version: 66.08
glider: 502
mission: 3
dive: 614
start: 1 13 111 4 32 31
data:
$ID,502
$MISSION,3
$DIVE,614
$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,275
$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,-8
$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,623.29712
$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,-30917.02
$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,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
$GPS1,130111,042200,-7630.129,17341.906,48,1.2,49,127.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-60.3
$GPS2,130111,043202,-7630.125,17341.945,15,1.5,15,127.2
$SPEED_LIMITS,0.157,0.251
$TGT_NAME,POLYNYA1
$TGT_LATLONG,-7630.000,17000.000
$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,169.0,95956,-16.0,-9.091
$D_GRID,526
$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,-0.71,-146.0,0.0,0.0,0,157,0.00,0.00,-138.65,0.000,2,0.000,0.000,363,2668,3160,0,0,0,0,0,0
$GC,161,-0.71,-146.0,3.0,-2.2,20,191,9.82,2.45,-12.52,0.000,4,0.194,0.057,2825,1247,3557,0,0,0,0,0,0
$GC,446,-0.71,-146.0,45.7,-13.7,69,453,0.00,2.40,0.00,0.000,6,0.000,0.055,2825,2645,3560,0,0,0,0,0,0
$GC,590,-0.71,-146.0,65.5,-14.2,94,599,0.00,1.90,0.00,0.000,4,0.000,0.057,2819,3765,3561,0,0,0,0,0,0
$GC,640,-0.71,-146.0,73.1,-15.4,102,649,0.00,1.80,0.00,0.000,6,0.000,0.039,2819,2661,3561,0,0,0,0,0,0
$GC,784,-0.71,-146.0,95.2,-15.7,127,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2660,3561,0,0,0,0,0,0
$GC,928,-0.71,-146.0,116.5,-14.5,143,931,0.00,1.85,0.00,0.000,4,0.000,0.058,2810,3768,3561,0,0,0,0,0,0
$GC,965,-0.71,-146.0,122.8,-15.2,146,974,0.00,1.80,0.00,0.000,6,0.000,0.038,2810,2661,3561,0,0,0,0,0,0
$GC,1101,-0.71,-146.0,142.2,-14.9,159,1104,0.00,1.85,0.00,0.000,4,0.000,0.059,2801,3769,3561,0,0,0,0,0,0
$GC,1126,-0.71,-146.0,146.2,-15.6,161,1130,0.12,1.75,0.00,0.000,6,0.157,0.038,2834,2664,3561,0,0,0,0,0,0
$GC,1266,-0.71,-146.0,164.1,-12.3,174,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2662,3561,0,0,0,0,0,0
$GC,1394,-0.71,-146.0,179.7,-12.6,186,1397,0.00,1.83,0.00,0.000,4,0.000,0.057,2827,3765,3562,0,0,0,0,0,0
$GC,1463,-0.71,-146.0,188.5,-13.3,192,1467,0.00,1.73,0.00,0.000,6,0.000,0.037,2827,2673,3562,0,0,0,0,0,0
$GC,1606,-0.71,-146.0,207.1,-12.8,205,1614,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2670,3562,0,0,0,0,0,0
$GC,1742,-0.71,-146.0,224.9,-13.0,218,1745,0.00,1.83,0.00,0.000,4,0.000,0.057,2818,3767,3562,0,0,0,0,0,0
$GC,1769,-0.71,-146.0,229.0,-13.5,220,1778,0.00,1.75,0.00,0.000,6,0.000,0.039,2820,2688,3562,0,0,0,0,0,0
$GC,1908,-0.71,-146.0,247.7,-13.9,233,1911,0.00,1.80,0.00,0.000,4,0.000,0.058,2810,3766,3562,0,0,0,0,0,0
$GC,1942,-0.71,-146.0,253.3,-15.1,236,1946,0.00,1.70,0.00,0.000,6,0.000,0.039,2810,2690,3561,0,0,0,0,0,0
$GC,2147,-0.71,-146.0,282.9,-14.2,255,2150,0.00,1.80,0.00,0.000,4,0.000,0.059,2802,3767,3561,0,0,0,0,0,0
$GC,2174,-0.71,-146.0,287.5,-15.5,257,2182,0.12,1.70,0.00,0.000,6,0.156,0.039,2835,2689,3562,0,0,0,0,0,0
$GC,2375,-0.71,-146.0,312.7,-13.0,276,2381,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2688,3562,0,0,0,0,0,0
$GC,2573,-0.71,-146.0,337.9,-12.5,295,2577,0.00,1.80,0.00,0.000,4,0.000,0.059,2828,3764,3562,0,0,0,0,0,0
$GC,2620,-0.71,-146.0,344.2,-13.8,299,2623,0.00,1.67,0.00,0.000,6,0.000,0.040,2828,2704,3561,0,0,0,0,0,0
