version: 66.08
glider: 502
mission: 3
dive: 284
start: 12 21 110 4 5 3
data:
$ID,502
$MISSION,3
$DIVE,284
$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,-30495.916
$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,32
$R_STBD_OVSHOOT,24
$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
$GPS1,211210,035756,-7636.868,17327.791,18,1.5,19,128.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-73.6
$GPS2,211210,040436,-7636.851,17327.678,37,0.9,37,128.0
$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,288.3,18875,-17.5,-10.000
$D_GRID,488
$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,-82.38,0.000,2,0.000,0.000,427,2618,3227,0,0,0,0,0,0
$GC,102,-0.76,-146.0,3.1,-0.8,12,132,8.85,2.28,-10.48,0.000,4,0.200,0.063,2810,1240,3560,0,0,0,0,0,0
$GC,217,-0.76,-146.0,20.0,-14.5,31,224,0.00,2.30,0.00,0.000,6,0.000,0.058,2801,2649,3562,0,0,0,0,0,0
$GC,353,-0.76,-146.0,42.3,-16.3,56,362,0.00,1.83,0.00,0.000,4,0.000,0.062,2792,3763,3563,0,0,0,0,0,0
$GC,400,-0.76,-146.0,50.5,-17.5,64,409,0.00,1.77,0.00,0.000,6,0.000,0.043,2792,2652,3563,0,0,0,0,0,0
$GC,539,-0.76,-146.0,74.2,-16.7,89,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2651,3563,0,0,0,0,0,0
$GC,677,-0.76,-146.0,98.0,-17.7,114,686,0.00,1.85,0.00,0.000,4,0.000,0.065,2785,3761,3564,0,0,0,0,0,0
$GC,738,-0.76,-146.0,108.6,-18.0,120,742,0.12,1.70,0.00,0.000,6,0.165,0.042,2818,2666,3563,0,0,0,0,0,0
$GC,878,-0.76,-146.0,130.4,-15.0,133,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2664,3563,0,0,0,0,0,0
$GC,1005,-0.76,-146.0,149.2,-15.1,145,1009,0.00,1.77,0.00,0.000,4,0.000,0.063,2811,3764,3563,0,0,0,0,0,0
$GC,1054,-0.76,-146.0,157.1,-15.1,149,1063,0.00,1.73,0.00,0.000,6,0.000,0.042,2811,2680,3564,0,0,0,0,0,0
$GC,1192,-0.76,-146.0,177.0,-14.8,162,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2680,3564,0,0,0,0,0,0
$GC,1327,-0.76,-146.0,197.0,-14.3,175,1330,0.00,1.75,0.00,0.000,4,0.000,0.064,2803,3762,3564,0,0,0,0,0,0
$GC,1384,-0.76,-146.0,205.9,-15.5,180,1388,0.00,1.67,0.00,0.000,6,0.000,0.042,2803,2681,3564,0,0,0,0,0,0
$GC,1525,-0.76,-146.0,227.3,-15.0,193,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2680,3564,0,0,0,0,0,0
$GC,1652,-0.76,-146.0,246.7,-15.4,205,1656,0.00,1.75,0.00,0.000,4,0.000,0.064,2796,3763,3563,0,0,0,0,0,0
$GC,1703,-0.76,-146.0,255.3,-16.4,209,1711,0.00,1.70,0.00,0.000,6,0.000,0.043,2796,2694,3564,0,0,0,0,0,0
$GC,1903,-0.76,-146.0,285.1,-15.1,228,1906,0.00,1.73,0.00,0.000,4,0.000,0.063,2787,3763,3564,0,0,0,0,0,0
$GC,1941,-0.76,-146.0,291.7,-16.5,231,1949,0.00,1.67,0.00,0.000,6,0.000,0.042,2787,2702,3564,0,0,0,0,0,0
$GC,2140,-0.76,-146.0,322.0,-15.3,250,2142,0.10,0.00,0.00,0.000,6,0.181,0.000,2813,2701,3564,0,0,0,0,0,0
$GC,2332,-0.76,-146.0,347.5,-13.5,268,2335,0.00,1.73,0.00,0.000,4,0.000,0.063,2806,3764,3564,0,0,0,0,0,0
