version: 66.08
glider: 502
mission: 3
dive: 192
start: 12 10 110 6 1 0
data:
$ID,502
$MISSION,3
$DIVE,192
$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,-28583.904
$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,33
$R_STBD_OVSHOOT,23
$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
$GPS1,101210,055437,-7642.153,16544.311,33,1.9,34,140.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-73.0
$GPS2,101210,060036,-7642.167,16544.316,33,1.0,33,140.8
$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,307.1,109276,-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,-146.0,0.0,0.0,0,122,0.00,0.00,-103.72,0.000,2,0.000,0.000,427,2650,3265,0,0,0,0,0,0
$GC,124,-0.76,-146.0,3.3,-1.4,16,147,9.05,1.90,-8.80,0.000,4,0.208,0.080,2801,3765,3559,0,0,0,0,0,0
$GC,175,-0.76,-146.0,12.1,-15.9,24,183,0.00,1.80,0.00,0.000,6,0.000,0.044,2801,2647,3562,0,0,0,0,0,0
$GC,315,-0.76,-146.0,36.2,-17.1,49,322,0.00,2.25,0.00,0.000,4,0.000,0.054,2801,1240,3562,0,0,0,0,0,0
$GC,376,-0.76,-146.0,46.5,-16.2,60,384,0.00,2.35,0.00,0.000,6,0.000,0.060,2791,2646,3563,0,0,0,0,0,0
$GC,517,-0.76,-146.0,69.4,-16.7,85,523,0.00,1.80,0.00,0.000,4,0.000,0.063,2783,3763,3563,0,0,0,0,0,0
$GC,589,-0.76,-146.0,82.5,-17.7,98,598,0.10,1.75,0.00,0.000,6,0.148,0.044,2816,2666,3563,0,0,0,0,0,0
$GC,730,-0.76,-146.0,103.6,-15.3,121,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2666,3563,0,0,0,0,0,0
$GC,856,-0.76,-146.0,122.4,-15.1,133,860,0.00,1.77,0.00,0.000,4,0.000,0.063,2808,3767,3564,0,0,0,0,0,0
$GC,892,-0.76,-146.0,128.7,-16.0,136,901,0.00,1.75,0.00,0.000,6,0.000,0.044,2808,2669,3564,0,0,0,0,0,0
$GC,1028,-0.76,-146.0,149.3,-15.6,149,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2669,3564,0,0,0,0,0,0
$GC,1155,-0.76,-146.0,169.1,-15.5,161,1159,0.00,1.77,0.00,0.000,4,0.000,0.063,2800,3771,3564,0,0,0,0,0,0
$GC,1191,-0.76,-146.0,175.6,-17.0,164,1201,0.00,1.73,0.00,0.000,6,0.000,0.044,2800,2683,3564,0,0,0,0,0,0
$GC,1328,-0.76,-146.0,196.7,-15.7,177,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2683,3564,0,0,0,0,0,0
$GC,1455,-0.76,-146.0,217.4,-16.4,189,1456,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2683,3564,0,0,0,0,0,0
$GC,1582,-0.76,-146.0,238.0,-16.0,201,1586,0.00,1.75,0.00,0.000,4,0.000,0.064,2792,3764,3564,0,0,0,0,0,0
$GC,1618,-0.76,-146.0,243.7,-17.6,204,1622,0.00,1.67,0.00,0.000,6,0.000,0.044,2792,2680,3564,0,0,0,0,0,0
$GC,1758,-0.76,-146.0,266.7,-16.1,217,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2679,3564,0,0,0,0,0,0
