version: 66.08
glider: 502
mission: 3
dive: 204
start: 12 11 110 14 7 23
data:
$ID,502
$MISSION,3
$DIVE,204
$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,250
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-1
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.025
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51763
$NAV_MODE,0
$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,400
$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,-28596.482
$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,44
$R_STBD_OVSHOOT,22
$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
$GPS1,111210,114720,-7641.950,16645.684,12,1.8,12,139.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.52
$_SM_ANGLEo,2.5
$GPS2,111210,114720,-7641.950,16645.684,12,1.8,12,139.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,POLYNYA
$TGT_LATLONG,-7640.000,17000.000
$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,308.5,83071,-17.5,-10.000
$D_GRID,572
$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,15,-0.76,-146.0,0.0,0.0,0,26,0.00,0.00,-9.07,0.000,2,0.000,0.000,3066,3771,3323,0,0,0,0,0,0
$GC,28,-0.76,-146.0,7.3,-0.0,1,44,0.68,4.05,-6.72,0.000,4,0.082,0.055,2820,1251,3559,0,0,0,0,0,0
$GC,155,-0.76,-146.0,22.3,-13.4,23,162,0.00,2.30,0.00,0.000,6,0.000,0.060,2811,2653,3563,0,0,0,0,0,0
$GC,292,-0.76,-146.0,43.9,-16.5,48,300,0.00,1.80,0.00,0.000,4,0.000,0.062,2802,3756,3563,0,0,0,0,0,0
$GC,350,-0.76,-146.0,53.1,-15.1,58,359,0.00,1.73,0.00,0.000,6,0.000,0.044,2802,2671,3563,0,0,0,0,0,0
$GC,491,-0.76,-146.0,75.4,-16.2,83,498,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2670,3563,0,0,0,0,0,0
$GC,627,-0.76,-146.0,96.9,-14.9,108,636,0.00,1.80,0.00,0.000,4,0.000,0.063,2795,3757,3564,0,0,0,0,0,0
$GC,667,-0.76,-146.0,102.8,-17.2,113,671,0.00,1.70,0.00,0.000,6,0.000,0.044,2795,2659,3564,0,0,0,0,0,0
$GC,809,-0.76,-146.0,125.6,-15.8,126,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2657,3564,0,0,0,0,0,0
$GC,944,-0.76,-146.0,147.3,-15.8,139,947,0.00,1.80,0.00,0.000,4,0.000,0.064,2786,3766,3564,0,0,0,0,0,0
$GC,969,-0.76,-146.0,152.0,-17.4,141,979,0.08,1.73,0.00,0.000,6,0.150,0.044,2811,2680,3564,0,0,0,0,0,0
$GC,1106,-0.76,-146.0,171.5,-14.3,154,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2679,3564,0,0,0,0,0,0
$GC,1241,-0.76,-146.0,191.0,-14.5,167,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2679,3564,0,0,0,0,0,0
$GC,1369,-0.76,-146.0,208.9,-13.8,179,1372,0.00,1.75,0.00,0.000,4,0.000,0.063,2805,3763,3564,0,0,0,0,0,0
$GC,1394,-0.76,-146.0,212.4,-15.2,181,1397,0.00,1.67,0.00,0.000,6,0.000,0.044,2804,2680,3564,0,0,0,0,0,0
$GC,1535,-0.76,-146.0,233.4,-14.7,194,1536,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2679,3564,0,0,0,0,0,0
$GC,1659,-0.76,-146.0,252.0,-14.5,206,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2679,3563,0,0,0,0,0,0
$GC,1851,-0.76,-146.0,279.5,-14.6,224,1854,0.00,1.77,0.00,0.000,4,0.000,0.065,2798,3770,3564,0,0,0,0,0,0
$GC,1873,-0.76,-146.0,283.0,-15.2,226,1877,0.00,1.67,0.00,0.000,6,0.000,0.044,2798,2689,3564,0,0,0,0,0,0
$GC,2076,-0.76,-146.0,313.6,-15.2,245,2077,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2687,3564,0,0,0,0,0,0
$GC,2269,-0.76,-146.0,342.0,-14.4,263,2270,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2688,3563,0,0,0,0,0,0
