version: 66.08
glider: 502
mission: 3
dive: 607
start: 1 12 111 10 43 11
data:
$ID,502
$MISSION,3
$DIVE,607
$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,275
$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,-8
$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,250
$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,-30906.586
$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,27
$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
$GPS1,120111,103307,-7629.874,17408.115,37,0.8,38,126.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-56.9
$GPS2,120111,104243,-7629.843,17408.021,11,1.1,16,126.5
$SPEED_LIMITS,0.157,0.251
$TGT_NAME,POLYNYA1
$TGT_LATLONG,-7630.000,17000.000
$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,162.5,107230,-16.0,-9.091
$D_GRID,435
$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,16,-0.71,-146.0,0.0,0.0,0,155,0.00,0.00,-136.50,0.000,2,0.000,0.000,365,2649,3158,0,0,0,0,0,0
$GC,159,-0.71,-146.0,3.1,-2.0,19,189,10.12,2.45,-12.25,0.000,4,0.198,0.058,2824,1237,3559,0,0,0,0,0,0
$GC,357,-0.71,-146.0,33.1,-13.6,54,365,0.00,2.47,0.00,0.000,6,0.000,0.054,2817,2649,3563,0,0,0,0,0,0
$GC,497,-0.71,-146.0,53.6,-14.3,79,504,0.00,1.88,0.00,0.000,4,0.000,0.057,2808,3773,3563,0,0,0,0,0,0
$GC,577,-0.71,-146.0,66.3,-15.8,93,584,0.00,1.80,0.00,0.000,6,0.000,0.040,2809,2650,3563,0,0,0,0,0,0
$GC,715,-0.71,-146.0,87.8,-15.4,118,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2649,3563,0,0,0,0,0,0
$GC,854,-0.71,-146.0,108.7,-15.1,138,858,0.00,1.85,0.00,0.000,4,0.000,0.059,2801,3765,3564,0,0,0,0,0,0
$GC,890,-0.71,-146.0,114.5,-16.9,141,894,0.12,1.73,0.00,0.000,6,0.157,0.039,2834,2669,3564,0,0,0,0,0,0
$GC,1033,-0.71,-146.0,133.2,-12.6,154,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2665,3564,0,0,0,0,0,0
$GC,1168,-0.71,-146.0,151.6,-14.2,167,1172,0.00,1.83,0.00,0.000,4,0.000,0.058,2827,3768,3564,0,0,0,0,0,0
$GC,1228,-0.71,-146.0,161.1,-15.5,172,1236,0.00,1.77,0.00,0.000,6,0.000,0.039,2827,2671,3564,0,0,0,0,0,0
$GC,1364,-0.71,-146.0,180.8,-14.2,185,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2671,3563,0,0,0,0,0,0
$GC,1491,-0.71,-146.0,199.2,-14.4,197,1494,0.00,1.83,0.00,0.000,4,0.000,0.058,2818,3771,3564,0,0,0,0,0,0
$GC,1529,-0.71,-146.0,205.4,-16.0,200,1537,0.00,1.77,0.00,0.000,6,0.000,0.039,2818,2677,3563,0,0,0,0,0,0
$GC,1665,-0.71,-146.0,225.5,-15.2,213,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2676,3564,0,0,0,0,0,0
$GC,1792,-0.71,-146.0,244.1,-14.6,225,1795,0.00,1.83,0.00,0.000,4,0.000,0.060,2809,3770,3564,0,0,0,0,0,0
$GC,1849,-0.71,-146.0,253.0,-15.0,230,1852,0.00,1.73,0.00,0.000,6,0.000,0.039,2809,2679,3563,0,0,0,0,0,0
$GC,2052,-0.71,-146.0,283.0,-14.6,249,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2677,3563,0,0,0,0,0,0
$GC,2244,-0.71,-146.0,309.7,-13.7,267,2248,0.00,1.83,0.00,0.000,4,0.000,0.060,2801,3770,3563,0,0,0,0,0,0
