version: 66.08
glider: 502
mission: 3
dive: 298
start: 12 22 110 9 59 17
data:
$ID,502
$MISSION,3
$DIVE,298
$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,-30514.66
$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,33
$R_STBD_OVSHOOT,31
$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
$GPS1,221210,095301,-7633.315,17406.324,10,1.2,15,126.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-72.6
$GPS2,221210,095852,-7633.354,17406.365,15,2.2,34,126.7
$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,276.0,153017,-17.5,-10.000
$D_GRID,397
$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,-146.0,0.0,0.0,0,84,0.00,0.00,-65.47,0.000,2,0.000,0.000,422,2661,2899,0,0,0,0,0,0
$GC,87,-0.76,-146.0,3.0,-2.5,10,130,8.90,2.35,-29.52,0.000,4,0.201,0.063,2808,1241,3559,0,0,0,0,0,0
$GC,384,-0.76,-146.0,40.9,-14.4,61,391,0.00,2.30,0.00,0.000,6,0.000,0.057,2800,2648,3563,0,0,0,0,0,0
$GC,526,-0.76,-146.0,64.0,-16.1,86,534,0.00,1.83,0.00,0.000,4,0.000,0.062,2791,3761,3563,0,0,0,0,0,0
$GC,553,-0.76,-146.0,68.7,-17.2,90,562,0.00,1.77,0.00,0.000,6,0.000,0.043,2791,2647,3563,0,0,0,0,0,0
$GC,698,-0.76,-146.0,93.1,-16.7,115,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2646,3563,0,0,0,0,0,0
$GC,835,-0.76,-146.0,116.5,-16.8,131,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2646,3563,0,0,0,0,0,0
$GC,963,-0.76,-146.0,137.9,-17.0,143,967,0.00,1.80,0.00,0.000,4,0.000,0.063,2784,3764,3563,0,0,0,0,0,0
$GC,1000,-0.76,-146.0,145.3,-18.0,146,1010,0.08,1.75,0.00,0.000,6,0.141,0.042,2809,2667,3563,0,0,0,0,0,0
$GC,1138,-0.76,-146.0,166.0,-15.4,159,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2666,3563,0,0,0,0,0,0
$GC,1273,-0.76,-146.0,186.7,-14.8,172,1275,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2666,3563,0,0,0,0,0,0
$GC,1400,-0.76,-146.0,205.6,-14.6,184,1404,0.00,1.77,0.00,0.000,4,0.000,0.062,2803,3766,3563,0,0,0,0,0,0
$GC,1439,-0.76,-146.0,212.0,-15.0,187,1448,0.00,1.77,0.00,0.000,6,0.000,0.042,2802,2651,3563,0,0,0,0,0,0
$GC,1575,-0.76,-146.0,231.9,-15.1,200,1576,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2651,3563,0,0,0,0,0,0
$GC,1702,-0.76,-146.0,250.9,-15.2,212,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2651,3563,0,0,0,0,0,0
$GC,1892,-0.76,-146.0,279.6,-14.6,230,1896,0.00,2.22,0.00,0.000,4,0.000,0.050,2802,1234,3564,0,0,0,0,0,0
$GC,1910,-0.76,-146.0,282.4,-14.7,231,1914,0.00,2.35,0.00,0.000,6,0.000,0.057,2793,2683,3563,0,0,0,0,0,0
$GC,2108,-0.76,-146.0,312.1,-15.1,249,2111,0.00,1.73,0.00,0.000,4,0.000,0.062,2784,3767,3563,0,0,0,0,0,0
$GC,2142,-0.76,-146.0,317.8,-16.8,252,2146,0.12,1.70,0.00,0.000,6,0.161,0.043,2819,2673,3563,0,0,0,0,0,0
$GC,2346,-0.76,-146.0,345.2,-13.4,271,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2670,3563,0,0,0,0,0,0
$GC,2536,-0.76,-146.0,370.6,-13.3,289,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2670,3563,0,0,0,0,0,0
$GC,2727,-0.76,-146.0,396.2,-13.2,307,2730,0.00,1.77,0.00,0.000,4,0.000,0.063,2812,3768,3563,0,0,0,0,0,0
$STATE,2737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2737,begin apogee
$GC,2744,-0.17,0.0,397.7,12.7,308,2881,0.60,0.00,130.73,1.037,4,0.128,0.000,3006,2491,2963,0,0,0,0,0,0
$STATE,2882,end apogee,CONTROL_FINISHED_OK
$STATE,2882,begin climb
$GC,2884,0.76,146.0,402.8,0.0,320,3040,0.95,2.53,146.12,0.958,4,0.073,0.049,3312,1087,2364,0,0,0,0,0,0
$GC,3159,0.76,146.0,376.8,11.9,345,3163,0.00,2.47,0.00,0.000,6,0.000,0.051,3312,2501,2354,0,0,0,0,0,0
$GC,3357,0.76,146.0,352.3,12.4,363,3362,0.00,2.30,0.00,0.000,4,0.000,0.049,3322,1083,2350,0,0,0,0,0,0
$GC,3468,0.76,146.0,337.9,12.7,372,3476,0.00,2.38,0.00,0.000,6,0.000,0.054,3322,2516,2348,0,0,0,0,0,0
$GC,3666,0.76,146.0,311.9,13.2,391,3670,0.00,2.00,0.00,0.000,4,0.000,0.059,3322,3771,2347,0,0,0,0,0,0
