version: 66.08
glider: 502
mission: 3
dive: 609
start: 1 12 111 15 35 59
data:
$ID,502
$MISSION,3
$DIVE,609
$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,-30909.105
$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,34
$R_STBD_OVSHOOT,21
$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
$GPS1,120111,151401,-7629.904,17401.213,48,1.2,49,126.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-55.7
$GPS2,120111,153532,-7629.859,17401.336,10,1.4,10,126.7
$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,161.1,104340,-16.0,-9.091
$D_GRID,467
$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,13,begin dive
$GC,15,-0.71,-146.0,0.0,0.0,0,154,0.00,0.00,-135.50,0.000,2,0.000,0.000,331,2618,3130,0,0,0,0,0,0
$GC,159,-0.71,-146.0,3.3,-2.5,20,189,9.82,2.35,-12.18,0.000,4,0.195,0.059,2826,1236,3558,0,0,0,0,0,0
$GC,355,-0.71,-146.0,32.3,-13.7,53,363,0.00,2.42,0.00,0.000,6,0.000,0.054,2816,2657,3562,0,0,0,0,0,0
$GC,498,-0.71,-146.0,54.8,-14.9,78,507,0.00,1.88,0.00,0.000,4,0.000,0.057,2807,3764,3562,0,0,0,0,0,0
$GC,548,-0.71,-146.0,62.8,-15.7,86,557,0.00,1.83,0.00,0.000,6,0.000,0.038,2808,2643,3562,0,0,0,0,0,0
$GC,693,-0.71,-146.0,84.6,-14.9,111,699,0.00,1.88,0.00,0.000,4,0.000,0.057,2799,3763,3562,0,0,0,0,0,0
$GC,720,-0.71,-146.0,89.2,-16.0,115,727,0.12,1.77,0.00,0.000,6,0.157,0.038,2832,2646,3562,0,0,0,0,0,0
$GC,862,-0.71,-146.0,109.4,-14.0,134,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2645,3562,0,0,0,0,0,0
$GC,999,-0.71,-146.0,128.8,-13.9,147,1002,0.00,1.85,0.00,0.000,4,0.000,0.058,2825,3763,3563,0,0,0,0,0,0
$GC,1034,-0.71,-146.0,134.1,-14.8,150,1038,0.00,1.73,0.00,0.000,6,0.000,0.038,2825,2667,3562,0,0,0,0,0,0
$GC,1175,-0.71,-146.0,154.7,-14.2,163,1176,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2664,3562,0,0,0,0,0,0
$GC,1302,-0.71,-146.0,172.7,-14.0,175,1306,0.00,1.83,0.00,0.000,4,0.000,0.058,2816,3764,3563,0,0,0,0,0,0
$GC,1340,-0.71,-146.0,178.8,-15.8,178,1349,0.00,1.77,0.00,0.000,6,0.000,0.038,2816,2668,3562,0,0,0,0,0,0
$GC,1476,-0.71,-146.0,197.8,-14.4,191,1483,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2667,3562,0,0,0,0,0,0
$GC,1612,-0.71,-146.0,217.1,-14.1,204,1615,0.00,1.83,0.00,0.000,4,0.000,0.058,2808,3769,3562,0,0,0,0,0,0
$GC,1648,-0.71,-146.0,222.3,-15.6,207,1652,0.00,1.73,0.00,0.000,6,0.000,0.039,2807,2676,3562,0,0,0,0,0,0
$GC,1789,-0.71,-146.0,243.0,-14.6,220,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2673,3563,0,0,0,0,0,0
$GC,1914,-0.71,-146.0,261.3,-14.0,232,1918,0.00,1.83,0.00,0.000,4,0.000,0.059,2799,3770,3562,0,0,0,0,0,0
$GC,1952,-0.71,-146.0,267.3,-15.5,235,1960,0.12,1.73,0.00,0.000,6,0.154,0.039,2833,2675,3562,0,0,0,0,0,0
$GC,2152,-0.71,-146.0,292.2,-12.5,254,2156,0.00,1.83,0.00,0.000,4,0.000,0.059,2826,3770,3562,0,0,0,0,0,0
$GC,2190,-0.71,-146.0,297.8,-13.3,257,2197,0.00,1.75,0.00,0.000,6,0.000,0.039,2826,2688,3562,0,0,0,0,0,0
$GC,2389,-0.71,-146.0,322.9,-12.5,276,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2688,3562,0,0,0,0,0,0
$GC,2581,-0.71,-146.0,347.3,-12.7,294,2583,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2688,3562,0,0,0,0,0,0
