version: 66.08
glider: 502
mission: 3
dive: 270
start: 12 19 110 19 41 35
data:
$ID,502
$MISSION,3
$DIVE,270
$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,-30478.203
$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,35
$R_STBD_OVSHOOT,22
$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
$GPS1,191210,193506,-7640.324,17232.561,48,0.8,54,129.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-74.3
$GPS2,191210,194108,-7640.312,17232.670,14,1.6,14,129.6
$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,309.3,194340,-17.5,-10.000
$D_GRID,575
$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,-146.0,0.0,0.0,0,97,0.00,0.00,-79.38,0.000,2,0.000,0.000,424,2652,3165,0,0,0,0,0,0
$GC,99,-0.76,-146.0,3.1,-0.9,12,129,8.98,2.30,-13.20,0.000,4,0.204,0.061,2809,1233,3558,0,0,0,0,0,0
$GC,376,-0.76,-146.0,43.1,-15.6,60,384,0.00,2.35,0.00,0.000,6,0.000,0.057,2799,2651,3561,0,0,0,0,0,0
$GC,520,-0.76,-146.0,66.5,-17.3,85,527,0.00,1.80,0.00,0.000,4,0.000,0.061,2791,3771,3561,0,0,0,0,0,0
$GC,586,-0.76,-146.0,78.3,-17.4,96,594,0.00,1.77,0.00,0.000,6,0.000,0.043,2791,2660,3561,0,0,0,0,0,0
$GC,735,-0.76,-146.0,103.8,-17.2,120,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2659,3561,0,0,0,0,0,0
$GC,870,-0.76,-146.0,127.0,-17.0,133,874,0.00,1.80,0.00,0.000,4,0.000,0.063,2783,3767,3561,0,0,0,0,0,0
$GC,908,-0.76,-146.0,134.3,-17.7,136,917,0.00,1.75,0.00,0.000,6,0.000,0.043,2782,2669,3561,0,0,0,0,0,0
$GC,1044,-0.76,-146.0,156.9,-16.5,149,1046,0.12,0.00,0.00,0.000,6,0.166,0.000,2817,2668,3561,0,0,0,0,0,0
$GC,1171,-0.76,-146.0,175.3,-14.0,161,1175,0.00,1.77,0.00,0.000,4,0.000,0.063,2809,3765,3562,0,0,0,0,0,0
$GC,1208,-0.76,-146.0,180.6,-15.1,164,1212,0.00,1.70,0.00,0.000,6,0.000,0.042,2809,2667,3562,0,0,0,0,0,0
$GC,1350,-0.76,-146.0,202.0,-15.3,177,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2665,3562,0,0,0,0,0,0
$GC,1485,-0.76,-146.0,223.0,-15.2,190,1488,0.00,1.77,0.00,0.000,4,0.000,0.063,2801,3764,3562,0,0,0,0,0,0
$GC,1520,-0.76,-146.0,228.6,-16.2,193,1524,0.00,1.67,0.00,0.000,6,0.000,0.042,2801,2681,3561,0,0,0,0,0,0
$GC,1662,-0.76,-146.0,250.6,-15.6,206,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2680,3562,0,0,0,0,0,0
$GC,1851,-0.76,-146.0,280.5,-16.0,224,1854,0.00,1.77,0.00,0.000,4,0.000,0.063,2793,3771,3562,0,0,0,0,0,0
$GC,1888,-0.76,-146.0,287.0,-17.6,227,1895,0.00,1.73,0.00,0.000,6,0.000,0.042,2793,2690,3562,0,0,0,0,0,0
$GC,2086,-0.76,-146.0,318.9,-16.5,246,2090,0.00,1.75,0.00,0.000,4,0.000,0.063,2784,3768,3562,0,0,0,0,0,0
$GC,2109,-0.76,-146.0,322.6,-17.2,248,2113,0.08,1.70,0.00,0.000,6,0.148,0.044,2810,2699,3562,0,0,0,0,0,0
$GC,2312,-0.76,-146.0,352.9,-14.5,267,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2698,3562,0,0,0,0,0,0
$GC,2502,-0.76,-146.0,381.2,-14.6,285,2506,0.00,1.77,0.00,0.000,4,0.000,0.063,2803,3763,3562,0,0,0,0,0,0
$GC,2528,-0.76,-146.0,385.5,-14.8,287,2536,0.00,1.67,0.00,0.000,6,0.000,0.043,2803,2704,3562,0,0,0,0,0,0
$GC,2726,-0.76,-146.0,416.4,-15.3,306,2728,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2705,3562,0,0,0,0,0,0
$GC,2918,-0.76,-146.0,445.8,-15.5,324,2919,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2705,3562,0,0,0,0,0,0
