version: 66.08
glider: 502
mission: 3
dive: 289
start: 12 21 110 15 3 46
data:
$ID,502
$MISSION,3
$DIVE,289
$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,-30502.203
$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,33
$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
$GPS1,211210,145725,-7634.871,17339.891,47,1.3,48,127.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-72.9
$GPS2,211210,150320,-7634.885,17339.916,14,1.5,14,127.5
$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,259.3,12540,-17.5,-10.000
$D_GRID,478
$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,-146.0,0.0,0.0,0,80,0.00,0.00,-62.33,0.000,2,0.000,0.000,411,2658,2821,0,0,0,0,0,0
$GC,83,-0.76,-146.0,3.0,-2.8,9,135,9.07,2.30,-34.72,0.000,4,0.202,0.060,2811,1237,3558,0,0,0,0,0,0
$GC,224,-0.76,-146.0,16.8,-14.8,32,232,0.00,2.35,0.00,0.000,6,0.000,0.057,2803,2648,3561,0,0,0,0,0,0
$GC,362,-0.76,-146.0,39.5,-17.1,57,369,0.00,1.80,0.00,0.000,4,0.000,0.062,2794,3764,3561,0,0,0,0,0,0
$GC,424,-0.76,-146.0,50.8,-17.7,68,433,0.00,1.77,0.00,0.000,6,0.000,0.042,2794,2653,3561,0,0,0,0,0,0
$GC,566,-0.76,-146.0,75.0,-17.5,93,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2652,3561,0,0,0,0,0,0
$GC,701,-0.76,-146.0,97.6,-16.2,118,709,0.00,1.85,0.00,0.000,4,0.000,0.063,2786,3761,3562,0,0,0,0,0,0
$GC,740,-0.76,-146.0,104.4,-17.3,123,750,0.08,1.73,0.00,0.000,6,0.147,0.042,2810,2674,3562,0,0,0,0,0,0
$GC,876,-0.76,-146.0,124.2,-14.8,136,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2674,3562,0,0,0,0,0,0
$GC,1002,-0.76,-146.0,142.6,-14.5,148,1006,0.00,1.77,0.00,0.000,4,0.000,0.063,2804,3767,3562,0,0,0,0,0,0
$GC,1039,-0.76,-146.0,148.8,-15.8,151,1049,0.00,1.73,0.00,0.000,6,0.000,0.044,2803,2686,3562,0,0,0,0,0,0
$GC,1175,-0.76,-146.0,169.0,-14.8,164,1176,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2686,3562,0,0,0,0,0,0
$GC,1302,-0.76,-146.0,188.2,-15.2,176,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2686,3562,0,0,0,0,0,0
$GC,1429,-0.76,-146.0,207.4,-15.1,188,1433,0.00,1.75,0.00,0.000,4,0.000,0.063,2796,3765,3562,0,0,0,0,0,0
$GC,1464,-0.76,-146.0,213.3,-16.8,191,1468,0.00,1.67,0.00,0.000,6,0.000,0.043,2796,2685,3562,0,0,0,0,0,0
$GC,1607,-0.76,-146.0,235.0,-15.0,204,1614,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2684,3562,0,0,0,0,0,0
$GC,1741,-0.76,-146.0,256.1,-15.6,217,1744,0.00,1.75,0.00,0.000,4,0.000,0.063,2788,3764,3562,0,0,0,0,0,0
$GC,1767,-0.76,-146.0,260.8,-16.5,219,1776,0.00,1.70,0.00,0.000,6,0.000,0.041,2788,2694,3562,0,0,0,0,0,0
$GC,1966,-0.76,-146.0,292.2,-15.8,238,1968,0.10,0.00,0.00,0.000,6,0.180,0.000,2813,2693,3562,0,0,0,0,0,0
$GC,2157,-0.76,-146.0,318.7,-13.5,256,2161,0.00,1.75,0.00,0.000,4,0.000,0.063,2807,3773,3562,0,0,0,0,0,0
$GC,2191,-0.76,-146.0,323.7,-15.0,259,2195,0.00,1.67,0.00,0.000,6,0.000,0.044,2807,2694,3562,0,0,0,0,0,0
$GC,2394,-0.76,-146.0,352.5,-14.0,278,2395,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2693,3562,0,0,0,0,0,0
