version: 66.08
glider: 502
mission: 3
dive: 279
start: 12 20 110 17 11 11
data:
$ID,502
$MISSION,3
$DIVE,279
$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,-30489.625
$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,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
$GPS1,201210,170420,-7639.567,17314.021,23,1.6,24,128.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-72.9
$GPS2,201210,171044,-7639.592,17313.965,17,1.6,17,128.5
$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,316.1,176442,-17.5,-10.000
$D_GRID,475
$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,-146.0,0.0,0.0,0,100,0.00,0.00,-82.28,0.000,2,0.000,0.000,418,2674,3221,0,0,0,0,0,0
$GC,102,-0.76,-146.0,3.2,-1.1,12,132,8.85,2.35,-10.85,0.000,4,0.198,0.063,2808,1244,3560,0,0,0,0,0,0
$GC,331,-0.76,-146.0,36.9,-14.3,51,338,0.00,2.30,0.00,0.000,6,0.000,0.057,2799,2649,3563,0,0,0,0,0,0
$GC,472,-0.76,-146.0,59.8,-16.2,76,480,0.00,1.83,0.00,0.000,4,0.000,0.062,2790,3761,3564,0,0,0,0,0,0
$GC,499,-0.76,-146.0,64.3,-17.5,80,507,0.00,1.80,0.00,0.000,6,0.000,0.044,2790,2634,3564,0,0,0,0,0,0
$GC,644,-0.76,-146.0,89.3,-17.3,105,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2633,3564,0,0,0,0,0,0
$GC,783,-0.76,-146.0,113.0,-17.2,123,787,0.00,1.85,0.00,0.000,4,0.000,0.064,2784,3768,3564,0,0,0,0,0,0
$GC,819,-0.76,-146.0,119.4,-18.6,126,823,0.12,1.75,0.00,0.000,6,0.165,0.043,2818,2642,3564,0,0,0,0,0,0
$GC,961,-0.76,-146.0,141.0,-15.0,139,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2640,3563,0,0,0,0,0,0
$GC,1096,-0.76,-146.0,161.2,-14.3,152,1100,0.00,1.83,0.00,0.000,4,0.000,0.063,2811,3766,3564,0,0,0,0,0,0
$GC,1132,-0.76,-146.0,166.6,-15.9,155,1135,0.00,1.73,0.00,0.000,6,0.000,0.042,2811,2655,3563,0,0,0,0,0,0
$GC,1272,-0.76,-146.0,188.2,-15.3,168,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2652,3563,0,0,0,0,0,0
$GC,1400,-0.76,-146.0,207.7,-15.9,180,1403,0.00,1.83,0.00,0.000,4,0.000,0.065,2802,3773,3564,0,0,0,0,0,0
$GC,1435,-0.76,-146.0,213.5,-16.7,183,1439,0.00,1.73,0.00,0.000,6,0.000,0.044,2802,2666,3563,0,0,0,0,0,0
$GC,1575,-0.76,-146.0,235.9,-16.0,196,1576,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2663,3563,0,0,0,0,0,0
$GC,1701,-0.76,-146.0,255.9,-15.4,208,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2663,3563,0,0,0,0,0,0
$GC,1894,-0.76,-146.0,285.1,-14.9,226,1898,0.00,1.80,0.00,0.000,4,0.000,0.064,2795,3768,3564,0,0,0,0,0,0
$GC,1931,-0.76,-146.0,291.7,-16.1,229,1939,0.00,1.75,0.00,0.000,6,0.000,0.042,2795,2676,3563,0,0,0,0,0,0
$GC,2132,-0.76,-146.0,321.5,-15.4,248,2133,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2675,3563,0,0,0,0,0,0
$GC,2321,-0.76,-146.0,350.3,-15.2,266,2325,0.00,1.77,0.00,0.000,4,0.000,0.065,2787,3764,3564,0,0,0,0,0,0
