version: 66.08
glider: 502
mission: 3
dive: 624
start: 1 14 111 9 13 25
data:
$ID,502
$MISSION,3
$DIVE,624
$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,-30929.707
$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,20
$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
$GPS1,140111,090306,-7628.718,17307.141,45,1.5,51,128.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-69.9
$GPS2,140111,091256,-7628.690,17307.000,13,1.8,13,128.0
$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,137.1,80884,-16.0,-9.091
$D_GRID,567
$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,-146.0,0.0,0.0,0,74,0.00,0.00,-55.50,0.000,2,0.000,0.000,355,2630,2929,0,0,0,0,0,0
$GC,77,-0.71,-146.0,3.1,-1.9,8,120,9.32,2.38,-23.27,0.000,4,0.196,0.060,2829,1233,3559,0,0,0,0,0,0
$GC,324,-0.71,-146.0,36.5,-14.1,50,333,0.00,2.42,0.00,0.000,6,0.000,0.055,2820,2652,3562,0,0,0,0,0,0
$GC,469,-0.71,-146.0,57.9,-14.2,75,477,0.00,1.88,0.00,0.000,4,0.000,0.057,2812,3764,3562,0,0,0,0,0,0
$GC,519,-0.71,-146.0,65.6,-15.5,83,527,0.00,1.80,0.00,0.000,6,0.000,0.039,2812,2652,3562,0,0,0,0,0,0
$GC,662,-0.71,-146.0,87.5,-14.7,108,670,0.00,1.92,0.00,0.000,4,0.000,0.060,2803,3759,3562,0,0,0,0,0,0
$GC,688,-0.71,-146.0,91.7,-15.5,112,697,0.08,1.77,0.00,0.000,6,0.139,0.039,2828,2667,3562,0,0,0,0,0,0
$GC,835,-0.71,-146.0,111.6,-13.6,130,839,0.00,1.85,0.00,0.000,4,0.000,0.058,2821,3770,3563,0,0,0,0,0,0
$GC,871,-0.71,-146.0,117.1,-15.2,133,874,0.00,1.75,0.00,0.000,6,0.000,0.039,2820,2670,3563,0,0,0,0,0,0
$GC,1012,-0.71,-146.0,137.3,-14.0,146,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2667,3563,0,0,0,0,0,0
$GC,1139,-0.71,-146.0,155.7,-14.7,158,1143,0.00,1.85,0.00,0.000,4,0.000,0.058,2812,3772,3563,0,0,0,0,0,0
$GC,1186,-0.71,-146.0,163.1,-16.1,162,1189,0.00,1.73,0.00,0.000,6,0.000,0.039,2812,2683,3563,0,0,0,0,0,0
$GC,1329,-0.71,-146.0,185.5,-15.7,175,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2681,3563,0,0,0,0,0,0
$GC,1465,-0.71,-146.0,206.8,-15.3,188,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2681,3563,0,0,0,0,0,0
$GC,1592,-0.71,-146.0,226.0,-14.8,200,1596,0.00,1.83,0.00,0.000,4,0.000,0.058,2804,3770,3563,0,0,0,0,0,0
$GC,1641,-0.71,-146.0,234.1,-15.4,204,1649,0.00,1.75,0.00,0.000,6,0.000,0.039,2804,2691,3563,0,0,0,0,0,0
$GC,1776,-0.71,-146.0,254.0,-15.2,217,1778,0.10,0.00,0.00,0.000,6,0.171,0.000,2829,2690,3563,0,0,0,0,0,0
$GC,1967,-0.71,-146.0,279.4,-13.2,235,1971,0.00,1.80,0.00,0.000,4,0.000,0.059,2823,3766,3563,0,0,0,0,0,0
$GC,2017,-0.71,-146.0,287.0,-14.3,239,2024,0.00,1.70,0.00,0.000,6,0.000,0.039,2823,2690,3563,0,0,0,0,0,0