$GC,2824,-0.71,-146.0,371.1,-13.1,318,2825,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2703,3561,0,0,0,0,0,0
$GC,3014,-0.71,-146.0,396.5,-13.4,336,3018,0.00,1.77,0.00,0.000,4,0.000,0.060,2820,3761,3561,0,0,0,0,0,0
$GC,3050,-0.71,-146.0,401.3,-14.1,339,3053,0.00,1.67,0.00,0.000,6,0.000,0.039,2820,2704,3561,0,0,0,0,0,0
$GC,3254,-0.71,-146.0,429.8,-14.2,358,3255,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2702,3560,0,0,0,0,0,0
$GC,3444,-0.71,-146.0,456.7,-13.8,376,3448,0.00,1.77,0.00,0.000,4,0.000,0.060,2812,3762,3561,0,0,0,0,0,0
$GC,3480,-0.71,-146.0,461.7,-15.1,379,3483,0.00,1.65,0.00,0.000,6,0.000,0.039,2812,2718,3560,0,0,0,0,0,0
$GC,3686,-0.71,-146.0,491.1,-14.5,398,3693,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2716,3560,0,0,0,0,0,0
$GC,3879,-0.71,-146.0,518.6,-14.1,409,3883,0.00,1.80,0.00,0.000,4,0.000,0.060,2803,3760,3561,0,0,0,0,0,0
$GC,3914,-0.71,-146.0,523.7,-15.0,410,3918,0.12,1.65,0.00,0.000,6,0.155,0.040,2837,2719,3560,0,0,0,0,0,0
$STATE,3927,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3927,begin apogee
$GC,3933,-0.27,0.0,526.4,14.7,410,4078,0.43,0.00,134.20,1.115,4,0.117,0.000,2975,2493,2960,0,0,0,0,0,0
$STATE,4079,end apogee,CONTROL_FINISHED_OK
$STATE,4079,begin climb
$GC,4082,0.71,146.0,533.3,0.0,415,4243,1.05,2.60,150.65,1.035,4,0.076,0.047,3290,1106,2364,0,0,0,0,0,0
$GC,4318,0.71,146.7,517.6,9.1,422,4323,0.00,2.60,0.00,0.000,6,0.000,0.049,3291,2501,2355,0,0,0,0,0,0
$GC,4520,0.71,146.7,497.2,10.0,429,4524,0.00,2.50,0.00,0.000,4,0.000,0.047,3300,1102,2350,0,0,0,0,0,0
$GC,4650,0.71,146.7,483.9,10.1,440,4654,0.00,2.55,0.00,0.000,6,0.000,0.050,3300,2526,2348,0,0,0,0,0,0
$GC,4849,0.71,146.7,462.2,10.5,458,4853,0.00,2.15,0.00,0.000,4,0.000,0.054,3300,3764,2346,0,0,0,0,0,0
$GC,4949,0.71,146.7,448.9,13.1,466,4958,0.00,2.08,0.00,0.000,6,0.000,0.037,3310,2543,2346,0,0,0,0,0,0
$GC,5149,0.71,146.7,425.7,11.7,485,5152,0.00,2.10,0.00,0.000,4,0.000,0.055,3310,3766,2345,0,0,0,0,0,0
$GC,5199,0.71,146.7,418.7,13.8,489,5203,0.00,2.00,0.00,0.000,6,0.000,0.037,3319,2544,2344,0,0,0,0,0,0
$GC,5404,0.71,146.7,393.5,12.3,508,5407,0.00,2.08,0.00,0.000,4,0.000,0.056,3319,3769,2344,0,0,0,0,0,0
$GC,5446,0.71,146.7,387.3,13.5,511,5454,0.05,2.00,0.00,0.000,6,0.119,0.038,3298,2554,2344,0,0,0,0,0,0
$GC,5646,0.71,146.7,365.4,11.0,530,5649,0.00,2.03,0.00,0.000,4,0.000,0.055,3297,3767,2343,0,0,0,0,0,0
$GC,5684,0.71,146.7,360.2,13.0,533,5691,0.00,1.98,0.00,0.000,6,0.000,0.037,3305,2553,2343,0,0,0,0,0,0
$GC,5882,0.71,146.7,337.8,11.1,552,5886,0.00,2.03,0.00,0.000,4,0.000,0.055,3305,3770,2343,0,0,0,0,0,0
$GC,5928,0.71,146.7,331.9,13.4,556,5932,0.00,1.95,0.00,0.000,6,0.000,0.038,3314,2567,2343,0,0,0,0,0,0
$GC,6132,0.71,146.7,307.2,12.5,575,6133,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2565,2343,0,0,0,0,0,0
$GC,6322,0.71,146.7,283.0,12.8,593,6326,0.00,2.00,0.00,0.000,4,0.000,0.057,3314,3768,2342,0,0,0,0,0,0
$GC,6424,0.71,146.7,268.2,14.5,602,6428,0.00,1.90,0.00,0.000,6,0.000,0.038,3323,2566,2342,0,0,0,0,0,0
$GC,6632,0.71,146.7,241.7,12.6,621,6635,0.00,2.00,0.00,0.000,4,0.000,0.057,3323,3767,2342,0,0,0,0,0,0
$GC,6701,0.71,146.7,231.5,16.1,627,6705,0.15,1.88,0.00,0.000,6,0.150,0.038,3293,2582,2341,0,0,0,0,0,0
