version: 66.08
glider: 502
mission: 3
dive: 273
start: 12 20 110 3 19 47
data:
$ID,502
$MISSION,3
$DIVE,273
$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,-30482.072
$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,31
$R_STBD_OVSHOOT,29
$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
$GPS1,201210,031025,-7640.583,17249.496,56,1.0,57,129.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-73.5
$GPS2,201210,031920,-7640.612,17249.619,11,1.2,11,129.2
$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,271.4,187106,-17.5,-10.000
$D_GRID,552
$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,-146.0,0.0,0.0,0,80,0.00,0.00,-63.10,0.000,2,0.000,0.000,422,2668,2836,0,0,0,0,0,0
$GC,83,-0.76,-146.0,3.0,-2.9,9,133,8.90,2.33,-33.40,0.000,4,0.199,0.061,2810,1232,3558,0,0,0,0,0,0
$GC,224,-0.76,-146.0,17.7,-15.1,32,232,0.00,2.35,0.00,0.000,6,0.000,0.057,2801,2646,3561,0,0,0,0,0,0
$GC,368,-0.76,-146.0,41.5,-16.6,57,375,0.00,1.80,0.00,0.000,4,0.000,0.063,2792,3767,3561,0,0,0,0,0,0
$GC,406,-0.76,-146.0,48.3,-18.0,63,413,0.00,1.77,0.00,0.000,6,0.000,0.043,2792,2633,3562,0,0,0,0,0,0
$GC,548,-0.76,-146.0,73.6,-17.4,88,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2631,3562,0,0,0,0,0,0
$GC,691,-0.76,-146.0,98.5,-17.9,113,698,0.00,1.88,0.00,0.000,4,0.000,0.064,2785,3775,3562,0,0,0,0,0,0
$GC,729,-0.76,-146.0,106.2,-18.6,117,739,0.08,1.77,0.00,0.000,6,0.148,0.044,2810,2663,3561,0,0,0,0,0,0
$GC,867,-0.76,-146.0,127.7,-16.1,130,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2662,3562,0,0,0,0,0,0
$GC,1003,-0.76,-146.0,149.8,-16.5,143,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2662,3562,0,0,0,0,0,0
$GC,1130,-0.76,-146.0,170.0,-15.4,155,1133,0.00,1.80,0.00,0.000,4,0.000,0.063,2803,3773,3562,0,0,0,0,0,0
$GC,1175,-0.76,-146.0,177.1,-16.7,159,1179,0.00,1.73,0.00,0.000,6,0.000,0.044,2803,2664,3562,0,0,0,0,0,0
$GC,1317,-0.76,-146.0,199.3,-15.8,172,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2661,3562,0,0,0,0,0,0
$GC,1452,-0.76,-146.0,220.8,-15.9,185,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2662,3562,0,0,0,0,0,0
$GC,1580,-0.76,-146.0,240.7,-15.4,197,1583,0.00,1.80,0.00,0.000,4,0.000,0.063,2795,3771,3562,0,0,0,0,0,0
$GC,1628,-0.76,-146.0,249.1,-16.4,201,1637,0.00,1.77,0.00,0.000,6,0.000,0.043,2795,2655,3562,0,0,0,0,0,0
$GC,1763,-0.76,-146.0,270.0,-15.6,214,1764,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2654,3562,0,0,0,0,0,0
$GC,1954,-0.76,-146.0,300.3,-15.5,232,1958,0.00,1.80,0.00,0.000,4,0.000,0.065,2786,3764,3562,0,0,0,0,0,0
$GC,2010,-0.76,-146.0,309.5,-16.4,237,2014,0.12,1.70,0.00,0.000,6,0.168,0.043,2820,2672,3562,0,0,0,0,0,0
$GC,2213,-0.76,-146.0,337.4,-13.2,256,2214,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2669,3562,0,0,0,0,0,0
$GC,2403,-0.76,-146.0,362.7,-13.1,274,2407,0.00,1.77,0.00,0.000,4,0.000,0.064,2813,3765,3562,0,0,0,0,0,0
$GC,2437,-0.76,-146.0,367.3,-14.1,277,2441,0.00,1.70,0.00,0.000,6,0.000,0.043,2813,2673,3561,0,0,0,0,0,0
$GC,2640,-0.76,-146.0,395.2,-14.2,296,2643,0.00,1.77,0.00,0.000,4,0.000,0.063,2804,3765,3562,0,0,0,0,0,0