$GC,2216,-0.71,-146.0,313.8,-13.6,258,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2688,3563,0,0,0,0,0,0
$GC,2406,-0.71,-146.0,339.1,-13.1,276,2410,0.00,1.85,0.00,0.000,4,0.000,0.060,2815,3762,3563,0,0,0,0,0,0
$GC,2453,-0.71,-146.0,345.7,-14.5,280,2456,0.00,1.67,0.00,0.000,6,0.000,0.039,2814,2704,3563,0,0,0,0,0,0
$GC,2657,-0.71,-146.0,374.2,-13.8,299,2661,0.00,1.83,0.00,0.000,4,0.000,0.060,2806,3759,3563,0,0,0,0,0,0
$GC,2684,-0.71,-146.0,378.5,-14.9,301,2691,0.00,1.70,0.00,0.000,6,0.000,0.039,2806,2716,3563,0,0,0,0,0,0
$GC,2883,-0.71,-146.0,407.0,-14.3,320,2884,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2715,3563,0,0,0,0,0,0
$GC,3073,-0.71,-146.0,433.9,-14.1,338,3077,0.00,1.77,0.00,0.000,4,0.000,0.060,2798,3769,3563,0,0,0,0,0,0
$GC,3153,-0.71,-146.0,445.6,-14.4,345,3157,0.12,1.67,0.00,0.000,6,0.153,0.041,2830,2712,3562,0,0,0,0,0,0
$GC,3358,-0.71,-146.0,470.0,-11.5,364,3361,0.00,1.77,0.00,0.000,4,0.000,0.060,2826,3767,3562,0,0,0,0,0,0
$GC,3381,-0.71,-146.0,473.1,-12.0,366,3385,0.00,1.70,0.00,0.000,6,0.000,0.040,2824,2728,3562,0,0,0,0,0,0
$GC,3585,-0.71,-146.0,497.8,-12.3,385,3586,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2727,3563,0,0,0,0,0,0
$GC,3789,-0.71,-146.0,523.3,-12.5,393,3792,0.00,1.75,0.00,0.000,4,0.000,0.060,2817,3767,3563,0,0,0,0,0,0
$GC,3827,-0.71,-146.0,528.7,-14.3,394,3831,0.00,1.67,0.00,0.000,6,0.000,0.039,2817,2741,3562,0,0,0,0,0,0
$GC,4041,-0.71,-146.0,555.2,-12.4,401,4045,0.00,1.73,0.00,0.000,4,0.000,0.060,2809,3766,3562,0,0,0,0,0,0
$GC,4076,-0.71,-146.0,559.9,-13.6,402,4080,0.00,1.65,0.00,0.000,6,0.000,0.040,2809,2727,3562,0,0,0,0,0,0
$STATE,4139,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4139,begin apogee
$GC,4145,-0.27,0.0,568.4,12.8,404,4289,0.52,0.00,137.25,1.154,4,0.120,0.000,2974,2486,2960,0,0,0,0,0,0
$STATE,4290,end apogee,CONTROL_FINISHED_OK
$STATE,4290,begin climb
$GC,4293,0.71,146.0,574.2,0.0,408,4464,1.05,2.62,152.57,1.063,4,0.076,0.047,3289,1096,2364,0,0,0,0,1,0
$GC,4527,0.71,146.0,556.0,11.3,415,4534,0.00,2.62,0.00,0.000,6,0.000,0.049,3289,2501,2357,0,0,0,0,0,0
$GC,4718,0.71,146.0,534.0,11.4,422,4722,0.00,2.55,0.00,0.000,4,0.000,0.046,3300,1091,2352,0,0,0,0,0,0
$GC,4853,0.71,146.0,518.8,11.7,426,4857,0.00,2.60,0.00,0.000,6,0.000,0.049,3300,2526,2349,0,0,0,0,0,0
$GC,5050,0.71,146.0,495.4,11.9,434,5054,0.00,2.20,0.00,0.000,4,0.000,0.055,3300,3770,2348,0,0,0,0,0,0
$GC,5149,0.71,146.0,482.1,14.8,442,5153,0.00,2.08,0.00,0.000,6,0.000,0.037,3308,2545,2347,0,0,0,0,0,0
