version: 66.08
glider: 502
mission: 3
dive: 296
start: 12 22 110 6 3 53
data:
$ID,502
$MISSION,3
$DIVE,296
$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,-30512.143
$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,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
$GPS1,221210,055637,-7632.685,17401.367,35,0.8,36,126.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-71.8
$GPS2,221210,060326,-7632.751,17401.408,11,1.4,11,126.8
$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,276.3,155118,-17.5,-10.000
$D_GRID,431
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,98,0.00,0.00,-81.20,0.000,2,0.000,0.000,419,2668,3215,0,0,0,0,0,0
$GC,101,-0.76,-146.0,3.1,-1.5,12,130,8.85,2.35,-10.95,0.000,4,0.198,0.063,2809,1240,3560,0,0,0,0,0,0
$GC,329,-0.76,-146.0,37.4,-14.8,51,336,0.00,2.30,0.00,0.000,6,0.000,0.057,2800,2647,3562,0,0,0,0,0,0
$GC,471,-0.76,-146.0,60.7,-16.4,76,479,0.00,1.83,0.00,0.000,4,0.000,0.063,2792,3762,3563,0,0,0,0,0,0
$GC,508,-0.76,-146.0,67.2,-17.0,82,517,0.00,1.77,0.00,0.000,6,0.000,0.043,2792,2650,3563,0,0,0,0,0,0
$GC,653,-0.76,-146.0,91.6,-17.4,107,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2649,3563,0,0,0,0,0,0
$GC,791,-0.76,-146.0,114.9,-16.8,124,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2649,3563,0,0,0,0,0,0
$GC,918,-0.76,-146.0,136.4,-16.7,136,921,0.00,1.80,0.00,0.000,4,0.000,0.063,2784,3765,3563,0,0,0,0,0,0
$GC,944,-0.76,-146.0,141.7,-17.7,138,955,0.08,1.75,0.00,0.000,6,0.145,0.043,2810,2666,3564,0,0,0,0,0,0
$GC,1081,-0.76,-146.0,162.2,-14.8,151,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2665,3564,0,0,0,0,0,0
$GC,1207,-0.76,-146.0,181.2,-14.4,163,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2665,3564,0,0,0,0,0,0
$GC,1334,-0.76,-146.0,199.8,-14.3,175,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2665,3564,0,0,0,0,0,0
$GC,1461,-0.76,-146.0,218.3,-14.5,187,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2665,3564,0,0,0,0,0,0
$GC,1588,-0.76,-146.0,236.9,-14.6,199,1590,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2665,3564,0,0,0,0,0,0
$GC,1713,-0.76,-146.0,255.3,-14.6,211,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2665,3564,0,0,0,0,0,0
$GC,1904,-0.76,-146.0,283.4,-14.7,229,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2665,3564,0,0,0,0,0,0
$GC,2098,-0.76,-146.0,311.0,-14.4,247,2101,0.00,1.77,0.00,0.000,4,0.000,0.062,2803,3766,3564,0,0,0,0,0,0
$GC,2135,-0.76,-146.0,317.5,-15.8,250,2144,0.00,1.75,0.00,0.000,6,0.000,0.042,2803,2666,3563,0,0,0,0,0,0
$GC,2334,-0.76,-146.0,346.8,-14.8,269,2335,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2664,3564,0,0,0,0,0,0
$GC,2527,-0.76,-146.0,374.6,-14.6,287,2530,0.00,1.77,0.00,0.000,4,0.000,0.063,2795,3764,3563,0,0,0,0,0,0
$GC,2573,-0.76,-146.0,381.9,-16.1,291,2576,0.00,1.70,0.00,0.000,6,0.000,0.042,2795,2668,3564,0,0,0,0,0,0
$GC,2776,-0.76,-146.0,412.7,-15.2,310,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2666,3563,0,0,0,0,0,0
$STATE,2903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2903,begin apogee
$GC,2908,-0.17,0.0,431.5,14.3,322,3046,0.65,0.00,132.18,1.061,4,0.129,0.000,3004,2486,2961,0,0,0,0,0,0
$STATE,3047,end apogee,CONTROL_FINISHED_OK
$STATE,3047,begin climb
$GC,3049,0.76,146.0,436.9,0.0,334,3204,0.95,2.50,146.73,0.979,4,0.073,0.049,3307,1104,2364,0,0,0,0,0,0
$GC,3325,0.76,146.0,412.9,10.8,359,3333,0.00,2.47,0.00,0.000,6,0.000,0.051,3307,2490,2353,0,0,0,0,0,0
$GC,3523,0.76,146.0,389.6,11.9,378,3527,0.00,2.25,0.00,0.000,4,0.000,0.049,3315,1096,2350,0,0,0,0,0,0
$GC,3641,0.76,146.0,375.8,11.3,388,3645,0.00,2.33,0.00,0.000,6,0.000,0.053,3315,2530,2348,0,0,0,0,0,0
$GC,3840,0.76,146.0,351.2,12.6,406,3843,0.00,1.98,0.00,0.000,4,0.000,0.060,3315,3769,2347,0,0,0,0,0,0
$GC,3934,0.76,146.0,336.8,15.1,414,3942,0.00,1.95,0.00,0.000,6,0.000,0.041,3324,2541,2347,0,0,0,0,0,0
$GC,4132,0.76,146.0,310.5,13.1,433,4136,0.00,1.98,0.00,0.000,4,0.000,0.060,3324,3763,2346,0,0,0,0,0,0
