version: 66.08
glider: 502
mission: 3
dive: 206
start: 12 11 110 19 11 20
data:
$ID,502
$MISSION,3
$DIVE,206
$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,-28599.002
$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,30
$R_STBD_OVSHOOT,20
$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
$GPS1,111210,190507,-7641.033,16704.684,31,0.9,32,138.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-72.8
$GPS2,111210,191056,-7641.010,16704.619,13,1.7,13,138.5
$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,310.1,74929,-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,14,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,122,0.00,0.00,-103.95,0.000,2,0.000,0.000,429,2666,3245,0,0,0,0,0,0
$GC,124,-0.76,-146.0,3.3,-1.4,16,148,9.10,1.88,-9.35,0.000,4,0.210,0.080,2802,3767,3559,0,0,0,0,0,0
$GC,300,-0.76,-146.0,34.5,-16.8,47,307,0.00,1.77,0.00,0.000,6,0.000,0.045,2803,2641,3561,0,0,0,0,0,0
$GC,438,-0.76,-146.0,57.1,-16.1,72,446,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2640,3562,0,0,0,0,0,0
$GC,579,-0.76,-146.0,79.4,-16.0,97,586,0.00,1.85,0.00,0.000,4,0.000,0.064,2794,3767,3562,0,0,0,0,0,0
$GC,636,-0.76,-146.0,89.3,-17.2,107,643,0.00,1.75,0.00,0.000,6,0.000,0.044,2795,2675,3562,0,0,0,0,0,0
$GC,780,-0.76,-146.0,113.4,-17.1,126,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2673,3562,0,0,0,0,0,0
$GC,908,-0.76,-146.0,134.6,-16.4,138,911,0.00,1.77,0.00,0.000,4,0.000,0.065,2786,3767,3562,0,0,0,0,0,0
$GC,933,-0.76,-146.0,139.8,-17.5,140,943,0.08,1.75,0.00,0.000,6,0.155,0.044,2811,2671,3562,0,0,0,0,0,0
$GC,1069,-0.76,-146.0,159.8,-15.0,153,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2670,3562,0,0,0,0,0,0
$GC,1197,-0.76,-146.0,178.8,-14.7,165,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2670,3563,0,0,0,0,0,0
$GC,1324,-0.76,-146.0,197.9,-15.0,177,1327,0.00,1.77,0.00,0.000,4,0.000,0.063,2804,3767,3563,0,0,0,0,0,0
$GC,1360,-0.76,-146.0,204.2,-16.7,180,1369,0.00,1.75,0.00,0.000,6,0.000,0.045,2804,2673,3563,0,0,0,0,0,0
$GC,1496,-0.76,-146.0,224.6,-15.2,193,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2673,3562,0,0,0,0,0,0
$GC,1623,-0.76,-146.0,243.8,-15.4,205,1626,0.00,1.77,0.00,0.000,4,0.000,0.065,2797,3768,3563,0,0,0,0,0,0
$GC,1648,-0.76,-146.0,247.5,-15.6,207,1651,0.00,1.67,0.00,0.000,6,0.000,0.044,2797,2686,3563,0,0,0,0,0,0
$GC,1787,-0.76,-146.0,270.0,-15.5,220,1788,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2684,3563,0,0,0,0,0,0
$GC,1978,-0.76,-146.0,299.9,-15.6,238,1985,0.00,1.75,0.00,0.000,4,0.000,0.063,2789,3766,3562,0,0,0,0,0,0
$GC,2002,-0.76,-146.0,304.0,-16.8,240,2006,0.00,1.67,0.00,0.000,6,0.000,0.044,2789,2687,3562,0,0,0,0,0,0
$GC,2206,-0.76,-146.0,337.7,-16.8,259,2207,0.10,0.00,0.00,0.000,6,0.187,0.000,2813,2684,3563,0,0,0,0,0,0
$GC,2396,-0.76,-146.0,365.5,-14.2,277,2400,0.00,1.75,0.00,0.000,4,0.000,0.064,2807,3767,3563,0,0,0,0,0,0
$GC,2434,-0.76,-146.0,371.4,-15.1,280,2442,0.00,1.70,0.00,0.000,6,0.000,0.044,2807,2696,3562,0,0,0,0,0,0
$GC,2635,-0.76,-146.0,401.0,-15.1,299,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2695,3562,0,0,0,0,0,0
$GC,2832,-0.76,-146.0,430.1,-14.6,318,2833,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2695,3563,0,0,0,0,0,0
