version: 66.08
glider: 502
mission: 3
dive: 622
start: 1 14 111 3 28 48
data:
$ID,502
$MISSION,3
$DIVE,622
$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,-30927.191
$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,21
$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
$GPS1,140111,031837,-7628.585,17315.193,52,1.2,53,127.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-69.6
$GPS2,140111,032819,-7628.529,17315.070,12,1.4,12,127.8
$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,127.4,84381,-16.0,-9.091
$D_GRID,565
$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,-146.0,0.0,0.0,0,78,0.00,0.00,-60.00,0.000,2,0.000,0.000,358,2619,3013,0,0,0,0,0,0
$GC,81,-0.71,-146.0,3.0,-2.5,8,118,9.20,2.28,-20.20,0.000,4,0.193,0.060,2829,1243,3557,0,0,0,0,0,0
$GC,277,-0.71,-146.0,29.0,-14.9,42,286,0.00,2.40,0.00,0.000,6,0.000,0.055,2820,2645,3561,0,0,0,0,0,0
$GC,418,-0.71,-146.0,51.5,-16.6,67,425,0.00,1.85,0.00,0.000,4,0.000,0.057,2812,3763,3560,0,0,0,0,0,0
$GC,477,-0.71,-146.0,61.6,-16.4,77,485,0.00,1.80,0.00,0.000,6,0.000,0.039,2812,2634,3560,0,0,0,0,0,0
$GC,615,-0.71,-146.0,84.5,-16.8,102,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2633,3561,0,0,0,0,0,0
$GC,759,-0.71,-146.0,107.3,-15.9,124,762,0.00,1.90,0.00,0.000,4,0.000,0.058,2802,3766,3561,0,0,0,0,0,0
$GC,817,-0.71,-146.0,116.9,-17.0,129,821,0.12,1.75,0.00,0.000,6,0.157,0.039,2836,2662,3561,0,0,0,0,0,0
$GC,958,-0.71,-146.0,136.8,-13.4,142,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2660,3561,0,0,0,0,0,0
$GC,1085,-0.71,-146.0,153.7,-13.3,154,1088,0.00,1.85,0.00,0.000,4,0.000,0.059,2829,3764,3561,0,0,0,0,0,0
$GC,1122,-0.71,-146.0,159.6,-15.1,157,1132,0.00,1.77,0.00,0.000,6,0.000,0.038,2829,2673,3561,0,0,0,0,0,0
$GC,1259,-0.71,-146.0,178.3,-13.8,170,1262,0.00,1.83,0.00,0.000,4,0.000,0.059,2820,3764,3561,0,0,0,0,0,0
$GC,1296,-0.71,-146.0,184.5,-15.3,173,1305,0.00,1.75,0.00,0.000,6,0.000,0.038,2820,2680,3561,0,0,0,0,0,0
$GC,1435,-0.71,-146.0,203.6,-14.6,186,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2680,3561,0,0,0,0,0,0
$GC,1571,-0.71,-146.0,223.0,-13.7,199,1574,0.00,1.83,0.00,0.000,4,0.000,0.059,2812,3769,3561,0,0,0,0,0,0
$GC,1608,-0.71,-146.0,229.1,-15.6,202,1617,0.00,1.75,0.00,0.000,6,0.000,0.038,2812,2693,3561,0,0,0,0,0,0
$GC,1745,-0.71,-146.0,248.3,-14.3,215,1749,0.00,2.35,0.00,0.000,4,0.000,0.047,2812,1245,3561,0,0,0,0,0,0
$GC,1773,-0.71,-146.0,252.9,-14.8,217,1778,0.12,2.42,0.00,0.000,6,0.147,0.054,2834,2689,3561,0,0,0,0,0,0
$GC,1972,-0.71,-146.0,277.3,-12.0,235,1976,0.00,1.83,0.00,0.000,4,0.000,0.057,2827,3767,3561,0,0,0,0,0,0
