version: 66.08
glider: 502
mission: 3
dive: 268
start: 12 19 110 14 36 52
data:
$ID,502
$MISSION,3
$DIVE,268
$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,-30475.688
$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,35
$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
$GPS1,191210,142958,-7640.743,17218.189,41,1.5,41,130.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-74.3
$GPS2,191210,143625,-7640.731,17218.307,42,1.0,42,130.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,POLYNYA
$TGT_LATLONG,-7630.000,18000.000
$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,308.9,200596,-17.5,-10.000
$D_GRID,597
$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,-146.0,0.0,0.0,0,99,0.00,0.00,-80.72,0.000,2,0.000,0.000,419,2625,3192,0,0,0,0,0,0
$GC,101,-0.76,-146.0,3.3,-1.0,12,125,9.02,0.00,-11.73,0.000,6,0.205,0.000,2807,2624,3559,0,0,0,0,0,0
$GC,262,-0.76,-146.0,29.0,-16.6,39,268,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2625,3563,0,0,0,0,0,0
$GC,400,-0.76,-146.0,52.1,-16.3,64,409,0.00,1.90,0.00,0.000,4,0.000,0.064,2799,3760,3563,0,0,0,0,0,0
$GC,445,-0.76,-146.0,59.4,-17.0,71,452,0.00,1.77,0.00,0.000,6,0.000,0.044,2800,2627,3563,0,0,0,0,0,0
$GC,587,-0.76,-146.0,83.5,-16.9,96,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2624,3563,0,0,0,0,0,0
$GC,729,-0.76,-146.0,107.3,-16.6,117,732,0.00,1.85,0.00,0.000,4,0.000,0.063,2791,3761,3563,0,0,0,0,0,0
$GC,755,-0.76,-146.0,112.5,-18.0,119,764,0.00,1.75,0.00,0.000,6,0.000,0.043,2791,2666,3563,0,0,0,0,0,0
$GC,891,-0.76,-146.0,135.8,-17.4,132,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2665,3564,0,0,0,0,0,0
$GC,1018,-0.76,-146.0,158.3,-17.7,144,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2665,3563,0,0,0,0,0,0
$GC,1146,-0.76,-146.0,180.8,-17.5,156,1149,0.00,1.77,0.00,0.000,4,0.000,0.063,2783,3763,3563,0,0,0,0,0,0
$GC,1172,-0.76,-146.0,186.1,-18.3,158,1182,0.10,1.75,0.00,0.000,6,0.144,0.043,2816,2659,3563,0,0,0,0,0,0
$GC,1309,-0.76,-146.0,207.0,-15.1,171,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2659,3564,0,0,0,0,0,0
$GC,1444,-0.76,-146.0,227.8,-15.2,184,1447,0.00,1.80,0.00,0.000,4,0.000,0.063,2809,3768,3564,0,0,0,0,0,0
$GC,1479,-0.76,-146.0,233.3,-16.8,187,1483,0.00,1.70,0.00,0.000,6,0.000,0.043,2808,2672,3564,0,0,0,0,0,0
$GC,1618,-0.76,-146.0,256.1,-16.0,200,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2669,3564,0,0,0,0,0,0
$GC,1810,-0.76,-146.0,286.8,-15.6,218,1813,0.00,1.77,0.00,0.000,4,0.000,0.063,2800,3766,3564,0,0,0,0,0,0
