version: 66.08
glider: 502
mission: 3
dive: 295
start: 12 22 110 3 58 52
data:
$ID,502
$MISSION,3
$DIVE,295
$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,-30510.883
$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,27
$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
$GPS1,221210,034524,-7632.198,17358.479,32,1.1,51,126.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-73.6
$GPS2,221210,035826,-7632.322,17358.400,12,1.3,12,126.9
$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,298.1,156393,-17.5,-10.000
$D_GRID,451
$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,-146.0,0.0,0.0,0,81,0.00,0.00,-63.78,0.000,2,0.000,0.000,425,2660,2859,0,0,0,0,0,0
$GC,84,-0.76,-146.0,3.1,-2.8,9,132,8.80,2.35,-32.55,0.000,4,0.197,0.063,2808,1238,3559,0,0,0,0,0,0
$GC,303,-0.76,-146.0,28.8,-14.6,45,310,0.00,2.30,0.00,0.000,6,0.000,0.057,2799,2646,3563,0,0,0,0,0,0
$GC,445,-0.76,-146.0,52.3,-16.4,70,453,0.00,1.83,0.00,0.000,4,0.000,0.061,2790,3762,3563,0,0,0,0,0,0
$GC,471,-0.76,-146.0,57.2,-17.8,74,479,0.00,1.77,0.00,0.000,6,0.000,0.042,2790,2646,3563,0,0,0,0,0,0
$GC,616,-0.76,-146.0,81.9,-16.8,99,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2645,3563,0,0,0,0,0,0
$GC,756,-0.76,-146.0,105.9,-16.9,121,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2645,3563,0,0,0,0,0,0
$GC,883,-0.76,-146.0,127.6,-16.7,133,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2645,3563,0,0,0,0,0,0
$GC,1010,-0.76,-146.0,149.8,-17.2,145,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2645,3563,0,0,0,0,0,0
$GC,1137,-0.76,-146.0,171.0,-16.6,157,1141,0.00,2.20,0.00,0.000,4,0.000,0.050,2790,1243,3563,0,0,0,0,0,0
$GC,1157,-0.76,-146.0,174.3,-17.0,158,1162,0.12,2.30,0.00,0.000,6,0.158,0.057,2816,2660,3563,0,0,0,0,0,0
$GC,1292,-0.76,-146.0,194.1,-14.3,170,1296,0.00,1.77,0.00,0.000,4,0.000,0.062,2808,3773,3564,0,0,0,0,0,0
$GC,1341,-0.76,-146.0,202.0,-15.7,174,1350,0.00,1.75,0.00,0.000,6,0.000,0.043,2809,2671,3563,0,0,0,0,0,0
$GC,1477,-0.76,-146.0,221.6,-14.8,187,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2671,3564,0,0,0,0,0,0
$GC,1604,-0.76,-146.0,241.2,-15.2,199,1605,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2672,3564,0,0,0,0,0,0
$GC,1731,-0.76,-146.0,260.0,-14.5,211,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2671,3564,0,0,0,0,0,0
$GC,1924,-0.76,-146.0,287.4,-14.6,229,1927,0.00,1.77,0.00,0.000,4,0.000,0.062,2800,3765,3564,0,0,0,0,0,0
$GC,1950,-0.76,-146.0,292.1,-15.4,231,1958,0.00,1.73,0.00,0.000,6,0.000,0.042,2800,2679,3564,0,0,0,0,0,0
$GC,2149,-0.76,-146.0,320.8,-14.4,250,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2677,3563,0,0,0,0,0,0
$GC,2339,-0.76,-146.0,349.2,-15.0,268,2347,0.00,1.77,0.00,0.000,4,0.000,0.063,2792,3770,3564,0,0,0,0,0,0