$GC,1950,-0.76,-146.0,297.5,-15.7,235,1953,0.00,1.77,0.00,0.000,4,0.000,0.066,2784,3771,3564,0,0,0,0,0,0
$GC,1999,-0.76,-146.0,306.2,-16.6,239,2007,0.10,1.73,0.00,0.000,6,0.148,0.044,2817,2685,3564,0,0,0,0,0,0
$GC,2199,-0.76,-146.0,333.2,-13.3,258,2202,0.00,1.75,0.00,0.000,4,0.000,0.064,2810,3769,3564,0,0,0,0,0,0
$GC,2233,-0.76,-146.0,338.3,-14.5,261,2237,0.00,1.67,0.00,0.000,6,0.000,0.044,2810,2684,3564,0,0,0,0,0,0
$GC,2436,-0.76,-146.0,365.6,-13.7,280,2440,0.00,1.75,0.00,0.000,4,0.000,0.065,2801,3766,3564,0,0,0,0,0,0
$GC,2462,-0.76,-146.0,369.7,-14.9,282,2470,0.00,1.67,0.00,0.000,6,0.000,0.044,2801,2702,3564,0,0,0,0,0,0
$GC,2662,-0.76,-146.0,397.1,-13.7,301,2666,0.00,1.73,0.00,0.000,4,0.000,0.066,2794,3768,3563,0,0,0,0,0,0
$GC,2688,-0.76,-146.0,400.6,-14.4,303,2692,0.00,1.65,0.00,0.000,6,0.000,0.044,2794,2697,3563,0,0,0,0,0,0
$GC,2891,-0.76,-146.0,429.9,-14.1,322,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2696,3564,0,0,0,0,0,0
$GC,3084,-0.76,-146.0,457.1,-14.2,340,3088,0.00,1.73,0.00,0.000,4,0.000,0.065,2786,3763,3563,0,0,0,0,0,0
$GC,3122,-0.76,-146.0,463.4,-15.0,343,3130,0.08,1.67,0.00,0.000,6,0.152,0.044,2811,2707,3563,0,0,0,0,0,0
$GC,3320,-0.76,-146.0,489.0,-13.0,362,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2707,3563,0,0,0,0,0,0
$GC,3508,-0.76,-146.0,512.9,-12.7,374,3512,0.00,1.70,0.00,0.000,4,0.000,0.064,2804,3763,3563,0,0,0,0,0,0
$GC,3551,-0.76,-146.0,519.0,-13.7,375,3555,0.00,1.67,0.00,0.000,6,0.000,0.043,2803,2710,3563,0,0,0,0,0,0
$GC,3758,-0.76,-146.0,546.6,-13.4,382,3760,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2708,3563,0,0,0,0,0,0
$GC,3942,-0.76,-146.0,571.8,-13.7,388,3946,0.00,1.70,0.00,0.000,4,0.000,0.065,2797,3763,3563,0,0,0,0,0,0
$STATE,3962,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3962,begin apogee
$GC,3968,-0.17,0.0,575.1,14.5,388,4107,0.65,0.00,133.82,1.160,4,0.132,0.000,3005,2494,2961,0,0,0,0,0,0
$STATE,4107,end apogee,CONTROL_FINISHED_OK
$STATE,4107,begin climb
$GC,4109,0.76,146.0,579.9,0.0,393,4266,0.95,2.55,146.07,1.082,4,0.073,0.052,3308,1100,2365,0,0,0,0,0,0
$GC,4377,0.76,146.0,554.8,12.5,401,4382,0.00,2.47,0.00,0.000,6,0.000,0.055,3307,2490,2353,0,0,0,0,0,0
$GC,4585,0.76,146.0,527.8,13.2,408,4590,0.00,2.30,0.00,0.000,4,0.000,0.055,3315,1092,2350,0,0,0,0,0,0
$GC,4709,0.76,146.0,511.4,13.7,411,4716,0.00,2.35,0.00,0.000,6,0.000,0.057,3315,2512,2347,0,0,0,0,0,0