$GC,2411,-0.76,-146.0,358.9,-14.6,275,2415,0.00,1.65,0.00,0.000,6,0.000,0.043,2807,2698,3564,0,0,0,0,0,0
$GC,2614,-0.76,-146.0,386.7,-14.0,294,2615,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2697,3564,0,0,0,0,0,0
$GC,2807,-0.76,-146.0,413.7,-14.1,312,2810,0.00,1.73,0.00,0.000,4,0.000,0.064,2799,3762,3563,0,0,0,0,0,0
$GC,2867,-0.76,-146.0,423.3,-14.7,317,2875,0.00,1.67,0.00,0.000,6,0.000,0.043,2798,2713,3564,0,0,0,0,0,0
$GC,3065,-0.76,-146.0,452.1,-14.6,336,3069,0.00,1.70,0.00,0.000,4,0.000,0.063,2790,3764,3564,0,0,0,0,0,0
$GC,3103,-0.76,-146.0,458.0,-15.4,339,3110,0.00,1.65,0.00,0.000,6,0.000,0.043,2790,2729,3564,0,0,0,0,0,0
$GC,3301,-0.76,-146.0,487.1,-14.9,358,3305,0.00,1.67,0.00,0.000,4,0.000,0.065,2783,3763,3563,0,0,0,0,0,0
$STATE,3311,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3311,begin apogee
$GC,3318,-0.17,0.0,488.8,14.9,359,3463,0.70,0.00,134.15,1.093,4,0.133,0.000,3006,2499,2959,0,0,0,0,0,0
$STATE,3463,end apogee,CONTROL_FINISHED_OK
$STATE,3464,begin climb
$GC,3465,0.76,146.0,494.5,0.0,372,3626,0.95,2.53,148.25,1.008,4,0.071,0.048,3309,1095,2363,0,0,0,0,0,0
$GC,3740,0.76,146.0,468.5,11.6,396,3744,0.00,2.45,0.00,0.000,6,0.000,0.052,3309,2497,2353,0,0,0,0,0,0
$GC,3939,0.76,146.0,442.8,12.8,414,3943,0.00,2.28,0.00,0.000,4,0.000,0.050,3318,1088,2351,0,0,0,0,0,0
$GC,4050,0.76,146.0,428.4,12.3,423,4058,0.00,2.35,0.00,0.000,6,0.000,0.054,3318,2509,2348,0,0,0,0,0,0
$GC,4249,0.76,146.0,402.2,13.1,442,4253,0.00,2.00,0.00,0.000,4,0.000,0.060,3318,3765,2348,0,0,0,0,0,0
$GC,4328,0.76,146.0,390.3,15.0,449,4332,0.00,1.92,0.00,0.000,6,0.000,0.042,3327,2526,2347,0,0,0,0,0,0
$GC,4533,0.76,146.0,363.0,13.2,468,4534,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2522,2346,0,0,0,0,0,0
$GC,4723,0.76,146.0,337.9,13.2,486,4727,0.00,2.03,0.00,0.000,4,0.000,0.062,3327,3777,2345,0,0,0,0,0,0
$GC,4769,0.76,146.0,331.0,16.1,490,4773,0.00,1.98,0.00,0.000,6,0.000,0.042,3336,2520,2345,0,0,0,0,0,0
$GC,4972,0.76,146.0,302.4,14.0,509,4976,0.00,2.03,0.00,0.000,4,0.000,0.060,3337,3771,2345,0,0,0,0,0,0
$GC,5032,0.76,146.0,292.5,16.9,514,5041,0.10,1.95,0.00,0.000,6,0.140,0.043,3313,2548,2345,0,0,0,0,0,0
$GC,5230,0.76,146.0,267.1,12.5,533,5231,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2546,2345,0,0,0,0,0,0
$GC,5424,0.76,146.0,243.2,12.2,551,5427,0.00,1.98,0.00,0.000,4,0.000,0.061,3313,3768,2344,0,0,0,0,0,0
$GC,5481,0.76,146.0,235.1,14.0,556,5484,0.00,1.92,0.00,0.000,6,0.000,0.042,3321,2542,2344,0,0,0,0,0,0
$GC,5623,0.76,146.0,216.5,13.1,569,5627,0.00,1.98,0.00,0.000,4,0.000,0.060,3321,3765,2345,0,0,0,0,0,0
$GC,5660,0.76,146.0,211.2,15.2,572,5664,0.00,1.90,0.00,0.000,6,0.000,0.043,3330,2547,2344,0,0,0,0,0,0
$GC,5802,0.76,146.0,192.3,13.5,585,5810,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2545,2344,0,0,0,0,0,0
$GC,5937,0.76,146.0,174.2,13.3,598,5941,0.00,1.98,0.00,0.000,4,0.000,0.061,3331,3767,2344,0,0,0,0,0,0
