version: 66.08
glider: 502
mission: 3
dive: 277
start: 12 20 110 12 45 58
data:
$ID,502
$MISSION,3
$DIVE,277
$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,-30487.107
$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,34
$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
$GPS1,201210,123920,-7640.019,17306.059,18,1.2,19,128.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-73.9
$GPS2,201210,124531,-7640.050,17306.088,15,1.3,15,128.7
$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,297.8,179916,-17.5,-10.000
$D_GRID,495
$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,12,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,79,0.00,0.00,-62.17,0.000,2,0.000,0.000,419,2664,2815,0,0,0,0,0,0
$GC,82,-0.76,-146.0,3.0,-3.0,9,132,8.95,2.33,-34.40,0.000,4,0.202,0.061,2809,1229,3558,0,0,0,0,0,0
$GC,296,-0.76,-146.0,27.3,-14.3,45,303,0.00,2.33,0.00,0.000,6,0.000,0.057,2800,2646,3562,0,0,0,0,0,0
$GC,437,-0.76,-146.0,50.7,-17.0,70,446,0.00,1.83,0.00,0.000,4,0.000,0.063,2792,3757,3563,0,0,0,0,0,0
$GC,486,-0.76,-146.0,59.3,-17.4,78,495,0.00,1.75,0.00,0.000,6,0.000,0.044,2792,2660,3563,0,0,0,0,0,0
$GC,631,-0.76,-146.0,84.5,-17.5,103,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2659,3563,0,0,0,0,0,0
$GC,775,-0.76,-146.0,109.4,-16.8,124,778,0.00,1.80,0.00,0.000,4,0.000,0.064,2785,3767,3563,0,0,0,0,0,0
$GC,810,-0.76,-146.0,115.6,-18.5,127,814,0.12,1.70,0.00,0.000,6,0.165,0.043,2819,2668,3563,0,0,0,0,0,0
$GC,950,-0.76,-146.0,136.9,-15.0,140,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2666,3563,0,0,0,0,0,0
$GC,1077,-0.76,-146.0,155.7,-14.7,152,1081,0.00,1.77,0.00,0.000,4,0.000,0.063,2812,3762,3562,0,0,0,0,0,0
$GC,1112,-0.76,-146.0,161.0,-15.8,155,1116,0.00,1.70,0.00,0.000,6,0.000,0.042,2811,2667,3563,0,0,0,0,0,0
$GC,1253,-0.76,-146.0,182.3,-14.5,168,1254,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2664,3563,0,0,0,0,0,0
$GC,1380,-0.76,-146.0,200.6,-14.3,180,1384,0.00,1.80,0.00,0.000,4,0.000,0.063,2803,3772,3563,0,0,0,0,0,0
$GC,1406,-0.76,-146.0,205.1,-16.3,182,1416,0.00,1.73,0.00,0.000,6,0.000,0.043,2803,2690,3562,0,0,0,0,0,0
$GC,1543,-0.76,-146.0,225.3,-15.4,195,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2690,3563,0,0,0,0,0,0
$GC,1678,-0.76,-146.0,245.9,-15.3,208,1682,0.00,1.75,0.00,0.000,4,0.000,0.063,2797,3765,3562,0,0,0,0,0,0
$GC,1705,-0.76,-146.0,250.5,-15.9,210,1714,0.00,1.70,0.00,0.000,6,0.000,0.043,2797,2697,3563,0,0,0,0,0,0
$GC,1840,-0.76,-146.0,271.2,-15.4,223,1841,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2697,3562,0,0,0,0,0,0
$GC,2030,-0.76,-146.0,300.9,-15.2,241,2033,0.00,1.73,0.00,0.000,4,0.000,0.063,2789,3762,3563,0,0,0,0,0,0
$GC,2068,-0.76,-146.0,307.6,-17.4,244,2076,0.08,1.70,0.00,0.000,6,0.147,0.042,2813,2694,3562,0,0,0,0,0,0
$GC,2268,-0.76,-146.0,335.6,-14.0,263,2271,0.00,1.75,0.00,0.000,4,0.000,0.063,2806,3772,3562,0,0,0,0,0,0
$GC,2294,-0.76,-146.0,340.2,-14.8,265,2302,0.00,1.70,0.00,0.000,6,0.000,0.043,2806,2701,3563,0,0,0,0,0,0