$GC,4902,0.76,146.0,484.6,14.0,424,4906,0.00,2.03,0.00,0.000,4,0.000,0.061,3315,3768,2346,0,0,0,0,0,0
$GC,4998,0.76,146.0,469.5,16.2,432,5005,0.00,1.95,0.00,0.000,6,0.000,0.044,3324,2524,2346,0,0,0,0,0,0
$GC,5195,0.76,146.0,439.6,14.6,451,5199,0.00,2.00,0.00,0.000,4,0.000,0.061,3324,3764,2345,0,0,0,0,0,0
$GC,5251,0.76,146.0,430.4,16.4,456,5256,0.00,1.95,0.00,0.000,6,0.000,0.043,3334,2539,2345,0,0,0,0,0,0
$GC,5455,0.76,146.0,398.9,15.6,475,5458,0.00,1.98,0.00,0.000,4,0.000,0.060,3334,3764,2344,0,0,0,0,0,0
$GC,5503,0.76,146.0,390.3,17.5,479,5512,0.08,1.95,0.00,0.000,6,0.151,0.043,3318,2536,2344,0,0,0,0,0,0
$GC,5702,0.76,146.0,362.5,13.8,498,5705,0.00,1.98,0.00,0.000,4,0.000,0.061,3318,3764,2343,0,0,0,0,0,0
$GC,5758,0.76,146.0,353.8,16.1,503,5762,0.00,1.92,0.00,0.000,6,0.000,0.044,3326,2552,2343,0,0,0,0,0,0
$GC,5961,0.76,146.0,325.0,13.9,522,5965,0.00,1.95,0.00,0.000,4,0.000,0.062,3326,3764,2342,0,0,0,0,0,0
$GC,6023,0.76,146.0,315.6,15.7,527,6029,0.00,1.88,0.00,0.000,6,0.000,0.044,3335,2554,2343,0,0,0,0,0,0
$GC,6220,0.76,146.0,287.6,14.3,546,6224,0.00,1.95,0.00,0.000,4,0.000,0.060,3336,3764,2342,0,0,0,0,0,0
$GC,6287,0.76,146.0,276.7,16.7,552,6292,0.12,1.83,0.00,0.000,6,0.170,0.044,3311,2577,2343,0,0,0,0,0,0
$GC,6491,0.76,146.0,250.8,12.2,571,6494,0.00,1.92,0.00,0.000,4,0.000,0.062,3311,3767,2342,0,0,0,0,0,0
$GC,6527,0.76,146.0,245.3,14.9,574,6537,0.00,1.88,0.00,0.000,6,0.000,0.043,3319,2582,2343,0,0,0,0,0,0
$GC,6665,0.76,146.0,228.3,12.8,587,6669,0.00,1.92,0.00,0.000,4,0.000,0.063,3319,3772,2342,0,0,0,0,0,0
$GC,6701,0.76,146.0,223.2,14.5,590,6704,0.00,1.83,0.00,0.000,6,0.000,0.044,3328,2598,2342,0,0,0,0,0,0
$GC,6843,0.76,146.0,203.8,13.4,603,6846,0.00,1.88,0.00,0.000,4,0.000,0.060,3328,3764,2343,0,0,0,0,0,0
$GC,6878,0.76,146.0,198.5,15.0,606,6882,0.00,1.77,0.00,0.000,6,0.000,0.043,3337,2613,2342,0,0,0,0,0,0
$GC,7021,0.76,146.0,178.9,13.8,619,7024,0.00,1.85,0.00,0.000,4,0.000,0.061,3337,3764,2342,0,0,0,0,0,0
$GC,7046,0.76,146.0,174.6,14.5,621,7056,0.10,1.80,0.00,0.000,6,0.145,0.042,3313,2621,2342,0,0,0,0,0,0
$GC,7182,0.76,146.0,158.8,11.5,634,7183,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2620,2342,0,0,0,0,0,0
$GC,7309,0.76,146.0,144.2,11.2,646,7313,0.00,1.85,0.00,0.000,4,0.000,0.063,3313,3767,2342,0,0,0,0,0,0
$GC,7356,0.76,146.0,137.7,13.6,650,7366,0.00,1.80,0.00,0.000,6,0.000,0.041,3320,2623,2342,0,0,0,0,0,0
$GC,7493,0.76,146.0,121.9,11.6,663,7496,0.00,1.85,0.00,0.000,4,0.000,0.061,3320,3773,2342,0,0,0,0,0,0