$GC,3756,0.76,146.0,298.3,15.6,399,3760,0.00,1.95,0.00,0.000,6,0.000,0.042,3332,2522,2347,0,0,0,0,0,0
$GC,3959,0.76,146.0,270.2,13.6,418,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2519,2346,0,0,0,0,0,0
$GC,4152,0.76,146.0,244.4,13.3,436,4155,0.00,2.03,0.00,0.000,4,0.000,0.060,3332,3777,2345,0,0,0,0,0,0
$GC,4199,0.76,146.0,237.4,15.6,440,4202,0.00,1.95,0.00,0.000,6,0.000,0.043,3341,2526,2346,0,0,0,0,0,0
$GC,4340,0.76,146.0,217.0,13.9,453,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2523,2345,0,0,0,0,0,0
$GC,4467,0.76,146.0,199.5,14.0,465,4471,0.00,2.00,0.00,0.000,4,0.000,0.060,3341,3767,2345,0,0,0,0,0,0
$GC,4515,0.76,146.0,191.8,15.6,469,4524,0.10,1.95,0.00,0.000,6,0.138,0.041,3316,2542,2345,0,0,0,0,0,0
$GC,4652,0.76,146.0,175.7,11.4,482,4656,0.00,1.98,0.00,0.000,4,0.000,0.060,3316,3767,2345,0,0,0,0,0,0
$GC,4698,0.76,146.0,169.5,13.6,486,4702,0.00,1.88,0.00,0.000,6,0.000,0.042,3324,2557,2345,0,0,0,0,0,0
$GC,4840,0.76,146.0,152.3,12.0,499,4841,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2555,2345,0,0,0,0,0,0
$GC,4966,0.76,146.0,137.2,11.7,511,4970,0.00,1.95,0.00,0.000,4,0.000,0.060,3324,3766,2344,0,0,0,0,0,0
$GC,5004,0.76,146.0,132.0,13.3,514,5012,0.00,1.92,0.00,0.000,6,0.000,0.041,3333,2557,2344,0,0,0,0,0,0
$GC,5140,0.76,146.0,115.3,12.3,527,5141,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2556,2344,0,0,0,0,0,0
$GC,5266,0.76,146.0,99.1,12.6,539,5273,0.00,1.98,0.00,0.000,4,0.000,0.060,3333,3768,2344,0,0,0,0,0,0
$GC,5296,0.76,146.0,94.7,13.2,544,5306,0.08,1.92,0.00,0.000,6,0.139,0.042,3316,2562,2344,0,0,0,0,0,0
$GC,5444,0.76,146.0,77.7,11.6,569,5450,0.00,1.98,0.00,0.000,4,0.000,0.061,3316,3773,2343,0,0,0,0,0,0
$GC,5484,0.76,146.0,72.0,13.2,576,5494,0.00,1.92,0.00,0.000,6,0.000,0.044,3324,2565,2343,0,0,0,0,0,0
$GC,5631,0.76,146.0,54.9,11.8,601,5637,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2564,2343,0,0,0,0,0,0
$GC,5770,0.76,146.0,37.7,12.3,626,5779,0.00,2.00,0.00,0.000,4,0.000,0.061,3324,3771,2343,0,0,0,0,0,0
$GC,5819,0.76,146.0,31.4,13.8,634,5827,0.00,1.90,0.00,0.000,6,0.000,0.043,3333,2577,2343,0,0,0,0,0,0
$GC,5965,0.76,146.0,13.6,12.2,659,5973,0.00,1.95,0.00,0.000,4,0.000,0.060,3333,3758,2343,0,0,0,0,0,0
$FREEZE,8.23,-0.616,-1.893,2,1,0
$FREEZE,7.23,-0.600,-1.892,2,1,0
$FREEZE,6.39,-0.590,-1.891,2,1,0
$GC,6016,0.76,146.0,6.4,15.2,667,6024,0.08,1.85,0.00,0.000,6,0.145,0.041,3317,2601,2343,0,0,0,0,0,0
$FREEZE,3.91,-0.581,-1.890,2,1,0
$FREEZE,3.01,-0.584,-1.889,2,1,0
$FREEZE,2.44,-0.583,-1.889,2,1,0
$STATE,6043,end climb,SURFACE_DEPTH_REACHED
$STATE,6043,begin surface coast
$FREEZE,1.57,-0.586,-1.888,2,1,0
$FREEZE,1.29,-0.587,-1.004,2,1,0
$FREEZE,1.33,-0.619,-1.791,2,1,0
$FREEZE,1.34,-0.617,-1.889,2,1,0
$FINISH,1.3,1.027647
$STATE,6070,end surface coast,CONTROL_FINISHED_OK
$STATE,6070,begin surface
$SM_CCo,6085,84.25,0.727,1,0,1737,300.24
$SM_GC,2.26,0.00,0.00,84.25,0.000,0.000,0.727,422,2659,1737,-8.26,0.25,300.24
$IRIDIUM_FIX,-7545.40,17359.94,221210,070758
$TT8_MAMPS,0.028462
$HUMID,52.52
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,18.8
$24V_AH,20.5,54.297
$10V_AH,9.8,35.113
$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,18.425,72.050,276.850,84.250,0.000,29.244,36.302,160.629,1.750,0.000,36.499,1712.255,2307.862,476.195,1854.827,181.220,0.000,1157.901,0.000,1103.829,0.000,7.775,0.000
$DEVICE_MAMPS,201.195,112.455,1036.575,726.750,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,474.502,860.014,910.156,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,257972
$DATA_FILE_SIZE,47029,675
$CAP_FILE_SIZE,93430,0
$CFSIZE,260165632,234713088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.238,174.9,1
$GPS,221210,114331,-7633.544,17408.744,41,1.0,42,126.7