version: 66.08
glider: 502
mission: 3
dive: 207
start: 12 11 110 21 45 13
data:
$ID,502
$MISSION,3
$DIVE,207
$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,-28600.26
$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,22
$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
$GPS1,111210,213458,-7640.474,16710.840,9,7.9,29,138.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-71.5
$GPS2,111210,214449,-7640.406,16711.348,15,1.4,32,138.2
$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,311.2,72035,-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,-104.15,0.000,2,0.000,0.000,421,2649,3248,0,0,0,0,0,0
$GC,124,-0.76,-146.0,3.3,-1.4,16,147,9.05,1.90,-9.10,0.000,4,0.208,0.081,2799,3765,3559,0,0,0,0,0,0
$GC,368,-0.76,-146.0,47.4,-17.4,60,377,0.00,1.80,0.00,0.000,6,0.000,0.045,2799,2643,3563,0,0,0,0,0,0
$GC,508,-0.76,-146.0,70.5,-16.2,85,514,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2642,3563,0,0,0,0,0,0
$GC,645,-0.76,-146.0,93.8,-17.4,110,653,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2642,3563,0,0,0,0,0,0
$GC,782,-0.76,-146.0,116.9,-16.9,126,786,0.00,1.83,0.00,0.000,4,0.000,0.063,2791,3767,3563,0,0,0,0,0,0
$GC,818,-0.76,-146.0,123.9,-17.1,129,828,0.00,1.77,0.00,0.000,6,0.000,0.044,2791,2652,3563,0,0,0,0,0,0
$GC,956,-0.76,-146.0,147.1,-17.6,142,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2652,3563,0,0,0,0,0,0
$GC,1081,-0.76,-146.0,169.0,-17.2,154,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2652,3563,0,0,0,0,0,0
$GC,1209,-0.76,-146.0,190.9,-17.0,166,1212,0.00,1.80,0.00,0.000,4,0.000,0.066,2782,3764,3563,0,0,0,0,0,0
$GC,1254,-0.76,-146.0,198.9,-17.8,170,1258,0.12,1.73,0.00,0.000,6,0.169,0.044,2815,2652,3563,0,0,0,0,0,0
$GC,1394,-0.76,-146.0,220.2,-14.7,183,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2650,3564,0,0,0,0,0,0
$GC,1521,-0.76,-146.0,239.1,-14.6,195,1524,0.00,1.83,0.00,0.000,4,0.000,0.065,2808,3764,3563,0,0,0,0,0,0
$GC,1555,-0.76,-146.0,244.4,-16.1,198,1559,0.00,1.73,0.00,0.000,6,0.000,0.044,2808,2651,3563,0,0,0,0,0,0
$GC,1694,-0.76,-146.0,265.9,-15.4,211,1696,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2649,3563,0,0,0,0,0,0
$GC,1885,-0.76,-146.0,295.0,-15.3,229,1889,0.00,1.80,0.00,0.000,4,0.000,0.063,2799,3763,3563,0,0,0,0,0,0
$GC,1920,-0.76,-146.0,300.5,-16.4,232,1924,0.00,1.70,0.00,0.000,6,0.000,0.044,2799,2664,3563,0,0,0,0,0,0
$GC,2123,-0.76,-146.0,332.4,-15.8,251,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2662,3563,0,0,0,0,0,0
$GC,2314,-0.76,-146.0,361.6,-15.4,269,2318,0.00,1.80,0.00,0.000,4,0.000,0.064,2790,3772,3563,0,0,0,0,0,0
$GC,2352,-0.76,-146.0,368.0,-16.0,272,2360,0.00,1.75,0.00,0.000,6,0.000,0.044,2790,2672,3563,0,0,0,0,0,0
$GC,2552,-0.76,-146.0,398.8,-15.6,291,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2671,3563,0,0,0,0,0,0
$GC,2741,-0.76,-146.0,427.6,-14.9,309,2745,0.00,1.77,0.00,0.000,4,0.000,0.064,2782,3767,3563,0,0,0,0,0,0
$GC,2778,-0.76,-146.0,433.9,-16.1,312,2787,0.10,1.75,0.00,0.000,6,0.142,0.044,2815,2667,3563,0,0,0,0,0,0
$GC,2978,-0.76,-146.0,459.7,-12.9,331,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2667,3563,0,0,0,0,0,0
