version: 66.08
glider: 502
mission: 3
dive: 271
start: 12 19 110 22 15 3
data:
$ID,502
$MISSION,3
$DIVE,271
$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,-30479.463
$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,25
$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
$GPS1,191210,220356,-7640.518,17238.930,19,1.4,20,129.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-73.7
$GPS2,191210,221437,-7640.549,17239.129,40,0.8,40,129.4
$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,289.8,191605,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,81,0.00,0.00,-62.05,0.000,2,0.000,0.000,427,2648,2813,0,0,0,0,0,0
$GC,83,-0.76,-146.0,3.1,-2.8,9,135,8.90,2.25,-34.78,0.000,4,0.200,0.061,2811,1241,3559,0,0,0,0,0,0
$GC,326,-0.76,-146.0,32.0,-16.0,51,334,0.00,2.30,0.00,0.000,6,0.000,0.057,2802,2650,3562,0,0,0,0,0,0
$GC,464,-0.76,-146.0,55.4,-17.3,76,472,0.00,1.83,0.00,0.000,4,0.000,0.062,2794,3764,3563,0,0,0,0,0,0
$GC,508,-0.76,-146.0,63.0,-18.2,83,516,0.00,1.77,0.00,0.000,6,0.000,0.043,2793,2647,3562,0,0,0,0,0,0
$GC,647,-0.76,-146.0,87.7,-18.3,108,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2647,3562,0,0,0,0,0,0
$GC,785,-0.76,-146.0,112.5,-18.7,127,789,0.00,1.83,0.00,0.000,4,0.000,0.063,2784,3773,3563,0,0,0,0,0,0
$GC,810,-0.76,-146.0,117.3,-18.7,129,814,0.12,1.73,0.00,0.000,6,0.170,0.044,2818,2663,3562,0,0,0,0,0,0
$GC,950,-0.76,-146.0,139.9,-15.2,142,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2662,3563,0,0,0,0,0,0
$GC,1077,-0.76,-146.0,158.9,-15.1,154,1080,0.00,1.80,0.00,0.000,4,0.000,0.064,2811,3773,3563,0,0,0,0,0,0
$GC,1113,-0.76,-146.0,164.5,-16.1,157,1117,0.00,1.70,0.00,0.000,6,0.000,0.044,2811,2677,3563,0,0,0,0,0,0
$GC,1255,-0.76,-146.0,187.3,-16.1,170,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2675,3563,0,0,0,0,0,0
$GC,1390,-0.76,-146.0,209.0,-15.8,183,1394,0.00,1.77,0.00,0.000,4,0.000,0.063,2802,3773,3563,0,0,0,0,0,0
$GC,1426,-0.76,-146.0,214.8,-16.5,186,1430,0.00,1.70,0.00,0.000,6,0.000,0.044,2802,2679,3563,0,0,0,0,0,0
$GC,1567,-0.76,-146.0,237.9,-16.2,199,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2676,3563,0,0,0,0,0,0
$GC,1693,-0.76,-146.0,258.3,-15.6,211,1696,0.00,1.77,0.00,0.000,4,0.000,0.063,2794,3771,3563,0,0,0,0,0,0
$GC,1716,-0.76,-146.0,262.2,-16.6,213,1720,0.00,1.67,0.00,0.000,6,0.000,0.043,2794,2690,3563,0,0,0,0,0,0
$GC,1919,-0.76,-146.0,295.8,-16.7,232,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2688,3563,0,0,0,0,0,0
$GC,2112,-0.76,-146.0,327.0,-16.0,250,2115,0.00,1.75,0.00,0.000,4,0.000,0.063,2786,3764,3563,0,0,0,0,0,0
$GC,2146,-0.76,-146.0,332.9,-16.8,253,2151,0.12,1.65,0.00,0.000,6,0.168,0.043,2819,2697,3563,0,0,0,0,0,0
$GC,2350,-0.76,-146.0,361.1,-13.8,272,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2696,3563,0,0,0,0,0,0
$GC,2542,-0.76,-146.0,385.9,-12.8,290,2545,0.00,1.75,0.00,0.000,4,0.000,0.063,2812,3773,3563,0,0,0,0,0,0
$GC,2591,-0.76,-146.0,393.3,-14.1,294,2598,0.00,1.70,0.00,0.000,6,0.000,0.043,2812,2706,3563,0,0,0,0,0,0
$GC,2789,-0.76,-146.0,419.6,-13.5,313,2790,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2706,3563,0,0,0,0,0,0
$GC,2981,-0.76,-146.0,446.4,-14.3,331,2982,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2706,3563,0,0,0,0,0,0