$GC,2676,-0.76,-146.0,400.1,-14.4,299,2679,0.00,1.73,0.00,0.000,6,0.000,0.044,2804,2687,3562,0,0,0,0,0,0
$GC,2879,-0.76,-146.0,429.2,-14.1,318,2880,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2685,3562,0,0,0,0,0,0
$GC,3069,-0.76,-146.0,455.8,-13.8,336,3073,0.00,1.75,0.00,0.000,4,0.000,0.063,2797,3765,3562,0,0,0,0,0,0
$GC,3107,-0.76,-146.0,461.5,-14.8,339,3115,0.00,1.70,0.00,0.000,6,0.000,0.043,2797,2695,3562,0,0,0,0,0,0
$GC,3307,-0.76,-146.0,490.0,-14.2,358,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2694,3562,0,0,0,0,0,0
$GC,3502,-0.76,-146.0,517.6,-14.1,369,3506,0.00,1.75,0.00,0.000,4,0.000,0.063,2789,3769,3562,0,0,0,0,0,0
$GC,3529,-0.76,-146.0,521.9,-15.0,369,3536,0.00,1.70,0.00,0.000,6,0.000,0.044,2789,2701,3561,0,0,0,0,0,0
$GC,3722,-0.76,-146.0,550.2,-15.0,376,3724,0.10,0.00,0.00,0.000,6,0.181,0.000,2814,2699,3562,0,0,0,0,0,0
$STATE,3748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3749,begin apogee
$GC,3753,-0.17,0.0,554.6,14.8,377,3893,0.57,0.00,134.75,1.137,4,0.126,0.000,3003,2489,2961,0,0,0,0,0,0
$STATE,3894,end apogee,CONTROL_FINISHED_OK
$STATE,3894,begin climb
$GC,3895,0.76,146.0,559.6,0.0,381,4053,0.98,2.55,149.50,1.053,4,0.073,0.049,3309,1096,2365,0,0,0,0,0,0
$GC,4166,0.76,146.0,534.0,12.2,390,4171,0.00,2.47,0.00,0.000,6,0.000,0.052,3310,2507,2354,0,0,0,0,0,0
$GC,4379,0.76,146.0,506.7,13.0,397,4383,0.00,2.28,0.00,0.000,4,0.000,0.050,3318,1101,2350,0,0,0,0,0,0
$GC,4501,0.76,146.0,491.1,13.1,404,4508,0.00,2.33,0.00,0.000,6,0.000,0.052,3318,2512,2348,0,0,0,0,0,0
$GC,4701,0.76,146.0,464.1,13.8,423,4705,0.00,2.00,0.00,0.000,4,0.000,0.060,3318,3763,2347,0,0,0,0,0,0
$GC,4792,0.76,146.0,449.6,16.2,431,4796,0.00,1.92,0.00,0.000,6,0.000,0.043,3328,2532,2347,0,0,0,0,0,0
$GC,4996,0.76,146.0,420.3,13.9,450,5000,0.00,2.00,0.00,0.000,4,0.000,0.060,3328,3773,2346,0,0,0,0,0,0
$GC,5022,0.76,146.0,415.9,15.6,452,5030,0.00,2.00,0.00,0.000,6,0.000,0.043,3337,2520,2346,0,0,0,0,0,0
$GC,5221,0.76,146.0,387.5,14.2,471,5224,0.00,2.03,0.00,0.000,4,0.000,0.061,3337,3774,2346,0,0,0,0,0,0
$GC,5247,0.76,146.0,382.8,16.3,473,5256,0.10,1.98,0.00,0.000,6,0.144,0.043,3314,2536,2346,0,0,0,0,0,0
$GC,5448,0.76,146.0,357.3,12.5,492,5451,0.00,1.98,0.00,0.000,4,0.000,0.060,3314,3763,2346,0,0,0,0,0,0
$GC,5482,0.76,146.0,352.3,14.2,495,5486,0.00,1.90,0.00,0.000,6,0.000,0.043,3322,2543,2345,0,0,0,0,0,0
$GC,5686,0.76,146.0,325.7,12.9,514,5689,0.00,1.98,0.00,0.000,4,0.000,0.062,3322,3761,2345,0,0,0,0,0,0
$GC,5720,0.76,146.0,320.7,15.3,517,5723,0.00,1.90,0.00,0.000,6,0.000,0.043,3331,2548,2344,0,0,0,0,0,0
$GC,5922,0.76,146.0,292.7,13.5,536,5924,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2546,2345,0,0,0,0,0,0
$GC,6114,0.76,146.0,266.8,13.5,554,6118,0.00,1.98,0.00,0.000,4,0.000,0.061,3331,3768,2344,0,0,0,0,0,0
$GC,6174,0.76,146.0,257.3,15.8,559,6182,0.00,1.92,0.00,0.000,6,0.000,0.041,3341,2556,2344,0,0,0,0,0,0
$GC,6374,0.76,146.0,229.3,14.8,578,6375,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2554,2344,0,0,0,0,0,0
$GC,6502,0.76,146.0,211.5,13.9,590,6505,0.00,1.95,0.00,0.000,4,0.000,0.060,3341,3764,2344,0,0,0,0,0,0