$GC,1859,-0.76,-146.0,295.4,-16.2,222,1867,0.00,1.73,0.00,0.000,6,0.000,0.043,2800,2679,3564,0,0,0,0,0,0
$GC,2057,-0.76,-146.0,327.9,-16.7,241,2061,0.00,1.77,0.00,0.000,4,0.000,0.064,2792,3770,3564,0,0,0,0,0,0
$GC,2073,-0.76,-146.0,330.7,-16.2,242,2081,0.00,1.73,0.00,0.000,6,0.000,0.043,2792,2684,3563,0,0,0,0,0,0
$GC,2272,-0.76,-146.0,363.4,-16.1,261,2276,0.00,1.75,0.00,0.000,4,0.000,0.064,2784,3761,3564,0,0,0,0,0,0
$GC,2298,-0.76,-146.0,368.3,-16.4,263,2306,0.08,1.70,0.00,0.000,6,0.147,0.042,2808,2689,3564,0,0,0,0,0,0
$GC,2497,-0.76,-146.0,397.8,-14.6,282,2501,0.00,2.28,0.00,0.000,4,0.000,0.051,2808,1240,3564,0,0,0,0,0,0
$GC,2518,-0.76,-146.0,401.3,-14.5,283,2526,0.00,2.38,0.00,0.000,6,0.000,0.057,2799,2678,3564,0,0,0,0,0,0
$GC,2717,-0.76,-146.0,430.5,-14.5,302,2721,0.00,1.73,0.00,0.000,4,0.000,0.062,2791,3764,3563,0,0,0,0,0,0
$GC,2777,-0.76,-146.0,440.1,-15.1,307,2785,0.00,1.70,0.00,0.000,6,0.000,0.041,2791,2694,3563,0,0,0,0,0,0
$GC,2976,-0.76,-146.0,469.5,-14.6,326,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2694,3563,0,0,0,0,0,0
$GC,3167,-0.76,-146.0,497.8,-15.0,344,3171,0.00,1.75,0.00,0.000,4,0.000,0.063,2783,3773,3563,0,0,0,0,0,0
$GC,3202,-0.76,-146.0,503.2,-16.0,347,3206,0.12,1.67,0.00,0.000,6,0.162,0.044,2817,2693,3563,0,0,0,0,0,0
$GC,3419,-0.76,-146.0,531.4,-12.6,354,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2692,3563,0,0,0,0,0,0
$GC,3603,-0.76,-146.0,554.7,-12.8,360,3607,0.00,1.77,0.00,0.000,4,0.000,0.064,2810,3758,3563,0,0,0,0,0,0
$GC,3641,-0.76,-146.0,560.1,-14.2,361,3646,0.00,1.67,0.00,0.000,6,0.000,0.043,2810,2707,3563,0,0,0,0,0,0
$GC,3854,-0.76,-146.0,588.4,-13.3,368,3855,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2706,3563,0,0,0,0,0,0
$STATE,3949,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3949,begin apogee
$GC,3954,-0.17,0.0,600.6,13.3,371,4097,0.60,0.00,136.18,1.169,4,0.127,0.000,3004,2495,2960,0,0,0,0,0,0
$STATE,4098,end apogee,CONTROL_FINISHED_OK
$STATE,4098,begin climb
$GC,4099,0.76,146.0,606.2,0.0,375,4271,0.98,2.58,152.68,1.076,4,0.072,0.048,3311,1092,2363,0,0,0,0,1,0
$GC,4359,0.76,146.0,582.8,11.8,383,4363,0.00,2.47,0.00,0.000,6,0.000,0.050,3311,2500,2354,0,0,0,0,0,0
$GC,4555,0.76,146.0,556.7,13.4,390,4560,0.00,2.30,0.00,0.000,4,0.000,0.050,3321,1089,2351,0,0,0,0,0,0
$GC,4676,0.76,146.0,540.5,13.0,393,4684,0.00,2.38,0.00,0.000,6,0.000,0.053,3321,2516,2348,0,0,0,0,0,0
$GC,4868,0.76,146.0,514.0,13.9,400,4871,0.00,2.00,0.00,0.000,4,0.000,0.058,3321,3770,2348,0,0,0,0,0,0
