version: 66.08
glider: 502
mission: 3
dive: 282
start: 12 20 110 23 39 11
data:
$ID,502
$MISSION,3
$DIVE,282
$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,-30493.402
$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,30
$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
$GPS1,201210,233137,-7637.874,17322.473,36,1.4,37,128.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-73.0
$GPS2,201210,233846,-7637.847,17322.406,13,2.1,32,128.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,POLYNYA_tmp
$TGT_LATLONG,-7630.000,17400.000
$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,302.5,21803,-17.5,-10.000
$D_GRID,481
$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,-146.0,0.0,0.0,0,98,0.00,0.00,-79.10,0.000,2,0.000,0.000,415,2657,3152,0,0,0,0,0,0
$GC,100,-0.76,-146.0,3.0,-0.7,12,130,8.82,2.30,-14.02,0.000,4,0.197,0.062,2807,1237,3559,0,0,0,0,0,0
$GC,272,-0.76,-146.0,27.6,-15.6,42,281,0.00,2.33,0.00,0.000,6,0.000,0.057,2798,2639,3562,0,0,0,0,0,0
$GC,411,-0.76,-146.0,50.2,-17.2,67,418,0.00,1.83,0.00,0.000,4,0.000,0.063,2790,3770,3562,0,0,0,0,0,0
$GC,458,-0.76,-146.0,58.6,-18.0,75,465,0.00,1.77,0.00,0.000,6,0.000,0.044,2790,2637,3562,0,0,0,0,0,0
$GC,595,-0.76,-146.0,83.2,-17.4,100,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2636,3562,0,0,0,0,0,0
$GC,741,-0.76,-146.0,108.2,-17.5,122,744,0.00,1.83,0.00,0.000,4,0.000,0.064,2782,3764,3562,0,0,0,0,0,0
$GC,788,-0.76,-146.0,117.9,-18.7,126,799,0.10,1.75,0.00,0.000,6,0.141,0.043,2816,2662,3562,0,0,0,0,0,0
$GC,925,-0.76,-146.0,138.5,-14.6,139,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2661,3562,0,0,0,0,0,0
$GC,1052,-0.76,-146.0,157.2,-14.8,151,1055,0.00,1.80,0.00,0.000,4,0.000,0.063,2808,3775,3562,0,0,0,0,0,0
$GC,1087,-0.76,-146.0,162.6,-15.3,154,1091,0.00,1.73,0.00,0.000,6,0.000,0.043,2809,2667,3562,0,0,0,0,0,0
$GC,1229,-0.76,-146.0,184.0,-15.3,167,1232,0.00,1.77,0.00,0.000,4,0.000,0.064,2800,3765,3562,0,0,0,0,0,0
$GC,1266,-0.76,-146.0,190.8,-16.5,170,1274,0.00,1.73,0.00,0.000,6,0.000,0.043,2800,2680,3562,0,0,0,0,0,0
$GC,1401,-0.76,-146.0,211.9,-16.0,183,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2678,3562,0,0,0,0,0,0
$GC,1529,-0.76,-146.0,231.9,-15.9,195,1530,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2678,3562,0,0,0,0,0,0
$GC,1655,-0.76,-146.0,252.3,-16.0,207,1659,0.00,1.77,0.00,0.000,4,0.000,0.063,2793,3771,3562,0,0,0,0,0,0
$GC,1693,-0.76,-146.0,259.1,-17.4,210,1701,0.00,1.73,0.00,0.000,6,0.000,0.043,2793,2687,3562,0,0,0,0,0,0
$GC,1893,-0.76,-146.0,290.1,-15.3,229,1897,0.00,1.75,0.00,0.000,4,0.000,0.063,2784,3766,3562,0,0,0,0,0,0
$GC,1931,-0.76,-146.0,297.1,-17.3,232,1940,0.08,1.73,0.00,0.000,6,0.145,0.043,2810,2684,3562,0,0,0,0,0,0
$GC,2132,-0.76,-146.0,325.5,-14.1,251,2135,0.00,1.75,0.00,0.000,4,0.000,0.063,2803,3766,3562,0,0,0,0,0,0
$GC,2170,-0.76,-146.0,332.0,-15.6,254,2177,0.00,1.67,0.00,0.000,6,0.000,0.042,2803,2712,3562,0,0,0,0,0,0
