0.0,464.2,13.4,346,3300,0.60,0.00,133.10,1.084,4,0.128,0.000,3006,2490,2960,0,0,0,0,0,0
$STATE,3301,end apogee,CONTROL_FINISHED_OK
$STATE,3301,begin climb
$GC,3303,0.76,146.0,468.8,0.0,358,3462,0.95,2.53,147.68,1.001,4,0.072,0.049,3309,1099,2364,0,0,0,0,0,0
$GC,3578,0.76,146.0,443.5,11.8,382,3587,0.00,2.47,0.00,0.000,6,0.000,0.051,3309,2490,2353,0,0,0,0,0,0
$GC,3778,0.76,146.0,418.8,12.9,401,3782,0.00,2.25,0.00,0.000,4,0.000,0.050,3318,1099,2351,0,0,0,0,0,0
$GC,3897,0.76,146.0,404.0,11.9,411,3901,0.00,2.33,0.00,0.000,6,0.000,0.054,3318,2521,2348,0,0,0,0,0,0
$GC,4099,0.76,146.0,377.9,12.9,430,4103,0.00,1.98,0.00,0.000,4,0.000,0.059,3318,3767,2348,0,0,0,0,0,0
$GC,4204,0.76,146.0,361.8,15.1,439,4212,0.00,1.95,0.00,0.000,6,0.000,0.041,3328,2543,2347,0,0,0,0,0,0
$GC,4402,0.76,146.0,334.7,13.7,458,4406,0.00,1.98,0.00,0.000,4,0.000,0.060,3328,3767,2346,0,0,0,0,0,0
$GC,4447,0.76,146.0,327.9,15.1,462,4451,0.00,1.92,0.00,0.000,6,0.000,0.041,3337,2530,2346,0,0,0,0,0,0
$GC,4650,0.76,146.0,299.4,14.0,481,4654,0.00,2.00,0.00,0.000,4,0.000,0.060,3338,3772,2346,0,0,0,0,0,0
$GC,4696,0.76,146.0,292.4,16.0,485,4700,0.12,1.90,0.00,0.000,6,0.165,0.042,3313,2551,2346,0,0,0,0,0,0
$GC,4900,0.76,146.0,266.7,12.6,504,4903,0.00,1.95,0.00,0.000,4,0.000,0.060,3313,3767,2345,0,0,0,0,0,0
$GC,4922,0.76,146.0,263.4,13.4,506,4926,0.00,1.90,0.00,0.000,6,0.000,0.042,3321,2547,2346,0,0,0,0,0,0
$GC,5128,0.76,146.0,237.0,12.9,525,5131,0.00,1.98,0.00,0.000,4,0.000,0.060,3321,3770,2345,0,0,0,0,0,0
$GC,5163,0.76,146.0,231.9,14.6,528,5167,0.00,1.90,0.00,0.000,6,0.000,0.043,3330,2554,2345,0,0,0,0,0,0
$GC,5305,0.76,146.0,213.0,13.2,541,5312,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2552,2345,0,0,0,0,0,0
$GC,5440,0.76,146.0,195.2,12.9,554,5444,0.00,1.95,0.00,0.000,4,0.000,0.060,3331,3766,2344,0,0,0,0,0,0
$GC,5486,0.76,146.0,188.7,14.6,558,5490,0.00,1.88,0.00,0.000,6,0.000,0.041,3340,2558,2344,0,0,0,0,0,0
$GC,5629,0.76,146.0,169.2,13.7,571,5636,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2556,2344,0,0,0,0,0,0
$GC,5764,0.76,146.0,150.8,13.0,584,5768,0.00,1.95,0.00,0.000,4,0.000,0.060,3340,3766,2344,0,0,0,0,0,0
$GC,5823,0.76,146.0,141.1,16.0,589,5833,0.10,1.90,0.00,0.000,6,0.138,0.041,3315,2565,2344,0,0,0,0,0,0
$GC,5959,0.76,146.0,124.4,12.0,602,5960,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2563,2344,0,0,0,0,0,0
$GC,6087,0.76,146.0,109.0,11.8,614,6090,0.00,1.95,0.00,0.000,4,0.000,0.061,3316,3773,2344,0,0,0,0,0,0
$GC,6112,0.76,146.0,105.9,12.6,616,6116,0.00,1.88,0.00,0.000,6,0.000,0.042,3323,2564,2344,0,0,0,0,0,0
$GC,6251,0.76,146.0,88.7,12.1,637,6257,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2563,2344,0,0,0,0,0,0
$GC,6391,0.76,146.0,71.7,12.0,662,6400,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2563,2344,0,0,0,0,0,0
$GC,6536,0.76,146.0,54.1,12.7,687,6543,0.00,1.98,0.00,0.000,4,0.000,0.061,3323,3775,2343,0,0,0,0,0,0
$GC,6595,0.76,146.0,45.8,14.4,697,6602,0.00,1.88,0.00,0.000,6,0.000,0.044,3333,2577,2343,0,0,0,0,0,0
$GC,6737,0.76,146.0,26.8,12.8,722,6745,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2576,2343,0,0,0,0,0,0
$FREEZE,9.00,-0.592,-1.895,2,1,0
$GC,6884,0.76,146.0,9.0,12.5,747,6890,0.00,1.95,0.00,0.000,4,0.000,0.061,3333,3775,2343,0,0,0,0,0,0
$FREEZE,6.82,-0.559,-1.895,2,1,0
$FREEZE,5.94,-0.553,-1.894,2,1,0
$FREEZE,5.23,-0.561,-1.894,2,1,0
$FREEZE,4.22,-0.524,-1.893,2,1,0
$GC,6916,0.76,146.0,4.2,13.4,752,6925,0.08,1.90,0.00,0.000,6,0.145,0.043,3316,2581,2343,0,0,0,0,0,0
$FREEZE,1.78,-0.495,-1.891,2,1,0
$STATE,6931,end climb,SURFACE_DEPTH_REACHED
$STATE,6931,begin surface coast
$FREEZE,1.39,-0.487,-1.891,2,1,0
$FREEZE,1.27,-0.566,-1.697,2,1,0
$FREEZE,1.34,-0.544,-0.986,2,1,0
$FREEZE,1.30,-0.532,-0.968,2,1,0
$FINISH,1.3,1.014295
$STATE,6956,end surface coast,CONTROL_FINISHED_OK
$STATE,6956,begin surface
$SM_CCo,6971,80.62,0.729,1,0,1736,300.24
$SM_GC,2.20,0.00,0.00,80.62,0.000,0.000,0.729,423,2665,1736,-8.26,0.42,300.24
$IRIDIUM_FIX,-7554.21,17330.39,211210,191947
$TT8_MAMPS,0.028462
$HUMID,52.44
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,20.0,18.3
$24V_AH,20.4,53.608
$10V_AH,9.8,34.580
$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,18.325,77.975,280.775,80.625,0.000,23.873,38.196,196.654,2.000,0.000,31.616,1936.495,2808.792,487.796,2034.504,177.249,0.000,1249.093,0.000,1255.992,0.000,11.209,0.000
$DEVICE_MAMPS,198.900,93.330,1084.005,729.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,533.502,918.676,899.751,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,257932
$DATA_FILE_SIZE,53841,758
$CAP_FILE_SIZE,103861,0
$CFSIZE,260165632,235048960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.033, 34.0,1
$GPS,211210,233100,-7631.748,17351.664,39,1.1,45,127.0