version: 66.08
glider: 502
mission: 3
dive: 285
start: 12 21 110 6 16 5
data:
$ID,502
$MISSION,3
$DIVE,285
$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,-30497.174
$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,31
$R_STBD_OVSHOOT,20
$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
$GPS1,211210,060931,-7636.495,17330.340,16,1.1,28,127.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-73.1
$GPS2,211210,061538,-7636.502,17330.229,14,1.3,14,127.9
$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,280.4,17627,-17.5,-10.000
$D_GRID,491
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,99,0.00,0.00,-82.35,0.000,2,0.000,0.000,415,2661,3224,0,0,0,0,0,0
$GC,102,-0.76,-146.0,3.1,-1.3,12,132,8.88,2.35,-10.70,0.000,4,0.199,0.063,2809,1233,3560,0,0,0,0,0,0
$GC,267,-0.76,-146.0,27.6,-14.9,40,275,0.00,2.35,0.00,0.000,6,0.000,0.057,2799,2651,3563,0,0,0,0,0,0
$GC,412,-0.76,-146.0,51.5,-17.2,65,418,0.00,1.80,0.00,0.000,4,0.000,0.062,2791,3769,3563,0,0,0,0,0,0
$GC,460,-0.76,-146.0,60.0,-17.8,73,467,0.00,1.77,0.00,0.000,6,0.000,0.044,2790,2635,3563,0,0,0,0,0,0
$GC,602,-0.76,-146.0,85.2,-17.1,98,611,0.00,2.22,0.00,0.000,4,0.000,0.050,2790,1245,3564,0,0,0,0,0,0
$GC,624,-0.76,-146.0,88.8,-17.1,101,632,0.12,2.33,0.00,0.000,6,0.164,0.058,2819,2666,3564,0,0,0,0,0,0
$GC,767,-0.76,-146.0,110.1,-15.0,120,770,0.00,1.75,0.00,0.000,4,0.000,0.062,2812,3764,3564,0,0,0,0,0,0
$GC,834,-0.76,-146.0,121.2,-16.0,126,838,0.00,1.70,0.00,0.000,6,0.000,0.042,2812,2667,3564,0,0,0,0,0,0
$GC,975,-0.76,-146.0,143.0,-15.8,139,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2665,3564,0,0,0,0,0,0
$GC,1102,-0.76,-146.0,161.9,-14.8,151,1106,0.00,1.77,0.00,0.000,4,0.000,0.063,2803,3766,3564,0,0,0,0,0,0
$GC,1161,-0.76,-146.0,171.7,-14.9,156,1170,0.00,1.73,0.00,0.000,6,0.000,0.043,2803,2681,3563,0,0,0,0,0,0
$GC,1297,-0.76,-146.0,192.1,-15.4,169,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2680,3564,0,0,0,0,0,0
$GC,1425,-0.76,-146.0,212.0,-15.8,181,1428,0.00,1.77,0.00,0.000,4,0.000,0.064,2798,3771,3564,0,0,0,0,0,0
$GC,1473,-0.76,-146.0,220.8,-17.3,185,1482,0.00,1.75,0.00,0.000,6,0.000,0.043,2797,2676,3564,0,0,0,0,0,0
$GC,1611,-0.76,-146.0,242.3,-16.2,198,1615,0.00,1.77,0.00,0.000,4,0.000,0.063,2789,3772,3564,0,0,0,0,0,0
$GC,1658,-0.76,-146.0,250.4,-17.2,202,1662,0.00,1.67,0.00,0.000,6,0.000,0.043,2789,2694,3564,0,0,0,0,0,0
$GC,1861,-0.76,-146.0,284.6,-16.2,221,1865,0.10,1.75,0.00,0.000,4,0.181,0.063,2807,3764,3564,0,0,0,0,0,0
$GC,1894,-0.76,-146.0,290.0,-16.2,224,1897,0.00,1.65,0.00,0.000,6,0.000,0.043,2807,2698,3564,0,0,0,0,0,0
$GC,2098,-0.76,-146.0,319.9,-15.0,243,2102,0.00,1.77,0.00,0.000,4,0.000,0.064,2799,3762,3564,0,0,0,0,0,0
$GC,2124,-0.76,-146.0,324.7,-15.6,245,2132,0.00,1.67,0.00,0.000,6,0.000,0.042,2799,2709,3564,0,0,0,0,0,0
$GC,2323,-0.76,-146.0,354.6,-14.6,264,2326,0.00,1.73,0.00,0.000,4,0.000,0.063,2791,3773,3564,0,0,0,0,0,0
