version: 66.08
glider: 502
mission: 3
dive: 615
start: 1 13 111 7 21 5
data:
$ID,502
$MISSION,3
$DIVE,615
$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,-30918.277
$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,32
$R_STBD_OVSHOOT,35
$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
$GPS1,130111,070437,-7630.056,17338.512,45,1.1,46,127.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-59.6
$GPS2,130111,072038,-7629.996,17338.494,14,1.6,14,127.2
$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,162.1,94464,-16.0,-9.091
$D_GRID,535
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.71,-146.0,0.0,0.0,0,159,0.00,0.00,-138.68,0.000,2,0.000,0.000,348,2672,3152,0,0,0,0,0,0
$GC,164,-0.71,-146.0,3.1,-2.9,20,194,10.40,2.50,-12.43,0.000,4,0.205,0.057,2826,1241,3559,0,0,0,0,0,0
$GC,361,-0.71,-146.0,30.9,-12.7,53,368,0.00,2.42,0.00,0.000,6,0.000,0.053,2817,2637,3563,0,0,0,0,0,0
$GC,503,-0.71,-146.0,53.6,-16.2,78,512,0.00,1.95,0.00,0.000,4,0.000,0.057,2809,3767,3563,0,0,0,0,0,0
$GC,565,-0.71,-146.0,63.8,-16.6,88,573,0.00,1.85,0.00,0.000,6,0.000,0.038,2809,2649,3563,0,0,0,0,0,0
$GC,708,-0.71,-146.0,87.1,-16.5,113,714,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2649,3563,0,0,0,0,0,0
$GC,853,-0.71,-146.0,110.4,-16.2,133,857,0.00,1.88,0.00,0.000,4,0.000,0.058,2800,3764,3564,0,0,0,0,0,0
$GC,891,-0.71,-146.0,117.5,-16.5,136,901,0.08,1.80,0.00,0.000,6,0.140,0.038,2824,2662,3564,0,0,0,0,0,0
$GC,1027,-0.71,-146.0,136.3,-13.6,149,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2661,3563,0,0,0,0,0,0
$GC,1155,-0.71,-146.0,153.6,-13.5,161,1158,0.00,1.85,0.00,0.000,4,0.000,0.057,2817,3771,3564,0,0,0,0,0,0
$GC,1213,-0.71,-146.0,161.9,-14.0,166,1216,0.00,1.75,0.00,0.000,6,0.000,0.039,2817,2667,3563,0,0,0,0,0,0
$GC,1356,-0.71,-146.0,181.4,-13.6,179,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2664,3564,0,0,0,0,0,0
$GC,1492,-0.71,-146.0,200.5,-13.9,192,1493,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2664,3564,0,0,0,0,0,0
$GC,1618,-0.71,-146.0,217.9,-13.5,204,1622,0.00,1.83,0.00,0.000,4,0.000,0.058,2808,3764,3564,0,0,0,0,0,0
$GC,1676,-0.71,-146.0,226.1,-14.0,209,1680,0.00,1.73,0.00,0.000,6,0.000,0.038,2808,2674,3563,0,0,0,0,0,0
$GC,1818,-0.71,-146.0,246.2,-14.1,222,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2671,3563,0,0,0,0,0,0
$GC,1944,-0.71,-146.0,264.1,-14.0,234,1948,0.00,1.88,0.00,0.000,4,0.000,0.059,2800,3766,3563,0,0,0,0,0,0
$GC,1989,-0.71,-146.0,270.7,-15.2,238,1993,0.12,1.73,0.00,0.000,6,0.155,0.039,2833,2677,3563,0,0,0,0,0,0