$GC,5347,0.71,146.0,457.7,12.0,460,5351,0.00,2.15,0.00,0.000,4,0.000,0.056,3307,3764,2347,0,0,0,0,0,0
$GC,5421,0.71,146.0,447.3,14.4,466,5425,0.00,2.05,0.00,0.000,6,0.000,0.037,3315,2547,2346,0,0,0,0,0,0
$GC,5619,0.71,146.0,421.9,12.4,484,5623,0.00,2.15,0.00,0.000,4,0.000,0.056,3315,3770,2345,0,0,0,0,0,0
$GC,5668,0.71,146.0,414.7,14.4,488,5675,0.00,2.08,0.00,0.000,6,0.000,0.037,3324,2529,2345,0,0,0,0,0,0
$GC,5868,0.71,146.0,388.7,13.1,507,5872,0.00,2.15,0.00,0.000,4,0.000,0.054,3324,3767,2345,0,0,0,0,0,0
$GC,5939,0.71,146.0,377.6,15.8,513,5947,0.15,2.00,0.00,0.000,6,0.145,0.037,3295,2567,2344,0,0,0,0,0,0
$GC,6138,0.71,146.0,355.1,11.1,532,6142,0.00,2.05,0.00,0.000,4,0.000,0.057,3295,3765,2345,0,0,0,0,0,0
$GC,6178,0.71,146.0,350.3,12.9,535,6182,0.00,1.92,0.00,0.000,6,0.000,0.038,3300,2579,2344,0,0,0,0,0,0
$GC,6382,0.71,146.0,326.8,11.4,554,6386,0.00,2.03,0.00,0.000,4,0.000,0.057,3300,3768,2344,0,0,0,0,0,0
$GC,6421,0.71,146.0,321.8,13.1,557,6428,0.00,1.92,0.00,0.000,6,0.000,0.038,3308,2585,2344,0,0,0,0,0,0
$GC,6619,0.71,146.0,298.1,12.2,576,6623,0.00,2.03,0.00,0.000,4,0.000,0.056,3308,3773,2343,0,0,0,0,0,0
$GC,6655,0.71,146.0,293.6,13.5,579,6658,0.00,1.88,0.00,0.000,6,0.000,0.039,3316,2604,2343,0,0,0,0,0,0
$GC,6859,0.71,146.0,268.3,12.0,598,6863,0.00,1.95,0.00,0.000,4,0.000,0.055,3316,3766,2343,0,0,0,0,0,0
$GC,6894,0.71,146.0,263.6,13.8,601,6897,0.00,1.85,0.00,0.000,6,0.000,0.037,3324,2606,2343,0,0,0,0,0,0
$GC,7100,0.71,146.0,238.5,12.2,620,7103,0.00,1.95,0.00,0.000,4,0.000,0.056,3324,3767,2343,0,0,0,0,0,0
$GC,7157,0.71,146.0,230.3,15.4,625,7161,0.15,1.83,0.00,0.000,6,0.147,0.038,3293,2620,2343,0,0,0,0,0,0
$GC,7298,0.71,146.0,214.4,10.9,638,7299,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2618,2343,0,0,0,0,0,0
$GC,7425,0.71,146.0,201.2,10.2,650,7429,0.00,1.92,0.00,0.000,4,0.000,0.057,3293,3768,2343,0,0,0,0,0,0
$GC,7472,0.71,146.0,195.8,12.3,654,7475,0.00,1.83,0.00,0.000,6,0.000,0.038,3300,2622,2342,0,0,0,0,0,0
$GC,7615,0.71,146.0,181.1,10.2,667,7624,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2620,2342,0,0,0,0,0,0
$GC,7752,0.71,146.0,167.0,10.1,680,7753,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2619,2342,0,0,0,0,0,0
$GC,7878,0.71,146.0,153.7,10.4,692,7881,0.00,1.92,0.00,0.000,4,0.000,0.056,3300,3771,2342,0,0,0,0,0,0
$GC,7924,0.71,146.0,148.0,13.3,696,7928,0.00,1.83,0.00,0.000,6,0.000,0.039,3308,2625,2342,0,0,0,0,0,0
$GC,8068,0.71,146.0,132.0,11.0,709,8076,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2622,2342,0,0,0,0,0,0