$GC,6841,0.71,146.7,215.4,10.3,640,6843,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2579,2341,0,0,0,0,0,0
$GC,6969,0.71,146.7,201.6,10.9,652,6970,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2579,2340,0,0,0,0,0,0
$GC,7096,0.71,146.7,187.3,10.9,664,7100,0.00,1.98,0.00,0.000,4,0.000,0.057,3293,3767,2340,0,0,0,0,0,0
$GC,7156,0.71,146.7,179.3,13.3,669,7165,0.00,1.90,0.00,0.000,6,0.000,0.037,3300,2591,2340,0,0,0,0,0,0
$GC,7291,0.71,146.7,163.1,12.2,682,7292,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,2591,2341,0,0,0,0,0,0
$GC,7418,0.71,146.7,147.8,11.6,694,7422,0.00,1.98,0.00,0.000,4,0.000,0.057,3300,3774,2340,0,0,0,0,0,0
$GC,7477,0.71,146.7,140.2,14.1,699,7480,0.00,1.88,0.00,0.000,6,0.000,0.038,3309,2594,2340,0,0,0,0,0,0
$GC,7618,0.71,146.7,122.4,12.3,712,7619,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2591,2340,0,0,0,0,0,0
$GC,7745,0.71,146.7,107.2,12.2,724,7749,0.00,1.95,0.00,0.000,4,0.000,0.057,3309,3767,2340,0,0,0,0,0,0
$GC,7781,0.71,146.7,102.6,13.8,727,7784,0.00,1.85,0.00,0.000,6,0.000,0.037,3318,2597,2339,0,0,0,0,0,0
$GC,7919,0.71,146.7,84.9,12.4,750,7928,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2594,2339,0,0,0,0,0,0
$GC,8065,0.71,146.7,67.7,11.7,775,8072,0.00,1.98,0.00,0.000,4,0.000,0.056,3318,3772,2339,0,0,0,0,0,0
$GC,8103,0.71,146.7,62.7,13.2,781,8110,0.12,1.88,0.00,0.000,6,0.157,0.038,3295,2600,2339,0,0,0,0,0,0
$GC,8249,0.71,146.7,46.7,10.6,806,8257,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,2598,2339,0,0,0,0,0,0
$GC,8394,0.71,146.7,31.8,11.2,831,8400,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,2598,2339,0,0,0,0,0,0
$GC,8536,0.71,146.7,17.3,9.4,856,8544,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,2598,2339,0,0,0,0,0,0
$FREEZE,8.67,0.125,-1.897,2,6,0
$FREEZE,7.86,0.125,-1.896,2,6,0
$FREEZE,7.32,0.125,-1.895,2,6,0
$FREEZE,6.41,0.123,-1.895,2,6,0
$FREEZE,5.70,0.123,-1.894,2,6,0
$FREEZE,5.00,0.122,-1.894,2,6,0
$FREEZE,4.33,0.123,-1.893,2,6,0
$FREEZE,3.34,0.123,-1.893,2,6,0
$FREEZE,2.51,0.124,-1.892,2,6,0
$STATE,8683,end climb,SURFACE_DEPTH_REACHED
$STATE,8683,begin surface coast
$FREEZE,1.95,0.124,-1.891,2,6,0
$FREEZE,1.61,0.123,-1.891,2,6,0
$FREEZE,1.14,0.123,-1.891,2,6,0
$FREEZE,1.25,0.048,-0.426,2,6,0
$FINISH,1.3,1.006193
$STATE,8709,end surface coast,CONTROL_FINISHED_OK
$STATE,8709,begin surface
$SM_CCo,8727,292.20,0.703,4,0,420,623.30
$SM_GC,1.84,0.00,0.00,292.20,0.000,0.000,0.703,388,2672,420,-8.32,0.62,623.30
$IRIDIUM_FIX,-7545.40,17350.78,130111,040451
$TT8_MAMPS,0.028462
$HUMID,52.24
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.8
$24V_AH,20.6,87.772
$10V_AH,9.6,60.944
$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,19.725,97.925,284.850,292.200,0.000,86.060,225.320,0.000,2.000,0.000,15.848,2305.402,3835.798,764.173,2424.633,311.174,0.000,1684.501,0.000,1527.503,0.000,15.880,0.000
$DEVICE_MAMPS,193.545,108.630,1115.370,703.035,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,624.340,1076.616,1012.222,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258144
$DATA_FILE_SIZE,60387,885
$CAP_FILE_SIZE,121137,0
$CFSIZE,260165632,219090944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
$CURRENT,0.097,149.6,1
$GPS,130111,070437,-7630.056,17338.512,45,1.1,46,127.3