version: 66.08
glider: 502
mission: 3
dive: 193
start: 12 10 110 8 35 45
data:
$ID,502
$MISSION,3
$DIVE,193
$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,-28585.16
$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,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
$GPS1,101210,082537,-7642.231,16548.111,45,0.9,46,140.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-73.3
$GPS2,101210,083520,-7642.229,16548.107,12,1.5,12,140.7
$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,307.1,107663,-17.5,-10.000
$D_GRID,577
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.76,-146.0,0.0,0.0,0,122,0.00,0.00,-104.60,0.000,2,0.000,0.000,423,2664,3284,0,0,0,0,0,0
$GC,124,-0.76,-146.0,3.3,-1.6,16,147,9.12,2.38,-8.15,0.000,4,0.211,0.067,2817,1236,3560,0,0,0,0,0,0
$GC,379,-0.76,-146.0,40.2,-13.5,62,387,0.00,2.35,0.00,0.000,6,0.000,0.060,2809,2642,3564,0,0,0,0,0,0
$GC,520,-0.76,-146.0,60.8,-15.2,87,527,0.00,1.83,0.00,0.000,4,0.000,0.063,2801,3773,3564,0,0,0,0,0,0
$GC,550,-0.76,-146.0,66.3,-16.7,92,558,0.00,1.80,0.00,0.000,6,0.000,0.044,2801,2642,3564,0,0,0,0,0,0
$GC,689,-0.76,-146.0,88.5,-16.0,117,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2642,3564,0,0,0,0,0,0
$GC,827,-0.76,-146.0,110.0,-15.7,136,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2642,3564,0,0,0,0,0,0
$GC,962,-0.76,-146.0,131.3,-15.6,149,965,0.00,1.83,0.00,0.000,4,0.000,0.064,2792,3768,3564,0,0,0,0,0,0
$GC,996,-0.76,-146.0,136.9,-16.1,152,1000,0.00,1.73,0.00,0.000,6,0.000,0.044,2792,2653,3564,0,0,0,0,0,0
$GC,1137,-0.76,-146.0,159.7,-15.9,165,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2651,3564,0,0,0,0,0,0
$GC,1264,-0.76,-146.0,180.7,-16.4,177,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2651,3564,0,0,0,0,0,0
$GC,1391,-0.76,-146.0,201.5,-16.6,189,1394,0.00,1.80,0.00,0.000,4,0.000,0.065,2783,3763,3564,0,0,0,0,0,0
$GC,1417,-0.76,-146.0,206.5,-16.6,191,1427,0.08,1.75,0.00,0.000,6,0.153,0.043,2808,2659,3564,0,0,0,0,0,0
$GC,1553,-0.76,-146.0,226.3,-14.5,204,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2659,3564,0,0,0,0,0,0
$GC,1679,-0.76,-146.0,244.5,-14.3,216,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2659,3564,0,0,0,0,0,0
$GC,1805,-0.76,-146.0,262.6,-14.5,228,1809,0.00,1.80,0.00,0.000,4,0.000,0.063,2801,3770,3565,0,0,0,0,0,0
$GC,1828,-0.76,-146.0,265.9,-14.6,230,1831,0.00,1.73,0.00,0.000,6,0.000,0.044,2801,2656,3564,0,0,0,0,0,0
$GC,2031,-0.76,-146.0,296.0,-14.9,249,2035,0.00,1.83,0.00,0.000,4,0.000,0.065,2793,3756,3565,0,0,0,0,0,0
$GC,2054,-0.76,-146.0,299.5,-15.1,251,2061,0.00,1.67,0.00,0.000,6,0.000,0.044,2793,2672,3564,0,0,0,0,0,0
$GC,2258,-0.76,-146.0,331.4,-15.5,270,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2671,3565,0,0,0,0,0,0
$GC,2449,-0.76,-146.0,361.1,-15.4,288,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2672,3564,0,0,0,0,0,0
$GC,2642,-0.76,-146.0,389.8,-14.8,306,2646,0.00,1.77,0.00,0.000,4,0.000,0.064,2785,3766,3564,0,0,0,0,0,0
$GC,2665,-0.76,-146.0,393.6,-15.4,308,2669,0.12,1.67,0.00,0.000,6,0.168,0.044,2819,2679,3564,0,0,0,0,0,0
$GC,2868,-0.76,-146.0,420.2,-12.8,327,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2677,3563,0,0,0,0,0,0