$GC,2771,-0.71,-146.0,371.2,-12.5,312,2775,0.00,1.80,0.00,0.000,4,0.000,0.059,2817,3770,3562,0,0,0,0,0,0
$GC,2809,-0.71,-146.0,376.7,-14.1,315,2816,0.00,1.75,0.00,0.000,6,0.000,0.039,2817,2690,3562,0,0,0,0,0,0
$GC,3007,-0.71,-146.0,403.0,-13.3,334,3008,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2690,3562,0,0,0,0,0,0
$GC,3199,-0.71,-146.0,427.9,-12.9,352,3202,0.00,1.80,0.00,0.000,4,0.000,0.059,2809,3771,3562,0,0,0,0,0,0
$GC,3244,-0.71,-146.0,434.4,-14.7,356,3248,0.00,1.70,0.00,0.000,6,0.000,0.040,2809,2694,3561,0,0,0,0,0,0
$GC,3449,-0.71,-146.0,462.4,-13.7,375,3452,0.00,1.77,0.00,0.000,4,0.000,0.059,2801,3761,3561,0,0,0,0,0,0
$GC,3472,-0.71,-146.0,465.9,-13.9,377,3477,0.12,1.67,0.00,0.000,6,0.155,0.040,2834,2700,3561,0,0,0,0,0,0
$STATE,3483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3483,begin apogee
$GC,3490,-0.27,0.0,467.8,14.8,378,3630,0.43,0.00,132.62,1.102,4,0.117,0.000,2972,2491,2961,0,0,0,0,0,0
$STATE,3630,end apogee,CONTROL_FINISHED_OK
$STATE,3630,begin climb
$GC,3633,0.71,146.0,475.1,0.0,390,3795,1.08,2.62,149.32,1.016,4,0.078,0.047,3294,1097,2364,0,0,0,0,0,0
$GC,3867,0.71,146.0,458.4,9.5,411,3875,0.00,2.60,0.00,0.000,6,0.000,0.048,3293,2502,2356,0,0,0,0,0,0
$GC,4066,0.71,146.0,438.1,10.8,430,4070,0.00,2.47,0.00,0.000,4,0.000,0.047,3300,1105,2351,0,0,0,0,0,0
$GC,4210,0.71,146.0,423.6,9.6,442,4214,0.00,2.50,0.00,0.000,6,0.000,0.050,3300,2521,2349,0,0,0,0,0,0
$GC,4409,0.71,146.0,402.4,10.6,460,4413,0.00,2.12,0.00,0.000,4,0.000,0.054,3300,3764,2348,0,0,0,0,0,0
$GC,4517,0.71,146.0,388.6,12.7,469,4521,0.00,2.03,0.00,0.000,6,0.000,0.037,3308,2529,2346,0,0,0,0,0,0
$GC,4720,0.71,146.0,365.4,11.8,488,4724,0.00,2.08,0.00,0.000,4,0.000,0.056,3308,3764,2346,0,0,0,0,0,0
$GC,4771,0.71,146.0,358.7,13.9,492,4775,0.00,1.98,0.00,0.000,6,0.000,0.037,3318,2534,2346,0,0,0,0,0,0
$GC,4975,0.71,146.0,332.9,12.4,511,4979,0.00,2.05,0.00,0.000,4,0.000,0.055,3318,3768,2345,0,0,0,0,0,0
$GC,5025,0.71,146.0,325.5,14.1,515,5032,0.12,1.98,0.00,0.000,6,0.157,0.038,3295,2522,2345,0,0,0,0,0,0
$GC,5224,0.71,146.0,303.0,11.0,534,5227,0.00,2.05,0.00,0.000,4,0.000,0.056,3295,3765,2344,0,0,0,0,0,0
$GC,5269,0.71,146.0,297.2,13.0,538,5273,0.00,1.90,0.00,0.000,6,0.000,0.037,3303,2558,2344,0,0,0,0,0,0
$GC,5475,0.71,146.0,273.6,11.1,557,5478,0.00,2.00,0.00,0.000,4,0.000,0.057,3303,3768,2344,0,0,0,0,0,0
$GC,5524,0.71,146.0,266.6,13.8,561,5531,0.00,1.92,0.00,0.000,6,0.000,0.037,3312,2575,2344,0,0,0,0,0,0
$GC,5724,0.71,146.0,243.1,12.0,580,5727,0.00,1.98,0.00,0.000,4,0.000,0.057,3312,3771,2343,0,0,0,0,0,0
$GC,5782,0.71,146.0,235.4,13.4,585,5785,0.00,1.88,0.00,0.000,6,0.000,0.039,3320,2580,2343,0,0,0,0,0,0
$GC,5923,0.71,146.0,218.0,12.0,598,5924,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2577,2343,0,0,0,0,0,0
$GC,6049,0.71,146.0,202.8,11.8,610,6053,0.00,1.95,0.00,0.000,4,0.000,0.055,3320,3765,2343,0,0,0,0,0,0
$GC,6110,0.71,146.0,194.2,14.7,615,6118,0.10,1.90,0.00,0.000,6,0.135,0.038,3298,2588,2342,0,0,0,0,0,0