$GC,6018,0.76,146.0,161.5,14.8,605,6027,0.00,1.92,0.00,0.000,6,0.000,0.042,3340,2557,2343,0,0,0,0,0,0
$GC,6154,0.76,146.0,143.2,13.6,618,6158,0.00,1.95,0.00,0.000,4,0.000,0.059,3340,3767,2344,0,0,0,0,0,0
$GC,6188,0.76,146.0,138.0,15.7,621,6193,0.12,1.85,0.00,0.000,6,0.166,0.042,3316,2569,2344,0,0,0,0,0,0
$GC,6330,0.76,146.0,120.6,12.0,634,6331,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2568,2344,0,0,0,0,0,0
$GC,6456,0.76,146.0,105.1,12.2,646,6460,0.00,1.95,0.00,0.000,4,0.000,0.061,3315,3774,2343,0,0,0,0,0,0
$GC,6508,0.76,146.0,98.1,14.9,651,6515,0.00,1.88,0.00,0.000,6,0.000,0.042,3323,2575,2343,0,0,0,0,0,0
$GC,6645,0.76,146.0,80.4,12.8,676,6652,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2575,2343,0,0,0,0,0,0
$GC,6785,0.76,146.0,63.9,11.7,701,6792,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2574,2343,0,0,0,0,0,0
$GC,6920,0.76,146.0,48.1,11.6,726,6928,0.00,1.98,0.00,0.000,4,0.000,0.060,3323,3769,2343,0,0,0,0,0,0
$GC,6956,0.76,146.0,43.2,14.0,732,6964,0.00,1.90,0.00,0.000,6,0.000,0.042,3332,2572,2343,0,0,0,0,0,0
$GC,7097,0.76,146.0,25.7,13.4,757,7105,0.00,1.95,0.00,0.000,4,0.000,0.060,3332,3770,2342,0,0,0,0,0,0
$GC,7128,0.76,146.0,21.2,13.9,762,7136,0.08,1.88,0.00,0.000,6,0.148,0.042,3316,2591,2343,0,0,0,0,0,0
$FREEZE,8.35,-0.882,-1.895,2,1,0
$FREEZE,7.68,-0.775,-1.894,2,1,0
$FREEZE,7.05,-0.708,-1.894,2,1,0
$FREEZE,6.28,-0.665,-1.893,2,1,0
$FREEZE,5.61,-0.530,-1.891,2,1,0
$FREEZE,4.94,-0.456,-1.891,2,1,0
$FREEZE,4.23,-0.363,-1.890,2,1,0
$GC,7272,0.76,146.0,4.2,12.3,787,7279,0.00,2.38,0.00,0.000,4,0.000,0.050,3326,1086,2343,0,0,0,0,0,0
$FREEZE,2.49,-0.360,-1.891,2,1,0
$STATE,7286,end climb,SURFACE_DEPTH_REACHED
$STATE,7287,begin surface coast
$FREEZE,1.69,-0.353,-1.890,2,1,0
$FREEZE,1.42,-0.394,-1.887,2,1,0
$FINISH,1.4,1.027619
$STATE,7300,end surface coast,CONTROL_FINISHED_OK
$STATE,7300,begin surface
$SM_CCo,7318,80.03,0.722,1,0,1736,300.24
$SM_GC,2.23,0.00,0.00,80.03,0.000,0.000,0.722,415,2660,1736,-8.28,0.28,300.24
$IRIDIUM_FIX,-7554.21,17328.28,211210,010138
$TT8_MAMPS,0.027713
$HUMID,52.67
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.0,17.4
$24V_AH,20.4,52.694
$10V_AH,9.8,33.849
$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,18.600,92.800,282.400,80.025,0.000,29.514,35.841,203.145,2.250,0.000,37.920,2022.754,2953.179,513.889,2131.340,188.946,0.000,1317.969,0.000,1331.555,0.000,11.207,0.000
$DEVICE_MAMPS,199.665,65.025,1093.185,722.160,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,556.656,946.452,908.057,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,257992
$DATA_FILE_SIZE,53718,791
$CAP_FILE_SIZE,110617,0
$CFSIZE,260165632,235552768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.063,232.4,1
$GPS,211210,060931,-7636.495,17330.340,16,1.1,28,127.9