$GC,6538,0.76,146.0,205.2,16.3,593,6548,0.10,1.92,0.00,0.000,6,0.145,0.042,3317,2556,2344,0,0,0,0,0,0
$GC,6675,0.76,146.0,188.3,12.3,606,6676,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2554,2344,0,0,0,0,0,0
$GC,6802,0.76,146.0,172.7,12.3,618,6806,0.00,1.95,0.00,0.000,4,0.000,0.061,3317,3763,2344,0,0,0,0,0,0
$GC,6860,0.76,146.0,164.6,14.7,623,6864,0.00,1.88,0.00,0.000,6,0.000,0.043,3324,2558,2344,0,0,0,0,0,0
$GC,7003,0.76,146.0,145.5,13.7,636,7010,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2556,2344,0,0,0,0,0,0
$GC,7138,0.76,146.0,127.3,12.9,649,7141,0.00,1.95,0.00,0.000,4,0.000,0.060,3324,3763,2344,0,0,0,0,0,0
$GC,7164,0.76,146.0,123.2,13.9,651,7173,0.00,1.90,0.00,0.000,6,0.000,0.043,3334,2565,2343,0,0,0,0,0,0
$GC,7300,0.76,146.0,105.5,12.7,664,7301,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2565,2344,0,0,0,0,0,0
$GC,7430,0.76,146.0,88.4,12.7,684,7438,0.00,2.00,0.00,0.000,4,0.000,0.061,3333,3767,2343,0,0,0,0,0,0
$GC,7475,0.76,146.0,82.5,14.0,691,7482,0.12,1.88,0.00,0.000,6,0.167,0.042,3310,2569,2344,0,0,0,0,0,0
$GC,7620,0.76,146.0,65.6,11.1,716,7627,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2567,2343,0,0,0,0,0,0
$GC,7763,0.76,146.0,49.7,11.3,741,7770,0.00,1.95,0.00,0.000,4,0.000,0.061,3310,3763,2343,0,0,0,0,0,0
$GC,7823,0.76,146.0,42.5,12.7,751,7829,0.00,1.85,0.00,0.000,6,0.000,0.043,3317,2577,2343,0,0,0,0,0,0
$GC,7965,0.76,146.0,25.1,11.9,776,7973,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2576,2342,0,0,0,0,0,0
$FREEZE,8.72,-1.051,-1.897,2,1,0
$FREEZE,8.13,-0.989,-1.895,2,1,0
$GC,8109,0.76,146.0,8.1,11.6,801,8116,0.00,1.95,0.00,0.000,4,0.000,0.060,3317,3773,2342,0,0,0,0,0,0
$FREEZE,6.06,-0.301,-1.887,2,1,0
$FREEZE,5.18,-0.154,-1.888,2,1,0
$FREEZE,4.52,-0.138,-1.889,2,1,0
$FREEZE,3.72,-0.120,-1.889,2,1,0
$GC,8142,0.76,146.0,3.7,13.6,806,8151,0.00,1.90,0.00,0.000,6,0.000,0.043,3327,2579,2343,0,0,0,0,0,0
$FREEZE,1.32,-0.118,-1.890,2,1,0
$STATE,8157,end climb,SURFACE_DEPTH_REACHED
$STATE,8157,begin surface coast
$FREEZE,1.45,-0.188,-1.066,2,1,0
$FREEZE,1.39,-0.201,-0.963,2,1,0
$FREEZE,1.30,-0.200,-0.966,2,1,0
$FREEZE,1.36,-0.195,-1.078,2,1,0
$FINISH,1.4,1.015926
$STATE,8182,end surface coast,CONTROL_FINISHED_OK
$STATE,8182,begin surface
$SM_CCo,8197,80.62,0.727,1,0,1736,300.24
$SM_GC,2.36,0.00,0.00,80.62,0.000,0.000,0.727,410,2661,1736,-8.30,0.31,300.24
$IRIDIUM_FIX,-7554.21,17249.02,201210,030302
$TT8_MAMPS,0.028462
$HUMID,52.40
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.3,17.8
$ALTIM_BOTTOM_PING,550.2,52.8
$24V_AH,20.4,51.420
$10V_AH,9.8,32.840
$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,18.625,93.075,284.250,80.625,0.000,54.914,111.231,199.392,2.500,0.000,12.741,2126.851,3716.485,509.876,2285.932,185.460,0.000,1357.275,0.000,1393.895,0.000,17.489,0.000
$DEVICE_MAMPS,198.900,94.860,1136.790,726.750,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,573.357,987.103,899.456,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,57266,812
$CAP_FILE_SIZE,119244,0
$CFSIZE,260165632,236257280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.172,161.9,1
$GPS,201210,053904,-7640.519,17253.777,15,4.0,35,129.1