$GC,2586,-0.76,-146.0,379.4,-14.2,296,2590,0.00,1.75,0.00,0.000,4,0.000,0.063,2798,3773,3562,0,0,0,0,0,0
$GC,2613,-0.76,-146.0,383.7,-14.8,298,2621,0.00,1.70,0.00,0.000,6,0.000,0.043,2798,2700,3562,0,0,0,0,0,0
$GC,2813,-0.76,-146.0,412.0,-14.2,317,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2699,3562,0,0,0,0,0,0
$GC,3002,-0.76,-146.0,439.5,-14.1,335,3005,0.00,1.73,0.00,0.000,4,0.000,0.064,2790,3763,3562,0,0,0,0,0,0
$GC,3039,-0.76,-146.0,445.5,-15.9,338,3047,0.00,1.67,0.00,0.000,6,0.000,0.043,2790,2708,3561,0,0,0,0,0,0
$GC,3240,-0.76,-146.0,474.6,-14.5,357,3241,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2707,3562,0,0,0,0,0,0
$STATE,3268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3268,begin apogee
$GC,3273,-0.17,0.0,479.0,14.3,360,3417,0.68,0.00,133.32,1.093,4,0.131,0.000,3006,2494,2960,0,0,0,0,0,0
$STATE,3418,end apogee,CONTROL_FINISHED_OK
$STATE,3418,begin climb
$GC,3420,0.76,146.0,484.4,0.0,373,3578,0.95,2.53,148.27,1.012,4,0.070,0.049,3310,1097,2364,0,0,0,0,0,0
$GC,3695,0.76,146.0,459.7,11.8,397,3703,0.00,2.50,0.00,0.000,6,0.000,0.051,3310,2500,2354,0,0,0,0,0,0
$GC,3895,0.76,146.0,435.2,12.4,416,3899,0.00,2.28,0.00,0.000,4,0.000,0.050,3319,1093,2351,0,0,0,0,0,0
$GC,4029,0.76,146.0,418.3,12.0,427,4038,0.00,2.30,0.00,0.000,6,0.000,0.053,3319,2513,2348,0,0,0,0,0,0
$GC,4228,0.76,146.0,392.6,13.2,446,4232,0.00,2.00,0.00,0.000,4,0.000,0.060,3319,3764,2348,0,0,0,0,0,0
$GC,4319,0.76,146.0,378.8,15.1,454,4323,0.00,1.92,0.00,0.000,6,0.000,0.042,3328,2530,2347,0,0,0,0,0,0
$GC,4524,0.76,146.0,351.5,12.8,473,4527,0.00,2.00,0.00,0.000,4,0.000,0.060,3328,3772,2346,0,0,0,0,0,0
$GC,4550,0.76,146.0,347.2,14.8,475,4560,0.00,2.00,0.00,0.000,6,0.000,0.042,3337,2516,2346,0,0,0,0,0,0
$GC,4749,0.76,146.0,320.2,13.8,494,4752,0.00,2.03,0.00,0.000,4,0.000,0.060,3337,3772,2346,0,0,0,0,0,0
$GC,4764,0.76,146.0,317.7,13.9,495,4773,0.10,1.98,0.00,0.000,6,0.145,0.043,3314,2540,2346,0,0,0,0,0,0
$GC,4963,0.76,146.0,293.5,11.8,514,4966,0.00,1.98,0.00,0.000,4,0.000,0.061,3314,3763,2346,0,0,0,0,0,0
$GC,5008,0.76,146.0,287.3,13.9,518,5012,0.00,1.95,0.00,0.000,6,0.000,0.043,3322,2543,2346,0,0,0,0,0,0
$GC,5211,0.76,146.0,261.3,12.3,537,5214,0.00,2.00,0.00,0.000,4,0.000,0.061,3322,3773,2346,0,0,0,0,0,0
$GC,5245,0.76,146.0,256.5,15.0,540,5249,0.00,1.90,0.00,0.000,6,0.000,0.044,3331,2555,2345,0,0,0,0,0,0
$GC,5450,0.76,146.0,228.7,13.5,559,5453,0.00,1.95,0.00,0.000,4,0.000,0.060,3331,3763,2345,0,0,0,0,0,0
$GC,5476,0.76,146.0,224.3,15.1,561,5485,0.08,1.90,0.00,0.000,6,0.144,0.042,3316,2567,2345,0,0,0,0,0,0
$GC,5613,0.76,146.0,207.7,12.0,574,5621,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2565,2344,0,0,0,0,0,0
$GC,5748,0.76,146.0,191.4,11.8,587,5752,0.00,1.95,0.00,0.000,4,0.000,0.061,3316,3768,2345,0,0,0,0,0,0
$GC,5785,0.76,146.0,186.2,13.5,590,5794,0.00,1.90,0.00,0.000,6,0.000,0.043,3323,2570,2344,0,0,0,0,0,0
