version: 66.08
glider: 502
mission: 3
dive: 191
start: 12 10 110 3 28 31
data:
$ID,502
$MISSION,3
$DIVE,191
$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,-28582.646
$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,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
$GPS1,101210,032224,-7642.047,16540.535,27,1.1,45,140.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-73.4
$GPS2,101210,032808,-7642.043,16540.361,14,1.2,14,140.9
$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,307.1,110956,-17.5,-10.000
$D_GRID,575
$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,-146.0,0.0,0.0,0,123,0.00,0.00,-104.70,0.000,2,0.000,0.000,426,2654,3291,0,0,0,0,0,0
$GC,125,-0.76,-146.0,3.4,-1.8,16,147,9.05,0.00,-7.97,0.000,6,0.208,0.000,2805,2654,3560,0,0,0,0,0,0
$GC,279,-0.76,-146.0,29.2,-17.7,43,285,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2654,3563,0,0,0,0,0,0
$GC,414,-0.76,-146.0,53.0,-16.6,68,422,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2653,3564,0,0,0,0,0,0
$GC,555,-0.76,-146.0,74.0,-15.3,93,561,0.00,1.80,0.00,0.000,4,0.000,0.063,2799,3771,3564,0,0,0,0,0,0
$GC,594,-0.76,-146.0,80.4,-16.2,100,603,0.00,1.80,0.00,0.000,6,0.000,0.044,2799,2638,3563,0,0,0,0,0,0
$GC,736,-0.76,-146.0,102.6,-16.2,124,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2638,3564,0,0,0,0,0,0
$GC,862,-0.76,-146.0,122.8,-15.9,136,866,0.00,1.83,0.00,0.000,4,0.000,0.064,2790,3765,3564,0,0,0,0,0,0
$GC,919,-0.76,-146.0,132.4,-16.7,141,923,0.00,1.70,0.00,0.000,6,0.000,0.044,2790,2669,3563,0,0,0,0,0,0
$GC,1061,-0.76,-146.0,155.8,-16.2,154,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2668,3564,0,0,0,0,0,0
$GC,1187,-0.76,-146.0,176.8,-16.8,166,1190,0.00,1.77,0.00,0.000,4,0.000,0.064,2782,3767,3564,0,0,0,0,0,0
$GC,1210,-0.76,-146.0,180.7,-16.6,168,1214,0.12,1.70,0.00,0.000,6,0.171,0.044,2815,2669,3564,0,0,0,0,0,0
$GC,1351,-0.76,-146.0,200.9,-13.9,181,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2666,3564,0,0,0,0,0,0
$GC,1478,-0.76,-146.0,217.9,-13.1,193,1482,0.00,1.77,0.00,0.000,4,0.000,0.064,2807,3767,3564,0,0,0,0,0,0
$GC,1525,-0.76,-146.0,225.1,-14.3,197,1534,0.00,1.73,0.00,0.000,6,0.000,0.044,2808,2682,3564,0,0,0,0,0,0
$GC,1661,-0.76,-146.0,243.8,-14.2,210,1662,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2682,3564,0,0,0,0,0,0
$GC,1788,-0.76,-146.0,262.0,-14.4,222,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2682,3564,0,0,0,0,0,0
$GC,1978,-0.76,-146.0,289.6,-14.7,240,1982,0.00,1.75,0.00,0.000,4,0.000,0.065,2799,3764,3564,0,0,0,0,0,0
$GC,2026,-0.76,-146.0,297.2,-15.2,244,2034,0.00,1.73,0.00,0.000,6,0.000,0.043,2799,2679,3564,0,0,0,0,0,0
$GC,2225,-0.76,-146.0,326.4,-14.9,263,2229,0.00,1.77,0.00,0.000,4,0.000,0.065,2790,3769,3564,0,0,0,0,0,0
$GC,2252,-0.76,-146.0,331.1,-16.3,265,2259,0.00,1.73,0.00,0.000,6,0.000,0.044,2791,2684,3564,0,0,0,0,0,0
$GC,2450,-0.76,-146.0,361.6,-15.3,284,2451,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2683,3564,0,0,0,0,0,0
$GC,2641,-0.76,-146.0,391.2,-15.5,302,2645,0.00,1.75,0.00,0.000,4,0.000,0.066,2783,3764,3564,0,0,0,0,0,0
$GC,2701,-0.76,-146.0,401.3,-16.8,307,2709,0.10,1.70,0.00,0.000,6,0.145,0.044,2816,2688,3563,0,0,0,0,0,0
$GC,2901,-0.76,-146.0,428.4,-13.5,326,2904,0.00,1.75,0.00,0.000,4,0.000,0.063,2809,3769,3564,0,0,0,0,0,0