$GC,3024,-0.76,-146.0,457.6,-14.2,336,3027,0.00,1.75,0.00,0.000,4,0.000,0.064,2799,3774,3562,0,0,0,0,0,0
$GC,3058,-0.76,-146.0,462.9,-15.7,339,3061,0.00,1.67,0.00,0.000,6,0.000,0.045,2798,2697,3562,0,0,0,0,0,0
$GC,3260,-0.76,-146.0,493.7,-15.2,358,3262,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2695,3562,0,0,0,0,0,0
$GC,3456,-0.76,-146.0,523.4,-15.3,367,3460,0.00,1.75,0.00,0.000,4,0.000,0.064,2790,3773,3562,0,0,0,0,0,0
$GC,3491,-0.76,-146.0,528.8,-15.8,368,3494,0.00,1.67,0.00,0.000,6,0.000,0.045,2790,2694,3562,0,0,0,0,0,0
$GC,3708,-0.76,-146.0,563.2,-15.7,375,3710,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2693,3562,0,0,0,0,0,0
$STATE,3799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3799,begin apogee
$GC,3804,-0.17,0.0,577.7,15.7,378,3942,0.68,0.00,133.75,1.151,4,0.135,0.000,3005,2483,2961,0,0,0,0,0,0
$STATE,3943,end apogee,CONTROL_FINISHED_OK
$STATE,3943,begin climb
$GC,3945,0.76,146.0,583.7,0.0,382,4100,0.98,2.55,146.02,1.066,4,0.073,0.053,3313,1100,2364,0,0,0,0,0,0
$GC,4206,0.76,146.0,561.0,11.3,390,4214,0.00,2.50,0.00,0.000,6,0.000,0.055,3313,2493,2353,0,0,0,0,0,0
$GC,4399,0.76,146.0,537.0,12.8,397,4403,0.00,2.30,0.00,0.000,4,0.000,0.053,3323,1086,2349,0,0,0,0,0,0
$GC,4509,0.76,146.0,522.7,12.2,400,4514,0.00,2.42,0.00,0.000,6,0.000,0.057,3322,2528,2347,0,0,0,0,0,0
$GC,4702,0.76,146.0,496.6,13.7,408,4706,0.00,2.00,0.00,0.000,4,0.000,0.061,3323,3773,2346,0,0,0,0,0,0
$GC,4798,0.76,146.0,481.5,16.0,416,4804,0.00,1.95,0.00,0.000,6,0.000,0.045,3330,2541,2346,0,0,0,0,0,0
$GC,4995,0.76,146.0,453.5,13.9,435,4998,0.00,1.98,0.00,0.000,4,0.000,0.061,3330,3764,2344,0,0,0,0,0,0
$GC,5029,0.76,146.0,448.1,16.0,438,5032,0.00,1.90,0.00,0.000,6,0.000,0.043,3339,2543,2344,0,0,0,0,0,0
$GC,5233,0.76,146.0,417.5,15.0,457,5237,0.00,1.98,0.00,0.000,4,0.000,0.062,3340,3764,2344,0,0,0,0,0,0
$GC,5269,0.76,146.0,411.6,17.8,460,5273,0.15,1.90,0.00,0.000,6,0.167,0.043,3309,2544,2344,0,0,0,0,0,0
$GC,5466,0.76,146.0,385.5,12.8,478,5470,0.00,1.98,0.00,0.000,4,0.000,0.062,3308,3764,2343,0,0,0,0,0,0
$GC,5488,0.76,146.0,382.4,13.4,480,5492,0.00,1.90,0.00,0.000,6,0.000,0.044,3317,2545,2343,0,0,0,0,0,0
$GC,5691,0.76,146.0,355.7,13.4,499,5695,0.00,1.98,0.00,0.000,4,0.000,0.063,3317,3764,2342,0,0,0,0,0,0
$GC,5725,0.76,146.0,350.6,15.3,502,5728,0.00,1.88,0.00,0.000,6,0.000,0.044,3326,2556,2342,0,0,0,0,0,0
$GC,5928,0.76,146.0,322.7,13.6,521,5931,0.00,1.95,0.00,0.000,4,0.000,0.061,3326,3764,2342,0,0,0,0,0,0
$GC,5962,0.76,146.0,317.6,15.7,524,5965,0.00,1.88,0.00,0.000,6,0.000,0.043,3335,2557,2342,0,0,0,0,0,0
$GC,6165,0.76,146.0,288.7,13.8,543,6168,0.00,1.95,0.00,0.000,4,0.000,0.060,3335,3767,2342,0,0,0,0,0,0
$GC,6198,0.76,146.0,283.5,16.5,546,6203,0.12,1.85,0.00,0.000,6,0.171,0.043,3311,2570,2342,0,0,0,0,0,0
$GC,6401,0.76,146.0,258.3,12.1,565,6403,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2568,2341,0,0,0,0,0,0
$GC,6595,0.76,146.0,235.2,12.2,583,6599,0.00,1.92,0.00,0.000,4,0.000,0.063,3312,3763,2342,0,0,0,0,0,0
$GC,6641,0.76,146.0,228.8,14.4,587,6644,0.00,1.85,0.00,0.000,6,0.000,0.044,3319,2567,2342,0,0,0,0,0,0
$GC,6781,0.76,146.0,210.4,12.5,600,6782,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2565,2342,0,0,0,0,0,0