$GC,3109,-0.76,-146.0,474.5,-15.0,342,3112,0.00,1.73,0.00,0.000,4,0.000,0.065,2796,3766,3562,0,0,0,0,0,0
$GC,3135,-0.76,-146.0,479.0,-15.9,344,3143,0.00,1.67,0.00,0.000,6,0.000,0.043,2796,2709,3562,0,0,0,0,0,0
$GC,3342,-0.76,-146.0,509.4,-14.7,360,3343,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2709,3561,0,0,0,0,0,0
$GC,3525,-0.76,-146.0,536.2,-14.6,366,3529,0.00,1.70,0.00,0.000,4,0.000,0.063,2788,3763,3562,0,0,0,0,0,0
$GC,3552,-0.76,-146.0,540.5,-15.4,366,3560,0.00,1.65,0.00,0.000,6,0.000,0.042,2788,2719,3561,0,0,0,0,0,0
$GC,3743,-0.76,-146.0,568.9,-14.8,373,3748,0.10,2.35,0.00,0.000,4,0.181,0.050,2813,1240,3561,0,0,0,0,0,0
$GC,3758,-0.76,-146.0,571.5,-15.0,373,3762,0.00,2.40,0.00,0.000,6,0.000,0.057,2803,2717,3561,0,0,0,0,0,0
$STATE,3800,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3800,begin apogee
$GC,3805,-0.17,0.0,577.0,13.9,375,3944,0.62,0.00,134.95,1.152,4,0.130,0.000,3005,2486,2961,0,0,0,0,0,0
$STATE,3945,end apogee,CONTROL_FINISHED_OK
$STATE,3945,begin climb
$GC,3947,0.76,146.0,582.1,0.0,379,4106,0.98,2.55,150.12,1.070,4,0.072,0.048,3311,1093,2365,0,0,0,0,0,0
$GC,4213,0.76,146.0,557.9,12.4,388,4217,0.00,2.47,0.00,0.000,6,0.000,0.051,3311,2506,2354,0,0,0,0,0,0
$GC,4425,0.76,146.0,529.5,13.5,395,4429,0.00,2.28,0.00,0.000,4,0.000,0.050,3321,1100,2350,0,0,0,0,0,0
$GC,4537,0.76,146.0,514.9,12.6,398,4541,0.00,2.33,0.00,0.000,6,0.000,0.053,3321,2528,2347,0,0,0,0,0,0
$GC,4731,0.76,146.0,487.9,13.9,410,4735,0.00,1.98,0.00,0.000,4,0.000,0.060,3321,3758,2347,0,0,0,0,0,0
$GC,4825,0.76,146.0,472.6,16.3,418,4834,0.00,1.95,0.00,0.000,6,0.000,0.043,3330,2542,2347,0,0,0,0,0,0
$GC,5023,0.76,146.0,443.9,14.3,437,5027,0.00,1.98,0.00,0.000,4,0.000,0.060,3330,3767,2346,0,0,0,0,0,0
$GC,5068,0.76,146.0,436.6,16.3,441,5071,0.00,1.92,0.00,0.000,6,0.000,0.042,3340,2529,2346,0,0,0,0,0,0
$GC,5271,0.76,146.0,404.7,16.0,460,5274,0.00,2.00,0.00,0.000,4,0.000,0.060,3340,3769,2346,0,0,0,0,0,0
$GC,5315,0.76,146.0,396.8,17.1,464,5320,0.15,1.90,0.00,0.000,6,0.164,0.042,3308,2549,2346,0,0,0,0,0,0
$GC,5513,0.76,146.0,370.0,12.6,482,5516,0.00,1.98,0.00,0.000,4,0.000,0.061,3308,3769,2345,0,0,0,0,0,0
$GC,5558,0.76,146.0,363.6,14.8,486,5562,0.00,1.92,0.00,0.000,6,0.000,0.043,3317,2560,2345,0,0,0,0,0,0
$GC,5761,0.76,146.0,337.4,12.7,505,5764,0.00,1.95,0.00,0.000,4,0.000,0.061,3317,3765,2345,0,0,0,0,0,0
$GC,5819,0.76,146.0,329.4,14.4,510,5823,0.00,1.85,0.00,0.000,6,0.000,0.042,3326,2568,2344,0,0,0,0,0,0
$GC,6022,0.76,146.0,301.6,13.4,529,6025,0.00,1.92,0.00,0.000,4,0.000,0.062,3326,3760,2344,0,0,0,0,0,0
$GC,6059,0.76,146.0,295.8,15.6,532,6067,0.00,1.88,0.00,0.000,6,0.000,0.043,3334,2583,2344,0,0,0,0,0,0
$GC,6260,0.76,146.0,267.9,13.8,551,6263,0.00,1.90,0.00,0.000,4,0.000,0.060,3334,3762,2344,0,0,0,0,0,0
$GC,6306,0.76,146.0,260.7,15.6,555,6310,0.12,1.83,0.00,0.000,6,0.165,0.043,3310,2590,2344,0,0,0,0,0,0
$GC,6510,0.76,146.0,236.4,12.0,574,6514,0.00,1.90,0.00,0.000,4,0.000,0.062,3310,3758,2344,0,0,0,0,0,0
$GC,6545,0.76,146.0,231.6,13.1,577,6549,0.00,1.80,0.00,0.000,6,0.000,0.043,3318,2603,2344,0,0,0,0,0,0
$GC,6687,0.76,146.0,214.0,12.7,590,6696,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2600,2343,0,0,0,0,0,0