$GC,2294,-0.71,-146.0,317.5,-15.1,271,2302,0.08,1.75,0.00,0.000,6,0.137,0.039,2826,2690,3563,0,0,0,0,0,0
$GC,2495,-0.71,-146.0,342.0,-12.2,290,2498,0.00,1.80,0.00,0.000,4,0.000,0.059,2819,3771,3563,0,0,0,0,0,0
$GC,2522,-0.71,-146.0,346.2,-13.4,292,2529,0.00,1.73,0.00,0.000,6,0.000,0.040,2819,2709,3563,0,0,0,0,0,0
$GC,2721,-0.71,-146.0,372.4,-13.2,311,2722,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2708,3563,0,0,0,0,0,0
$GC,2912,-0.71,-146.0,397.7,-13.1,329,2916,0.00,1.80,0.00,0.000,4,0.000,0.060,2811,3762,3563,0,0,0,0,0,0
$GC,2947,-0.71,-146.0,402.6,-14.6,332,2950,0.00,1.67,0.00,0.000,6,0.000,0.039,2811,2700,3562,0,0,0,0,0,0
$GC,3150,-0.71,-146.0,431.0,-14.1,351,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2698,3562,0,0,0,0,0,0
$STATE,3180,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3180,begin apogee
$GC,3187,-0.27,0.0,435.5,14.0,354,3326,0.50,0.00,132.30,1.086,4,0.122,0.000,2970,2487,2962,0,0,0,0,0,0
$STATE,3327,end apogee,CONTROL_FINISHED_OK
$STATE,3327,begin climb
$GC,3329,0.71,146.0,443.4,0.0,366,3496,1.08,2.58,151.80,1.000,4,0.078,0.047,3293,1108,2364,0,0,0,0,1,0
$GC,3595,0.71,146.0,424.9,10.1,390,3600,0.00,2.58,0.00,0.000,6,0.000,0.049,3293,2502,2354,0,0,0,0,0,0
$GC,3794,0.71,146.0,403.4,11.0,408,3798,0.00,2.47,0.00,0.000,4,0.000,0.047,3302,1101,2349,0,0,0,0,0,0
$GC,3924,0.71,146.0,389.2,10.7,419,3928,0.00,2.50,0.00,0.000,6,0.000,0.050,3302,2520,2348,0,0,0,0,0,0
$GC,4122,0.71,146.0,366.3,11.6,437,4126,0.00,2.12,0.00,0.000,4,0.000,0.054,3303,3768,2347,0,0,0,0,0,0
$GC,4222,0.71,146.0,352.5,13.3,445,4230,0.00,2.03,0.00,0.000,6,0.000,0.037,3312,2524,2346,0,0,0,0,0,0
$GC,4423,0.71,146.0,328.1,12.2,464,4427,0.00,2.08,0.00,0.000,4,0.000,0.056,3312,3766,2345,0,0,0,0,0,0
$GC,4474,0.71,146.0,320.7,14.4,468,4478,0.00,1.95,0.00,0.000,6,0.000,0.037,3321,2545,2344,0,0,0,0,0,0
$GC,4678,0.71,146.0,295.0,12.5,487,4681,0.00,2.03,0.00,0.000,4,0.000,0.056,3321,3767,2344,0,0,0,0,0,0
$GC,4727,0.71,146.0,287.9,14.4,491,4735,0.12,1.92,0.00,0.000,6,0.158,0.037,3299,2550,2344,0,0,0,0,0,0
$GC,4927,0.71,146.0,266.1,10.6,510,4928,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2548,2344,0,0,0,0,0,0
$GC,5118,0.71,146.0,245.3,11.0,528,5121,0.00,2.03,0.00,0.000,4,0.000,0.056,3298,3775,2343,0,0,0,0,0,0
$GC,5221,0.71,146.0,231.2,13.4,537,5230,0.00,1.98,0.00,0.000,6,0.000,0.038,3306,2554,2343,0,0,0,0,0,0
$GC,5358,0.71,146.0,215.5,11.9,550,5359,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,2553,2343,0,0,0,0,0,0
$GC,5485,0.71,146.0,200.9,11.4,562,5489,0.00,2.00,0.00,0.000,4,0.000,0.056,3306,3767,2342,0,0,0,0,0,0
$GC,5531,0.71,146.0,195.1,13.4,566,5535,0.00,1.90,0.00,0.000,6,0.000,0.038,3315,2563,2342,0,0,0,0,0,0
$GC,5674,0.71,146.0,178.3,11.4,579,5681,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2562,2342,0,0,0,0,0,0
$GC,5810,0.71,146.0,163.0,11.3,592,5814,0.00,2.00,0.00,0.000,4,0.000,0.056,3316,3774,2342,0,0,0,0,0,0
