version: 66.08
glider: 502
mission: 3
dive: 278
start: 12 20 110 15 0 17
data:
$ID,502
$MISSION,3
$DIVE,278
$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,-30488.367
$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,37
$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
$GPS1,201210,145326,-7639.827,17310.320,26,2.4,46,128.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-70.6
$GPS2,201210,145950,-7639.840,17310.293,15,1.4,15,128.6
$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,305.9,178068,-17.5,-10.000
$D_GRID,480
$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
$STATE,13,begin dive
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$GC,85,-0.76,-146.0,3.1,-2.4,9,135,9.05,2.35,-31.48,0.000,4,0.200,0.063,2808,1238,3560,0,0,0,0,0,0
$GC,304,-0.76,-146.0,29.3,-14.9,46,313,0.00,2.33,0.00,0.000,6,0.000,0.057,2800,2635,3562,0,0,0,0,0,0
$GC,450,-0.76,-146.0,53.4,-17.5,71,457,0.00,1.85,0.00,0.000,4,0.000,0.063,2790,3760,3563,0,0,0,0,0,0
$GC,510,-0.76,-146.0,64.3,-18.9,81,516,0.00,1.75,0.00,0.000,6,0.000,0.043,2790,2663,3563,0,0,0,0,0,0
$GC,652,-0.76,-146.0,89.6,-17.0,106,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2662,3563,0,0,0,0,0,0
$GC,792,-0.76,-146.0,113.6,-17.6,124,796,0.00,1.80,0.00,0.000,4,0.000,0.064,2784,3767,3563,0,0,0,0,0,0
$GC,838,-0.76,-146.0,121.8,-18.0,128,843,0.12,1.73,0.00,0.000,6,0.166,0.044,2818,2657,3563,0,0,0,0,0,0
$GC,978,-0.76,-146.0,143.1,-14.9,141,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2655,3563,0,0,0,0,0,0
$GC,1106,-0.76,-146.0,161.9,-14.7,153,1109,0.00,1.80,0.00,0.000,4,0.000,0.064,2811,3766,3563,0,0,0,0,0,0
$GC,1132,-0.76,-146.0,165.5,-14.9,155,1136,0.00,1.70,0.00,0.000,6,0.000,0.042,2811,2673,3563,0,0,0,0,0,0
$GC,1274,-0.76,-146.0,187.1,-15.1,168,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2670,3563,0,0,0,0,0,0
$GC,1409,-0.76,-146.0,206.9,-14.5,181,1413,0.00,1.77,0.00,0.000,4,0.000,0.063,2802,3766,3563,0,0,0,0,0,0
$GC,1437,-0.76,-146.0,211.8,-15.3,183,1445,0.00,1.75,0.00,0.000,6,0.000,0.043,2802,2672,3563,0,0,0,0,0,0
$GC,1574,-0.76,-146.0,231.8,-15.5,196,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2670,3563,0,0,0,0,0,0
$GC,1708,-0.76,-146.0,252.4,-15.1,209,1711,0.00,1.77,0.00,0.000,4,0.000,0.064,2796,3765,3563,0,0,0,0,0,0
$GC,1742,-0.76,-146.0,257.8,-15.9,212,1746,0.00,1.70,0.00,0.000,6,0.000,0.043,2796,2671,3563,0,0,0,0,0,0
$GC,1948,-0.76,-146.0,288.9,-15.3,231,1952,0.00,1.77,0.00,0.000,4,0.000,0.063,2787,3764,3563,0,0,0,0,0,0
$GC,1971,-0.76,-146.0,293.1,-15.5,233,1976,0.10,1.70,0.00,0.000,6,0.177,0.043,2813,2684,3563,0,0,0,0,0,0
$GC,2175,-0.76,-146.0,321.3,-13.8,252,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2683,3563,0,0,0,0,0,0
$GC,2365,-0.76,-146.0,347.9,-14.0,270,2368,0.00,1.77,0.00,0.000,4,0.000,0.063,2806,3774,3563,0,0,0,0,0,0
$GC,2398,-0.76,-146.0,352.7,-15.3,273,2402,0.00,1.73,0.00,0.000,6,0.000,0.043,2806,2694,3563,0,0,0,0,0,0