$GC,2367,-0.76,-146.0,354.0,-16.7,270,2375,0.00,1.75,0.00,0.000,6,0.000,0.042,2792,2676,3563,0,0,0,0,0,0
$GC,2567,-0.76,-146.0,384.8,-15.7,289,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2675,3563,0,0,0,0,0,0
$GC,2757,-0.76,-146.0,414.3,-15.6,307,2760,0.00,1.77,0.00,0.000,4,0.000,0.063,2783,3768,3563,0,0,0,0,0,0
$GC,2807,-0.76,-146.0,422.3,-16.2,311,2814,0.12,1.70,0.00,0.000,6,0.163,0.044,2817,2674,3564,0,0,0,0,0,0
$GC,3004,-0.76,-146.0,448.4,-12.8,330,3005,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2673,3564,0,0,0,0,0,0
$STATE,3024,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3024,begin apogee
$GC,3029,-0.17,0.0,451.1,12.9,332,3168,0.57,0.00,132.50,1.075,4,0.123,0.000,3007,2493,2960,0,0,0,0,0,0
$STATE,3169,end apogee,CONTROL_FINISHED_OK
$STATE,3169,begin climb
$GC,3171,0.76,146.0,456.2,0.0,344,3329,0.95,2.53,146.85,0.993,4,0.072,0.049,3311,1103,2366,0,0,0,0,0,0
$GC,3453,0.76,146.0,431.2,12.0,369,3458,0.00,2.42,0.00,0.000,6,0.000,0.051,3311,2498,2356,0,0,0,0,0,0
$GC,3651,0.76,146.0,407.4,11.9,387,3655,0.00,2.28,0.00,0.000,4,0.000,0.050,3321,1091,2352,0,0,0,0,0,0
$GC,3779,0.76,146.0,391.6,12.5,398,3783,0.00,2.33,0.00,0.000,6,0.000,0.054,3321,2522,2350,0,0,0,0,0,0
$GC,3977,0.76,146.0,366.9,12.6,416,3981,0.00,1.98,0.00,0.000,4,0.000,0.059,3321,3766,2349,0,0,0,0,0,0
$GC,4071,0.76,146.0,352.9,14.7,424,4080,0.00,1.98,0.00,0.000,6,0.000,0.042,3331,2531,2349,0,0,0,0,0,0
$GC,4269,0.76,146.0,327.0,13.0,443,4273,0.00,2.00,0.00,0.000,4,0.000,0.060,3331,3771,2348,0,0,0,0,0,0
$GC,4307,0.76,146.0,321.3,15.4,446,4314,0.00,1.95,0.00,0.000,6,0.000,0.042,3341,2546,2348,0,0,0,0,0,0
$GC,4507,0.76,146.0,293.5,14.0,465,4508,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2543,2347,0,0,0,0,0,0
$GC,4696,0.76,146.0,267.1,13.5,483,4699,0.00,1.98,0.00,0.000,4,0.000,0.060,3340,3769,2347,0,0,0,0,0,0
$GC,4752,0.76,146.0,258.5,15.9,488,4756,0.15,1.92,0.00,0.000,6,0.159,0.042,3308,2534,2347,0,0,0,0,0,0
$GC,4953,0.76,146.0,235.3,11.4,506,4956,0.00,2.00,0.00,0.000,4,0.000,0.059,3309,3777,2347,0,0,0,0,0,0
$GC,4977,0.76,146.0,232.2,11.8,508,4980,0.00,1.92,0.00,0.000,6,0.000,0.042,3317,2543,2346,0,0,0,0,0,0
$GC,5119,0.76,146.0,215.8,11.4,521,5126,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2541,2346,0,0,0,0,0,0
$GC,5254,0.76,146.0,199.9,11.6,534,5257,0.00,2.00,0.00,0.000,4,0.000,0.061,3317,3777,2346,0,0,0,0,0,0
$GC,5291,0.76,146.0,194.7,13.9,537,5300,0.00,1.98,0.00,0.000,6,0.000,0.042,3326,2543,2346,0,0,0,0,0,0
$GC,5427,0.76,146.0,178.4,11.6,550,5428,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2542,2346,0,0,0,0,0,0
$GC,5554,0.76,146.0,163.2,12.1,562,5558,0.00,1.98,0.00,0.000,4,0.000,0.061,3326,3766,2346,0,0,0,0,0,0
