version: 66.08
glider: 502
mission: 3
dive: 299
start: 12 22 110 11 50 3
data:
$ID,502
$MISSION,3
$DIVE,299
$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,-30515.916
$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,34
$R_STBD_OVSHOOT,29
$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
$GPS1,221210,114331,-7633.544,17408.744,41,1.0,42,126.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-72.7
$GPS2,221210,114937,-7633.579,17408.766,28,0.9,33,126.7
$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,275.8,151998,-17.5,-10.000
$D_GRID,391
$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,-146.0,0.0,0.0,0,87,0.00,0.00,-69.62,0.000,2,0.000,0.000,422,2661,2980,0,0,0,0,0,0
$GC,90,-0.76,-146.0,3.0,-2.4,10,134,8.88,2.33,-24.35,0.000,4,0.200,0.063,2808,1244,3560,0,0,0,0,0,0
$GC,377,-0.76,-146.0,41.7,-15.1,61,384,0.00,2.30,0.00,0.000,6,0.000,0.058,2799,2649,3563,0,0,0,0,0,0
$GC,512,-0.76,-146.0,64.1,-15.8,86,520,0.00,1.85,0.00,0.000,4,0.000,0.063,2790,3764,3563,0,0,0,0,0,0
$GC,556,-0.76,-146.0,71.7,-17.9,93,563,0.00,1.77,0.00,0.000,6,0.000,0.042,2790,2630,3563,0,0,0,0,0,0
$GC,693,-0.76,-146.0,95.5,-17.9,118,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2628,3563,0,0,0,0,0,0
$GC,831,-0.76,-146.0,119.1,-17.3,133,835,0.00,1.85,0.00,0.000,4,0.000,0.063,2782,3766,3563,0,0,0,0,0,0
$GC,857,-0.76,-146.0,124.3,-18.0,135,867,0.10,1.75,0.00,0.000,6,0.142,0.042,2815,2669,3563,0,0,0,0,0,0
$GC,994,-0.76,-146.0,144.6,-14.8,148,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2668,3563,0,0,0,0,0,0
$GC,1129,-0.76,-146.0,165.4,-15.1,161,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2668,3563,0,0,0,0,0,0
$GC,1256,-0.76,-146.0,184.3,-14.8,173,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2667,3563,0,0,0,0,0,0
$GC,1384,-0.76,-146.0,203.0,-14.7,185,1387,0.00,1.77,0.00,0.000,4,0.000,0.062,2808,3766,3563,0,0,0,0,0,0
$GC,1421,-0.76,-146.0,209.1,-15.6,188,1431,0.00,1.75,0.00,0.000,6,0.000,0.043,2808,2667,3563,0,0,0,0,0,0
$GC,1558,-0.76,-146.0,229.4,-15.3,201,1562,0.00,2.25,0.00,0.000,4,0.000,0.050,2808,1234,3563,0,0,0,0,0,0
$GC,1577,-0.76,-146.0,232.3,-15.3,202,1582,0.00,2.35,0.00,0.000,6,0.000,0.057,2798,2685,3563,0,0,0,0,0,0
$GC,1713,-0.76,-146.0,253.7,-16.6,214,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2685,3563,0,0,0,0,0,0
$GC,1902,-0.76,-146.0,284.0,-15.6,232,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2685,3563,0,0,0,0,0,0
$GC,2093,-0.76,-146.0,313.7,-15.0,250,2096,0.00,1.73,0.00,0.000,4,0.000,0.062,2790,3769,3563,0,0,0,0,0,0
$GC,2120,-0.76,-146.0,318.3,-16.1,252,2127,0.00,1.75,0.00,0.000,6,0.000,0.042,2790,2669,3563,0,0,0,0,0,0
$GC,2319,-0.76,-146.0,349.3,-16.0,271,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2668,3563,0,0,0,0,0,0
$GC,2509,-0.76,-146.0,378.5,-14.8,289,2510,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2668,3563,0,0,0,0,0,0
$STATE,2592,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2592,begin apogee
$GC,2597,-0.17,0.0,391.1,14.6,297,2734,0.68,0.00,131.10,1.034,4,0.131,0.000,3007,2487,2961,0,0,0,0,0,0
$STATE,2734,end apogee,CONTROL_FINISHED_OK
$STATE,2735,begin climb
$GC,2737,0.76,146.0,395.7,0.0,309,2891,0.95,2.47,145.15,0.949,4,0.073,0.048,3311,1104,2365,0,0,0,0,0,0
$GC,3035,0.76,146.0,367.2,12.0,336,3043,0.00,2.45,0.00,0.000,6,0.000,0.051,3311,2491,2354,0,0,0,0,0,0
$GC,3235,0.76,146.0,343.3,12.5,355,3239,0.00,2.25,0.00,0.000,4,0.000,0.050,3320,1095,2351,0,0,0,0,0,0
$GC,3346,0.76,146.0,329.3,12.6,364,3353,0.00,2.38,0.00,0.000,6,0.000,0.054,3321,2524,2349,0,0,0,0,0,0
$GC,3544,0.76,146.0,303.9,12.4,383,3547,0.00,1.98,0.00,0.000,4,0.000,0.060,3320,3767,2348,0,0,0,0,0,0