$GC,2347,-0.76,-146.0,354.8,-16.2,268,2356,0.05,1.70,0.00,0.000,6,0.152,0.043,2804,2693,3563,0,0,0,0,0,0
$GC,2547,-0.76,-146.0,383.3,-14.4,287,2548,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2692,3563,0,0,0,0,0,0
$GC,2737,-0.76,-146.0,410.6,-14.6,305,2738,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2692,3564,0,0,0,0,0,0
$GC,2928,-0.76,-146.0,437.8,-13.9,323,2932,0.00,1.75,0.00,0.000,4,0.000,0.063,2798,3768,3563,0,0,0,0,0,0
$GC,2985,-0.76,-146.0,446.3,-14.6,328,2989,0.00,1.73,0.00,0.000,6,0.000,0.044,2798,2690,3563,0,0,0,0,0,0
$STATE,3187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3188,begin apogee
$GC,3193,-0.17,0.0,476.2,14.5,347,3332,0.62,0.00,133.00,1.084,4,0.129,0.000,3001,2494,2960,0,0,0,0,0,0
$STATE,3333,end apogee,CONTROL_FINISHED_OK
$STATE,3333,begin climb
$GC,3335,0.76,146.0,482.2,0.0,359,3493,0.98,2.53,147.40,0.993,4,0.072,0.049,3311,1095,2364,0,0,0,0,0,0
$GC,3620,0.76,146.0,456.6,12.0,384,3628,0.00,2.50,0.00,0.000,6,0.000,0.052,3311,2499,2353,0,0,0,0,0,0
$GC,3820,0.76,146.0,432.2,12.5,403,3824,0.00,2.28,0.00,0.000,4,0.000,0.050,3322,1090,2350,0,0,0,0,0,0
$GC,3953,0.76,146.0,415.3,12.8,414,3962,0.00,2.38,0.00,0.000,6,0.000,0.054,3322,2520,2348,0,0,0,0,0,0
$GC,4151,0.76,146.0,390.0,12.9,433,4155,0.00,2.00,0.00,0.000,4,0.000,0.060,3321,3771,2347,0,0,0,0,0,0
$GC,4234,0.76,146.0,377.5,15.1,440,4242,0.00,1.98,0.00,0.000,6,0.000,0.043,3331,2535,2347,0,0,0,0,0,0
$GC,4435,0.76,146.0,350.4,13.7,459,4439,0.00,2.00,0.00,0.000,4,0.000,0.059,3331,3777,2346,0,0,0,0,0,0
$GC,4469,0.76,146.0,345.1,15.0,462,4473,0.00,1.95,0.00,0.000,6,0.000,0.042,3341,2531,2346,0,0,0,0,0,0
$GC,4672,0.76,146.0,316.0,14.0,481,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2528,2345,0,0,0,0,0,0
$GC,4864,0.76,146.0,289.1,13.7,499,4868,0.00,2.03,0.00,0.000,4,0.000,0.060,3341,3758,2346,0,0,0,0,0,0
$GC,4887,0.76,146.0,285.7,14.6,501,4892,0.15,1.92,0.00,0.000,6,0.161,0.042,3309,2521,2345,0,0,0,0,0,0
$GC,5087,0.76,146.0,262.0,12.0,519,5091,0.00,2.03,0.00,0.000,4,0.000,0.062,3309,3767,2345,0,0,0,0,0,0
$GC,5134,0.76,146.0,255.5,14.4,523,5138,0.00,1.90,0.00,0.000,6,0.000,0.043,3317,2550,2345,0,0,0,0,0,0
$GC,5338,0.76,146.0,229.6,12.5,542,5339,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2548,2345,0,0,0,0,0,0
$GC,5466,0.76,146.0,213.7,12.6,554,5469,0.00,1.98,0.00,0.000,4,0.000,0.060,3318,3770,2345,0,0,0,0,0,0
$GC,5512,0.76,146.0,207.2,14.5,558,5515,0.00,1.90,0.00,0.000,6,0.000,0.043,3327,2552,2345,0,0,0,0,0,0
$GC,5654,0.76,146.0,188.7,12.7,571,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2549,2345,0,0,0,0,0,0
$GC,5789,0.76,146.0,171.0,13.0,584,5790,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2549,2345,0,0,0,0,0,0