$GC,2368,-0.76,-146.0,361.2,-14.7,273,2372,0.00,1.70,0.00,0.000,4,0.000,0.063,2796,3767,3562,0,0,0,0,0,0
$GC,2395,-0.76,-146.0,365.6,-15.3,275,2402,0.00,1.67,0.00,0.000,6,0.000,0.042,2796,2716,3562,0,0,0,0,0,0
$GC,2595,-0.76,-146.0,395.5,-15.1,294,2599,0.00,1.70,0.00,0.000,4,0.000,0.063,2788,3765,3562,0,0,0,0,0,0
$GC,2624,-0.76,-146.0,400.4,-16.7,296,2631,0.00,1.67,0.00,0.000,6,0.000,0.043,2788,2716,3562,0,0,0,0,0,0
$GC,2821,-0.76,-146.0,430.8,-15.0,315,2823,0.10,0.00,0.00,0.000,6,0.181,0.000,2813,2714,3563,0,0,0,0,0,0
$GC,3013,-0.76,-146.0,455.7,-12.6,333,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2714,3562,0,0,0,0,0,0
$GC,3205,-0.76,-146.0,479.8,-12.7,351,3209,0.00,1.70,0.00,0.000,4,0.000,0.063,2806,3765,3562,0,0,0,0,0,0
$STATE,3215,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3215,begin apogee
$GC,3222,-0.17,0.0,481.5,12.8,352,3361,0.60,0.00,133.25,1.089,4,0.128,0.000,3001,2490,2960,0,0,0,0,0,0
$STATE,3362,end apogee,CONTROL_FINISHED_OK
$STATE,3362,begin climb
$GC,3363,0.76,146.0,486.8,0.0,364,3523,0.98,2.53,147.82,1.001,4,0.074,0.049,3309,1093,2363,0,0,0,0,0,0
$GC,3646,0.76,146.0,460.9,11.6,389,3651,0.00,2.45,0.00,0.000,6,0.000,0.051,3309,2501,2353,0,0,0,0,0,0
$GC,3846,0.76,146.0,436.0,12.4,407,3850,0.00,2.28,0.00,0.000,4,0.000,0.049,3318,1087,2351,0,0,0,0,0,0
$GC,3968,0.76,146.0,420.8,12.1,417,3976,0.00,2.35,0.00,0.000,6,0.000,0.054,3318,2508,2348,0,0,0,0,0,0
$GC,4166,0.76,146.0,395.7,12.4,436,4170,0.00,2.00,0.00,0.000,4,0.000,0.060,3318,3764,2348,0,0,0,0,0,0
$GC,4245,0.76,146.0,383.9,15.6,443,4249,0.00,1.92,0.00,0.000,6,0.000,0.043,3328,2532,2347,0,0,0,0,0,0
$GC,4449,0.76,146.0,356.2,13.1,462,4452,0.00,2.00,0.00,0.000,4,0.000,0.060,3328,3768,2346,0,0,0,0,0,0
$GC,4487,0.76,146.0,350.2,15.6,465,4495,0.00,1.98,0.00,0.000,6,0.000,0.042,3337,2531,2346,0,0,0,0,0,0
$GC,4685,0.76,146.0,322.4,13.9,484,4689,0.00,2.00,0.00,0.000,4,0.000,0.060,3337,3765,2346,0,0,0,0,0,0
$GC,4730,0.76,146.0,315.3,15.8,488,4734,0.12,1.90,0.00,0.000,6,0.168,0.042,3313,2547,2345,0,0,0,0,0,0
$GC,4933,0.76,146.0,289.7,12.4,507,4936,0.00,2.00,0.00,0.000,4,0.000,0.062,3313,3777,2345,0,0,0,0,0,0
$GC,4967,0.76,146.0,285.2,14.5,510,4971,0.00,1.95,0.00,0.000,6,0.000,0.043,3321,2555,2345,0,0,0,0,0,0
$GC,5171,0.76,146.0,258.7,12.7,529,5174,0.00,1.98,0.00,0.000,4,0.000,0.061,3321,3775,2345,0,0,0,0,0,0
$GC,5197,0.76,146.0,254.7,13.8,531,5205,0.00,1.92,0.00,0.000,6,0.000,0.043,3331,2565,2345,0,0,0,0,0,0
$GC,5399,0.76,146.0,227.9,13.5,550,5403,0.00,1.95,0.00,0.000,4,0.000,0.061,3330,3770,2344,0,0,0,0,0,0
$GC,5435,0.76,146.0,222.4,14.9,553,5439,0.00,1.88,0.00,0.000,6,0.000,0.043,3340,2563,2344,0,0,0,0,0,0
$GC,5578,0.76,146.0,201.9,14.2,566,5585,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2560,2344,0,0,0,0,0,0
$GC,5713,0.76,146.0,181.7,15.0,579,5716,0.00,1.95,0.00,0.000,4,0.000,0.061,3340,3766,2344,0,0,0,0,0,0