$GC,5922,0.76,146.0,170.0,12.0,603,5923,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2569,2344,0,0,0,0,0,0
$GC,6049,0.76,146.0,154.4,12.7,615,6052,0.00,1.92,0.00,0.000,4,0.000,0.061,3323,3763,2344,0,0,0,0,0,0
$GC,6086,0.76,146.0,148.8,14.8,618,6095,0.00,1.90,0.00,0.000,6,0.000,0.042,3332,2567,2344,0,0,0,0,0,0
$GC,6224,0.76,146.0,130.8,13.4,631,6232,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2565,2344,0,0,0,0,0,0
$GC,6359,0.76,146.0,112.4,13.1,644,6363,0.00,1.95,0.00,0.000,4,0.000,0.060,3332,3767,2344,0,0,0,0,0,0
$GC,6406,0.76,146.0,105.0,15.9,648,6416,0.08,1.90,0.00,0.000,6,0.142,0.042,3316,2572,2344,0,0,0,0,0,0
$GC,6544,0.76,146.0,89.8,10.5,669,6551,0.00,2.35,0.00,0.000,4,0.000,0.050,3326,1082,2343,0,0,0,0,0,0
$GC,6563,0.76,146.0,87.5,10.5,672,6572,0.00,2.45,0.00,0.000,6,0.000,0.054,3326,2576,2343,0,0,0,0,0,0
$GC,6702,0.76,146.0,71.0,11.7,697,6709,0.00,1.90,0.00,0.000,4,0.000,0.061,3325,3763,2343,0,0,0,0,0,0
$GC,6775,0.76,146.0,60.7,13.8,710,6783,0.00,1.88,0.00,0.000,6,0.000,0.042,3335,2585,2343,0,0,0,0,0,0
$GC,6916,0.76,146.0,42.3,13.7,735,6923,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2585,2343,0,0,0,0,0,0
$GC,7052,0.76,146.0,23.8,14.1,760,7061,0.00,1.95,0.00,0.000,4,0.000,0.062,3335,3760,2343,0,0,0,0,0,0
$GC,7129,0.76,146.0,12.3,15.4,773,7136,0.12,1.83,0.00,0.000,6,0.163,0.043,3310,2598,2343,0,0,0,0,0,0
$FREEZE,8.71,-0.560,-1.895,2,1,0
$FREEZE,8.00,-0.538,-1.894,2,1,0
$FREEZE,7.53,-0.542,-1.895,2,1,0
$FREEZE,6.76,-0.555,-1.895,2,1,0
$FREEZE,6.04,-0.539,-1.894,2,1,0
$FREEZE,5.27,-0.518,-1.894,2,1,0
$FREEZE,4.70,-0.501,-1.893,2,1,0
$FREEZE,3.92,-0.498,-1.893,2,1,0
$FREEZE,3.35,-0.497,-1.893,2,1,0
$FREEZE,2.62,-0.488,-1.892,2,1,0
$STATE,7205,end climb,SURFACE_DEPTH_REACHED
$STATE,7206,begin surface coast
$FREEZE,1.81,-0.484,-1.892,2,1,0
$FREEZE,1.37,-0.481,-1.891,2,1,0
$FREEZE,1.49,-0.485,-1.892,2,1,0
$FREEZE,1.36,-0.486,-0.408,2,1,0
$FINISH,1.4,1.005898
$STATE,7232,end surface coast,FINISH_DEPTH_REACHED
$STATE,7232,begin surface
$SM_CCo,7247,80.35,0.731,1,0,1736,300.24
$SM_GC,2.25,0.00,0.00,80.35,0.000,0.000,0.731,417,2666,1736,-8.27,0.45,300.24
$IRIDIUM_FIX,-7545.40,17339.59,211210,121210
$TT8_MAMPS,0.028462
$HUMID,52.59
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,18.3
$24V_AH,20.4,53.261
$10V_AH,9.8,34.308
$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,18.725,89.925,281.600,80.350,0.000,29.585,36.595,183.056,2.250,0.000,15.158,2009.429,2898.156,531.205,2071.313,182.644,0.000,1328.067,0.000,1296.895,0.000,11.212,0.000
$DEVICE_MAMPS,201.960,107.865,1093.185,730.575,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,555.281,952.452,925.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,257980
$DATA_FILE_SIZE,53738,790
$CAP_FILE_SIZE,110141,0
$CFSIZE,260165632,235233280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.053,132.8,1
$GPS,211210,170656,-7634.168,17342.459,20,1.6,21,127.4