$GC,2063,-0.71,-146.0,289.4,-13.1,243,2066,0.00,1.70,0.00,0.000,6,0.000,0.039,2827,2691,3561,0,0,0,0,0,0
$GC,2268,-0.71,-146.0,316.3,-13.2,262,2272,0.00,1.80,0.00,0.000,4,0.000,0.058,2818,3764,3561,0,0,0,0,0,0
$GC,2304,-0.71,-146.0,321.5,-14.0,265,2307,0.00,1.67,0.00,0.000,6,0.000,0.039,2818,2706,3561,0,0,0,0,0,0
$GC,2507,-0.71,-146.0,349.6,-13.9,284,2509,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2704,3561,0,0,0,0,0,0
$GC,2701,-0.71,-146.0,375.6,-13.7,302,2705,0.00,1.77,0.00,0.000,4,0.000,0.060,2810,3763,3561,0,0,0,0,0,0
$GC,2736,-0.71,-146.0,380.9,-14.2,305,2740,0.00,1.67,0.00,0.000,6,0.000,0.039,2810,2706,3561,0,0,0,0,0,0
$GC,2940,-0.71,-146.0,409.2,-13.8,324,2941,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2705,3561,0,0,0,0,0,0
$GC,3132,-0.71,-146.0,436.0,-14.3,342,3135,0.00,1.77,0.00,0.000,4,0.000,0.060,2802,3762,3561,0,0,0,0,0,0
$GC,3155,-0.71,-146.0,439.7,-14.5,344,3160,0.08,1.70,0.00,0.000,6,0.133,0.040,2827,2717,3561,0,0,0,0,0,0
$GC,3361,-0.71,-146.0,465.9,-12.3,363,3362,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2716,3561,0,0,0,0,0,0
$GC,3550,-0.71,-146.0,488.8,-11.5,381,3554,0.00,1.80,0.00,0.000,4,0.000,0.060,2819,3760,3561,0,0,0,0,0,0
$GC,3588,-0.71,-146.0,493.8,-12.5,384,3595,0.00,1.70,0.00,0.000,6,0.000,0.040,2820,2719,3561,0,0,0,0,0,0
$GC,3802,-0.71,-146.0,519.0,-11.8,395,3803,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2718,3561,0,0,0,0,0,0
$GC,3986,-0.71,-146.0,541.1,-12.1,401,3990,0.00,1.80,0.00,0.000,4,0.000,0.060,2812,3759,3561,0,0,0,0,0,0
$GC,4012,-0.71,-146.0,545.0,-13.2,401,4021,0.00,1.70,0.00,0.000,6,0.000,0.040,2812,2716,3561,0,0,0,0,0,0
$STATE,4170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4170,begin apogee
$GC,4177,-0.27,0.0,565.3,12.8,407,4318,0.50,0.00,136.50,1.157,4,0.121,0.000,2970,2491,2961,0,0,0,0,0,0
$STATE,4319,end apogee,CONTROL_FINISHED_OK
$STATE,4319,begin climb
$GC,4321,0.71,146.0,572.1,0.0,411,4493,1.08,2.65,153.43,1.060,4,0.078,0.047,3291,1099,2364,0,0,0,0,1,0
$GC,4567,0.71,146.0,554.0,10.5,419,4572,0.00,2.62,0.00,0.000,6,0.000,0.049,3291,2503,2356,0,0,0,0,0,0
$GC,4775,0.71,146.0,531.3,11.1,426,4779,0.00,2.53,0.00,0.000,4,0.000,0.047,3300,1105,2351,0,0,0,0,0,0
$GC,4908,0.71,146.0,516.8,10.3,430,4912,0.00,2.55,0.00,0.000,6,0.000,0.050,3300,2518,2349,0,0,0,0,0,0
$GC,5107,0.71,146.0,494.6,11.4,438,5111,0.00,2.20,0.00,0.000,4,0.000,0.054,3300,3767,2348,0,0,0,0,0,0
$GC,5208,0.71,146.0,480.9,13.4,446,5215,0.00,2.08,0.00,0.000,6,0.000,0.037,3309,2547,2347,0,0,0,0,0,0