$GC,6245,0.71,146.0,179.5,10.7,628,6247,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2587,2343,0,0,0,0,0,0
$GC,6373,0.71,146.0,166.2,10.6,640,6376,0.00,1.95,0.00,0.000,4,0.000,0.057,3298,3767,2342,0,0,0,0,0,0
$GC,6411,0.71,146.0,161.5,12.6,643,6419,0.00,1.90,0.00,0.000,6,0.000,0.038,3305,2588,2342,0,0,0,0,0,0
$GC,6547,0.71,146.0,146.8,11.0,656,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,2589,2342,0,0,0,0,0,0
$GC,6674,0.71,146.0,133.3,10.4,668,6678,0.00,1.95,0.00,0.000,4,0.000,0.057,3306,3767,2342,0,0,0,0,0,0
$GC,6734,0.71,146.0,125.7,12.3,673,6742,0.00,1.88,0.00,0.000,6,0.000,0.038,3315,2606,2342,0,0,0,0,0,0
$GC,6871,0.71,146.0,110.5,11.1,686,6880,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2605,2342,0,0,0,0,0,0
$GC,7007,0.71,146.0,95.4,10.6,702,7016,0.00,1.98,0.00,0.000,4,0.000,0.057,3315,3768,2341,0,0,0,0,0,0
$GC,7046,0.71,146.0,90.7,12.6,708,7054,0.00,1.88,0.00,0.000,6,0.000,0.038,3323,2611,2341,0,0,0,0,0,0
$GC,7193,0.71,146.0,74.0,11.6,733,7199,0.00,1.92,0.00,0.000,4,0.000,0.057,3323,3765,2341,0,0,0,0,0,0
$GC,7234,0.71,146.0,68.1,13.5,740,7243,0.10,1.85,0.00,0.000,6,0.135,0.037,3300,2618,2341,0,0,0,0,0,0
$GC,7383,0.71,146.0,53.6,9.4,765,7389,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2617,2341,0,0,0,0,0,0
$GC,7524,0.71,146.0,40.5,9.3,790,7532,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2617,2341,0,0,0,0,0,0
$GC,7670,0.71,146.0,25.7,11.4,815,7677,0.00,1.92,0.00,0.000,4,0.000,0.057,3300,3768,2341,0,0,0,0,0,0
$GC,7712,0.71,146.0,21.1,10.3,822,7721,0.00,1.85,0.00,0.000,6,0.000,0.038,3307,2624,2340,0,0,0,0,0,0
$FREEZE,8.99,-0.105,-1.896,2,1,0
$FREEZE,8.46,-0.105,-1.895,2,1,0
$FREEZE,7.92,-0.106,-1.895,2,1,0
$FREEZE,7.39,-0.106,-1.895,2,1,0
$FREEZE,6.56,-0.109,-1.894,2,1,0
$FREEZE,5.89,-0.110,-1.893,2,1,0
$FREEZE,5.31,-0.113,-1.893,2,1,0
$FREEZE,4.55,-0.112,-1.892,2,1,0
$GC,7865,0.71,146.0,4.6,10.1,847,7872,0.00,2.50,0.00,0.000,4,0.000,0.050,3315,1094,2339,0,0,0,0,0,0
$FREEZE,2.29,-0.119,-1.891,2,1,0
$STATE,7879,end climb,SURFACE_DEPTH_REACHED
$STATE,7879,begin surface coast
$FREEZE,1.91,-0.123,-1.890,2,1,0
$FINISH,1.9,1.027642
$STATE,7885,end surface coast,CONTROL_FINISHED_OK
$STATE,7885,begin surface
$SM_CCo,7905,53.97,0.725,1,0,1941,250.20
$SM_GC,2.20,0.00,0.00,53.97,0.000,0.000,0.725,404,2657,1941,-8.31,0.20,250.20
$IRIDIUM_FIX,-7545.40,17409.11,120111,151521
$TT8_MAMPS,0.028462
$HUMID,55.00
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.3,17.7
$24V_AH,20.6,86.931
$10V_AH,9.6,60.401
$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,19.850,102.975,281.950,53.975,0.000,82.247,112.851,738.003,1.750,0.000,11.509,2154.025,3279.365,531.085,2908.879,384.801,0.000,1399.846,0.000,1409.743,0.000,11.209,0.000
$DEVICE_MAMPS,195.075,58.905,1101.600,725.220,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,596.733,1027.818,1006.206,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258124
$DATA_FILE_SIZE,60433,850
$CAP_FILE_SIZE,131912,0
$CFSIZE,260165632,219426816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.081,158.8,1
$GPS,120111,175007,-7629.888,17357.693,42,1.0,43,126.7