$GC,4961,0.76,146.0,498.7,15.6,402,4970,0.00,1.98,0.00,0.000,6,0.000,0.041,3330,2534,2347,0,0,0,0,0,0
$GC,5160,0.76,146.0,471.3,13.8,421,5164,0.00,2.00,0.00,0.000,4,0.000,0.058,3331,3771,2346,0,0,0,0,0,0
$GC,5186,0.76,146.0,467.1,15.8,423,5194,0.00,1.98,0.00,0.000,6,0.000,0.042,3340,2529,2346,0,0,0,0,0,0
$GC,5384,0.76,146.0,438.5,13.9,442,5388,0.00,2.00,0.00,0.000,4,0.000,0.059,3340,3770,2346,0,0,0,0,0,0
$GC,5433,0.76,146.0,430.5,16.6,446,5442,0.10,1.95,0.00,0.000,6,0.147,0.042,3317,2545,2346,0,0,0,0,0,0
$GC,5633,0.76,146.0,405.6,12.3,465,5637,0.00,1.98,0.00,0.000,4,0.000,0.061,3317,3764,2345,0,0,0,0,0,0
$GC,5667,0.76,146.0,400.3,15.5,468,5671,0.00,1.90,0.00,0.000,6,0.000,0.043,3324,2543,2345,0,0,0,0,0,0
$GC,5871,0.76,146.0,371.5,14.7,487,5875,0.00,1.98,0.00,0.000,4,0.000,0.060,3324,3765,2344,0,0,0,0,0,0
$GC,5897,0.76,146.0,367.2,16.2,489,5905,0.00,1.92,0.00,0.000,6,0.000,0.043,3334,2557,2344,0,0,0,0,0,0
$GC,6097,0.76,146.0,337.8,14.6,508,6098,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2555,2344,0,0,0,0,0,0
$GC,6287,0.76,146.0,309.8,14.3,526,6290,0.00,1.95,0.00,0.000,4,0.000,0.060,3334,3764,2344,0,0,0,0,0,0
$GC,6324,0.76,146.0,303.6,16.0,529,6333,0.08,1.92,0.00,0.000,6,0.146,0.041,3317,2557,2344,0,0,0,0,0,0
$GC,6525,0.76,146.0,277.7,13.1,548,6528,0.00,1.95,0.00,0.000,4,0.000,0.061,3316,3764,2344,0,0,0,0,0,0
$GC,6573,0.76,146.0,270.3,15.1,552,6581,0.00,1.90,0.00,0.000,6,0.000,0.041,3325,2561,2344,0,0,0,0,0,0
$GC,6775,0.76,146.0,245.2,12.2,571,6783,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2559,2344,0,0,0,0,0,0
$GC,6910,0.76,146.0,228.6,11.8,584,6914,0.00,1.95,0.00,0.000,4,0.000,0.061,3325,3764,2344,0,0,0,0,0,0
$GC,6958,0.76,146.0,221.7,14.1,588,6967,0.00,1.90,0.00,0.000,6,0.000,0.042,3334,2566,2343,0,0,0,0,0,0
$GC,7095,0.76,146.0,205.4,11.9,601,7099,0.00,1.95,0.00,0.000,4,0.000,0.061,3334,3768,2343,0,0,0,0,0,0
$GC,7143,0.76,146.0,198.4,14.1,605,7153,0.08,1.90,0.00,0.000,6,0.146,0.043,3318,2573,2343,0,0,0,0,0,0
$GC,7279,0.76,146.0,183.5,11.1,618,7280,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2572,2343,0,0,0,0,0,0
$GC,7406,0.76,146.0,169.4,11.3,630,7410,0.00,1.92,0.00,0.000,4,0.000,0.061,3318,3763,2343,0,0,0,0,0,0
$GC,7443,0.76,146.0,164.1,14.2,633,7452,0.00,1.85,0.00,0.000,6,0.000,0.042,3325,2591,2343,0,0,0,0,0,0
$GC,7581,0.76,146.0,148.1,11.8,646,7584,0.00,1.90,0.00,0.000,4,0.000,0.061,3325,3764,2342,0,0,0,0,0,0
$GC,7605,0.76,146.0,144.7,13.2,648,7608,0.00,1.80,0.00,0.000,6,0.000,0.041,3334,2598,2343,0,0,0,0,0,0
