version: 66.08
glider: 502
mission: 3
dive: 194
start: 12 10 110 11 8 58
data:
$ID,502
$MISSION,3
$DIVE,194
$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,-28586.418
$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
$GPS1,101210,110206,-7642.229,16552.014,32,1.1,33,140.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-72.9
$GPS2,101210,110834,-7642.215,16551.859,17,4.5,36,140.6
$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,307.2,106060,-17.5,-10.000
$D_GRID,584
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,123,0.00,0.00,-104.60,0.000,2,0.000,0.000,434,2667,3263,0,0,0,0,0,0
$GC,126,-0.76,-146.0,3.3,-1.7,16,154,9.12,2.38,-8.85,0.000,4,0.213,0.067,2810,1243,3560,0,0,0,0,0,0
$GC,336,-0.76,-146.0,36.2,-15.5,53,343,0.00,2.33,0.00,0.000,6,0.000,0.060,2802,2654,3562,0,0,0,0,0,0
$GC,473,-0.76,-146.0,58.5,-17.0,78,481,0.00,1.83,0.00,0.000,4,0.000,0.063,2794,3767,3562,0,0,0,0,0,0
$GC,537,-0.76,-146.0,69.6,-17.5,89,544,0.00,1.77,0.00,0.000,6,0.000,0.044,2795,2631,3562,0,0,0,0,0,0
$GC,675,-0.76,-146.0,92.4,-16.2,114,683,0.00,1.88,0.00,0.000,4,0.000,0.064,2786,3757,3562,0,0,0,0,0,0
$GC,707,-0.76,-146.0,97.7,-17.2,119,714,0.05,1.73,0.00,0.000,6,0.135,0.044,2813,2673,3562,0,0,0,0,0,0
$GC,851,-0.76,-146.0,119.3,-14.5,133,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2673,3562,0,0,0,0,0,0
$GC,986,-0.76,-146.0,139.2,-14.4,146,990,0.00,1.75,0.00,0.000,4,0.000,0.063,2806,3764,3562,0,0,0,0,0,0
$GC,1011,-0.76,-146.0,143.7,-15.5,148,1021,0.00,1.73,0.00,0.000,6,0.000,0.043,2806,2678,3562,0,0,0,0,0,0
$GC,1147,-0.76,-146.0,163.5,-14.6,161,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2677,3562,0,0,0,0,0,0
$GC,1274,-0.76,-146.0,182.3,-14.6,173,1278,0.00,1.75,0.00,0.000,4,0.000,0.065,2798,3763,3563,0,0,0,0,0,0
$GC,1309,-0.76,-146.0,187.6,-16.0,176,1312,0.00,1.67,0.00,0.000,6,0.000,0.044,2798,2679,3562,0,0,0,0,0,0
$GC,1450,-0.76,-146.0,209.1,-15.3,189,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2678,3562,0,0,0,0,0,0
$GC,1577,-0.76,-146.0,228.2,-15.0,201,1580,0.00,1.75,0.00,0.000,4,0.000,0.065,2790,3763,3562,0,0,0,0,0,0
$GC,1612,-0.76,-146.0,233.5,-16.6,204,1616,0.00,1.67,0.00,0.000,6,0.000,0.044,2790,2679,3562,0,0,0,0,0,0
$GC,1752,-0.76,-146.0,255.8,-15.7,217,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2677,3562,0,0,0,0,0,0
$GC,1944,-0.76,-146.0,285.6,-15.7,235,1948,0.00,1.75,0.00,0.000,4,0.000,0.065,2781,3764,3562,0,0,0,0,0,0