$GC,2601,-0.76,-146.0,381.4,-14.2,292,2602,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2693,3563,0,0,0,0,0,0
$GC,2792,-0.76,-146.0,408.6,-14.3,310,2796,0.00,1.75,0.00,0.000,4,0.000,0.064,2798,3767,3563,0,0,0,0,0,0
$GC,2826,-0.76,-146.0,413.5,-16.0,313,2830,0.00,1.67,0.00,0.000,6,0.000,0.044,2798,2691,3563,0,0,0,0,0,0
$GC,3029,-0.76,-146.0,443.5,-14.5,332,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2690,3563,0,0,0,0,0,0
$GC,3221,-0.76,-146.0,471.4,-14.2,350,3224,0.00,1.75,0.00,0.000,4,0.000,0.064,2791,3766,3563,0,0,0,0,0,0
$GC,3266,-0.76,-146.0,478.4,-15.5,354,3270,0.00,1.70,0.00,0.000,6,0.000,0.043,2791,2701,3563,0,0,0,0,0,0
$STATE,3276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3276,begin apogee
$GC,3281,-0.17,0.0,480.1,15.4,355,3426,0.65,0.00,133.68,1.089,4,0.129,0.000,3000,2490,2959,0,0,0,0,0,0
$STATE,3427,end apogee,CONTROL_FINISHED_OK
$STATE,3427,begin climb
$GC,3428,0.76,146.0,485.7,0.0,368,3587,0.98,2.53,147.75,1.003,4,0.073,0.049,3310,1096,2364,0,0,0,0,0,0
$GC,3701,0.76,146.0,461.9,12.0,392,3705,0.00,2.45,0.00,0.000,6,0.000,0.052,3311,2499,2354,0,0,0,0,0,0
$GC,3899,0.76,146.0,438.1,11.8,410,3903,0.00,2.28,0.00,0.000,4,0.000,0.050,3320,1098,2351,0,0,0,0,0,0
$GC,4010,0.76,146.0,424.5,11.6,419,4018,0.00,2.35,0.00,0.000,6,0.000,0.053,3320,2516,2348,0,0,0,0,0,0
$GC,4208,0.76,146.0,399.3,12.5,438,4212,0.00,2.00,0.00,0.000,4,0.000,0.060,3320,3766,2347,0,0,0,0,0,0
$GC,4298,0.76,146.0,385.7,14.8,446,4302,0.00,1.92,0.00,0.000,6,0.000,0.043,3328,2537,2347,0,0,0,0,0,0
$GC,4501,0.76,146.0,358.4,12.7,465,4502,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2534,2346,0,0,0,0,0,0
$GC,4693,0.76,146.0,333.8,12.7,483,4697,0.00,2.00,0.00,0.000,4,0.000,0.060,3329,3773,2346,0,0,0,0,0,0
$GC,4755,0.76,146.0,324.5,15.0,488,4762,0.00,1.95,0.00,0.000,6,0.000,0.043,3338,2533,2346,0,0,0,0,0,0
$GC,4953,0.76,146.0,297.3,13.3,507,4954,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2531,2346,0,0,0,0,0,0
$GC,5144,0.76,146.0,271.7,13.3,525,5147,0.00,2.00,0.00,0.000,4,0.000,0.059,3338,3771,2345,0,0,0,0,0,0
$GC,5204,0.76,146.0,262.0,16.2,530,5213,0.10,1.98,0.00,0.000,6,0.142,0.043,3314,2540,2345,0,0,0,0,0,0
$GC,5404,0.76,146.0,237.8,12.1,549,5407,0.00,1.98,0.00,0.000,4,0.000,0.060,3315,3764,2345,0,0,0,0,0,0
$GC,5430,0.76,146.0,233.9,13.7,551,5438,0.00,1.95,0.00,0.000,6,0.000,0.043,3322,2545,2345,0,0,0,0,0,0
$GC,5565,0.76,146.0,216.7,12.6,564,5566,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2543,2345,0,0,0,0,0,0
$GC,5693,0.76,146.0,200.7,12.7,576,5696,0.00,1.98,0.00,0.000,4,0.000,0.062,3323,3764,2344,0,0,0,0,0,0
$GC,5719,0.76,146.0,196.9,13.4,578,5728,0.00,1.92,0.00,0.000,6,0.000,0.043,3332,2558,2344,0,0,0,0,0,0
$GC,5856,0.76,146.0,179.8,12.3,591,5863,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2556,2344,0,0,0,0,0,0