$GC,2493,-0.76,-146.0,369.2,-14.7,284,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2700,3563,0,0,0,0,0,0
$GC,2684,-0.76,-146.0,396.3,-14.2,302,2687,0.00,1.75,0.00,0.000,4,0.000,0.064,2798,3771,3562,0,0,0,0,0,0
$GC,2733,-0.76,-146.0,404.2,-15.9,306,2741,0.00,1.67,0.00,0.000,6,0.000,0.043,2798,2722,3562,0,0,0,0,0,0
$GC,2931,-0.76,-146.0,433.7,-14.9,325,2932,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2720,3562,0,0,0,0,0,0
$GC,3123,-0.76,-146.0,462.0,-14.6,343,3126,0.00,1.70,0.00,0.000,4,0.000,0.065,2790,3762,3562,0,0,0,0,0,0
$GC,3146,-0.76,-146.0,465.8,-16.3,345,3150,0.00,1.67,0.00,0.000,6,0.000,0.044,2791,2713,3562,0,0,0,0,0,0
$STATE,3347,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3347,begin apogee
$GC,3352,-0.17,0.0,496.2,14.8,364,3491,0.65,0.00,133.07,1.098,4,0.132,0.000,2999,2485,2961,0,0,0,0,0,0
$STATE,3492,end apogee,CONTROL_FINISHED_OK
$STATE,3492,begin climb
$GC,3494,0.76,146.0,501.3,0.0,373,3650,0.98,2.53,148.05,1.011,4,0.074,0.050,3306,1102,2365,0,0,0,0,0,0
$GC,3775,0.76,146.0,475.2,12.0,395,3779,0.00,2.45,0.00,0.000,6,0.000,0.052,3307,2503,2354,0,0,0,0,0,0
$GC,3974,0.76,146.0,450.7,12.2,413,3978,0.00,2.28,0.00,0.000,4,0.000,0.050,3316,1099,2351,0,0,0,0,0,0
$GC,4080,0.76,146.0,437.4,12.0,422,4084,0.00,2.33,0.00,0.000,6,0.000,0.054,3316,2525,2348,0,0,0,0,0,0
$GC,4277,0.76,146.0,412.0,12.8,440,4281,0.00,1.98,0.00,0.000,4,0.000,0.060,3316,3764,2347,0,0,0,0,0,0
$GC,4371,0.76,146.0,397.5,15.8,448,4379,0.00,1.95,0.00,0.000,6,0.000,0.042,3325,2543,2347,0,0,0,0,0,0
$GC,4572,0.76,146.0,370.9,13.3,467,4575,0.00,1.98,0.00,0.000,4,0.000,0.060,3325,3765,2346,0,0,0,0,0,0
$GC,4610,0.76,146.0,364.8,15.1,470,4618,0.00,1.95,0.00,0.000,6,0.000,0.043,3335,2515,2346,0,0,0,0,0,0
$GC,4808,0.76,146.0,337.1,13.6,489,4811,0.00,2.03,0.00,0.000,4,0.000,0.059,3335,3773,2346,0,0,0,0,0,0
$GC,4853,0.76,146.0,330.4,15.5,493,4857,0.05,1.95,0.00,0.000,6,0.128,0.044,3314,2558,2346,0,0,0,0,0,0
$GC,5056,0.76,146.0,304.6,12.3,512,5059,0.00,1.95,0.00,0.000,4,0.000,0.060,3314,3768,2346,0,0,0,0,0,0
$GC,5082,0.76,146.0,300.8,13.8,514,5091,0.00,1.92,0.00,0.000,6,0.000,0.042,3321,2561,2346,0,0,0,0,0,0
$GC,5281,0.76,146.0,276.0,12.4,533,5285,0.00,1.98,0.00,0.000,4,0.000,0.061,3321,3781,2345,0,0,0,0,0,0
$GC,5314,0.76,146.0,271.4,13.9,536,5318,0.00,1.92,0.00,0.000,6,0.000,0.044,3331,2572,2345,0,0,0,0,0,0
$GC,5519,0.76,146.0,245.5,12.1,555,5523,0.00,1.92,0.00,0.000,4,0.000,0.061,3331,3764,2345,0,0,0,0,0,0
$GC,5545,0.76,146.0,241.5,14.1,557,5554,0.00,1.88,0.00,0.000,6,0.000,0.042,3340,2581,2345,0,0,0,0,0,0
$GC,5681,0.76,146.0,223.6,13.5,570,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2580,2344,0,0,0,0,0,0
$GC,5808,0.76,146.0,206.4,13.5,582,5812,0.00,1.90,0.00,0.000,4,0.000,0.060,3340,3764,2344,0,0,0,0,0,0
$GC,5843,0.76,146.0,201.3,15.0,585,5847,0.12,1.83,0.00,0.000,6,0.168,0.042,3316,2587,2344,0,0,0,0,0,0
$GC,5983,0.76,146.0,184.0,11.9,598,5984,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2583,2344,0,0,0,0,0,0