$GC,2345,-0.76,-146.0,358.4,-15.6,266,2349,0.00,1.70,0.00,0.000,6,0.000,0.043,2791,2708,3564,0,0,0,0,0,0
$GC,2548,-0.76,-146.0,389.7,-15.4,285,2550,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2707,3564,0,0,0,0,0,0
$GC,2742,-0.76,-146.0,418.7,-15.2,303,2745,0.00,1.73,0.00,0.000,4,0.000,0.063,2783,3772,3564,0,0,0,0,0,0
$GC,2791,-0.76,-146.0,427.3,-15.5,307,2799,0.10,1.67,0.00,0.000,6,0.138,0.043,2816,2723,3564,0,0,0,0,0,0
$GC,2991,-0.76,-146.0,452.7,-12.5,326,2992,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2722,3564,0,0,0,0,0,0
$GC,3180,-0.76,-146.0,477.1,-12.5,344,3184,0.00,1.70,0.00,0.000,4,0.000,0.063,2810,3772,3564,0,0,0,0,0,0
$GC,3229,-0.76,-146.0,483.8,-14.0,348,3237,0.00,1.67,0.00,0.000,6,0.000,0.043,2810,2724,3564,0,0,0,0,0,0
$STATE,3288,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3288,begin apogee
$GC,3293,-0.17,0.0,491.5,13.1,354,3438,0.60,0.00,133.95,1.094,4,0.125,0.000,3005,2495,2959,0,0,0,0,0,0
$STATE,3439,end apogee,CONTROL_FINISHED_OK
$STATE,3439,begin climb
$GC,3440,0.76,146.0,496.1,0.0,367,3600,0.95,2.53,148.57,1.011,4,0.071,0.048,3309,1096,2363,0,0,0,0,0,0
$GC,3703,0.76,146.0,471.7,12.3,390,3707,0.00,2.47,0.00,0.000,6,0.000,0.052,3310,2503,2354,0,0,0,0,0,0
$GC,3901,0.76,146.0,446.2,12.6,408,3905,0.00,2.30,0.00,0.000,4,0.000,0.050,3319,1090,2351,0,0,0,0,0,0
$GC,4023,0.76,146.0,430.7,12.4,418,4031,0.00,2.38,0.00,0.000,6,0.000,0.054,3319,2515,2348,0,0,0,0,0,0
$GC,4223,0.76,146.0,404.8,12.7,437,4227,0.00,2.00,0.00,0.000,4,0.000,0.059,3319,3773,2348,0,0,0,0,0,0
$GC,4294,0.76,146.0,393.7,15.3,443,4302,0.00,2.00,0.00,0.000,6,0.000,0.042,3328,2522,2347,0,0,0,0,0,0
$GC,4493,0.76,146.0,366.8,13.9,462,4496,0.00,2.03,0.00,0.000,4,0.000,0.060,3328,3777,2346,0,0,0,0,0,0
$GC,4519,0.76,146.0,362.3,15.9,464,4527,0.00,2.00,0.00,0.000,6,0.000,0.041,3337,2521,2346,0,0,0,0,0,0
$GC,4718,0.76,146.0,334.9,13.7,483,4719,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2520,2346,0,0,0,0,0,0
$GC,4911,0.76,146.0,308.3,14.1,501,4914,0.00,2.03,0.00,0.000,4,0.000,0.060,3338,3778,2346,0,0,0,0,0,0
$GC,4967,0.76,146.0,299.2,16.3,506,4971,0.12,1.95,0.00,0.000,6,0.169,0.042,3314,2526,2346,0,0,0,0,0,0
$GC,5165,0.76,146.0,273.9,12.1,524,5168,0.00,2.03,0.00,0.000,4,0.000,0.061,3315,3777,2345,0,0,0,0,0,0
$GC,5199,0.76,146.0,269.4,13.9,527,5203,0.00,1.95,0.00,0.000,6,0.000,0.042,3323,2522,2345,0,0,0,0,0,0
$GC,5405,0.76,146.0,243.3,12.8,546,5408,0.00,2.03,0.00,0.000,4,0.000,0.062,3323,3772,2345,0,0,0,0,0,0
$GC,5431,0.76,146.0,239.0,14.2,548,5440,0.00,1.98,0.00,0.000,6,0.000,0.043,3332,2539,2345,0,0,0,0,0,0
$GC,5567,0.76,146.0,221.1,13.4,561,5568,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2538,2344,0,0,0,0,0,0
$GC,5694,0.76,146.0,204.3,13.1,573,5698,0.00,2.00,0.00,0.000,4,0.000,0.060,3332,3777,2344,0,0,0,0,0,0
$GC,5741,0.76,146.0,197.7,14.9,577,5745,0.00,1.92,0.00,0.000,6,0.000,0.042,3342,2546,2344,0,0,0,0,0,0
$GC,5881,0.76,146.0,178.9,13.2,590,5886,0.12,2.00,0.00,0.000,4,0.166,0.061,3308,3774,2344,0,0,0,0,0,0