$GC,5406,0.71,146.0,457.3,12.0,465,5410,0.00,2.15,0.00,0.000,4,0.000,0.057,3309,3764,2346,0,0,0,0,0,0
$GC,5472,0.71,146.0,447.9,14.5,470,5479,0.00,2.05,0.00,0.000,6,0.000,0.037,3318,2547,2346,0,0,0,0,0,0
$GC,5672,0.71,146.0,422.8,12.5,489,5676,0.00,2.12,0.00,0.000,4,0.000,0.056,3318,3764,2346,0,0,0,0,0,0
$GC,5715,0.71,146.0,416.3,14.9,492,5723,0.12,2.05,0.00,0.000,6,0.154,0.037,3297,2553,2345,0,0,0,0,0,0
$GC,5914,0.71,146.0,394.2,11.0,511,5918,0.00,2.12,0.00,0.000,4,0.000,0.056,3297,3773,2344,0,0,0,0,0,0
$GC,5960,0.71,146.0,388.3,13.7,515,5964,0.00,1.98,0.00,0.000,6,0.000,0.038,3303,2566,2344,0,0,0,0,0,0
$GC,6165,0.71,146.0,364.1,12.1,534,6169,0.00,2.05,0.00,0.000,4,0.000,0.057,3303,3764,2344,0,0,0,0,0,0
$GC,6211,0.71,146.0,357.8,14.0,538,6215,0.00,1.92,0.00,0.000,6,0.000,0.037,3312,2567,2344,0,0,0,0,0,0
$GC,6415,0.71,146.0,332.3,12.6,557,6418,0.00,2.03,0.00,0.000,4,0.000,0.057,3312,3765,2344,0,0,0,0,0,0
$GC,6454,0.71,146.0,326.5,14.4,560,6460,0.00,1.92,0.00,0.000,6,0.000,0.037,3321,2569,2343,0,0,0,0,0,0
$GC,6653,0.71,146.0,300.1,13.3,579,6657,0.00,2.03,0.00,0.000,4,0.000,0.056,3321,3769,2343,0,0,0,0,0,0
$GC,6710,0.71,146.0,291.4,15.8,584,6715,0.12,1.88,0.00,0.000,6,0.155,0.038,3299,2594,2343,0,0,0,0,0,0
$GC,6915,0.71,146.0,267.7,10.7,603,6918,0.00,1.98,0.00,0.000,4,0.000,0.057,3298,3768,2343,0,0,0,0,0,0
$GC,6972,0.71,146.0,260.5,12.7,608,6975,0.00,1.85,0.00,0.000,6,0.000,0.038,3306,2607,2343,0,0,0,0,0,0
$GC,7177,0.71,146.0,238.4,10.4,627,7178,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,2604,2342,0,0,0,0,0,0
$GC,7303,0.71,146.0,225.1,10.9,639,7307,0.00,1.95,0.00,0.000,4,0.000,0.056,3305,3773,2342,0,0,0,0,0,0
$GC,7350,0.71,146.0,219.6,12.6,643,7354,0.00,1.85,0.00,0.000,6,0.000,0.038,3315,2611,2342,0,0,0,0,0,0
$GC,7494,0.71,146.0,203.1,11.5,656,7501,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2608,2342,0,0,0,0,0,0
$GC,7629,0.71,146.0,186.3,12.7,669,7633,0.00,1.95,0.00,0.000,4,0.000,0.057,3315,3773,2342,0,0,0,0,0,0
$GC,7677,0.71,146.0,179.0,15.0,673,7687,0.00,1.88,0.00,0.000,6,0.000,0.038,3324,2620,2342,0,0,0,0,0,0
$GC,7816,0.71,146.0,161.6,12.7,686,7820,0.00,1.92,0.00,0.000,4,0.000,0.057,3324,3770,2342,0,0,0,0,0,0
$GC,7852,0.71,146.0,156.4,13.7,689,7856,0.15,1.83,0.00,0.000,6,0.148,0.038,3292,2620,2342,0,0,0,0,0,0
$GC,7995,0.71,146.0,140.7,10.4,702,8002,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2618,2342,0,0,0,0,0,0
$GC,8131,0.71,146.0,126.6,10.1,715,8135,0.00,1.92,0.00,0.000,4,0.000,0.056,3292,3770,2341,0,0,0,0,0,0