$GC,2458,-0.76,-146.0,370.0,-14.7,281,2462,0.00,1.75,0.00,0.000,4,0.000,0.063,2789,3769,3563,0,0,0,0,0,0
$GC,2482,-0.76,-146.0,373.5,-15.2,283,2485,0.00,1.67,0.00,0.000,6,0.000,0.044,2789,2687,3563,0,0,0,0,0,0
$GC,2684,-0.76,-146.0,405.1,-15.3,302,2686,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2684,3564,0,0,0,0,0,0
$GC,2877,-0.76,-146.0,435.2,-15.8,320,2881,0.00,1.75,0.00,0.000,4,0.000,0.064,2782,3764,3564,0,0,0,0,0,0
$GC,2912,-0.76,-146.0,441.0,-17.4,323,2916,0.12,1.65,0.00,0.000,6,0.164,0.044,2816,2695,3563,0,0,0,0,0,0
$GC,3114,-0.76,-146.0,469.0,-13.4,342,3115,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2693,3564,0,0,0,0,0,0
$GC,3307,-0.76,-146.0,494.4,-13.4,360,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2693,3564,0,0,0,0,0,0
$GC,3500,-0.76,-146.0,519.9,-13.0,369,3501,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2693,3563,0,0,0,0,0,0
$GC,3684,-0.76,-146.0,543.1,-12.5,375,3687,0.00,1.73,0.00,0.000,4,0.000,0.063,2809,3763,3563,0,0,0,0,0,0
$GC,3710,-0.76,-146.0,546.7,-13.5,375,3718,0.00,1.70,0.00,0.000,6,0.000,0.043,2809,2694,3563,0,0,0,0,0,0
$GC,3901,-0.76,-146.0,571.2,-13.0,382,3905,0.00,1.73,0.00,0.000,4,0.000,0.063,2801,3763,3563,0,0,0,0,0,0
$STATE,3909,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3909,begin apogee
$GC,3915,-0.17,0.0,572.7,13.0,382,4055,0.62,0.00,135.18,1.156,4,0.133,0.000,3001,2497,2961,0,0,0,0,0,0
$STATE,4056,end apogee,CONTROL_FINISHED_OK
$STATE,4056,begin climb
$GC,4058,0.76,146.0,577.3,0.0,386,4216,0.98,2.55,147.10,1.065,4,0.073,0.052,3310,1096,2364,0,0,0,0,0,0
$GC,4311,0.76,146.0,553.2,12.5,393,4318,0.00,2.47,0.00,0.000,6,0.000,0.055,3310,2500,2353,0,0,0,0,0,0
$GC,4501,0.76,146.0,528.6,13.0,400,4505,0.00,2.33,0.00,0.000,4,0.000,0.054,3319,1088,2350,0,0,0,0,0,0
$GC,4611,0.76,146.0,514.0,12.9,403,4615,0.00,2.40,0.00,0.000,6,0.000,0.057,3319,2514,2347,0,0,0,0,0,0
$GC,4806,0.76,146.0,488.0,13.3,415,4810,0.00,2.00,0.00,0.000,4,0.000,0.060,3319,3764,2346,0,0,0,0,0,0
$GC,4896,0.76,146.0,473.9,16.6,423,4900,0.00,1.92,0.00,0.000,6,0.000,0.043,3328,2536,2346,0,0,0,0,0,0
$GC,5099,0.76,146.0,444.7,13.7,442,5103,0.00,1.98,0.00,0.000,4,0.000,0.060,3327,3764,2345,0,0,0,0,0,0
$GC,5136,0.76,146.0,438.4,16.8,445,5144,0.00,1.95,0.00,0.000,6,0.000,0.043,3337,2544,2345,0,0,0,0,0,0
$GC,5335,0.76,146.0,409.2,14.9,464,5339,0.00,1.98,0.00,0.000,4,0.000,0.060,3337,3768,2344,0,0,0,0,0,0
$GC,5391,0.76,146.0,399.9,17.8,469,5395,0.12,1.90,0.00,0.000,6,0.172,0.044,3314,2550,2344,0,0,0,0,0,0
$GC,5594,0.76,146.0,373.6,12.5,488,5597,0.00,1.98,0.00,0.000,4,0.000,0.062,3314,3771,2343,0,0,0,0,0,0
$GC,5631,0.76,146.0,368.1,14.3,491,5639,0.00,1.92,0.00,0.000,6,0.000,0.044,3322,2560,2343,0,0,0,0,0,0
$GC,5831,0.76,146.0,342.4,12.8,510,5834,0.00,1.95,0.00,0.000,4,0.000,0.062,3321,3767,2343,0,0,0,0,0,0
$GC,5876,0.76,146.0,335.6,15.1,514,5879,0.00,1.85,0.00,0.000,6,0.000,0.044,3331,2572,2343,0,0,0,0,0,0
$GC,6079,0.76,146.0,307.9,13.4,533,6083,0.00,1.98,0.00,0.000,4,0.000,0.063,3331,3762,2342,0,0,0,0,0,0
$GC,6123,0.76,146.0,301.1,16.1,537,6127,0.00,1.83,0.00,0.000,6,0.000,0.043,3340,2582,2343,0,0,0,0,0,0
$GC,6326,0.76,146.0,272.1,14.0,556,6330,0.00,1.90,0.00,0.000,4,0.000,0.060,3340,3764,2343,0,0,0,0,0,0