$GC,8204,0.71,146.0,116.6,11.3,722,8205,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2622,2342,0,0,0,0,0,0
$GC,8331,0.71,146.0,102.6,10.8,734,8335,0.00,1.90,0.00,0.000,4,0.000,0.054,3308,3767,2342,0,0,0,0,0,0
$GC,8395,0.71,146.0,94.8,13.0,743,8402,0.00,1.80,0.00,0.000,6,0.000,0.037,3317,2631,2342,0,0,0,0,0,0
$GC,8539,0.71,146.0,78.0,11.7,768,8546,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2629,2342,0,0,0,0,0,0
$GC,8683,0.71,146.0,61.4,11.4,793,8689,0.00,1.92,0.00,0.000,4,0.000,0.055,3317,3775,2342,0,0,0,0,0,0
$GC,8714,0.71,146.0,57.3,12.8,798,8723,0.08,1.85,0.00,0.000,6,0.137,0.038,3301,2638,2342,0,0,0,0,0,0
$GC,8862,0.71,146.0,42.3,10.1,823,8869,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,2638,2342,0,0,0,0,0,0
$GC,9003,0.71,146.0,27.4,10.7,848,9012,0.00,1.92,0.00,0.000,4,0.000,0.056,3301,3759,2342,0,0,0,0,0,0
$GC,9061,0.71,146.0,20.8,11.6,857,9068,0.00,1.80,0.00,0.000,6,0.000,0.038,3308,2633,2342,0,0,0,0,0,0
$FREEZE,8.61,-0.304,-1.892,2,2,0
$FREEZE,7.99,-0.302,-1.892,2,2,0
$FREEZE,7.21,-0.303,-1.891,2,2,0
$FREEZE,6.63,-0.302,-1.891,2,2,0
$FREEZE,5.84,-0.303,-1.890,2,2,0
$FREEZE,5.00,-0.303,-1.890,2,2,0
$FREEZE,4.13,-0.302,-1.889,2,2,0
$FREEZE,3.56,-0.303,-1.889,2,2,0
$FREEZE,2.99,-0.302,-1.888,2,2,0
$STATE,9208,end climb,SURFACE_DEPTH_REACHED
$STATE,9208,begin surface coast
$FREEZE,2.33,-0.302,-1.888,2,2,0
$FREEZE,1.60,-0.306,-1.887,2,2,0
$FREEZE,1.36,-0.311,-1.887,2,2,0
$FREEZE,1.44,-0.377,-1.335,2,2,0
$FREEZE,1.20,-0.340,-1.386,2,2,0
$FINISH,1.2,1.020438
$STATE,9240,end surface coast,CONTROL_FINISHED_OK
$STATE,9240,begin surface
$SM_CCo,9257,304.33,0.713,6,0,420,623.30
$SM_GC,1.90,0.00,0.00,304.33,0.000,0.000,0.713,383,2626,420,-8.31,-0.68,623.30
$IRIDIUM_FIX,-7545.40,17255.92,140111,090901
$TT8_MAMPS,0.028462
$HUMID,51.96
$INTERNAL_PRESSURE,8.68197
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.8
$ALTIM_BOTTOM_PING,551.4,67.9
$24V_AH,20.6,89.197
$10V_AH,9.5,62.052
$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,19.400,112.900,289.825,304.325,0.000,85.075,225.331,0.000,2.250,0.000,14.217,2357.193,4307.243,749.408,2450.988,317.130,0.000,1685.940,0.000,1564.352,0.000,17.532,0.000
$DEVICE_MAMPS,195.840,60.435,1154.385,712.980,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,627.173,1084.068,991.018,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258116
$DATA_FILE_SIZE,60484,887
$CAP_FILE_SIZE,127610,0
$CFSIZE,260165632,218378240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$CURRENT,0.047, 55.3,1
$GPS,140111,115454,-7628.666,17302.613,55,1.5,55,128.1