version: 66.08
glider: 502
mission: 3
dive: 616
start: 1 13 111 10 7 42
data:
$ID,502
$MISSION,3
$DIVE,616
$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,-30919.537
$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,58
$R_STBD_OVSHOOT,27
$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
$GPS1,130111,095707,-7629.729,17334.641,51,0.9,52,127.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-63.8
$GPS2,130111,100713,-7629.688,17334.615,10,1.5,15,127.3
$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,147.8,92789,-16.0,-9.091
$D_GRID,544
$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,16,-0.71,-146.0,0.0,0.0,0,161,0.00,0.00,-142.88,0.000,2,0.000,0.000,387,2671,3230,0,0,0,0,0,0
$GC,166,-0.71,-146.0,3.1,-2.2,21,196,9.23,2.35,-9.82,0.000,4,0.200,0.062,2825,1279,3561,0,0,0,0,0,0
$GC,420,-0.71,-146.0,41.6,-14.9,66,428,0.00,2.33,0.00,0.000,6,0.000,0.055,2816,2645,3563,0,0,0,0,0,0
$GC,560,-0.71,-146.0,64.7,-17.1,91,568,0.00,1.85,0.00,0.000,4,0.000,0.057,2807,3766,3564,0,0,0,0,0,0
$GC,620,-0.71,-146.0,75.4,-17.6,101,627,0.00,1.77,0.00,0.000,6,0.000,0.039,2807,2652,3564,0,0,0,0,0,0
$GC,757,-0.71,-146.0,99.1,-17.0,126,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2652,3564,0,0,0,0,0,0
$GC,894,-0.71,-146.0,121.5,-16.3,139,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2652,3564,0,0,0,0,0,0
$GC,1031,-0.71,-146.0,144.1,-16.5,152,1035,0.00,1.85,0.00,0.000,4,0.000,0.058,2799,3762,3564,0,0,0,0,0,0
$GC,1089,-0.71,-146.0,154.2,-17.2,157,1093,0.12,1.75,0.00,0.000,6,0.156,0.038,2832,2650,3565,0,0,0,0,0,0
$GC,1232,-0.71,-146.0,174.9,-14.4,170,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2649,3564,0,0,0,0,0,0
$GC,1367,-0.71,-146.0,194.4,-14.0,183,1371,0.00,1.88,0.00,0.000,4,0.000,0.059,2824,3763,3564,0,0,0,0,0,0
$GC,1426,-0.71,-146.0,203.0,-14.3,188,1430,0.00,1.75,0.00,0.000,6,0.000,0.038,2825,2656,3564,0,0,0,0,0,0
$GC,1567,-0.71,-146.0,223.4,-14.3,201,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2653,3564,0,0,0,0,0,0
$GC,1694,-0.71,-146.0,241.4,-14.4,213,1695,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2653,3564,0,0,0,0,0,0
$GC,1820,-0.71,-146.0,259.6,-14.1,225,1824,0.00,1.92,0.00,0.000,4,0.000,0.060,2816,3764,3564,0,0,0,0,0,0
$GC,1870,-0.71,-146.0,267.4,-15.1,229,1876,0.00,1.77,0.00,0.000,6,0.000,0.039,2816,2647,3565,0,0,0,0,0,0
$GC,2068,-0.71,-146.0,296.8,-15.1,248,2072,0.00,1.92,0.00,0.000,4,0.000,0.058,2807,3762,3564,0,0,0,0,0,0
$GC,2114,-0.71,-146.0,304.0,-16.1,252,2117,0.00,1.75,0.00,0.000,6,0.000,0.039,2807,2663,3564,0,0,0,0,0,0
$GC,2318,-0.71,-146.0,334.5,-14.7,271,2319,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2660,3564,0,0,0,0,0,0
$GC,2508,-0.71,-146.0,363.2,-15.0,289,2512,0.00,1.85,0.00,0.000,4,0.000,0.060,2799,3760,3564,0,0,0,0,0,0
$GC,2570,-0.71,-146.0,373.1,-16.1,294,2578,0.12,1.77,0.00,0.000,6,0.153,0.040,2832,2654,3564,0,0,0,0,0,0
$GC,2768,-0.71,-146.0,398.8,-12.9,313,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2653,3564,0,0,0,0,0,0
$GC,2962,-0.71,-146.0,422.8,-12.4,331,2965,0.00,1.85,0.00,0.000,4,0.000,0.060,2825,3760,3564,0,0,0,0,0,0
$GC,3031,-0.71,-146.0,432.3,-14.0,337,3035,0.00,1.73,0.00,0.000,6,0.000,0.040,2825,2677,3564,0,0,0,0,0,0