$GC,7746,0.76,146.0,126.7,12.9,661,7747,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2595,2342,0,0,0,0,0,0
$GC,7872,0.76,146.0,110.3,13.0,673,7876,0.00,1.90,0.00,0.000,4,0.000,0.061,3334,3769,2343,0,0,0,0,0,0
$GC,7918,0.76,146.0,103.8,14.4,677,7922,0.12,1.80,0.00,0.000,6,0.164,0.042,3310,2608,2342,0,0,0,0,0,0
$GC,8059,0.76,146.0,88.4,10.8,699,8066,0.00,2.40,0.00,0.000,4,0.000,0.050,3316,1087,2342,0,0,0,0,0,0
$GC,8100,0.76,146.0,83.5,11.0,706,8109,0.00,2.47,0.00,0.000,6,0.000,0.054,3316,2598,2342,0,0,0,0,0,0
$GC,8245,0.76,146.0,67.2,11.7,731,8252,0.00,1.88,0.00,0.000,4,0.000,0.061,3316,3767,2342,0,0,0,0,0,0
$GC,8297,0.76,146.0,60.4,13.1,740,8306,0.00,1.85,0.00,0.000,6,0.000,0.041,3325,2599,2342,0,0,0,0,0,0
$GC,8442,0.76,146.0,43.8,11.5,765,8448,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2598,2342,0,0,0,0,0,0
$GC,8581,0.76,146.0,26.5,12.4,790,8590,0.00,1.92,0.00,0.000,4,0.000,0.061,3324,3762,2342,0,0,0,0,0,0
$GC,8615,0.76,146.0,22.0,14.2,795,8622,0.00,1.80,0.00,0.000,6,0.000,0.042,3334,2606,2342,0,0,0,0,0,0
$FREEZE,8.95,-0.805,-1.894,2,1,0
$FREEZE,8.02,-0.786,-1.894,2,1,0
$FREEZE,7.45,-0.780,-1.894,2,1,0
$FREEZE,6.64,-0.748,-1.893,2,1,0
$FREEZE,5.95,-0.743,-1.893,2,1,0
$FREEZE,4.86,-0.738,-1.893,2,1,0
$FREEZE,4.25,-0.739,-1.892,2,1,0
$FREEZE,3.46,-0.734,-1.892,2,1,0
$FREEZE,2.80,-0.721,-1.891,2,1,0
$STATE,8757,end climb,SURFACE_DEPTH_REACHED
$STATE,8757,begin surface coast
$FREEZE,1.94,-0.673,-1.891,2,1,0
$FREEZE,1.42,-0.632,-1.889,2,1,0
$FREEZE,1.34,-0.994,-0.807,2,1,0
$FINISH,1.3,1.011885
$STATE,8776,end surface coast,FINISH_DEPTH_REACHED
$STATE,8776,begin surface
$SM_CCo,8792,81.15,0.731,1,0,1737,300.24
$SM_GC,2.39,0.00,0.00,81.15,0.000,0.000,0.731,418,2664,1737,-8.27,0.40,300.24
$IRIDIUM_FIX,-7554.21,17213.25,191210,111146
$TT8_MAMPS,0.028462
$HUMID,53.15
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,17.9
$ALTIM_BOTTOM_PING,600.6,40.0
$24V_AH,20.3,50.802
$10V_AH,9.6,32.362
$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,18.800,108.425,288.850,81.150,0.000,29.841,37.652,182.556,3.000,0.000,42.806,2178.061,4087.046,544.849,2254.661,203.940,0.000,1434.264,0.000,1451.606,0.000,22.108,0.000
$DEVICE_MAMPS,205.020,110.160,1168.920,730.575,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,580.156,1010.855,909.416,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258264
$DATA_FILE_SIZE,57233,822
$CAP_FILE_SIZE,126105,0
$CFSIZE,260165632,236589056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.103, 58.1,1
$GPS,191210,170544,-7640.233,17225.129,16,1.4,17,129.8