$GC,1982,-0.76,-146.0,292.4,-17.0,238,1990,0.10,1.70,0.00,0.000,6,0.148,0.044,2814,2683,3562,0,0,0,0,0,0
$GC,2181,-0.76,-146.0,319.1,-13.5,257,2184,0.00,1.75,0.00,0.000,4,0.000,0.063,2807,3769,3562,0,0,0,0,0,0
$GC,2215,-0.76,-146.0,324.0,-14.3,260,2218,0.00,1.65,0.00,0.000,6,0.000,0.044,2807,2697,3562,0,0,0,0,0,0
$GC,2418,-0.76,-146.0,352.2,-13.8,279,2421,0.00,1.73,0.00,0.000,4,0.000,0.064,2798,3764,3562,0,0,0,0,0,0
$GC,2444,-0.76,-146.0,356.5,-14.5,281,2452,0.00,1.67,0.00,0.000,6,0.000,0.044,2799,2703,3562,0,0,0,0,0,0
$GC,2642,-0.76,-146.0,384.7,-14.7,300,2646,0.00,1.73,0.00,0.000,4,0.000,0.065,2790,3769,3563,0,0,0,0,0,0
$GC,2669,-0.76,-146.0,389.0,-15.6,302,2677,0.00,1.67,0.00,0.000,6,0.000,0.044,2790,2714,3562,0,0,0,0,0,0
$GC,2869,-0.76,-146.0,418.5,-14.8,321,2870,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2713,3562,0,0,0,0,0,0
$GC,3058,-0.76,-146.0,447.1,-14.8,339,3061,0.00,1.70,0.00,0.000,4,0.000,0.063,2783,3769,3562,0,0,0,0,0,0
$GC,3104,-0.76,-146.0,454.4,-15.9,343,3108,0.12,1.65,0.00,0.000,6,0.170,0.044,2816,2698,3562,0,0,0,0,0,0
$GC,3306,-0.76,-146.0,481.7,-13.2,362,3309,0.00,1.73,0.00,0.000,4,0.000,0.064,2809,3764,3562,0,0,0,0,0,0
$GC,3328,-0.76,-146.0,484.8,-13.7,364,3332,0.00,1.62,0.00,0.000,6,0.000,0.044,2809,2741,3562,0,0,0,0,0,0
$GC,3538,-0.76,-146.0,514.4,-14.3,378,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2739,3562,0,0,0,0,0,0
$GC,3722,-0.76,-146.0,540.0,-13.7,384,3725,0.00,1.65,0.00,0.000,4,0.000,0.064,2801,3763,3562,0,0,0,0,0,0
$GC,3744,-0.76,-146.0,543.2,-14.2,384,3747,0.00,1.62,0.00,0.000,6,0.000,0.043,2801,2740,3562,0,0,0,0,0,0
$GC,3940,-0.76,-146.0,570.6,-13.9,391,3943,0.00,1.67,0.00,0.000,4,0.000,0.065,2795,3773,3562,0,0,0,0,0,0
$GC,3966,-0.76,-146.0,574.9,-15.3,391,3974,0.00,1.62,0.00,0.000,6,0.000,0.044,2795,2751,3562,0,0,0,0,0,0
$STATE,4033,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4033,begin apogee
$GC,4037,-0.17,0.0,584.4,14.4,394,4176,0.65,0.00,133.75,1.158,4,0.133,0.000,3004,2493,2961,0,0,0,0,0,0
$STATE,4177,end apogee,CONTROL_FINISHED_OK
$STATE,4177,begin climb
$GC,4178,0.76,146.0,589.1,0.0,398,4333,0.98,2.55,146.27,1.081,4,0.074,0.052,3313,1105,2365,0,0,0,0,0,0
$GC,4422,0.76,146.0,566.5,12.2,406,4427,0.00,2.45,0.00,0.000,6,0.000,0.054,3313,2498,2355,0,0,0,0,0,0
$GC,4635,0.76,146.0,537.3,14.1,413,4639,0.00,2.33,0.00,0.000,4,0.000,0.054,3322,1092,2350,0,0,0,0,0,0
$GC,4751,0.76,146.0,521.3,13.2,416,4756,0.00,2.38,0.00,0.000,6,0.000,0.057,3322,2506,2347,0,0,0,0,0,0
