version: 66.08
glider: 502
mission: 3
dive: 275
start: 12 20 110 8 9 55
data:
$ID,502
$MISSION,3
$DIVE,275
$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,-30484.592
$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,30
$R_STBD_OVSHOOT,32
$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
$GPS1,201210,080237,-7640.429,17257.768,34,1.4,35,129.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-74.5
$GPS2,201210,080928,-7640.451,17257.791,13,3.6,32,129.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,POLYNYA
$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,280.3,183562,-17.5,-10.000
$D_GRID,525
$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,-146.0,0.0,0.0,0,80,0.00,0.00,-62.90,0.000,2,0.000,0.000,420,2659,2831,0,0,0,0,0,0
$GC,83,-0.76,-146.0,3.1,-3.1,9,135,8.90,2.30,-33.92,0.000,4,0.200,0.061,2807,1233,3558,0,0,0,0,0,0
$GC,293,-0.76,-146.0,28.1,-15.0,45,300,0.00,2.30,0.00,0.000,6,0.000,0.057,2798,2641,3561,0,0,0,0,0,0
$GC,428,-0.76,-146.0,51.2,-17.3,70,436,0.00,1.85,0.00,0.000,4,0.000,0.063,2790,3767,3561,0,0,0,0,0,0
$GC,462,-0.76,-146.0,56.9,-18.6,75,469,0.00,1.77,0.00,0.000,6,0.000,0.044,2790,2634,3561,0,0,0,0,0,0
$GC,600,-0.76,-146.0,82.0,-18.1,100,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2633,3561,0,0,0,0,0,0
$GC,744,-0.76,-146.0,107.7,-17.8,122,748,0.00,1.85,0.00,0.000,4,0.000,0.065,2781,3770,3561,0,0,0,0,0,0
$GC,780,-0.76,-146.0,114.1,-19.2,125,784,0.12,1.75,0.00,0.000,6,0.163,0.044,2814,2645,3561,0,0,0,0,0,0
$GC,920,-0.76,-146.0,136.8,-15.9,138,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2642,3561,0,0,0,0,0,0
$GC,1048,-0.76,-146.0,156.9,-15.3,150,1051,0.00,1.83,0.00,0.000,4,0.000,0.063,2807,3771,3561,0,0,0,0,0,0
$GC,1083,-0.76,-146.0,162.6,-17.0,153,1087,0.00,1.73,0.00,0.000,6,0.000,0.043,2807,2663,3561,0,0,0,0,0,0
$GC,1223,-0.76,-146.0,185.9,-16.0,166,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2662,3561,0,0,0,0,0,0
$GC,1351,-0.76,-146.0,206.1,-15.7,178,1354,0.00,1.80,0.00,0.000,4,0.000,0.063,2799,3773,3561,0,0,0,0,0,0
$GC,1377,-0.76,-146.0,211.1,-17.6,180,1386,0.00,1.75,0.00,0.000,6,0.000,0.043,2798,2675,3561,0,0,0,0,0,0
$GC,1513,-0.76,-146.0,233.1,-16.6,193,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2674,3561,0,0,0,0,0,0
$GC,1639,-0.76,-146.0,253.8,-16.6,205,1642,0.00,1.77,0.00,0.000,4,0.000,0.065,2790,3767,3561,0,0,0,0,0,0
$GC,1667,-0.76,-146.0,258.5,-17.2,207,1675,0.00,1.73,0.00,0.000,6,0.000,0.043,2790,2659,3561,0,0,0,0,0,0
$GC,1864,-0.76,-146.0,291.2,-16.6,226,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2658,3561,0,0,0,0,0,0
$GC,2056,-0.76,-146.0,322.4,-16.5,244,2059,0.00,1.80,0.00,0.000,4,0.000,0.063,2781,3767,3561,0,0,0,0,0,0
$GC,2102,-0.76,-146.0,330.5,-18.0,248,2106,0.10,1.73,0.00,0.000,6,0.142,0.044,2814,2685,3561,0,0,0,0,0,0
$GC,2305,-0.76,-146.0,359.9,-14.0,267,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2684,3561,0,0,0,0,0,0
$GC,2496,-0.76,-146.0,386.5,-14.2,285,2500,0.00,1.80,0.00,0.000,4,0.000,0.063,2807,3764,3561,0,0,0,0,0,0