$GC,2923,-0.76,-146.0,432.0,-14.4,328,2927,0.00,1.65,0.00,0.000,6,0.000,0.044,2809,2698,3564,0,0,0,0,0,0
$GC,3126,-0.76,-146.0,460.4,-14.0,347,3127,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2697,3563,0,0,0,0,0,0
$GC,3318,-0.76,-146.0,487.0,-13.8,365,3321,0.00,1.73,0.00,0.000,4,0.000,0.065,2800,3764,3563,0,0,0,0,0,0
$GC,3366,-0.76,-146.0,494.3,-14.4,369,3374,0.00,1.67,0.00,0.000,6,0.000,0.044,2801,2709,3563,0,0,0,0,0,0
$GC,3569,-0.76,-146.0,522.7,-14.2,379,3570,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2708,3563,0,0,0,0,0,0
$GC,3753,-0.76,-146.0,548.7,-14.0,385,3757,0.00,1.73,0.00,0.000,4,0.000,0.064,2794,3773,3563,0,0,0,0,0,0
$GC,3790,-0.76,-146.0,554.7,-15.0,386,3795,0.00,1.67,0.00,0.000,6,0.000,0.044,2794,2718,3563,0,0,0,0,0,0
$STATE,3941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3941,begin apogee
$GC,3945,-0.17,0.0,576.2,14.2,391,4084,0.65,0.00,134.32,1.170,4,0.132,0.000,3003,2492,2961,0,0,0,0,0,0
$STATE,4085,end apogee,CONTROL_FINISHED_OK
$STATE,4085,begin climb
$GC,4087,0.76,146.0,580.5,0.0,395,4243,0.98,2.55,146.57,1.094,4,0.073,0.052,3311,1101,2364,0,0,0,0,0,0
$GC,4342,0.76,146.0,555.9,12.6,403,4347,0.00,2.50,0.00,0.000,6,0.000,0.054,3311,2499,2353,0,0,0,0,0,0
$GC,4539,0.76,146.0,529.9,13.3,410,4543,0.00,2.33,0.00,0.000,4,0.000,0.054,3321,1099,2349,0,0,0,0,0,0
$GC,4649,0.76,146.0,515.2,13.0,413,4654,0.00,2.38,0.00,0.000,6,0.000,0.055,3321,2514,2347,0,0,0,0,0,0
$GC,4852,0.76,146.0,487.1,14.1,425,4855,0.00,2.00,0.00,0.000,4,0.000,0.060,3321,3764,2346,0,0,0,0,0,0
$GC,4957,0.76,146.0,469.5,16.7,434,4965,0.00,1.95,0.00,0.000,6,0.000,0.044,3329,2543,2345,0,0,0,0,0,0
$GC,5157,0.76,146.0,440.8,14.4,453,5160,0.00,1.98,0.00,0.000,4,0.000,0.061,3329,3765,2344,0,0,0,0,0,0
$GC,5194,0.76,146.0,434.2,16.8,456,5202,0.00,1.95,0.00,0.000,6,0.000,0.043,3339,2536,2344,0,0,0,0,0,0
$GC,5393,0.76,146.0,404.2,15.1,475,5396,0.00,1.98,0.00,0.000,4,0.000,0.060,3339,3767,2343,0,0,0,0,0,0
$GC,5437,0.76,146.0,396.7,17.2,479,5442,0.12,1.90,0.00,0.000,6,0.174,0.044,3316,2545,2343,0,0,0,0,0,0
$GC,5640,0.76,146.0,368.5,13.4,498,5644,0.00,1.98,0.00,0.000,4,0.000,0.063,3316,3771,2343,0,0,0,0,0,0
$GC,5685,0.76,146.0,361.5,15.2,502,5689,0.00,1.88,0.00,0.000,6,0.000,0.044,3323,2556,2343,0,0,0,0,0,0
$GC,5888,0.76,146.0,333.4,13.5,521,5892,0.00,1.98,0.00,0.000,4,0.000,0.060,3324,3757,2342,0,0,0,0,0,0
$GC,5922,0.76,146.0,328.7,14.6,524,5926,0.00,1.88,0.00,0.000,6,0.000,0.044,3333,2570,2342,0,0,0,0,0,0
$GC,6124,0.76,146.0,300.6,13.6,543,6128,0.00,1.92,0.00,0.000,4,0.000,0.062,3333,3765,2342,0,0,0,0,0,0
$GC,6162,0.76,146.0,294.5,16.1,546,6170,0.08,1.88,0.00,0.000,6,0.153,0.042,3317,2577,2342,0,0,0,0,0,0
$GC,6362,0.76,146.0,270.1,11.9,565,6366,0.00,1.92,0.00,0.000,4,0.000,0.061,3316,3775,2342,0,0,0,0,0,0
$GC,6400,0.76,146.0,264.5,13.5,568,6408,0.00,1.90,0.00,0.000,6,0.000,0.044,3324,2575,2342,0,0,0,0,0,0
$GC,6601,0.76,146.0,239.3,12.7,587,6605,0.00,1.92,0.00,0.000,4,0.000,0.061,3324,3772,2341,0,0,0,0,0,0
$GC,6638,0.76,146.0,233.6,14.6,590,6646,0.00,1.88,0.00,0.000,6,0.000,0.044,3333,2588,2341,0,0,0,0,0,0
$GC,6773,0.76,146.0,216.4,12.9,603,6777,0.00,1.90,0.00,0.000,4,0.000,0.063,3333,3764,2342,0,0,0,0,0,0