$GC,4943,0.76,146.0,493.3,14.6,424,4947,0.00,2.03,0.00,0.000,4,0.000,0.060,3323,3768,2346,0,0,0,0,0,0
$GC,5034,0.76,146.0,478.6,16.5,432,5037,0.00,1.95,0.00,0.000,6,0.000,0.044,3332,2520,2346,0,0,0,0,0,0
$GC,5236,0.76,146.0,447.7,15.0,451,5240,0.00,2.03,0.00,0.000,4,0.000,0.060,3332,3772,2345,0,0,0,0,0,0
$GC,5296,0.76,146.0,437.4,17.1,456,5305,0.08,1.98,0.00,0.000,6,0.152,0.043,3317,2537,2345,0,0,0,0,0,0
$GC,5497,0.76,146.0,410.8,12.9,475,5500,0.00,1.98,0.00,0.000,4,0.000,0.061,3317,3765,2344,0,0,0,0,0,0
$GC,5523,0.76,146.0,406.5,14.2,477,5531,0.00,1.95,0.00,0.000,6,0.000,0.042,3325,2535,2344,0,0,0,0,0,0
$GC,5722,0.76,146.0,379.7,13.7,496,5725,0.00,1.98,0.00,0.000,4,0.000,0.060,3325,3764,2344,0,0,0,0,0,0
$GC,5756,0.76,146.0,374.5,16.1,499,5759,0.00,1.90,0.00,0.000,6,0.000,0.043,3334,2540,2344,0,0,0,0,0,0
$GC,5958,0.76,146.0,344.9,14.5,518,5962,0.00,1.98,0.00,0.000,4,0.000,0.060,3334,3768,2343,0,0,0,0,0,0
$GC,6015,0.76,146.0,335.7,16.1,523,6019,0.12,1.88,0.00,0.000,6,0.171,0.043,3310,2559,2343,0,0,0,0,0,0
$GC,6217,0.76,146.0,310.0,12.0,542,6220,0.00,1.95,0.00,0.000,4,0.000,0.062,3310,3767,2343,0,0,0,0,0,0
$GC,6262,0.76,146.0,303.8,14.7,546,6266,0.00,1.90,0.00,0.000,6,0.000,0.044,3318,2566,2343,0,0,0,0,0,0
$GC,6465,0.76,146.0,278.7,12.1,565,6469,0.00,1.95,0.00,0.000,4,0.000,0.063,3318,3773,2342,0,0,0,0,0,0
$GC,6487,0.76,146.0,275.5,13.2,567,6491,0.00,1.85,0.00,0.000,6,0.000,0.044,3327,2572,2343,0,0,0,0,0,0
$GC,6693,0.76,146.0,248.5,13.4,586,6697,0.00,1.92,0.00,0.000,4,0.000,0.061,3327,3767,2342,0,0,0,0,0,0
$GC,6738,0.76,146.0,241.6,16.2,590,6742,0.00,1.83,0.00,0.000,6,0.000,0.042,3337,2581,2342,0,0,0,0,0,0
$GC,6879,0.76,146.0,222.0,13.8,603,6880,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2579,2342,0,0,0,0,0,0
$GC,7006,0.76,146.0,204.6,13.5,615,7010,0.00,1.90,0.00,0.000,4,0.000,0.060,3337,3765,2342,0,0,0,0,0,0
$GC,7051,0.76,146.0,197.7,16.5,619,7055,0.12,1.83,0.00,0.000,6,0.174,0.043,3313,2584,2342,0,0,0,0,0,0
$GC,7191,0.76,146.0,181.0,10.9,632,7192,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2581,2342,0,0,0,0,0,0
$GC,7319,0.76,146.0,166.8,11.1,644,7320,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2581,2342,0,0,0,0,0,0
$GC,7446,0.76,146.0,152.8,11.1,656,7447,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2581,2341,0,0,0,0,0,0
$GC,7573,0.76,146.0,138.5,11.4,668,7574,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2581,2342,0,0,0,0,0,0