$GC,2530,-0.76,-146.0,391.5,-15.9,288,2534,0.00,1.73,0.00,0.000,6,0.000,0.043,2807,2684,3561,0,0,0,0,0,0
$GC,2733,-0.76,-146.0,421.4,-15.0,307,2736,0.00,1.77,0.00,0.000,4,0.000,0.065,2798,3773,3561,0,0,0,0,0,0
$GC,2756,-0.76,-146.0,424.8,-14.8,309,2760,0.00,1.67,0.00,0.000,6,0.000,0.044,2798,2694,3561,0,0,0,0,0,0
$GC,2959,-0.76,-146.0,455.6,-14.8,328,2960,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2693,3561,0,0,0,0,0,0
$GC,3151,-0.76,-146.0,483.2,-14.3,346,3154,0.00,1.75,0.00,0.000,4,0.000,0.063,2790,3773,3561,0,0,0,0,0,0
$GC,3185,-0.76,-146.0,488.4,-15.5,349,3188,0.00,1.67,0.00,0.000,6,0.000,0.044,2790,2696,3561,0,0,0,0,0,0
$GC,3395,-0.76,-146.0,519.5,-14.8,361,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2694,3561,0,0,0,0,0,0
$STATE,3453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3453,begin apogee
$GC,3458,-0.17,0.0,528.5,14.7,363,3597,0.68,0.00,134.10,1.118,4,0.131,0.000,3006,2483,2960,0,0,0,0,0,0
$STATE,3598,end apogee,CONTROL_FINISHED_OK
$STATE,3598,begin climb
$GC,3600,0.76,146.0,533.0,0.0,367,3757,0.95,2.53,148.90,1.033,4,0.072,0.049,3307,1101,2364,0,0,0,0,0,0
$GC,3869,0.76,146.0,507.7,11.9,375,3878,0.00,2.50,0.00,0.000,6,0.000,0.052,3307,2498,2353,0,0,0,0,0,0
$GC,4065,0.76,146.0,483.7,12.4,390,4069,0.00,2.28,0.00,0.000,4,0.000,0.050,3315,1098,2350,0,0,0,0,0,0
$GC,4175,0.76,146.0,469.8,12.3,399,4184,0.00,2.33,0.00,0.000,6,0.000,0.054,3315,2530,2348,0,0,0,0,0,0
$GC,4374,0.76,146.0,444.0,13.3,418,4377,0.00,1.98,0.00,0.000,4,0.000,0.061,3315,3764,2347,0,0,0,0,0,0
$GC,4453,0.76,146.0,432.2,15.2,425,4457,0.00,1.92,0.00,0.000,6,0.000,0.043,3324,2532,2346,0,0,0,0,0,0
$GC,4656,0.76,146.0,404.4,13.6,444,4660,0.00,2.00,0.00,0.000,4,0.000,0.060,3324,3772,2346,0,0,0,0,0,0
$GC,4683,0.76,146.0,400.1,14.9,446,4690,0.00,1.98,0.00,0.000,6,0.000,0.043,3334,2536,2346,0,0,0,0,0,0
$GC,4881,0.76,146.0,372.0,14.0,465,4885,0.00,1.98,0.00,0.000,4,0.000,0.060,3334,3765,2346,0,0,0,0,0,0
$GC,4904,0.76,146.0,368.4,15.4,467,4909,0.12,1.92,0.00,0.000,6,0.167,0.042,3310,2533,2346,0,0,0,0,0,0
$GC,5104,0.76,146.0,342.7,12.6,485,5110,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2530,2345,0,0,0,0,0,0
$GC,5302,0.76,146.0,316.7,13.4,504,5305,0.00,2.00,0.00,0.000,4,0.000,0.060,3310,3772,2344,0,0,0,0,0,0
$GC,5347,0.76,146.0,310.4,15.1,508,5351,0.00,1.92,0.00,0.000,6,0.000,0.044,3318,2542,2344,0,0,0,0,0,0
$GC,5550,0.76,146.0,283.6,13.3,527,5551,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2539,2344,0,0,0,0,0,0
$GC,5741,0.76,146.0,257.8,13.3,545,5745,0.00,1.98,0.00,0.000,4,0.000,0.062,3318,3764,2344,0,0,0,0,0,0
$GC,5802,0.76,146.0,248.6,15.1,550,5810,0.00,1.92,0.00,0.000,6,0.000,0.044,3328,2556,2343,0,0,0,0,0,0
$GC,5937,0.76,146.0,230.5,13.4,563,5939,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2555,2344,0,0,0,0,0,0
$GC,6065,0.76,146.0,213.5,13.2,575,6066,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2555,2343,0,0,0,0,0,0
$GC,6193,0.76,146.0,197.0,12.6,587,6196,0.00,1.95,0.00,0.000,4,0.000,0.060,3328,3766,2343,0,0,0,0,0,0
$GC,6227,0.76,146.0,191.9,15.4,590,6231,0.00,1.90,0.00,0.000,6,0.000,0.042,3337,2546,2343,0,0,0,0,0,0