$GC,3235,-0.71,-146.0,459.3,-12.8,356,3237,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2676,3564,0,0,0,0,0,0
$GC,3428,-0.71,-146.0,483.6,-12.6,374,3432,0.00,1.83,0.00,0.000,4,0.000,0.060,2817,3759,3564,0,0,0,0,0,0
$GC,3497,-0.71,-146.0,492.8,-13.1,380,3501,0.00,1.77,0.00,0.000,6,0.000,0.041,2817,2677,3563,0,0,0,0,0,0
$GC,3715,-0.71,-146.0,520.9,-12.8,391,3716,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2676,3563,0,0,0,0,0,0
$STATE,3897,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3897,begin apogee
$GC,3904,-0.27,0.0,544.1,12.5,397,4045,0.47,0.00,136.43,1.139,4,0.119,0.000,2968,2479,2961,0,0,0,0,0,0
$STATE,4045,end apogee,CONTROL_FINISHED_OK
$STATE,4046,begin climb
$GC,4049,0.71,146.0,550.4,0.0,401,4220,1.10,2.62,152.82,1.043,4,0.079,0.047,3295,1098,2365,0,0,0,0,1,0
$GC,4322,0.71,146.0,527.9,11.3,410,4327,0.00,2.60,0.00,0.000,6,0.000,0.049,3295,2496,2355,0,0,0,0,0,0
$GC,4535,0.71,146.0,503.8,11.3,417,4539,0.00,2.50,0.00,0.000,4,0.000,0.048,3300,1098,2350,0,0,0,0,0,0
$GC,4669,0.71,146.0,489.4,10.3,425,4675,0.00,2.53,0.00,0.000,6,0.000,0.049,3300,2516,2349,0,0,0,0,0,0
$GC,4869,0.71,146.0,467.7,10.9,444,4873,0.00,2.17,0.00,0.000,4,0.000,0.054,3300,3767,2348,0,0,0,0,0,0
$GC,4981,0.71,146.0,452.3,13.1,453,4988,0.00,2.05,0.00,0.000,6,0.000,0.037,3308,2540,2347,0,0,0,0,0,0
$GC,5179,0.71,146.0,429.2,11.4,472,5183,0.00,2.12,0.00,0.000,4,0.000,0.055,3308,3769,2346,0,0,0,0,0,0
$GC,5223,0.71,146.0,423.2,13.8,475,5230,0.00,2.03,0.00,0.000,6,0.000,0.038,3316,2537,2346,0,0,0,0,0,0
$GC,5421,0.71,146.0,399.5,12.0,494,5425,0.00,2.08,0.00,0.000,4,0.000,0.054,3316,3765,2345,0,0,0,0,0,0
$GC,5465,0.71,146.0,393.3,13.9,497,5472,0.00,2.00,0.00,0.000,6,0.000,0.037,3324,2552,2345,0,0,0,0,0,0
$GC,5664,0.71,146.0,368.4,12.1,516,5668,0.00,2.05,0.00,0.000,4,0.000,0.056,3324,3767,2344,0,0,0,0,0,0
$GC,5713,0.71,146.0,361.5,14.4,520,5721,0.15,1.95,0.00,0.000,6,0.147,0.038,3293,2558,2344,0,0,0,0,0,0
$GC,5911,0.71,146.0,340.7,10.2,539,5912,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2556,2344,0,0,0,0,0,0
$GC,6105,0.71,146.0,321.1,10.2,557,6108,0.00,2.03,0.00,0.000,4,0.000,0.056,3294,3769,2343,0,0,0,0,0,0
$GC,6185,0.71,146.0,311.1,12.8,564,6188,0.00,1.92,0.00,0.000,6,0.000,0.038,3300,2560,2343,0,0,0,0,0,0
$GC,6388,0.71,146.0,288.6,10.9,583,6392,0.00,2.05,0.00,0.000,4,0.000,0.057,3300,3777,2343,0,0,0,0,0,0
$GC,6438,0.71,146.0,282.1,13.2,587,6446,0.00,1.92,0.00,0.000,6,0.000,0.038,3308,2564,2343,0,0,0,0,0,0
$GC,6636,0.71,146.0,258.7,11.8,606,6640,0.00,2.03,0.00,0.000,4,0.000,0.057,3308,3768,2343,0,0,0,0,0,0
$GC,6675,0.71,146.0,253.3,13.8,609,6682,0.00,1.90,0.00,0.000,6,0.000,0.039,3316,2573,2342,0,0,0,0,0,0
$GC,6876,0.71,146.0,229.0,12.2,628,6879,0.00,2.00,0.00,0.000,4,0.000,0.057,3316,3768,2342,0,0,0,0,0,0
$GC,6902,0.71,146.0,224.8,15.0,630,6910,0.00,1.90,0.00,0.000,6,0.000,0.037,3323,2592,2342,0,0,0,0,0,0
$GC,7038,0.71,146.0,207.5,12.7,643,7039,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2591,2342,0,0,0,0,0,0
$GC,7165,0.71,146.0,190.9,13.5,655,7168,0.00,1.95,0.00,0.000,4,0.000,0.057,3323,3767,2342,0,0,0,0,0,0