$GC,7701,0.76,146.0,124.4,11.3,680,7702,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2581,2341,0,0,0,0,0,0
$GC,7828,0.76,146.0,110.0,11.2,692,7832,0.00,1.90,0.00,0.000,4,0.000,0.061,3313,3763,2342,0,0,0,0,0,0
$GC,7884,0.76,146.0,103.1,12.9,697,7887,0.00,1.80,0.00,0.000,6,0.000,0.044,3320,2598,2341,0,0,0,0,0,0
$GC,8021,0.76,146.0,86.5,12.1,719,8027,0.00,1.90,0.00,0.000,4,0.000,0.062,3320,3770,2341,0,0,0,0,0,0
$GC,8078,0.76,146.0,78.6,14.3,729,8085,0.00,1.80,0.00,0.000,6,0.000,0.044,3329,2617,2341,0,0,0,0,0,0
$GC,8216,0.76,146.0,61.0,12.9,754,8223,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2616,2341,0,0,0,0,0,0
$GC,8356,0.76,146.0,43.3,13.2,779,8363,0.00,1.88,0.00,0.000,4,0.000,0.062,3329,3773,2341,0,0,0,0,0,0
$GC,8413,0.76,146.0,34.9,15.7,789,8420,0.00,1.80,0.00,0.000,6,0.000,0.043,3338,2617,2341,0,0,0,0,0,0
$GC,8554,0.76,146.0,15.6,14.1,814,8561,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2614,2341,0,0,0,0,0,0
$FREEZE,8.70,-1.315,-1.904,2,1,0
$FREEZE,8.00,-1.264,-1.902,2,1,0
$FREEZE,7.20,-1.256,-1.901,2,1,0
$FREEZE,6.48,-1.248,-1.902,2,1,0
$FREEZE,5.65,-1.177,-1.900,2,1,0
$FREEZE,4.90,-1.154,-1.899,2,1,0
$FREEZE,4.22,-1.107,-1.899,2,1,0
$FREEZE,3.66,-1.012,-1.898,2,1,0
$FREEZE,2.68,-1.001,-1.897,2,1,0
$STATE,8644,end climb,SURFACE_DEPTH_REACHED
$STATE,8645,begin surface coast
$FREEZE,2.12,-0.834,-1.894,2,1,0
$FREEZE,1.30,-0.798,-1.894,2,1,0
$FREEZE,1.29,-0.789,-1.845,2,1,0
$FREEZE,1.31,-0.813,-1.891,2,1,0
$FINISH,1.3,1.027692
$STATE,8671,end surface coast,CONTROL_FINISHED_OK
$STATE,8671,begin surface
$SM_CCo,8686,135.00,0.734,1,0,1329,400.08
$SM_GC,2.08,0.00,0.00,135.00,0.000,0.000,0.734,423,2651,1329,-8.26,0.03,400.08
$IRIDIUM_FIX,-7554.21,16551.03,101210,080803
$TT8_MAMPS,0.028462
$HUMID,51.73
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.4,17.8
$24V_AH,20.8,41.015
$10V_AH,9.9,24.858
$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,18.925,105.125,280.025,135.000,0.000,27.406,49.518,189.253,3.000,0.000,38.670,2102.729,4111.137,550.691,2294.017,159.311,0.000,1429.609,0.000,1451.552,0.000,17.620,0.000
$DEVICE_MAMPS,213.435,130.815,1158.210,733.635,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,589.627,1025.433,938.486,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276632
$DATA_FILE_SIZE,56970,834
$CAP_FILE_SIZE,124717,0
$CFSIZE,260165632,241717248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101210,133702,-7642.257,16556.072,20,1.2,21,140.4