$GC,7516,0.76,146.0,118.9,12.7,665,7520,0.00,1.77,0.00,0.000,6,0.000,0.042,3329,2625,2342,0,0,0,0,0,0
$GC,7657,0.76,146.0,101.0,12.4,678,7661,0.00,1.85,0.00,0.000,4,0.000,0.060,3329,3774,2342,0,0,0,0,0,0
$GC,7684,0.76,146.0,97.1,14.6,682,7693,0.00,1.80,0.00,0.000,6,0.000,0.043,3338,2635,2342,0,0,0,0,0,0
$GC,7826,0.76,146.0,79.0,13.1,707,7832,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2635,2342,0,0,0,0,0,0
$GC,7963,0.76,146.0,61.1,12.6,732,7970,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2635,2341,0,0,0,0,0,0
$GC,8104,0.76,146.0,44.1,13.3,757,8110,0.00,1.85,0.00,0.000,4,0.000,0.062,3338,3772,2341,0,0,0,0,0,0
$GC,8154,0.76,146.0,36.2,15.6,766,8162,0.10,1.77,0.00,0.000,6,0.145,0.043,3313,2648,2341,0,0,0,0,0,0
$GC,8297,0.76,146.0,18.3,12.1,791,8303,0.00,1.83,0.00,0.000,4,0.000,0.063,3313,3770,2341,0,0,0,0,0,0
$GC,8332,0.76,146.0,13.3,14.7,797,8339,0.00,1.75,0.00,0.000,6,0.000,0.043,3320,2666,2341,0,0,0,0,0,0
$FREEZE,8.42,-1.047,-1.900,2,1,0
$FREEZE,7.59,-1.029,-1.900,2,1,0
$FREEZE,6.90,-1.038,-1.900,2,1,0
$FREEZE,6.07,-1.037,-1.899,2,1,0
$FREEZE,5.47,-1.034,-1.899,2,1,0
$FREEZE,4.67,-0.973,-1.898,2,1,0
$FREEZE,4.09,-0.856,-1.896,2,1,0
$FREEZE,3.24,-0.443,-1.891,2,1,0
$FREEZE,2.58,-0.382,-1.891,2,1,0
$STATE,8413,end climb,SURFACE_DEPTH_REACHED
$STATE,8413,begin surface coast
$FREEZE,1.55,-0.393,-1.892,2,1,0
$FREEZE,1.29,-0.337,-1.198,2,1,0
$FREEZE,1.31,-0.315,-0.804,2,1,0
$FREEZE,1.31,-0.420,-0.800,2,1,0
$FINISH,1.3,1.011797
$STATE,8439,end surface coast,CONTROL_FINISHED_OK
$STATE,8439,begin surface
$SM_CCo,8453,135.12,0.750,1,0,1329,400.08
$SM_GC,2.08,0.00,0.00,135.12,0.000,0.000,0.750,422,2663,1329,-8.26,0.37,400.08
$IRIDIUM_FIX,-7554.21,16541.98,101210,030345
$TT8_MAMPS,0.028462
$HUMID,51.45
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,13.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,18.3
$24V_AH,20.8,40.745
$10V_AH,9.8,24.662
$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,18.850,112.525,279.900,135.125,0.000,31.353,39.640,169.891,2.750,0.000,34.010,2058.478,3928.550,572.980,2225.243,171.697,0.000,1457.267,0.000,1443.403,0.000,15.320,0.000
$DEVICE_MAMPS,208.080,80.325,1159.740,750.465,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,575.465,997.996,904.546,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276612
$DATA_FILE_SIZE,53705,815
$CAP_FILE_SIZE,125081,0
$CFSIZE,260165632,241848320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101210,082537,-7642.231,16548.111,45,0.9,46,140.7