$GC,5991,0.76,146.0,162.3,12.8,604,5992,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2556,2344,0,0,0,0,0,0
$GC,6118,0.76,146.0,146.2,12.6,616,6122,0.00,1.95,0.00,0.000,4,0.000,0.060,3332,3766,2344,0,0,0,0,0,0
$GC,6164,0.76,146.0,139.6,14.9,620,6168,0.00,1.88,0.00,0.000,6,0.000,0.042,3341,2560,2344,0,0,0,0,0,0
$GC,6306,0.76,146.0,120.6,13.1,633,6310,0.00,1.98,0.00,0.000,4,0.000,0.061,3341,3775,2344,0,0,0,0,0,0
$GC,6333,0.76,146.0,116.2,14.4,635,6342,0.10,1.92,0.00,0.000,6,0.139,0.043,3317,2567,2344,0,0,0,0,0,0
$GC,6469,0.76,146.0,100.1,11.6,648,6470,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2567,2343,0,0,0,0,0,0
$GC,6601,0.76,146.0,84.6,11.6,671,6608,0.00,1.98,0.00,0.000,4,0.000,0.063,3317,3775,2343,0,0,0,0,0,0
$GC,6631,0.76,146.0,80.6,13.2,676,6639,0.00,1.92,0.00,0.000,6,0.000,0.043,3325,2569,2343,0,0,0,0,0,0
$GC,6777,0.76,146.0,63.1,12.3,701,6783,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2567,2344,0,0,0,0,0,0
$GC,6918,0.76,146.0,45.4,12.4,726,6927,0.00,2.38,0.00,0.000,4,0.000,0.051,3335,1087,2343,0,0,0,0,0,0
$GC,6944,0.76,146.0,42.3,12.4,730,6953,0.00,2.45,0.00,0.000,6,0.000,0.054,3335,2576,2342,0,0,0,0,0,0
$GC,7090,0.76,146.0,24.0,12.7,755,7097,0.00,1.95,0.00,0.000,4,0.000,0.061,3335,3769,2343,0,0,0,0,0,0
$GC,7161,0.76,146.0,13.5,14.5,767,7168,0.12,1.85,0.00,0.000,6,0.166,0.043,3311,2578,2343,0,0,0,0,0,0
$FREEZE,8.51,-0.758,-1.894,2,1,0
$FREEZE,7.92,-0.785,-1.895,2,1,0
$FREEZE,7.29,-0.792,-1.894,2,1,0
$FREEZE,6.52,-0.783,-1.894,2,1,0
$FREEZE,6.05,-0.767,-1.894,2,1,0
$FREEZE,5.36,-0.788,-1.894,2,1,0
$FREEZE,4.89,-0.795,-1.894,2,1,0
$FREEZE,4.16,-0.795,-1.893,2,1,0
$FREEZE,3.54,-0.790,-1.893,2,1,0
$FREEZE,2.74,-0.796,-1.892,2,1,0
$STATE,7249,end climb,SURFACE_DEPTH_REACHED
$STATE,7249,begin surface coast
$FREEZE,1.90,-0.799,-1.892,2,1,0
$FREEZE,1.38,-0.805,-1.892,2,1,0
$FREEZE,1.36,-0.872,-1.840,2,1,0
$FREEZE,1.36,-0.867,-0.995,2,1,0
$FREEZE,1.31,-0.917,-1.139,2,1,0
$FINISH,1.3,1.016827
$STATE,7281,end surface coast,CONTROL_FINISHED_OK
$STATE,7281,begin surface
$SM_CCo,7297,79.80,0.723,1,0,1737,300.24
$SM_GC,2.20,0.00,0.00,79.80,0.000,0.000,0.723,418,2673,1737,-8.27,0.68,300.24
$IRIDIUM_FIX,-7554.21,17259.44,201210,121258
$TT8_MAMPS,0.028462
$HUMID,52.44
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.2,17.8
$24V_AH,20.4,51.994
$10V_AH,9.8,33.302
$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,18.750,86.125,281.425,79.800,0.000,28.003,42.963,203.640,2.000,0.000,16.241,2011.028,2984.772,500.255,2089.663,186.505,0.000,1286.266,0.000,1293.207,0.000,11.209,0.000
$DEVICE_MAMPS,200.430,90.270,1089.360,722.925,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,554.073,946.465,920.826,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258296
$DATA_FILE_SIZE,53818,787
$CAP_FILE_SIZE,109053,0
$CFSIZE,260165632,235945984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.016,269.9,1
$GPS,201210,170420,-7639.567,17314.021,23,1.6,24,128.5