$GC,5913,0.76,146.0,174.4,13.1,592,5921,0.00,1.95,0.00,0.000,6,0.000,0.043,3316,2556,2344,0,0,0,0,0,0
$GC,6049,0.76,146.0,159.2,10.7,605,6050,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2555,2344,0,0,0,0,0,0
$GC,6175,0.76,146.0,145.3,11.3,617,6179,0.00,1.98,0.00,0.000,4,0.000,0.061,3317,3774,2344,0,0,0,0,0,0
$GC,6224,0.76,146.0,138.6,13.3,621,6233,0.00,1.95,0.00,0.000,6,0.000,0.042,3326,2553,2344,0,0,0,0,0,0
$GC,6362,0.76,146.0,122.3,12.1,634,6366,0.00,1.98,0.00,0.000,4,0.000,0.061,3326,3773,2344,0,0,0,0,0,0
$GC,6420,0.76,146.0,114.6,13.6,639,6424,0.00,1.88,0.00,0.000,6,0.000,0.043,3335,2568,2344,0,0,0,0,0,0
$GC,6556,0.76,146.0,97.4,12.3,653,6562,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2566,2344,0,0,0,0,0,0
$GC,6697,0.76,146.0,79.8,12.6,678,6705,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2566,2343,0,0,0,0,0,0
$GC,6841,0.76,146.0,62.1,12.2,703,6848,0.00,1.98,0.00,0.000,4,0.000,0.061,3335,3777,2343,0,0,0,0,0,0
$GC,6877,0.76,146.0,57.0,14.1,709,6885,0.12,1.90,0.00,0.000,6,0.166,0.043,3311,2566,2343,0,0,0,0,0,0
$GC,7023,0.76,146.0,40.8,10.8,734,7031,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2565,2343,0,0,0,0,0,0
$GC,7167,0.76,146.0,25.1,10.9,759,7174,0.00,1.98,0.00,0.000,4,0.000,0.061,3311,3777,2343,0,0,0,0,0,0
$GC,7204,0.76,146.0,20.7,12.1,765,7212,0.00,1.92,0.00,0.000,6,0.000,0.043,3319,2569,2343,0,0,0,0,0,0
$FREEZE,8.50,-0.691,-1.895,2,1,0
$FREEZE,7.81,-0.695,-1.895,2,1,0
$FREEZE,7.15,-0.656,-1.895,2,1,0
$FREEZE,6.37,-0.591,-1.894,2,1,0
$FREEZE,5.70,-0.418,-1.891,2,1,0
$FREEZE,4.89,-0.378,-1.891,2,1,0
$FREEZE,4.34,-0.348,-1.891,2,1,0
$FREEZE,3.51,-0.354,-1.891,2,1,0
$GC,7351,0.76,146.0,3.5,12.0,790,7360,0.00,1.98,0.00,0.000,4,0.000,0.061,3318,3762,2342,0,0,0,0,0,0
$FREEZE,1.32,-0.341,-1.891,2,1,0
$STATE,7366,end climb,SURFACE_DEPTH_REACHED
$STATE,7366,begin surface coast
$FREEZE,1.30,-0.478,-0.982,2,1,0
$FINISH,1.3,1.014502
$STATE,7374,end surface coast,CONTROL_FINISHED_OK
$STATE,7374,begin surface
$SM_CCo,7391,79.90,0.726,1,0,1736,300.24
$SM_GC,2.35,0.00,0.00,79.90,0.000,0.000,0.726,423,2645,1736,-8.25,-0.14,300.24
$IRIDIUM_FIX,-7554.21,17330.39,211210,030332
$TT8_MAMPS,0.027713
$HUMID,52.71
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,17.9
$24V_AH,20.4,52.809
$10V_AH,9.8,33.941
$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,18.625,100.975,282.525,79.900,0.000,24.310,39.652,193.497,2.000,0.000,14.843,2034.482,3005.490,519.170,2102.106,188.326,0.000,1327.129,0.000,1330.105,0.000,11.204,0.000
$DEVICE_MAMPS,198.900,64.260,1093.950,725.985,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,557.964,948.436,911.524,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258020
$DATA_FILE_SIZE,53790,793
$CAP_FILE_SIZE,113466,0
$CFSIZE,260165632,235487232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.079,218.0,1
$GPS,211210,082158,-7636.114,17332.533,20,3.0,40,127.8