$GC,5592,0.76,146.0,157.7,13.9,565,5600,0.00,1.92,0.00,0.000,6,0.000,0.043,3335,2556,2345,0,0,0,0,0,0
$GC,5729,0.76,146.0,140.3,12.8,578,5733,0.00,2.30,0.00,0.000,4,0.000,0.050,3346,1087,2346,0,0,0,0,0,0
$GC,5748,0.76,146.0,137.8,12.8,579,5753,0.12,2.38,0.00,0.000,6,0.161,0.052,3313,2568,2345,0,0,0,0,0,0
$GC,5884,0.76,146.0,122.4,11.2,591,5885,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2568,2345,0,0,0,0,0,0
$GC,6011,0.76,146.0,108.3,11.1,603,6014,0.00,1.90,0.00,0.000,4,0.000,0.060,3313,3765,2345,0,0,0,0,0,0
$GC,6069,0.76,146.0,100.4,13.2,608,6079,0.00,1.92,0.00,0.000,6,0.000,0.042,3321,2555,2345,0,0,0,0,0,0
$GC,6217,0.76,146.0,83.1,11.3,633,6223,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2554,2345,0,0,0,0,0,0
$GC,6357,0.76,146.0,66.2,11.9,658,6365,0.00,2.00,0.00,0.000,4,0.000,0.061,3321,3761,2345,0,0,0,0,0,0
$GC,6391,0.76,146.0,62.0,13.6,663,6398,0.00,1.88,0.00,0.000,6,0.000,0.043,3330,2560,2345,0,0,0,0,0,0
$GC,6533,0.76,146.0,44.6,12.9,688,6542,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2559,2345,0,0,0,0,0,0
$GC,6679,0.76,146.0,26.9,12.9,713,6685,0.00,1.98,0.00,0.000,4,0.000,0.060,3331,3777,2345,0,0,0,0,0,0
$GC,6716,0.76,146.0,21.9,13.3,719,6722,0.00,1.90,0.00,0.000,6,0.000,0.042,3340,2562,2345,0,0,0,0,0,0
$FREEZE,8.88,-0.470,-1.891,2,1,0
$FREEZE,8.20,-0.393,-1.890,2,1,0
$FREEZE,7.33,-0.377,-1.890,2,1,0
$FREEZE,6.68,-0.375,-1.890,2,1,0
$FREEZE,5.91,-0.373,-1.890,2,1,0
$FREEZE,5.14,-0.378,-1.890,2,1,0
$FREEZE,4.33,-0.369,-1.889,2,1,0
$FREEZE,3.66,-0.370,-1.889,2,1,0
$FREEZE,2.93,-0.371,-1.888,2,1,0
$STATE,6861,end climb,SURFACE_DEPTH_REACHED
$STATE,6861,begin surface coast
$FREEZE,2.07,-0.371,-1.888,2,1,0
$FREEZE,1.43,-0.372,-1.888,2,1,0
$FREEZE,1.38,-0.415,-1.890,2,1,0
$FREEZE,1.34,-0.436,-1.891,2,1,0
$FINISH,1.3,1.027669
$STATE,6886,end surface coast,CONTROL_FINISHED_OK
$STATE,6886,begin surface
$SM_CCo,6902,84.15,0.733,1,0,1736,300.24
$SM_GC,2.26,0.00,0.00,84.15,0.000,0.000,0.733,419,2667,1736,-8.27,0.51,300.24
$IRIDIUM_FIX,-7545.40,17340.61,221210,030304
$TT8_MAMPS,0.029211
$HUMID,52.87
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,18.2
$24V_AH,20.4,53.966
$10V_AH,9.7,34.854
$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,18.425,76.600,279.350,84.150,0.000,59.069,86.871,432.185,1.750,0.000,13.565,1910.532,2826.948,497.166,2349.632,195.695,0.000,1241.363,0.000,1231.883,0.000,11.202,0.000
$DEVICE_MAMPS,196.605,84.150,1074.825,732.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,526.564,917.877,924.605,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,257976
$DATA_FILE_SIZE,50485,748
$CAP_FILE_SIZE,108998,0
$CFSIZE,260165632,234864640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.204,188.3,1
$GPS,221210,055637,-7632.685,17401.367,35,0.8,36,126.8