$GC,7213,0.71,146.0,183.4,15.4,659,7223,0.10,1.90,0.00,0.000,6,0.132,0.037,3301,2594,2342,0,0,0,0,0,0
$GC,7351,0.71,146.0,168.0,11.2,672,7359,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,2593,2341,0,0,0,0,0,0
$GC,7487,0.71,146.0,152.7,11.1,685,7490,0.00,1.95,0.00,0.000,4,0.000,0.056,3301,3766,2342,0,0,0,0,0,0
$GC,7533,0.71,146.0,146.9,12.7,689,7537,0.00,1.83,0.00,0.000,6,0.000,0.037,3308,2608,2341,0,0,0,0,0,0
$GC,7677,0.71,146.0,130.7,11.0,702,7684,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,2607,2342,0,0,0,0,0,0
$GC,7812,0.71,146.0,114.6,11.7,715,7813,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,2607,2341,0,0,0,0,0,0
$GC,7939,0.71,146.0,100.3,11.0,727,7943,0.00,1.92,0.00,0.000,4,0.000,0.057,3307,3767,2342,0,0,0,0,0,0
$GC,7994,0.71,146.0,93.3,13.1,736,8002,0.00,1.85,0.00,0.000,6,0.000,0.038,3316,2625,2341,0,0,0,0,0,0
$GC,8136,0.71,146.0,77.6,11.7,761,8142,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2624,2341,0,0,0,0,0,0
$GC,8272,0.71,146.0,61.6,10.9,786,8280,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2624,2341,0,0,0,0,0,0
$GC,8413,0.71,146.0,46.2,10.3,811,8421,0.00,1.92,0.00,0.000,4,0.000,0.054,3317,3775,2341,0,0,0,0,0,0
$GC,8462,0.71,146.0,40.7,12.0,819,8470,0.00,1.83,0.00,0.000,6,0.000,0.037,3325,2628,2341,0,0,0,0,0,0
$GC,8601,0.71,146.0,23.6,12.2,844,8609,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2628,2341,0,0,0,0,0,0
$FREEZE,8.80,0.062,-1.896,2,8,0
$FREEZE,7.91,0.062,-1.896,2,8,0
$FREEZE,7.13,0.062,-1.895,2,8,0
$FREEZE,6.46,0.062,-1.894,2,8,0
$FREEZE,5.88,0.063,-1.894,2,8,0
$GC,8745,0.71,146.0,5.9,13.4,869,8751,0.00,1.90,0.00,0.000,4,0.000,0.051,3325,3771,2340,0,0,0,0,0,0
$FREEZE,3.90,0.060,-1.893,2,8,0
$FREEZE,3.02,0.061,-1.892,2,8,0
$GC,8767,0.71,146.0,3.0,11.6,872,8776,0.12,1.85,0.00,0.000,6,0.142,0.038,3296,2634,2339,0,0,0,0,0,0
$FREEZE,1.12,0.015,-1.893,2,8,0
$STATE,8782,end climb,SURFACE_DEPTH_REACHED
$STATE,8782,begin surface coast
$FREEZE,1.12,-0.128,-1.902,2,8,0
$FREEZE,1.15,-0.041,-1.871,2,8,0
$FREEZE,1.30,-0.092,-1.376,2,8,0
$FREEZE,1.24,-0.079,-1.470,2,8,0
$FREEZE,1.19,-0.133,-1.009,2,8,0
$FINISH,1.2,1.014908
$STATE,8814,end surface coast,CONTROL_FINISHED_OK
$STATE,8814,begin surface
$SM_CCo,8831,291.98,0.708,4,0,419,623.30
$SM_GC,1.85,0.00,0.00,291.98,0.000,0.000,0.708,395,2627,419,-8.30,-0.62,623.30
$IRIDIUM_FIX,-7545.40,17333.50,130111,101008
$TT8_MAMPS,0.028462
$HUMID,52.04
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,14.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,18.8
$24V_AH,20.5,88.060
$10V_AH,9.6,61.163
$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,19.125,95.325,289.250,291.975,0.000,91.876,225.329,0.000,2.500,0.000,16.392,2273.088,3970.376,789.011,2400.385,317.470,0.000,1711.320,0.000,1520.104,0.000,12.930,0.000
$DEVICE_MAMPS,199.665,61.965,1139.085,707.625,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,619.279,1063.154,975.345,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,60547,879
$CAP_FILE_SIZE,119601,0
$CFSIZE,260165632,218931200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.058, 59.5,1
$GPS,130111,124137,-7629.426,17330.773,50,0.8,51,127.4