$GC,3058,-0.76,-146.0,445.0,-13.1,345,3059,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2677,3563,0,0,0,0,0,0
$GC,3251,-0.76,-146.0,469.5,-13.0,363,3255,0.00,1.77,0.00,0.000,4,0.000,0.067,2812,3768,3563,0,0,0,0,0,0
$GC,3296,-0.76,-146.0,475.8,-14.1,367,3300,0.00,1.67,0.00,0.000,6,0.000,0.044,2812,2683,3563,0,0,0,0,0,0
$GC,3519,-0.76,-146.0,504.7,-13.1,386,3520,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2681,3564,0,0,0,0,0,0
$GC,3703,-0.76,-146.0,528.7,-12.9,392,3706,0.00,1.75,0.00,0.000,4,0.000,0.066,2803,3761,3564,0,0,0,0,0,0
$GC,3725,-0.76,-146.0,531.8,-14.0,392,3729,0.00,1.67,0.00,0.000,6,0.000,0.044,2803,2680,3563,0,0,0,0,0,0
$GC,3921,-0.76,-146.0,557.9,-13.3,399,3922,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2679,3563,0,0,0,0,0,0
$STATE,4072,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4072,begin apogee
$GC,4077,-0.17,0.0,578.0,13.0,404,4215,0.62,0.00,133.82,1.156,4,0.131,0.000,3005,2482,2961,0,0,0,0,0,0
$STATE,4216,end apogee,CONTROL_FINISHED_OK
$STATE,4216,begin climb
$GC,4218,0.76,146.0,581.9,0.0,408,4373,0.95,2.55,146.45,1.079,4,0.073,0.053,3307,1100,2364,0,0,0,0,0,0
$GC,4479,0.76,146.0,556.4,12.3,416,4487,0.00,2.50,0.00,0.000,6,0.000,0.056,3306,2500,2353,0,0,0,0,0,0
$GC,4670,0.76,146.0,530.4,13.8,423,4674,0.00,2.33,0.00,0.000,4,0.000,0.055,3316,1092,2349,0,0,0,0,0,0
$GC,4772,0.76,146.0,517.1,13.5,426,4776,0.00,2.40,0.00,0.000,6,0.000,0.056,3316,2534,2347,0,0,0,0,0,0
$GC,4964,0.76,146.0,489.9,14.2,435,4968,0.00,1.98,0.00,0.000,4,0.000,0.061,3316,3764,2346,0,0,0,0,0,0
$GC,5092,0.76,146.0,469.1,16.1,446,5100,0.00,1.95,0.00,0.000,6,0.000,0.043,3326,2544,2345,0,0,0,0,0,0
$GC,5292,0.76,146.0,440.7,14.3,465,5296,0.00,1.98,0.00,0.000,4,0.000,0.061,3326,3768,2344,0,0,0,0,0,0
$GC,5348,0.76,146.0,431.2,17.4,470,5352,0.00,1.90,0.00,0.000,6,0.000,0.043,3334,2545,2344,0,0,0,0,0,0
$GC,5553,0.76,146.0,400.5,15.0,489,5557,0.00,1.98,0.00,0.000,4,0.000,0.061,3335,3768,2343,0,0,0,0,0,0
$GC,5626,0.76,146.0,387.7,17.3,495,5633,0.12,1.88,0.00,0.000,6,0.172,0.042,3312,2558,2343,0,0,0,0,0,0
$GC,5823,0.76,146.0,361.2,12.9,514,5827,0.00,1.95,0.00,0.000,4,0.000,0.062,3312,3769,2342,0,0,0,0,0,0
$GC,5868,0.76,146.0,354.7,14.8,518,5872,0.00,1.88,0.00,0.000,6,0.000,0.044,3318,2558,2342,0,0,0,0,0,0
$GC,6071,0.76,146.0,327.9,13.2,537,6074,0.00,1.95,0.00,0.000,4,0.000,0.061,3318,3766,2342,0,0,0,0,0,0
$GC,6109,0.76,146.0,322.0,15.9,540,6116,0.00,1.90,0.00,0.000,6,0.000,0.042,3328,2564,2342,0,0,0,0,0,0
$GC,6307,0.76,146.0,294.8,13.8,559,6310,0.00,1.95,0.00,0.000,4,0.000,0.063,3328,3771,2342,0,0,0,0,0,0
$GC,6363,0.76,146.0,286.2,16.0,564,6367,0.00,1.85,0.00,0.000,6,0.000,0.044,3337,2572,2342,0,0,0,0,0,0
$GC,6566,0.76,146.0,257.7,13.9,583,6570,0.00,1.92,0.00,0.000,4,0.000,0.062,3337,3765,2341,0,0,0,0,0,0
$GC,6657,0.76,146.0,243.2,17.1,591,6661,0.12,1.83,0.00,0.000,6,0.173,0.043,3313,2581,2342,0,0,0,0,0,0
$GC,6797,0.76,146.0,225.5,11.9,604,6801,0.00,1.90,0.00,0.000,4,0.000,0.062,3313,3763,2341,0,0,0,0,0,0
$GC,6854,0.76,146.0,217.8,14.3,609,6857,0.00,1.80,0.00,0.000,6,0.000,0.043,3321,2597,2341,0,0,0,0,0,0