$GC,6823,0.76,146.0,197.2,11.8,603,6827,0.00,1.88,0.00,0.000,4,0.000,0.060,3318,3758,2343,0,0,0,0,0,0
$GC,6869,0.76,146.0,190.8,14.3,607,6873,0.00,1.80,0.00,0.000,6,0.000,0.044,3327,2603,2343,0,0,0,0,0,0
$GC,7011,0.76,146.0,173.2,11.9,620,7015,0.00,1.88,0.00,0.000,4,0.000,0.060,3327,3760,2343,0,0,0,0,0,0
$GC,7057,0.76,146.0,166.9,13.7,624,7061,0.00,1.77,0.00,0.000,6,0.000,0.043,3335,2617,2343,0,0,0,0,0,0
$GC,7199,0.76,146.0,149.0,12.6,637,7200,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2615,2343,0,0,0,0,0,0
$GC,7326,0.76,146.0,133.2,12.3,649,7327,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2616,2343,0,0,0,0,0,0
$GC,7453,0.76,146.0,116.6,13.7,661,7457,0.00,1.85,0.00,0.000,4,0.000,0.061,3336,3759,2342,0,0,0,0,0,0
$GC,7478,0.76,146.0,113.1,14.7,663,7482,0.12,1.77,0.00,0.000,6,0.165,0.044,3311,2617,2343,0,0,0,0,0,0
$GC,7612,0.76,146.0,95.6,12.2,678,7621,0.00,1.90,0.00,0.000,4,0.000,0.062,3311,3757,2343,0,0,0,0,0,0
$GC,7638,0.76,146.0,92.2,13.3,682,7648,0.00,1.77,0.00,0.000,6,0.000,0.044,3318,2638,2342,0,0,0,0,0,0
$GC,7783,0.76,146.0,74.2,12.4,707,7789,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2638,2342,0,0,0,0,0,0
$GC,7924,0.76,146.0,55.7,13.1,732,7932,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2638,2342,0,0,0,0,0,0
$GC,8067,0.76,146.0,38.1,12.0,757,8073,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2638,2342,0,0,0,0,0,0
$GC,8206,0.76,146.0,21.2,11.7,782,8215,0.00,1.85,0.00,0.000,4,0.000,0.063,3318,3753,2342,0,0,0,0,0,0
$GC,8232,0.76,146.0,17.8,13.2,786,8241,0.00,1.75,0.00,0.000,6,0.000,0.043,3326,2649,2342,0,0,0,0,0,0
$FREEZE,8.78,-1.137,-1.896,2,1,0
$FREEZE,8.04,-1.130,-1.895,2,1,0
$FREEZE,7.23,-1.118,-1.895,2,1,0
$FREEZE,6.69,-1.095,-1.894,2,1,0
$FREEZE,5.83,-1.059,-1.893,2,1,0
$FREEZE,5.34,-0.995,-1.892,2,1,0
$FREEZE,4.46,-0.870,-1.891,2,1,0
$FREEZE,3.86,-0.762,-1.890,2,1,0
$FREEZE,3.13,-0.555,-1.888,2,1,0
$FREEZE,2.43,-0.499,-1.888,2,1,0
$STATE,8356,end climb,SURFACE_DEPTH_REACHED
$STATE,8356,begin surface coast
$FREEZE,1.49,-0.500,-1.888,2,1,0
$FREEZE,1.34,-0.588,-1.126,2,1,0
$FREEZE,1.41,-0.698,-0.928,2,1,0
$FREEZE,1.34,-0.543,-0.861,2,1,0
$FINISH,1.3,1.012696
$STATE,8382,end surface coast,CONTROL_FINISHED_OK
$STATE,8382,begin surface
$SM_CCo,8397,81.40,0.731,1,0,1736,300.24
$SM_GC,2.36,0.00,0.00,81.40,0.000,0.000,0.731,427,2648,1736,-8.25,-0.06,300.24
$IRIDIUM_FIX,-7554.21,17232.91,191210,171719
$TT8_MAMPS,0.028462
$HUMID,52.48
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.3,17.8
$24V_AH,20.4,51.045
$10V_AH,9.8,32.551
$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,18.825,99.450,285.075,81.400,0.000,27.643,36.494,188.651,2.500,0.000,15.087,2146.592,3829.881,495.733,2190.599,188.103,0.000,1354.022,0.000,1414.002,0.000,14.644,0.000
$DEVICE_MAMPS,204.255,65.025,1152.090,731.340,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,573.304,997.759,912.798,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258260
$DATA_FILE_SIZE,56950,811
$CAP_FILE_SIZE,120093,0
$CFSIZE,260165632,236457984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.132,140.4,1
$GPS,191210,220356,-7640.518,17238.930,19,1.4,20,129.5