$GC,4178,0.76,146.0,303.8,15.0,437,4182,0.00,1.90,0.00,0.000,6,0.000,0.041,3334,2543,2346,0,0,0,0,0,0
$GC,4383,0.76,146.0,275.1,13.7,456,4386,0.00,1.98,0.00,0.000,4,0.000,0.060,3334,3764,2345,0,0,0,0,0,0
$GC,4409,0.76,146.0,270.7,15.4,458,4419,0.08,1.95,0.00,0.000,6,0.148,0.041,3318,2546,2345,0,0,0,0,0,0
$GC,4610,0.76,146.0,245.3,12.3,477,4613,0.00,1.98,0.00,0.000,4,0.000,0.060,3318,3768,2345,0,0,0,0,0,0
$GC,4645,0.76,146.0,240.4,13.7,480,4649,0.00,1.90,0.00,0.000,6,0.000,0.042,3326,2549,2345,0,0,0,0,0,0
$GC,4787,0.76,146.0,221.9,12.8,493,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2547,2345,0,0,0,0,0,0
$GC,4913,0.76,146.0,205.5,12.9,505,4915,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2547,2345,0,0,0,0,0,0
$GC,5040,0.76,146.0,189.2,12.9,517,5044,0.00,1.98,0.00,0.000,4,0.000,0.060,3326,3770,2345,0,0,0,0,0,0
$GC,5067,0.76,146.0,185.1,14.7,519,5076,0.05,1.92,0.00,0.000,6,0.148,0.042,3318,2562,2344,0,0,0,0,0,0
$GC,5203,0.76,146.0,169.1,11.7,532,5205,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2560,2344,0,0,0,0,0,0
$GC,5330,0.76,146.0,154.0,11.9,544,5333,0.00,1.95,0.00,0.000,4,0.000,0.060,3318,3768,2344,0,0,0,0,0,0
$GC,5386,0.76,146.0,146.2,14.4,549,5390,0.00,1.88,0.00,0.000,6,0.000,0.042,3325,2561,2344,0,0,0,0,0,0
$GC,5529,0.76,146.0,128.4,12.6,562,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2559,2344,0,0,0,0,0,0
$GC,5664,0.76,146.0,111.3,12.4,575,5666,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2559,2343,0,0,0,0,0,0
$GC,5791,0.76,146.0,95.8,11.6,590,5800,0.00,2.00,0.00,0.000,4,0.000,0.060,3325,3764,2343,0,0,0,0,0,0
$GC,5817,0.76,146.0,92.3,13.3,594,5827,0.00,1.90,0.00,0.000,6,0.000,0.042,3335,2567,2343,0,0,0,0,0,0
$GC,5964,0.76,146.0,73.9,13.4,619,5971,0.00,1.95,0.00,0.000,4,0.000,0.061,3335,3764,2343,0,0,0,0,0,0
$GC,5994,0.76,146.0,69.4,13.6,624,6003,0.08,1.88,0.00,0.000,6,0.141,0.043,3317,2587,2343,0,0,0,0,0,0
$GC,6140,0.76,146.0,52.4,12.0,649,6146,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2586,2344,0,0,0,0,0,0
$GC,6279,0.76,146.0,36.3,11.7,674,6289,0.00,1.95,0.00,0.000,4,0.000,0.061,3317,3762,2343,0,0,0,0,0,0
$GC,6325,0.76,146.0,30.8,12.9,681,6331,0.00,1.85,0.00,0.000,6,0.000,0.043,3325,2577,2343,0,0,0,0,0,0
$GC,6468,0.76,146.0,13.5,12.5,706,6476,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2577,2343,0,0,0,0,0,0
$FREEZE,8.98,-0.474,-1.891,2,1,0
$FREEZE,8.44,-0.404,-1.890,2,1,0
$FREEZE,7.83,-0.371,-1.890,2,1,0
$FREEZE,7.21,-0.344,-1.890,2,1,0
$FREEZE,6.34,-0.357,-1.890,2,1,0
$FREEZE,5.84,-0.339,-1.890,2,1,0
$FREEZE,5.18,-0.330,-1.890,2,1,0
$FREEZE,4.54,-0.318,-1.889,2,1,0
$FREEZE,3.91,-0.312,-1.889,2,1,0
$FREEZE,3.39,-0.331,-1.889,2,1,0
$FREEZE,2.55,-0.331,-1.888,2,1,0
$STATE,6562,end climb,SURFACE_DEPTH_REACHED
$STATE,6564,begin surface coast
$FREEZE,1.62,-0.353,-1.890,2,1,0
$FREEZE,1.33,-0.332,-1.888,2,1,0
$FREEZE,1.38,-0.374,-1.795,2,1,0
$FREEZE,1.30,-0.362,-1.889,2,1,0
$FREEZE,1.32,-0.388,-1.891,2,1,0
$FINISH,1.3,1.027671
$STATE,6596,end surface coast,CONTROL_FINISHED_OK
$STATE,6596,begin surface
$SM_CCo,6611,79.85,0.725,1,0,1737,300.24
$SM_GC,2.18,0.00,0.00,79.85,0.000,0.000,0.725,431,2669,1737,-8.22,0.54,300.24
$IRIDIUM_FIX,-7528.04,-17812.04,221210,030331
$TT8_MAMPS,0.027713
$HUMID,52.55
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,17.9
$24V_AH,20.4,54.080
$10V_AH,9.8,34.942
$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,18.250,63.600,278.900,79.850,0.000,28.693,51.623,220.349,1.750,0.000,12.510,1842.905,2615.537,479.636,1996.378,177.467,0.000,1189.843,0.000,1177.113,0.000,9.492,0.000
$DEVICE_MAMPS,198.135,92.565,1061.055,725.220,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,511.629,904.896,929.966,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258024
$DATA_FILE_SIZE,50544,727
$CAP_FILE_SIZE,97888,0
$CFSIZE,260165632,234815488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.248,180.6,1
$GPS,221210,075626,-7633.008,17403.869,19,1.4,19,126.8