$GC,3171,-0.76,-146.0,473.1,-13.9,349,3175,0.00,1.77,0.00,0.000,4,0.000,0.065,2804,3767,3563,0,0,0,0,0,0
$GC,3206,-0.76,-146.0,478.0,-14.7,352,3210,0.00,1.70,0.00,0.000,6,0.000,0.044,2804,2701,3564,0,0,0,0,0,0
$GC,3418,-0.76,-146.0,509.5,-14.8,368,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2700,3563,0,0,0,0,0,0
$GC,3600,-0.76,-146.0,536.2,-14.5,374,3604,0.00,1.77,0.00,0.000,4,0.000,0.066,2797,3760,3563,0,0,0,0,0,0
$GC,3638,-0.76,-146.0,542.1,-15.4,375,3643,0.00,1.67,0.00,0.000,6,0.000,0.043,2797,2704,3562,0,0,0,0,0,0
$GC,3852,-0.76,-146.0,571.7,-13.9,382,3853,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2703,3562,0,0,0,0,0,0
$STATE,3880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3881,begin apogee
$GC,3885,-0.17,0.0,576.0,13.8,383,4025,0.65,0.00,135.55,1.153,4,0.131,0.000,3006,2491,2961,0,0,0,0,0,0
$STATE,4026,end apogee,CONTROL_FINISHED_OK
$STATE,4026,begin climb
$GC,4028,0.76,146.0,580.6,0.0,387,4186,0.98,2.55,149.73,1.069,4,0.070,0.049,3314,1104,2365,0,0,0,0,0,0
$GC,4302,0.76,146.0,554.2,12.4,396,4307,0.00,2.47,0.00,0.000,6,0.000,0.050,3314,2498,2354,0,0,0,0,0,0
$GC,4510,0.76,146.0,526.1,13.8,403,4514,0.00,2.28,0.00,0.000,4,0.000,0.050,3324,1089,2351,0,0,0,0,0,0
$GC,4615,0.76,146.0,511.9,12.9,406,4620,0.00,2.38,0.00,0.000,6,0.000,0.054,3324,2516,2348,0,0,0,0,0,0
$GC,4816,0.76,146.0,484.1,13.9,418,4819,0.00,2.00,0.00,0.000,4,0.000,0.059,3324,3771,2347,0,0,0,0,0,0
$GC,4910,0.76,146.0,468.8,16.1,426,4917,0.00,1.98,0.00,0.000,6,0.000,0.044,3333,2538,2347,0,0,0,0,0,0
$GC,5108,0.76,146.0,439.5,14.6,445,5111,0.00,1.98,0.00,0.000,4,0.000,0.059,3333,3765,2346,0,0,0,0,0,0
$GC,5168,0.76,146.0,429.1,17.8,450,5176,0.08,1.98,0.00,0.000,6,0.151,0.042,3318,2531,2346,0,0,0,0,0,0
$GC,5366,0.76,146.0,402.8,12.6,469,5370,0.00,2.00,0.00,0.000,4,0.000,0.060,3318,3770,2346,0,0,0,0,0,0
$GC,5401,0.76,146.0,398.0,14.5,472,5404,0.00,1.90,0.00,0.000,6,0.000,0.044,3327,2548,2346,0,0,0,0,0,0
$GC,5604,0.76,146.0,371.0,13.2,491,5607,0.00,1.98,0.00,0.000,4,0.000,0.060,3326,3770,2345,0,0,0,0,0,0
$GC,5626,0.76,146.0,367.6,14.8,493,5630,0.00,1.95,0.00,0.000,6,0.000,0.043,3336,2551,2345,0,0,0,0,0,0
$GC,5830,0.76,146.0,337.9,14.9,512,5833,0.00,1.98,0.00,0.000,4,0.000,0.060,3336,3775,2345,0,0,0,0,0,0
$GC,5864,0.76,146.0,332.2,16.6,515,5869,0.12,1.90,0.00,0.000,6,0.167,0.042,3312,2553,2345,0,0,0,0,0,0
$GC,6067,0.76,146.0,306.4,12.3,534,6071,0.00,1.98,0.00,0.000,4,0.000,0.062,3312,3770,2344,0,0,0,0,0,0
$GC,6104,0.76,146.0,301.1,14.1,537,6112,0.00,1.92,0.00,0.000,6,0.000,0.043,3319,2561,2344,0,0,0,0,0,0
$GC,6304,0.76,146.0,276.5,12.2,556,6305,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2558,2344,0,0,0,0,0,0
$GC,6494,0.76,146.0,253.5,12.3,574,6497,0.00,1.95,0.00,0.000,4,0.000,0.061,3319,3767,2343,0,0,0,0,0,0
$GC,6574,0.76,146.0,242.2,14.4,581,6578,0.00,1.85,0.00,0.000,6,0.000,0.043,3329,2573,2343,0,0,0,0,0,0
$GC,6715,0.76,146.0,223.6,12.8,594,6718,0.00,1.95,0.00,0.000,4,0.000,0.062,3329,3775,2343,0,0,0,0,0,0
$GC,6741,0.76,146.0,219.3,14.9,596,6750,0.00,1.90,0.00,0.000,6,0.000,0.043,3338,2586,2343,0,0,0,0,0,0
$GC,6878,0.76,146.0,201.4,13.3,609,6879,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2585,2343,0,0,0,0,0,0