$GC,5917,0.76,146.0,154.4,12.8,596,5920,0.00,1.98,0.00,0.000,4,0.000,0.062,3327,3769,2344,0,0,0,0,0,0
$GC,5964,0.76,146.0,147.0,15.5,600,5974,0.00,1.92,0.00,0.000,6,0.000,0.042,3336,2558,2344,0,0,0,0,0,0
$GC,6102,0.76,146.0,128.7,13.5,613,6106,0.00,1.95,0.00,0.000,4,0.000,0.060,3336,3768,2343,0,0,0,0,0,0
$GC,6129,0.76,146.0,124.3,15.7,615,6139,0.10,1.90,0.00,0.000,6,0.137,0.043,3312,2577,2343,0,0,0,0,0,0
$GC,6264,0.76,146.0,108.0,11.8,628,6265,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2576,2343,0,0,0,0,0,0
$GC,6394,0.76,146.0,92.9,11.4,645,6400,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2577,2343,0,0,0,0,0,0
$GC,6534,0.76,146.0,77.2,11.2,670,6542,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2577,2343,0,0,0,0,0,0
$GC,6678,0.76,146.0,61.2,10.8,695,6685,0.00,1.95,0.00,0.000,4,0.000,0.062,3312,3777,2343,0,0,0,0,0,0
$GC,6719,0.76,146.0,55.8,13.9,702,6728,0.00,1.90,0.00,0.000,6,0.000,0.043,3320,2581,2343,0,0,0,0,0,0
$GC,6865,0.76,146.0,38.7,11.4,727,6871,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2581,2343,0,0,0,0,0,0
$GC,7006,0.76,146.0,22.0,11.6,752,7014,0.00,1.98,0.00,0.000,4,0.000,0.061,3319,3767,2343,0,0,0,0,0,0
$GC,7040,0.76,146.0,17.8,13.3,757,7046,0.00,1.85,0.00,0.000,6,0.000,0.043,3329,2584,2343,0,0,0,0,0,0
$FREEZE,8.58,-0.875,-1.896,2,1,0
$FREEZE,8.01,-0.890,-1.895,2,1,0
$FREEZE,7.12,-0.894,-1.895,2,1,0
$FREEZE,6.43,-0.874,-1.894,2,1,0
$FREEZE,5.64,-0.863,-1.894,2,1,0
$FREEZE,5.02,-0.857,-1.893,2,1,0
$FREEZE,4.26,-0.855,-1.893,2,1,0
$FREEZE,3.63,-0.864,-1.893,2,1,0
$FREEZE,2.75,-0.854,-1.892,2,1,0
$STATE,7161,end climb,SURFACE_DEPTH_REACHED
$STATE,7161,begin surface coast
$FREEZE,2.02,-0.855,-1.891,2,1,0
$FREEZE,1.25,-0.857,-1.891,2,1,0
$FREEZE,1.29,-0.915,-1.830,2,1,0
$FREEZE,1.27,-0.888,-1.093,2,1,0
$FINISH,1.3,1.016139
$STATE,7188,end surface coast,CONTROL_FINISHED_OK
$STATE,7188,begin surface
$SM_CCo,7203,79.57,0.721,1,0,1737,300.24
$SM_GC,2.24,0.00,0.00,79.57,0.000,0.000,0.721,419,2665,1737,-8.27,0.42,300.24
$IRIDIUM_FIX,-7554.21,17319.04,201210,141408
$TT8_MAMPS,0.028462
$HUMID,53.26
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,17.8
$24V_AH,20.5,52.107
$10V_AH,9.8,33.393
$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,18.325,74.650,280.400,79.575,0.000,28.672,40.423,204.118,2.000,0.000,18.055,1989.949,2944.091,485.707,2074.918,184.356,0.000,1252.649,0.000,1279.413,0.000,12.268,0.000
$DEVICE_MAMPS,198.135,99.450,1084.005,721.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,550.752,945.339,921.575,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258264
$DATA_FILE_SIZE,53830,782
$CAP_FILE_SIZE,105031,0
$CFSIZE,260165632,235884544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.068,314.4,1
$GPS,201210,191400,-7639.309,17317.166,38,1.1,44,128.4