$GC,6110,0.76,146.0,168.9,12.4,610,6111,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2584,2344,0,0,0,0,0,0
$GC,6238,0.76,146.0,153.4,11.9,622,6239,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2584,2344,0,0,0,0,0,0
$GC,6365,0.76,146.0,138.5,11.5,634,6366,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2584,2343,0,0,0,0,0,0
$GC,6492,0.76,146.0,123.5,11.6,646,6494,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2584,2343,0,0,0,0,0,0
$GC,6620,0.76,146.0,108.5,11.9,658,6623,0.00,1.92,0.00,0.000,4,0.000,0.060,3315,3771,2344,0,0,0,0,0,0
$GC,6635,0.76,146.0,106.1,12.6,659,6644,0.00,1.90,0.00,0.000,6,0.000,0.042,3323,2573,2344,0,0,0,0,0,0
$GC,6773,0.76,146.0,89.1,11.8,680,6781,0.00,1.98,0.00,0.000,4,0.000,0.061,3323,3761,2343,0,0,0,0,0,0
$GC,6809,0.76,146.0,84.0,14.5,686,6819,0.00,1.85,0.00,0.000,6,0.000,0.043,3332,2598,2343,0,0,0,0,0,0
$GC,6955,0.76,146.0,65.8,12.9,711,6961,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2598,2343,0,0,0,0,0,0
$GC,7096,0.76,146.0,47.4,12.5,736,7104,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2598,2343,0,0,0,0,0,0
$GC,7240,0.76,146.0,29.6,12.9,761,7247,0.00,1.90,0.00,0.000,4,0.000,0.060,3332,3767,2343,0,0,0,0,0,0
$GC,7288,0.76,146.0,22.9,14.0,769,7295,0.00,1.83,0.00,0.000,6,0.000,0.042,3340,2597,2343,0,0,0,0,0,0
$FREEZE,8.97,-0.715,-1.895,2,1,0
$FREEZE,8.00,-0.607,-1.893,2,1,0
$FREEZE,7.46,-0.589,-1.893,2,1,0
$FREEZE,6.60,-0.578,-1.893,2,1,0
$FREEZE,5.70,-0.568,-1.893,2,1,0
$FREEZE,4.90,-0.560,-1.893,2,1,0
$FREEZE,4.18,-0.546,-1.892,2,1,0
$FREEZE,3.50,-0.541,-1.892,2,1,0
$GC,7434,0.76,146.0,3.5,13.2,794,7442,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2596,2343,0,0,0,0,0,0
$FREEZE,1.38,-0.562,-1.892,2,1,0
$STATE,7447,end climb,SURFACE_DEPTH_REACHED
$STATE,7448,begin surface coast
$FREEZE,1.45,-0.592,-0.957,2,1,0
$FREEZE,1.34,-0.642,-1.785,2,1,0
$FREEZE,1.45,-0.614,-1.893,2,1,0
$FREEZE,1.43,-0.583,-0.985,2,1,0
$FINISH,1.4,1.014543
$STATE,7474,end surface coast,CONTROL_FINISHED_OK
$STATE,7474,begin surface
$SM_CCo,7489,75.10,0.102,0,0,1737,300.24
$SM_GC,2.16,0.00,0.00,75.10,0.000,0.000,0.102,414,2658,1737,-8.29,0.23,300.24
$IRIDIUM_FIX,-7554.21,17250.19,201210,101036
$TT8_MAMPS,0.028462
$HUMID,52.79
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,18.2
$24V_AH,20.4,51.879
$10V_AH,9.8,33.210
$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,18.525,84.350,281.125,75.100,0.000,31.116,38.578,190.634,2.000,0.000,16.002,2051.019,3113.233,490.579,2106.433,180.607,0.000,1289.256,0.000,1319.780,0.000,11.209,0.000
$DEVICE_MAMPS,201.960,112.455,1097.775,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,564.058,960.818,930.503,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258308
$DATA_FILE_SIZE,53815,800
$CAP_FILE_SIZE,111082,0
$CFSIZE,260165632,236007424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.045,160.2,1
$GPS,201210,145326,-7639.827,17310.320,26,2.4,46,128.6