$GC,2193,-0.71,-146.0,295.5,-12.1,257,2196,0.00,1.83,0.00,0.000,4,0.000,0.059,2826,3767,3563,0,0,0,0,0,0
$GC,2242,-0.71,-146.0,302.3,-13.3,261,2249,0.00,1.75,0.00,0.000,6,0.000,0.038,2826,2688,3563,0,0,0,0,0,0
$GC,2440,-0.71,-146.0,326.9,-12.9,280,2444,0.00,2.35,0.00,0.000,4,0.000,0.047,2826,1236,3563,0,0,0,0,0,0
$GC,2469,-0.71,-146.0,330.5,-12.5,282,2473,0.00,2.42,0.00,0.000,6,0.000,0.054,2816,2688,3563,0,0,0,0,0,0
$GC,2667,-0.71,-146.0,356.1,-12.8,300,2670,0.00,1.77,0.00,0.000,4,0.000,0.058,2808,3767,3563,0,0,0,0,0,0
$GC,2728,-0.71,-146.0,364.7,-13.8,305,2735,0.00,1.70,0.00,0.000,6,0.000,0.040,2808,2686,3563,0,0,0,0,0,0
$GC,2927,-0.71,-146.0,391.3,-13.6,324,2929,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2685,3563,0,0,0,0,0,0
$GC,3116,-0.71,-146.0,417.1,-13.8,342,3120,0.00,1.80,0.00,0.000,4,0.000,0.059,2799,3761,3562,0,0,0,0,0,0
$GC,3144,-0.71,-146.0,421.3,-15.1,344,3151,0.08,1.73,0.00,0.000,6,0.117,0.039,2835,2699,3562,0,0,0,0,0,0
$GC,3342,-0.71,-146.0,444.5,-11.2,363,3343,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2699,3562,0,0,0,0,0,0
$GC,3534,-0.71,-146.0,465.8,-11.0,381,3537,0.00,1.80,0.00,0.000,4,0.000,0.059,2829,3768,3562,0,0,0,0,0,0
$GC,3594,-0.71,-146.0,473.4,-12.0,386,3602,0.00,1.75,0.00,0.000,6,0.000,0.040,2829,2694,3562,0,0,0,0,0,0
$GC,3793,-0.71,-146.0,497.0,-11.6,405,3794,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2694,3561,0,0,0,0,0,0
$GC,3978,-0.71,-146.0,519.4,-12.1,413,3982,0.00,1.80,0.00,0.000,4,0.000,0.058,2820,3766,3561,0,0,0,0,0,0
$GC,4013,-0.71,-146.0,524.0,-13.5,414,4016,0.00,1.67,0.00,0.000,6,0.000,0.040,2820,2707,3561,0,0,0,0,0,0
$STATE,4106,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4107,begin apogee
$GC,4113,-0.27,0.0,535.9,12.3,417,4252,0.47,0.00,134.90,1.124,4,0.120,0.000,2971,2494,2961,0,0,0,0,0,0
$STATE,4253,end apogee,CONTROL_FINISHED_OK
$STATE,4253,begin climb
$GC,4256,0.71,146.0,541.9,0.0,421,4428,1.08,2.62,152.62,1.031,4,0.078,0.047,3292,1106,2363,0,0,0,0,1,0
$GC,4502,0.71,146.0,522.7,10.6,429,4507,0.00,2.60,0.00,0.000,6,0.000,0.049,3292,2503,2355,0,0,0,0,0,0
$GC,4709,0.71,146.0,499.4,11.1,436,4713,0.00,2.50,0.00,0.000,4,0.000,0.047,3299,1105,2351,0,0,0,0,0,0
$GC,4843,0.71,146.0,484.5,10.9,447,4850,0.00,2.53,0.00,0.000,6,0.000,0.050,3300,2515,2349,0,0,0,0,0,0
$GC,5041,0.71,146.0,462.4,11.0,466,5045,0.00,2.17,0.00,0.000,4,0.000,0.055,3299,3764,2348,0,0,0,0,0,0
$GC,5139,0.71,146.0,449.5,14.4,474,5143,0.00,2.05,0.00,0.000,6,0.000,0.037,3308,2537,2346,0,0,0,0,0,0