$GC,5761,0.76,146.0,173.5,16.1,583,5770,0.10,1.88,0.00,0.000,6,0.140,0.042,3316,2581,2344,0,0,0,0,0,0
$GC,5898,0.76,146.0,156.3,12.2,596,5902,0.00,1.92,0.00,0.000,4,0.000,0.061,3316,3770,2344,0,0,0,0,0,0
$GC,5944,0.76,146.0,150.1,13.4,600,5947,0.00,1.83,0.00,0.000,6,0.000,0.043,3323,2597,2344,0,0,0,0,0,0
$GC,6085,0.76,146.0,132.6,12.3,613,6086,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2594,2344,0,0,0,0,0,0
$GC,6211,0.76,146.0,117.2,12.2,625,6215,0.00,1.90,0.00,0.000,4,0.000,0.062,3323,3767,2344,0,0,0,0,0,0
$GC,6237,0.76,146.0,113.2,14.1,627,6247,0.00,1.85,0.00,0.000,6,0.000,0.042,3332,2606,2344,0,0,0,0,0,0
$GC,6374,0.76,146.0,96.2,12.4,642,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2606,2344,0,0,0,0,0,0
$GC,6512,0.76,146.0,79.1,12.6,667,6519,0.00,1.90,0.00,0.000,4,0.000,0.061,3332,3774,2343,0,0,0,0,0,0
$GC,6541,0.76,146.0,74.7,14.1,672,6550,0.08,1.88,0.00,0.000,6,0.148,0.043,3316,2603,2344,0,0,0,0,0,0
$GC,6683,0.76,146.0,58.2,11.4,697,6690,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2603,2343,0,0,0,0,0,0
$GC,6821,0.76,146.0,42.2,11.5,722,6828,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2602,2343,0,0,0,0,0,0
$GC,6959,0.76,146.0,26.2,11.7,747,6966,0.00,1.90,0.00,0.000,4,0.000,0.061,3316,3771,2343,0,0,0,0,0,0
$GC,7033,0.76,146.0,15.9,13.9,760,7041,0.00,1.85,0.00,0.000,6,0.000,0.044,3323,2615,2343,0,0,0,0,0,0
$FREEZE,8.90,-0.860,-1.896,2,1,0
$FREEZE,8.29,-0.841,-1.896,2,1,0
$FREEZE,7.52,-0.769,-1.894,2,1,0
$FREEZE,6.85,-0.781,-1.894,2,1,0
$FREEZE,6.00,-0.829,-1.895,2,1,0
$FREEZE,5.43,-0.815,-1.893,2,1,0
$FREEZE,4.65,-0.747,-1.892,2,1,0
$FREEZE,4.09,-0.761,-1.892,2,1,0
$FREEZE,3.22,-0.765,-1.891,2,1,0
$FREEZE,2.59,-0.752,-1.890,2,1,0
$STATE,7143,end climb,SURFACE_DEPTH_REACHED
$STATE,7143,begin surface coast
$FREEZE,1.56,-0.744,-1.889,2,1,0
$FREEZE,1.34,-0.743,-1.875,2,1,0
$FREEZE,1.36,-0.718,-0.949,2,1,0
$FREEZE,1.31,-0.778,-1.166,2,1,0
$FINISH,1.3,1.017215
$STATE,7168,end surface coast,CONTROL_FINISHED_OK
$STATE,7169,begin surface
$SM_CCo,7184,79.97,0.722,1,0,1737,300.24
$SM_GC,2.23,0.00,0.00,79.97,0.000,0.000,0.722,415,2652,1737,-8.28,0.06,300.24
$IRIDIUM_FIX,-7554.21,17327.22,201210,212148
$TT8_MAMPS,0.028462
$HUMID,52.48
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,18.4
$24V_AH,20.4,52.453
$10V_AH,9.8,33.664
$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,18.500,91.725,281.075,79.975,0.000,27.295,43.606,230.324,2.250,0.000,34.270,2011.919,2870.857,505.854,2132.396,182.440,0.000,1296.438,0.000,1301.652,0.000,11.207,0.000
$DEVICE_MAMPS,197.370,125.460,1089.360,722.160,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,550.981,942.735,907.986,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258004
$DATA_FILE_SIZE,53830,783
$CAP_FILE_SIZE,110683,0
$CFSIZE,260165632,235683840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.087,307.6,1
$GPS,211210,014137,-7637.322,17325.135,38,0.8,39,128.1