$GC,6368,0.76,146.0,172.8,13.6,603,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2545,2343,0,0,0,0,0,0
$GC,6496,0.76,146.0,155.5,13.2,615,6500,0.00,1.98,0.00,0.000,4,0.000,0.060,3337,3767,2343,0,0,0,0,0,0
$GC,6531,0.76,146.0,150.5,14.6,618,6535,0.12,1.88,0.00,0.000,6,0.168,0.042,3313,2562,2343,0,0,0,0,0,0
$GC,6673,0.76,146.0,133.5,11.9,631,6677,0.00,2.33,0.00,0.000,4,0.000,0.051,3316,1081,2343,0,0,0,0,0,0
$GC,6702,0.76,146.0,129.9,11.4,633,6706,0.00,2.40,0.00,0.000,6,0.000,0.053,3316,2572,2342,0,0,0,0,0,0
$GC,6839,0.76,146.0,113.7,12.1,645,6842,0.00,1.90,0.00,0.000,4,0.000,0.062,3316,3765,2342,0,0,0,0,0,0
$GC,6886,0.76,146.0,106.6,14.1,649,6896,0.00,1.90,0.00,0.000,6,0.000,0.042,3325,2565,2342,0,0,0,0,0,0
$GC,7024,0.76,146.0,89.9,12.3,669,7030,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2564,2342,0,0,0,0,0,0
$GC,7157,0.76,146.0,73.6,12.5,694,7166,0.00,1.98,0.00,0.000,4,0.000,0.061,3325,3758,2342,0,0,0,0,0,0
$GC,7190,0.76,146.0,69.5,13.8,699,7198,0.00,1.85,0.00,0.000,6,0.000,0.043,3334,2574,2342,0,0,0,0,0,0
$GC,7329,0.76,146.0,51.7,13.0,724,7336,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2573,2342,0,0,0,0,0,0
$GC,7469,0.76,146.0,34.0,11.9,749,7476,0.00,1.95,0.00,0.000,4,0.000,0.060,3335,3774,2342,0,0,0,0,0,0
$GC,7510,0.76,146.0,28.0,14.1,756,7518,0.08,1.90,0.00,0.000,6,0.145,0.044,3318,2581,2342,0,0,0,0,0,0
$GC,7651,0.76,146.0,11.0,13.1,781,7657,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2581,2342,0,0,0,0,0,0
$FREEZE,8.76,-0.826,-1.893,2,1,0
$FREEZE,8.19,-0.830,-1.894,2,1,0
$FREEZE,7.42,-0.828,-1.894,2,1,0
$FREEZE,6.78,-0.824,-1.894,2,1,0
$FREEZE,6.15,-0.822,-1.894,2,1,0
$FREEZE,5.43,-0.817,-1.893,2,1,0
$FREEZE,4.65,-0.817,-1.893,2,1,0
$FREEZE,3.98,-0.818,-1.892,2,1,0
$FREEZE,3.21,-0.814,-1.892,2,1,0
$FREEZE,2.58,-0.807,-1.892,2,1,0
$STATE,7720,end climb,SURFACE_DEPTH_REACHED
$STATE,7720,begin surface coast
$FREEZE,1.75,-0.812,-1.891,2,1,0
$FREEZE,1.48,-0.811,-1.891,2,1,0
$FREEZE,1.33,-0.872,-0.986,2,1,0
$FREEZE,1.34,-0.822,-1.884,2,1,0
$FINISH,1.3,1.027592
$STATE,7746,end surface coast,CONTROL_FINISHED_OK
$STATE,7747,begin surface
$SM_CCo,7761,80.18,0.726,1,0,1735,300.24
$SM_GC,2.28,0.00,0.00,80.18,0.000,0.000,0.726,414,2658,1735,-8.28,0.23,300.24
$IRIDIUM_FIX,-7554.21,17259.44,201210,050544
$TT8_MAMPS,0.027713
$HUMID,52.83
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,18.2
$24V_AH,20.4,51.661
$10V_AH,9.7,33.026
$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,18.575,89.900,283.000,80.175,0.000,28.366,39.002,213.069,2.000,0.000,34.231,2088.945,3329.004,486.340,2173.742,186.131,0.000,1302.898,0.000,1354.120,0.000,12.930,0.000
$DEVICE_MAMPS,200.430,103.275,1117.665,725.985,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,563.548,966.134,897.497,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258260
$DATA_FILE_SIZE,53828,797
$CAP_FILE_SIZE,114749,0
$CFSIZE,260165632,236130304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.124,161.6,1
$GPS,201210,102201,-7640.251,17301.816,40,1.4,41,128.8