$GC,5879,0.71,146.0,154.3,12.8,598,5883,0.00,1.90,0.00,0.000,6,0.000,0.038,3323,2570,2342,0,0,0,0,0,0
$GC,6022,0.71,146.0,137.6,11.7,611,6029,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2568,2341,0,0,0,0,0,0
$GC,6158,0.71,146.0,121.3,12.0,624,6159,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2568,2341,0,0,0,0,0,0
$GC,6284,0.71,146.0,105.5,12.1,636,6288,0.00,2.00,0.00,0.000,4,0.000,0.057,3324,3775,2341,0,0,0,0,0,0
$GC,6347,0.71,146.0,97.0,14.4,643,6354,0.15,1.90,0.00,0.000,6,0.150,0.037,3293,2576,2341,0,0,0,0,0,0
$GC,6485,0.71,146.0,82.0,9.8,668,6493,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2575,2340,0,0,0,0,0,0
$GC,6623,0.71,146.0,67.8,10.6,693,6631,0.00,2.00,0.00,0.000,4,0.000,0.057,3293,3774,2340,0,0,0,0,0,0
$GC,6665,0.71,146.0,63.1,11.5,700,6674,0.00,1.92,0.00,0.000,6,0.000,0.038,3301,2587,2340,0,0,0,0,0,0
$GC,6807,0.71,146.0,48.5,9.7,725,6814,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2585,2340,0,0,0,0,0,0
$GC,6947,0.72,150.8,35.3,8.9,750,6955,0.00,2.00,0.00,0.000,4,0.000,0.057,3301,3763,2340,0,0,0,0,0,0
$GC,7037,0.72,150.8,24.7,12.4,766,7046,0.00,1.88,0.00,0.000,6,0.000,0.037,3309,2598,2339,0,0,0,0,0,0
$FREEZE,8.54,0.060,-1.895,2,1,0
$FREEZE,7.96,0.058,-1.895,2,1,0
$GC,7181,0.72,150.8,8.0,12.3,791,7188,0.00,1.95,0.00,0.000,4,0.000,0.057,3309,3767,2339,0,0,0,0,0,0
$FREEZE,5.71,0.057,-1.893,2,1,0
$FREEZE,5.11,0.050,-1.893,2,1,0
$FREEZE,4.64,0.051,-1.892,2,1,0
$FREEZE,3.94,0.049,-1.892,2,1,0
$FREEZE,3.22,0.059,-1.891,2,1,0
$GC,7221,0.72,150.8,3.2,10.7,797,7229,0.00,1.83,0.00,0.000,6,0.000,0.036,3318,2607,2338,0,0,0,0,0,0
$FREEZE,1.34,0.061,-1.890,2,1,0
$STATE,7236,end climb,SURFACE_DEPTH_REACHED
$STATE,7236,begin surface coast
$FREEZE,1.25,0.053,-1.890,2,1,0
$FREEZE,1.16,-0.070,-0.981,2,1,0
$FREEZE,1.30,-0.260,-1.129,2,1,0
$FREEZE,1.32,0.013,-1.892,2,1,0
$FREEZE,1.34,0.032,-1.889,2,1,0
$FINISH,1.3,1.027627
$STATE,7266,end surface coast,CONTROL_FINISHED_OK
$STATE,7266,begin surface
$SM_CCo,7284,52.60,0.722,1,0,1940,250.20
$SM_GC,2.24,0.00,0.00,52.60,0.000,0.000,0.722,408,2673,1940,-8.29,0.65,250.20
$IRIDIUM_FIX,-7545.40,17410.05,120111,080843
$TT8_MAMPS,0.027713
$HUMID,54.96
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,18.4
$24V_AH,20.6,86.624
$10V_AH,9.7,60.189
$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,19.875,83.425,284.100,52.600,0.000,27.328,37.586,329.823,1.750,0.000,17.271,2035.149,2764.326,511.589,2283.912,328.664,0.000,1328.481,0.000,1337.240,0.000,9.494,0.000
$DEVICE_MAMPS,198.135,107.865,1086.300,722.160,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,564.531,998.886,1011.096,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258148
$DATA_FILE_SIZE,57118,804
$CAP_FILE_SIZE,111764,0
$CFSIZE,260165632,219586560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.093,157.3,1
$GPS,120111,124626,-7629.894,17404.779,13,1.7,14,126.6