$GC,6995,0.76,146.0,200.3,12.2,622,6999,0.00,1.88,0.00,0.000,4,0.000,0.062,3320,3763,2341,0,0,0,0,0,0
$GC,7031,0.76,146.0,195.6,14.9,625,7035,0.00,1.77,0.00,0.000,6,0.000,0.043,3329,2613,2341,0,0,0,0,0,0
$GC,7173,0.76,146.0,177.4,12.6,638,7174,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2611,2341,0,0,0,0,0,0
$GC,7299,0.76,146.0,161.2,13.3,650,7303,0.00,1.85,0.00,0.000,4,0.000,0.063,3329,3763,2341,0,0,0,0,0,0
$GC,7344,0.76,146.0,154.5,15.3,654,7348,0.00,1.77,0.00,0.000,6,0.000,0.043,3338,2612,2341,0,0,0,0,0,0
$GC,7485,0.76,146.0,135.1,13.6,667,7488,0.00,1.85,0.00,0.000,4,0.000,0.063,3338,3763,2341,0,0,0,0,0,0
$GC,7530,0.76,146.0,128.7,15.1,671,7534,0.12,1.75,0.00,0.000,6,0.171,0.043,3314,2625,2340,0,0,0,0,0,0
$GC,7670,0.76,146.0,112.0,11.1,684,7671,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2623,2341,0,0,0,0,0,0
$GC,7797,0.76,146.0,98.0,11.0,697,7804,0.00,1.85,0.00,0.000,4,0.000,0.063,3314,3765,2341,0,0,0,0,0,0
$GC,7848,0.76,146.0,91.6,13.1,706,7856,0.00,1.77,0.00,0.000,6,0.000,0.043,3321,2638,2340,0,0,0,0,0,0
$GC,7990,0.76,146.0,74.9,12.1,731,7996,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2638,2340,0,0,0,0,0,0
$GC,8126,0.76,146.0,58.1,12.6,756,8134,0.00,1.85,0.00,0.000,4,0.000,0.063,3320,3758,2341,0,0,0,0,0,0
$GC,8181,0.76,146.0,50.9,14.6,765,8188,0.00,1.75,0.00,0.000,6,0.000,0.044,3330,2652,2340,0,0,0,0,0,0
$GC,8317,0.76,146.0,33.0,12.2,790,8326,0.00,1.83,0.00,0.000,4,0.000,0.062,3330,3758,2340,0,0,0,0,0,0
$GC,8365,0.76,146.0,26.1,15.0,798,8373,0.00,1.73,0.00,0.000,6,0.000,0.043,3338,2669,2340,0,0,0,0,0,0
$FREEZE,8.79,-1.303,-1.903,2,1,0
$FREEZE,7.99,-1.280,-1.903,2,1,0
$FREEZE,7.10,-1.226,-1.901,2,1,0
$FREEZE,6.45,-1.189,-1.901,2,1,0
$GC,8507,0.76,146.0,6.5,13.8,823,8513,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2668,2340,0,0,0,0,0,0
$FREEZE,4.38,-1.097,-1.899,2,1,0
$FREEZE,3.51,-1.074,-1.898,2,1,0
$FREEZE,2.86,-1.059,-1.897,2,1,0
$STATE,8531,end climb,SURFACE_DEPTH_REACHED
$STATE,8531,begin surface coast
$FREEZE,1.95,-1.052,-1.897,2,1,0
$FREEZE,1.35,-1.052,-1.896,2,1,0
$FREEZE,1.18,-1.019,-1.479,2,1,0
$FREEZE,1.17,-1.020,-0.978,2,1,0
$FINISH,1.2,1.014439
$STATE,8556,end surface coast,FINISH_DEPTH_REACHED
$STATE,8557,begin surface
$SM_CCo,8571,135.80,0.733,1,0,1329,400.08
$SM_GC,2.15,0.00,0.00,135.80,0.000,0.000,0.733,434,2667,1329,-8.22,0.48,400.08
$IRIDIUM_FIX,-7554.21,16541.98,101210,080801
$TT8_MAMPS,0.028462
$HUMID,51.33
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,13.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.3,18.0
$24V_AH,20.8,40.883
$10V_AH,9.9,24.760
$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,18.825,95.075,280.275,135.800,0.000,55.242,73.376,267.044,2.750,0.000,13.118,2083.934,4112.890,541.331,2389.106,172.979,0.000,1411.215,0.000,1445.667,0.000,14.634,0.000
$DEVICE_MAMPS,211.140,66.555,1155.915,732.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,587.625,1020.962,921.511,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276624
$DATA_FILE_SIZE,56865,831
$CAP_FILE_SIZE,125279,0
$CFSIZE,260165632,241782784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101210,110206,-7642.229,16552.014,32,1.1,33,140.6