$GC,5337,0.71,146.0,424.9,12.0,492,5341,0.00,2.12,0.00,0.000,4,0.000,0.056,3308,3766,2345,0,0,0,0,0,0
$GC,5400,0.71,146.0,416.3,14.0,497,5404,0.00,2.03,0.00,0.000,6,0.000,0.037,3316,2536,2345,0,0,0,0,0,0
$GC,5604,0.71,146.0,390.3,12.4,516,5608,0.00,2.10,0.00,0.000,4,0.000,0.056,3316,3771,2344,0,0,0,0,0,0
$GC,5642,0.71,146.0,384.7,14.7,519,5649,0.00,2.00,0.00,0.000,6,0.000,0.038,3323,2536,2344,0,0,0,0,0,0
$GC,5841,0.71,146.0,358.8,13.0,538,5844,0.00,2.08,0.00,0.000,4,0.000,0.056,3324,3773,2344,0,0,0,0,0,0
$GC,5894,0.71,146.0,351.2,15.3,542,5898,0.15,1.98,0.00,0.000,6,0.149,0.038,3294,2546,2343,0,0,0,0,0,0
$GC,6094,0.71,146.0,328.2,10.9,560,6097,0.00,2.05,0.00,0.000,4,0.000,0.057,3294,3769,2343,0,0,0,0,0,0
$GC,6129,0.71,146.0,323.7,12.4,563,6133,0.00,1.92,0.00,0.000,6,0.000,0.039,3300,2560,2343,0,0,0,0,0,0
$GC,6333,0.71,146.0,300.4,11.3,582,6334,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2559,2343,0,0,0,0,0,0
$GC,6524,0.71,146.0,279.0,10.9,600,6528,0.00,2.03,0.00,0.000,4,0.000,0.057,3300,3772,2342,0,0,0,0,0,0
$GC,6605,0.71,146.0,268.8,13.4,607,6608,0.00,1.92,0.00,0.000,6,0.000,0.039,3308,2560,2342,0,0,0,0,0,0
$GC,6812,0.71,146.0,245.5,11.1,626,6815,0.00,2.03,0.00,0.000,4,0.000,0.057,3308,3773,2342,0,0,0,0,0,0
$GC,6860,0.71,146.0,238.6,13.9,630,6870,0.00,1.95,0.00,0.000,6,0.000,0.039,3316,2577,2341,0,0,0,0,0,0
$GC,6997,0.71,146.0,222.4,11.8,643,6998,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2576,2341,0,0,0,0,0,0
$GC,7124,0.71,146.0,207.3,12.0,655,7128,0.00,1.98,0.00,0.000,4,0.000,0.056,3316,3764,2341,0,0,0,0,0,0
$GC,7182,0.71,146.0,199.5,13.4,660,7186,0.00,1.88,0.00,0.000,6,0.000,0.037,3324,2579,2340,0,0,0,0,0,0
$GC,7323,0.71,146.0,182.0,12.1,673,7324,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2577,2341,0,0,0,0,0,0
$GC,7451,0.71,146.0,166.6,12.1,685,7454,0.00,1.98,0.00,0.000,4,0.000,0.056,3324,3764,2341,0,0,0,0,0,0
$GC,7508,0.71,146.0,158.5,14.4,690,7512,0.15,1.88,0.00,0.000,6,0.148,0.037,3293,2580,2341,0,0,0,0,0,0
$GC,7649,0.71,146.0,143.6,10.3,703,7650,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2578,2341,0,0,0,0,0,0
$GC,7777,0.71,146.0,130.8,9.9,715,7784,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2578,2341,0,0,0,0,0,0
$GC,7913,0.71,146.0,117.1,10.0,728,7916,0.00,2.00,0.00,0.000,4,0.000,0.057,3293,3773,2340,0,0,0,0,0,0
$GC,7970,0.71,146.0,110.4,12.6,733,7974,0.00,1.88,0.00,0.000,6,0.000,0.039,3301,2594,2340,0,0,0,0,0,0
$GC,8109,0.71,146.0,95.5,10.7,749,8115,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,2592,2340,0,0,0,0,0,0