$GC,3623,0.76,146.0,292.3,14.7,390,3626,0.00,1.92,0.00,0.000,6,0.000,0.042,3330,2534,2348,0,0,0,0,0,0
$GC,3827,0.76,146.0,265.8,13.1,409,3831,0.00,2.00,0.00,0.000,4,0.000,0.059,3330,3775,2347,0,0,0,0,0,0
$GC,3862,0.76,146.0,260.7,14.4,412,3866,0.00,1.92,0.00,0.000,6,0.000,0.042,3339,2543,2347,0,0,0,0,0,0
$GC,4067,0.76,146.0,232.7,14.0,431,4068,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2541,2347,0,0,0,0,0,0
$GC,4194,0.76,146.0,215.7,13.2,443,4198,0.00,1.98,0.00,0.000,4,0.000,0.060,3340,3767,2347,0,0,0,0,0,0
$GC,4242,0.76,146.0,208.2,14.9,447,4252,0.10,1.95,0.00,0.000,6,0.139,0.041,3316,2544,2346,0,0,0,0,0,0
$GC,4380,0.76,146.0,192.6,11.1,460,4383,0.00,1.98,0.00,0.000,4,0.000,0.061,3316,3768,2346,0,0,0,0,0,0
$GC,4427,0.76,146.0,185.8,13.4,464,4436,0.00,1.92,0.00,0.000,6,0.000,0.041,3323,2556,2346,0,0,0,0,0,0
$GC,4563,0.76,146.0,169.5,11.8,477,4567,0.00,1.95,0.00,0.000,4,0.000,0.060,3323,3767,2346,0,0,0,0,0,0
$GC,4589,0.76,146.0,165.7,13.3,479,4599,0.00,1.90,0.00,0.000,6,0.000,0.041,3333,2573,2346,0,0,0,0,0,0
$GC,4725,0.76,146.0,149.3,12.5,492,4726,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2572,2346,0,0,0,0,0,0
$GC,4852,0.76,146.0,133.8,12.2,504,4853,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2573,2346,0,0,0,0,0,0
$GC,4979,0.76,146.0,118.4,12.3,516,4983,0.00,1.95,0.00,0.000,4,0.000,0.060,3333,3777,2346,0,0,0,0,0,0
$GC,5047,0.76,146.0,108.8,14.2,522,5051,0.00,1.88,0.00,0.000,6,0.000,0.042,3342,2570,2346,0,0,0,0,0,0
$GC,5182,0.76,146.0,91.2,12.8,540,5191,0.12,2.00,0.00,0.000,4,0.164,0.062,3308,3768,2345,0,0,0,0,0,0
$GC,5216,0.76,146.0,87.0,13.2,545,5223,0.00,1.85,0.00,0.000,6,0.000,0.042,3316,2584,2345,0,0,0,0,0,0
$GC,5351,0.76,146.0,71.8,10.8,570,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2583,2346,0,0,0,0,0,0
$GC,5489,0.76,146.0,56.7,11.1,595,5496,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2583,2345,0,0,0,0,0,0
$GC,5624,0.76,146.0,41.5,11.5,620,5633,0.00,1.95,0.00,0.000,4,0.000,0.061,3316,3760,2344,0,0,0,0,0,0
$GC,5656,0.76,146.0,38.0,11.9,625,5663,0.00,1.83,0.00,0.000,6,0.000,0.042,3325,2591,2344,0,0,0,0,0,0
$GC,5794,0.76,146.0,21.7,12.2,650,5801,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2590,2344,0,0,0,0,0,0
$FREEZE,8.99,-0.584,-1.893,2,1,0
$FREEZE,8.33,-0.569,-1.893,2,1,0
$FREEZE,7.83,-0.570,-1.892,2,1,0
$FREEZE,7.11,-0.569,-1.892,2,1,0
$FREEZE,6.51,-0.569,-1.892,2,1,0
$FREEZE,5.65,-0.570,-1.891,2,1,0
$FREEZE,5.11,-0.570,-1.891,2,1,0
$GC,5936,0.76,146.0,5.1,11.5,675,5944,0.00,1.92,0.00,0.000,4,0.000,0.060,3325,3774,2344,0,0,0,0,0,0
$FREEZE,3.02,-0.573,-1.889,2,1,0
$FREEZE,2.20,-0.572,-1.888,2,1,0
$STATE,5955,end climb,SURFACE_DEPTH_REACHED
$STATE,5956,begin surface coast
$FREEZE,1.36,-0.576,-1.888,2,1,0
$FINISH,1.4,1.027636
$STATE,5963,end surface coast,CONTROL_FINISHED_OK
$STATE,5963,begin surface
$SM_CCo,5981,80.78,0.726,1,0,1736,300.24
$SM_GC,2.13,0.00,0.00,80.78,0.000,0.000,0.726,416,2642,1736,-8.28,-0.23,300.24
$IRIDIUM_FIX,-7545.40,17417.37,221210,090932
$TT8_MAMPS,0.028462
$HUMID,52.55
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,19.6
$24V_AH,20.5,54.404
$10V_AH,9.7,35.199
$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,18.350,67.950,276.250,80.775,0.000,30.824,34.864,177.521,1.750,0.000,34.680,1713.066,2185.698,486.245,1901.059,154.471,0.000,1170.548,0.000,1114.113,0.000,8.737,0.000
$DEVICE_MAMPS,200.430,64.260,1034.280,725.985,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,477.276,875.973,940.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258016
$DATA_FILE_SIZE,47103,679
$CAP_FILE_SIZE,93057,0
$CFSIZE,260165632,234659840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,8
$CURRENT,0.194,174.4,1
$GPS,221210,133201,-7633.635,17411.098,10,1.3,15,126.6