$GC,6394,0.76,146.0,261.1,16.7,562,6398,0.12,1.80,0.00,0.000,6,0.170,0.043,3316,2598,2343,0,0,0,0,0,0
$GC,6597,0.76,146.0,235.2,12.6,581,6601,0.00,1.90,0.00,0.000,4,0.000,0.063,3316,3771,2343,0,0,0,0,0,0
$GC,6665,0.76,146.0,225.6,15.1,587,6668,0.00,1.80,0.00,0.000,6,0.000,0.043,3322,2610,2343,0,0,0,0,0,0
$GC,6807,0.76,146.0,207.2,12.7,600,6810,0.00,1.88,0.00,0.000,4,0.000,0.063,3323,3769,2342,0,0,0,0,0,0
$GC,6852,0.76,146.0,200.3,15.2,604,6855,0.00,1.80,0.00,0.000,6,0.000,0.044,3332,2621,2342,0,0,0,0,0,0
$GC,6993,0.76,146.0,181.1,13.3,617,6996,0.00,1.85,0.00,0.000,4,0.000,0.062,3332,3770,2342,0,0,0,0,0,0
$GC,7018,0.76,146.0,176.9,15.8,619,7027,0.00,1.80,0.00,0.000,6,0.000,0.042,3341,2632,2342,0,0,0,0,0,0
$GC,7154,0.76,146.0,157.9,13.8,632,7158,0.00,1.83,0.00,0.000,4,0.000,0.060,3341,3764,2342,0,0,0,0,0,0
$GC,7191,0.76,146.0,151.7,15.6,635,7201,0.10,1.77,0.00,0.000,6,0.144,0.042,3316,2644,2342,0,0,0,0,0,0
$GC,7329,0.76,146.0,134.9,12.2,648,7332,0.00,1.80,0.00,0.000,4,0.000,0.062,3316,3763,2342,0,0,0,0,0,0
$GC,7354,0.76,146.0,130.9,14.1,650,7364,0.00,1.75,0.00,0.000,6,0.000,0.042,3323,2658,2342,0,0,0,0,0,0
$GC,7491,0.76,146.0,113.5,13.1,663,7492,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2658,2342,0,0,0,0,0,0
$GC,7618,0.76,146.0,96.8,13.1,677,7625,0.00,1.80,0.00,0.000,4,0.000,0.062,3323,3767,2341,0,0,0,0,0,0
$GC,7658,0.76,146.0,90.6,15.0,684,7666,0.00,1.75,0.00,0.000,6,0.000,0.043,3332,2661,2342,0,0,0,0,0,0
$GC,7798,0.76,146.0,71.4,14.1,709,7805,0.00,1.80,0.00,0.000,4,0.000,0.062,3331,3772,2341,0,0,0,0,0,0
$GC,7834,0.76,146.0,65.8,15.7,715,7841,0.00,1.75,0.00,0.000,6,0.000,0.043,3340,2669,2342,0,0,0,0,0,0
$GC,7974,0.76,146.0,46.2,13.7,740,7981,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2667,2341,0,0,0,0,0,0
$GC,8113,0.76,146.0,28.3,12.9,765,8120,0.00,1.77,0.00,0.000,4,0.000,0.062,3340,3764,2341,0,0,0,0,0,0
$FREEZE,8.47,-1.450,-1.899,2,2,0
$FREEZE,7.53,-1.453,-1.898,2,2,0
$FREEZE,6.38,-1.457,-1.897,2,2,0
$FREEZE,5.49,-1.458,-1.897,2,2,0
$FREEZE,4.58,-1.460,-1.896,2,2,0
$FREEZE,3.78,-1.462,-1.895,2,2,0
$FREEZE,2.90,-1.462,-1.894,2,2,0
$STATE,8276,end climb,SURFACE_DEPTH_REACHED
$STATE,8276,begin surface coast
$FREEZE,2.05,-1.460,-1.894,2,2,0
$FREEZE,1.35,-1.464,-1.893,2,2,0
$FREEZE,1.28,-1.493,-1.079,2,2,0
$FINISH,1.3,1.015929
$STATE,8296,end surface coast,FINISH_DEPTH_REACHED
$STATE,8296,begin surface
$SM_CCo,8312,137.93,0.742,1,0,1329,400.08
$SM_GC,2.03,0.00,0.00,137.93,0.000,0.000,0.742,425,2641,1329,-8.25,-0.25,400.08
$IRIDIUM_FIX,-7554.21,16640.77,111210,080839
$TT8_MAMPS,0.028462
$HUMID,51.33
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,13.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,18.6
$24V_AH,20.7,42.290
$10V_AH,9.7,25.822
$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,10.375,103.300,282.275,137.925,0.000,0.000,0.000,0.000,2.750,0.000,0.000,2027.056,3976.364,495.080,1870.278,141.087,0.000,1313.573,0.000,1383.408,0.000,14.639,0.000
$DEVICE_MAMPS,172.125,65.025,1155.915,742.050,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,564.946,967.623,879.378,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276616
$DATA_FILE_SIZE,53553,797
$CAP_FILE_SIZE,111039,0
$CFSIZE,260165632,241057792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111210,163345,-7641.649,16658.605,269,3.3,288,138.7