$GC,8180,0.71,146.0,120.7,12.0,719,8188,0.00,1.85,0.00,0.000,6,0.000,0.038,3300,2628,2342,0,0,0,0,0,0
$GC,8317,0.71,146.0,107.0,10.1,732,8325,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2626,2342,0,0,0,0,0,0
$GC,8455,0.71,146.0,93.1,9.9,751,8462,0.00,1.92,0.00,0.000,4,0.000,0.056,3300,3775,2342,0,0,0,0,0,0
$GC,8492,0.71,146.0,89.2,10.8,757,8500,0.00,1.88,0.00,0.000,6,0.000,0.038,3308,2624,2342,0,0,0,0,0,0
$GC,8633,0.71,146.0,74.4,10.4,782,8640,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,2623,2342,0,0,0,0,0,0
$GC,8775,0.71,146.0,59.3,11.1,807,8781,0.00,1.92,0.00,0.000,4,0.000,0.055,3308,3770,2342,0,0,0,0,0,0
$GC,8826,0.71,146.0,52.5,12.7,816,8834,0.00,1.85,0.00,0.000,6,0.000,0.038,3317,2633,2342,0,0,0,0,0,0
$GC,8967,0.71,146.0,36.3,12.4,841,8975,0.00,1.92,0.00,0.000,4,0.000,0.057,3317,3775,2342,0,0,0,0,0,0
$GC,9006,0.71,146.0,30.7,13.7,847,9013,0.00,1.80,0.00,0.000,6,0.000,0.039,3326,2646,2342,0,0,0,0,0,0
$GC,9146,0.71,146.0,12.7,13.9,872,9154,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2645,2341,0,0,0,0,0,0
$FREEZE,8.32,-0.255,-1.892,2,2,0
$FREEZE,7.50,-0.254,-1.891,2,2,0
$FREEZE,6.82,-0.252,-1.891,2,2,0
$FREEZE,6.00,-0.250,-1.890,2,2,0
$FREEZE,5.39,-0.251,-1.890,2,2,0
$FREEZE,4.42,-0.254,-1.889,2,2,0
$FREEZE,3.68,-0.253,-1.889,2,2,0
$FREEZE,2.78,-0.251,-1.888,2,2,0
$STATE,9216,end climb,SURFACE_DEPTH_REACHED
$STATE,9216,begin surface coast
$FREEZE,2.01,-0.252,-1.887,2,2,0
$FREEZE,1.25,-0.253,-1.887,2,2,0
$FREEZE,1.33,-0.255,-1.887,2,2,0
$FREEZE,1.28,-0.253,-1.886,2,2,0
$FINISH,1.3,1.027598
$STATE,9242,end surface coast,CONTROL_FINISHED_OK
$STATE,9242,begin surface
$SM_CCo,9259,300.62,0.708,7,0,420,623.30
$SM_GC,1.98,0.00,0.00,300.62,0.000,0.000,0.708,383,2640,420,-8.33,-0.28,623.30
$IRIDIUM_FIX,-7545.40,17315.27,140111,030322
$TT8_MAMPS,0.028462
$HUMID,51.92
$INTERNAL_PRESSURE,8.68197
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,16.6
$24V_AH,20.5,88.901
$10V_AH,9.5,61.831
$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,19.325,117.975,289.925,300.625,0.000,77.085,225.328,0.000,2.000,0.000,12.938,2354.275,4295.456,774.748,2431.153,321.992,0.000,1718.652,0.000,1562.903,0.000,14.643,0.000
$DEVICE_MAMPS,192.780,60.435,1157.445,707.625,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,627.317,1082.876,986.811,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258124
$DATA_FILE_SIZE,60420,888
$CAP_FILE_SIZE,128322,0
$CFSIZE,260165632,218521600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,0
$CURRENT,0.069, 68.6,1
$GPS,140111,061007,-7628.707,17311.381,42,1.9,43,127.9