$GC,6798,0.76,146.0,213.2,14.0,605,6803,0.12,1.80,0.00,0.000,6,0.168,0.043,3309,2599,2341,0,0,0,0,0,0
$GC,6940,0.76,146.0,196.4,11.0,618,6948,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2597,2341,0,0,0,0,0,0
$GC,7075,0.76,146.0,180.9,11.5,631,7076,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2597,2341,0,0,0,0,0,0
$GC,7203,0.76,146.0,166.4,11.3,643,7207,0.00,1.88,0.00,0.000,4,0.000,0.063,3309,3763,2341,0,0,0,0,0,0
$GC,7237,0.76,146.0,162.1,13.2,646,7241,0.00,1.80,0.00,0.000,6,0.000,0.044,3317,2598,2341,0,0,0,0,0,0
$GC,7378,0.76,146.0,145.5,11.8,659,7381,0.00,1.88,0.00,0.000,4,0.000,0.063,3317,3762,2340,0,0,0,0,0,0
$GC,7414,0.76,146.0,140.9,13.5,662,7417,0.00,1.77,0.00,0.000,6,0.000,0.043,3326,2611,2340,0,0,0,0,0,0
$GC,7556,0.76,146.0,122.5,12.7,675,7563,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2610,2340,0,0,0,0,0,0
$GC,7690,0.76,146.0,105.5,12.5,688,7694,0.00,1.85,0.00,0.000,4,0.000,0.063,3325,3764,2340,0,0,0,0,0,0
$GC,7745,0.76,146.0,97.8,14.0,694,7753,0.00,1.80,0.00,0.000,6,0.000,0.044,3334,2627,2340,0,0,0,0,0,0
$GC,7886,0.76,146.0,79.9,12.8,719,7892,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2626,2340,0,0,0,0,0,0
$GC,8023,0.76,146.0,62.7,12.8,744,8031,0.00,1.88,0.00,0.000,4,0.000,0.061,3334,3765,2340,0,0,0,0,0,0
$GC,8055,0.76,146.0,58.5,14.4,749,8062,0.12,1.77,0.00,0.000,6,0.171,0.043,3310,2622,2340,0,0,0,0,0,0
$GC,8192,0.76,146.0,42.0,11.6,774,8200,0.00,2.45,0.00,0.000,4,0.000,0.055,3319,1096,2340,0,0,0,0,0,0
$GC,8236,0.76,146.0,37.1,11.6,781,8243,0.00,2.45,0.00,0.000,6,0.000,0.056,3319,2613,2340,0,0,0,0,0,0
$GC,8375,0.76,146.0,20.3,12.1,806,8386,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2613,2340,0,0,0,0,0,0
$FREEZE,8.50,-1.154,-1.901,2,1,0
$FREEZE,7.72,-1.088,-1.900,2,1,0
$FREEZE,7.02,-1.077,-1.900,2,1,0
$FREEZE,6.34,-1.076,-1.899,2,1,0
$FREEZE,5.46,-1.069,-1.899,2,1,0
$FREEZE,4.79,-1.028,-1.898,2,1,0
$FREEZE,3.98,-0.889,-1.896,2,1,0
$FREEZE,3.28,-0.811,-1.895,2,1,0
$FREEZE,2.51,-0.753,-1.895,2,1,0
$STATE,8513,end climb,SURFACE_DEPTH_REACHED
$STATE,8513,begin surface coast
$FREEZE,1.84,-0.677,-1.894,2,1,0
$FREEZE,1.26,-0.600,-1.894,2,1,0
$FREEZE,1.30,-0.623,-0.819,2,1,0
$FREEZE,1.32,-0.632,-0.154,2,1,0
$FINISH,1.3,1.002060
$STATE,8540,end surface coast,FINISH_DEPTH_REACHED
$STATE,8540,begin surface
$SM_CCo,8554,135.15,0.750,1,0,1329,400.08
$SM_GC,2.14,0.00,0.00,135.15,0.000,0.000,0.750,427,2650,1329,-8.25,0.00,400.08
$IRIDIUM_FIX,-7554.21,16551.03,101210,000015
$TT8_MAMPS,0.028462
$HUMID,51.92
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,13.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,17.7
$24V_AH,20.8,40.614
$10V_AH,9.9,24.566
$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,18.875,98.950,280.900,135.150,0.000,25.224,36.844,183.348,2.750,0.000,15.557,2090.935,3967.316,567.820,2245.895,170.744,0.000,1453.598,0.000,1458.743,0.000,14.636,0.000
$DEVICE_MAMPS,208.080,156.825,1170.450,750.465,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,589.179,1023.515,940.856,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276672
$DATA_FILE_SIZE,57068,834
$CAP_FILE_SIZE,122625,0
$CFSIZE,260165632,241917952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101210,055437,-7642.153,16544.311,33,1.9,34,140.8