$GC,8248,0.71,146.0,80.6,10.8,774,8256,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,2592,2340,0,0,0,0,0,0
$GC,8394,0.71,146.0,65.9,10.7,799,8400,0.00,1.98,0.00,0.000,4,0.000,0.056,3301,3765,2340,0,0,0,0,0,0
$GC,8443,0.71,146.0,60.1,12.1,807,8449,0.00,1.88,0.00,0.000,6,0.000,0.037,3310,2586,2339,0,0,0,0,0,0
$GC,8586,0.71,146.0,44.1,11.6,832,8594,0.00,2.03,0.00,0.000,4,0.000,0.057,3310,3768,2339,0,0,0,0,0,0
$GC,8620,0.71,146.0,39.8,12.7,837,8627,0.00,1.88,0.00,0.000,6,0.000,0.037,3319,2591,2339,0,0,0,0,0,0
$GC,8765,0.71,146.0,22.8,10.5,862,8775,0.00,2.00,0.00,0.000,4,0.000,0.057,3318,3758,2339,0,0,0,0,0,0
$GC,8803,0.71,146.0,17.8,13.6,867,8810,0.10,1.88,0.00,0.000,6,0.129,0.038,3296,2610,2339,0,0,0,0,0,0
$FREEZE,8.63,0.103,-1.896,2,7,0
$FREEZE,8.06,0.104,-1.896,2,7,0
$FREEZE,7.55,0.104,-1.895,2,7,0
$FREEZE,6.87,0.103,-1.895,2,7,0
$FREEZE,6.38,0.104,-1.895,2,7,0
$FREEZE,5.81,0.095,-1.894,2,7,0
$FREEZE,5.43,0.096,-1.894,2,7,0
$FREEZE,4.86,0.096,-1.893,2,7,0
$FREEZE,4.41,0.099,-1.893,2,7,0
$FREEZE,3.64,0.098,-1.892,2,7,0
$FREEZE,2.79,0.101,-1.892,2,7,0
$GC,8952,0.73,161.1,3.6,8.5,892,8965,0.00,0.20,9.20,0.786,3,0.000,0.063,3296,2456,2303,0,0,0,0,0,0
$STATE,8965,end climb,SURFACE_DEPTH_REACHED
$STATE,8965,begin surface coast
$FREEZE,1.42,0.098,-1.891,2,7,0
$FREEZE,1.09,0.073,-1.854,2,7,0
$FREEZE,1.08,0.002,-0.991,2,7,0
$FREEZE,1.15,0.053,-1.892,2,7,0
$FREEZE,1.18,-0.116,-1.845,2,7,0
$FREEZE,1.43,0.070,-1.892,2,7,0
$FINISH,1.4,1.027655
$STATE,9003,end surface coast,CONTROL_FINISHED_OK
$STATE,9005,begin surface
$SM_CCo,9023,247.82,0.101,0,0,420,623.30
$SM_GC,1.95,0.00,0.00,247.82,0.000,0.000,0.101,406,2670,420,-8.27,0.57,623.30
$IRIDIUM_FIX,-7545.40,17341.62,130111,070759
$TT8_MAMPS,0.028462
$HUMID,52.32
$INTERNAL_PRESSURE,8.68197
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,19.2
$24V_AH,20.5,87.900
$10V_AH,9.6,61.057
$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,20.250,108.250,296.725,247.825,0.000,84.739,187.766,323.406,2.250,0.000,15.342,2347.758,4012.892,716.328,2742.127,412.215,0.000,1660.493,0.000,1560.839,0.000,15.884,0.000
$DEVICE_MAMPS,205.020,64.260,1123.785,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,634.045,1088.638,1009.673,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258188
$DATA_FILE_SIZE,60456,899
$CAP_FILE_SIZE,134256,0
$CFSIZE,260165632,218980352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.048,119.9,1
$GPS,130111,095707,-7629.729,17334.641,51,0.9,52,127.3