$GC,7005,0.76,146.0,184.4,13.3,621,7008,0.00,1.90,0.00,0.000,4,0.000,0.060,3338,3769,2343,0,0,0,0,0,0
$GC,7042,0.76,146.0,178.5,15.2,624,7052,0.10,1.85,0.00,0.000,6,0.138,0.041,3313,2600,2343,0,0,0,0,0,0
$GC,7179,0.76,146.0,162.7,11.4,637,7180,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2599,2343,0,0,0,0,0,0
$GC,7305,0.76,146.0,148.3,11.6,649,7309,0.00,1.88,0.00,0.000,4,0.000,0.060,3313,3767,2343,0,0,0,0,0,0
$GC,7342,0.76,146.0,144.1,13.4,652,7345,0.00,1.83,0.00,0.000,6,0.000,0.042,3321,2593,2343,0,0,0,0,0,0
$GC,7484,0.76,146.0,127.1,11.8,665,7488,0.00,1.90,0.00,0.000,4,0.000,0.061,3321,3767,2343,0,0,0,0,0,0
$GC,7510,0.76,146.0,123.2,13.7,667,7520,0.00,1.83,0.00,0.000,6,0.000,0.042,3330,2614,2343,0,0,0,0,0,0
$GC,7646,0.76,146.0,106.7,12.2,680,7647,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2614,2342,0,0,0,0,0,0
$GC,7772,0.76,146.0,91.4,11.9,698,7780,0.00,1.90,0.00,0.000,4,0.000,0.060,3329,3762,2343,0,0,0,0,0,0
$GC,7809,0.76,146.0,86.5,14.3,704,7817,0.00,1.83,0.00,0.000,6,0.000,0.042,3339,2616,2343,0,0,0,0,0,0
$GC,7948,0.76,146.0,68.3,13.3,729,7954,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2614,2342,0,0,0,0,0,0
$GC,8085,0.76,146.0,50.0,13.8,754,8092,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2614,2343,0,0,0,0,0,0
$GC,8225,0.76,146.0,31.8,13.5,779,8232,0.00,1.88,0.00,0.000,4,0.000,0.060,3338,3767,2342,0,0,0,0,0,0
$GC,8256,0.76,146.0,27.2,14.1,784,8264,0.10,1.83,0.00,0.000,6,0.140,0.042,3314,2624,2342,0,0,0,0,0,0
$GC,8395,0.76,146.0,10.6,11.7,809,8402,0.00,1.90,0.00,0.000,4,0.000,0.062,3314,3765,2342,0,0,0,0,0,0
$FREEZE,8.68,-1.165,-1.896,2,1,0
$FREEZE,7.92,-1.117,-1.895,2,1,0
$FREEZE,7.26,-1.087,-1.894,2,1,0
$FREEZE,6.32,-0.879,-1.891,2,1,0
$FREEZE,5.64,-0.597,-1.887,2,1,0
$GC,8435,0.76,146.0,5.6,13.8,815,8442,0.00,1.77,0.00,0.000,6,0.000,0.042,3322,2628,2342,0,0,0,0,0,0
$FREEZE,3.47,-0.480,-1.889,2,1,0
$FREEZE,2.68,-0.462,-1.889,2,1,0
$STATE,8454,end climb,SURFACE_DEPTH_REACHED
$STATE,8454,begin surface coast
$FREEZE,2.08,-0.452,-1.889,2,1,0
$FREEZE,1.36,-0.441,-1.889,2,1,0
$FREEZE,1.37,-0.600,-1.000,2,1,0
$FREEZE,1.32,-0.499,-1.195,2,1,0
$FINISH,1.3,1.017647
$STATE,8479,end surface coast,CONTROL_FINISHED_OK
$STATE,8479,begin surface
$SM_CCo,8494,81.15,0.734,1,0,1737,300.24
$SM_GC,2.35,0.00,0.00,81.15,0.000,0.000,0.734,412,2625,1737,-8.29,-0.71,300.24
$IRIDIUM_FIX,-7554.21,17249.02,191210,222231
$TT8_MAMPS,0.028462
$HUMID,52.63
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,18.3
$24V_AH,20.4,51.174
$10V_AH,9.8,32.649
$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,18.725,99.325,285.275,81.150,0.000,57.013,75.478,278.326,2.750,0.000,41.488,2175.777,3930.604,498.051,2412.663,208.731,0.000,1363.159,0.000,1429.530,0.000,17.359,0.000
$DEVICE_MAMPS,199.665,65.790,1152.855,733.635,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,581.287,1005.387,907.156,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258292
$DATA_FILE_SIZE,57027,822
$CAP_FILE_SIZE,125884,0
$CFSIZE,260165632,236388352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.157,160.6,1
$GPS,201210,003902,-7640.614,17244.441,21,2.0,22,129.3