$GC,6909,0.76,146.0,194.1,12.8,612,6912,0.00,1.95,0.00,0.000,4,0.000,0.062,3319,3772,2342,0,0,0,0,0,0
$GC,6944,0.76,146.0,188.5,15.5,615,6954,0.00,1.88,0.00,0.000,6,0.000,0.044,3328,2587,2342,0,0,0,0,0,0
$GC,7081,0.76,146.0,170.9,13.1,628,7082,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2585,2342,0,0,0,0,0,0
$GC,7208,0.76,146.0,154.2,13.3,640,7212,0.00,1.90,0.00,0.000,4,0.000,0.062,3328,3764,2341,0,0,0,0,0,0
$GC,7244,0.76,146.0,149.2,16.0,643,7248,0.00,1.83,0.00,0.000,6,0.000,0.044,3337,2587,2342,0,0,0,0,0,0
$GC,7386,0.76,146.0,129.5,13.5,656,7394,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2584,2341,0,0,0,0,0,0
$GC,7521,0.76,146.0,110.8,13.7,669,7525,0.00,1.90,0.00,0.000,4,0.000,0.062,3338,3764,2341,0,0,0,0,0,0
$GC,7547,0.76,146.0,106.5,15.5,671,7556,0.10,1.85,0.00,0.000,6,0.145,0.043,3313,2597,2341,0,0,0,0,0,0
$GC,7685,0.76,146.0,89.7,12.0,691,7691,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2596,2341,0,0,0,0,0,0
$GC,7821,0.76,146.0,72.8,12.9,716,7829,0.00,1.92,0.00,0.000,4,0.000,0.063,3314,3758,2341,0,0,0,0,0,0
$GC,7847,0.76,146.0,69.4,13.6,720,7855,0.00,1.85,0.00,0.000,6,0.000,0.044,3321,2594,2341,0,0,0,0,0,0
$GC,7986,0.76,146.0,51.1,12.9,745,7992,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2594,2341,0,0,0,0,0,0
$GC,8124,0.76,146.0,33.5,12.9,770,8131,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2594,2341,0,0,0,0,0,0
$GC,8265,0.76,146.0,15.4,12.9,795,8272,0.00,2.38,0.00,0.000,4,0.000,0.054,3332,1086,2341,0,0,0,0,0,0
$FREEZE,8.91,-1.243,-1.894,2,1,0
$FREEZE,8.18,-1.247,-1.893,2,1,0
$FREEZE,7.67,-1.250,-1.892,2,1,0
$FREEZE,6.95,-1.250,-1.891,2,1,0
$FREEZE,6.39,-1.252,-1.891,2,1,0
$GC,8346,0.76,146.0,6.4,10.9,809,8353,0.00,2.47,0.00,0.000,6,0.000,0.057,3332,2613,2340,0,0,0,0,0,0
$FREEZE,4.64,-1.250,-1.889,2,1,0
$FREEZE,3.89,-1.246,-1.888,2,1,0
$FREEZE,3.24,-1.246,-1.887,2,1,0
$FREEZE,2.41,-1.240,-1.887,2,1,0
$STATE,8377,end climb,SURFACE_DEPTH_REACHED
$STATE,8377,begin surface coast
$FREEZE,1.78,-1.235,-1.886,2,1,0
$FREEZE,1.37,-1.233,-1.886,2,1,0
$FREEZE,1.20,-1.265,-0.878,2,1,0
$FINISH,1.2,1.012934
$STATE,8396,end surface coast,FINISH_DEPTH_REACHED
$STATE,8396,begin surface
$SM_CCo,8411,135.85,0.737,1,0,1329,400.08
$SM_GC,2.07,0.00,0.00,135.85,0.000,0.000,0.737,421,2649,1329,-8.27,-0.03,400.08
$IRIDIUM_FIX,-7554.21,16708.02,111210,161626
$TT8_MAMPS,0.028462
$HUMID,51.49
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,13.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,18.5
$24V_AH,20.7,42.557
$10V_AH,9.9,26.020
$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,18.875,92.350,279.775,135.850,0.000,28.505,37.226,182.467,2.750,0.000,14.093,2039.458,3970.499,550.642,2172.689,171.883,0.000,1402.504,0.000,1401.968,0.000,14.637,0.000
$DEVICE_MAMPS,210.375,157.590,1150.560,737.460,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,577.506,1001.294,907.178,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276708
$DATA_FILE_SIZE,53698,817
$CAP_FILE_SIZE,118607,0
$CFSIZE,260165632,240930816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111210,213458,-7640.474,16710.840,9,7.9,29,138.3