$GC,3169,-0.76,-146.0,484.3,-12.9,349,3172,0.00,1.77,0.00,0.000,4,0.000,0.063,2807,3765,3563,0,0,0,0,0,0
$GC,3214,-0.76,-146.0,490.7,-14.0,353,3217,0.00,1.70,0.00,0.000,6,0.000,0.044,2807,2673,3563,0,0,0,0,0,0
$GC,3412,-0.76,-146.0,517.2,-13.4,364,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2672,3563,0,0,0,0,0,0
$GC,3595,-0.76,-146.0,541.6,-13.3,370,3599,0.00,1.77,0.00,0.000,4,0.000,0.064,2799,3769,3563,0,0,0,0,0,0
$GC,3639,-0.76,-146.0,548.2,-14.3,371,3643,0.00,1.73,0.00,0.000,6,0.000,0.044,2799,2685,3563,0,0,0,0,0,0
$STATE,3845,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3845,begin apogee
$GC,3850,-0.17,0.0,576.3,13.6,378,3988,0.62,0.00,133.68,1.154,4,0.132,0.000,3001,2473,2961,0,0,0,0,0,0
$STATE,3989,end apogee,CONTROL_FINISHED_OK
$STATE,3989,begin climb
$GC,3990,0.76,146.0,580.8,0.0,382,4145,0.98,2.50,146.27,1.066,4,0.073,0.052,3309,1102,2365,0,0,0,0,0,0
$GC,4245,0.76,146.0,555.6,13.2,390,4250,0.00,2.50,0.00,0.000,6,0.000,0.054,3310,2497,2354,0,0,0,0,0,0
$GC,4448,0.76,146.0,528.3,13.6,397,4452,0.00,2.33,0.00,0.000,4,0.000,0.054,3318,1088,2350,0,0,0,0,0,0
$GC,4552,0.76,146.0,514.1,13.2,400,4557,0.00,2.40,0.00,0.000,6,0.000,0.057,3319,2514,2347,0,0,0,0,0,0
$GC,4748,0.76,146.0,487.6,13.6,411,4752,0.00,2.03,0.00,0.000,4,0.000,0.060,3319,3768,2347,0,0,0,0,0,0
$GC,4841,0.76,146.0,472.1,17.1,419,4849,0.00,1.98,0.00,0.000,6,0.000,0.044,3328,2538,2346,0,0,0,0,0,0
$GC,5040,0.76,146.0,442.5,14.6,438,5044,0.00,2.00,0.00,0.000,4,0.000,0.060,3328,3775,2345,0,0,0,0,0,0
$GC,5091,0.76,146.0,433.8,18.3,442,5097,0.00,1.95,0.00,0.000,6,0.000,0.044,3338,2540,2345,0,0,0,0,0,0
$GC,5288,0.76,146.0,403.0,15.1,461,5291,0.00,1.98,0.00,0.000,4,0.000,0.062,3337,3765,2344,0,0,0,0,0,0
$GC,5321,0.76,146.0,397.3,17.0,464,5326,0.12,1.90,0.00,0.000,6,0.175,0.044,3315,2548,2344,0,0,0,0,0,0
$GC,5526,0.76,146.0,369.4,13.4,483,5530,0.00,1.98,0.00,0.000,4,0.000,0.063,3314,3770,2344,0,0,0,0,0,0
$GC,5561,0.76,146.0,364.4,15.4,486,5565,0.00,1.90,0.00,0.000,6,0.000,0.044,3322,2552,2344,0,0,0,0,0,0
$GC,5763,0.76,146.0,337.0,12.9,505,5767,0.00,1.95,0.00,0.000,4,0.000,0.061,3322,3765,2343,0,0,0,0,0,0
$GC,5790,0.76,146.0,333.0,14.4,507,5797,0.00,1.92,0.00,0.000,6,0.000,0.044,3332,2559,2343,0,0,0,0,0,0
$GC,5989,0.76,146.0,306.5,13.3,526,5993,0.00,1.95,0.00,0.000,4,0.000,0.061,3332,3771,2342,0,0,0,0,0,0
$GC,6024,0.76,146.0,301.1,15.5,529,6027,0.00,1.88,0.00,0.000,6,0.000,0.044,3341,2565,2343,0,0,0,0,0,0
$GC,6227,0.76,146.0,273.3,13.6,548,6230,0.00,1.95,0.00,0.000,4,0.000,0.061,3341,3773,2342,0,0,0,0,0,0
$GC,6272,0.76,146.0,266.4,16.1,552,6276,0.08,1.90,0.00,0.000,6,0.151,0.044,3310,2583,2342,0,0,0,0,0,0
$GC,6476,0.76,146.0,243.2,10.6,571,6479,0.00,1.92,0.00,0.000,4,0.000,0.063,3310,3772,2342,0,0,0,0,0,0
$GC,6521,0.76,146.0,237.4,13.3,575,6524,0.00,1.85,0.00,0.000,6,0.000,0.044,3318,2582,2342,0,0,0,0,0,0
$GC,6661,0.76,146.0,220.8,11.6,588,6665,0.00,1.92,0.00,0.000,4,0.000,0.062,3318,3775,2342,0,0,0,0,0,0
$GC,6687,0.76,146.0,216.8,13.8,590,6696,0.00,1.88,0.00,0.000,6,0.000,0.044,3327,2599,2342,0,0,0,0,0,0
$GC,6823,0.76,146.0,200.1,12.4,603,6824,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2598,2342,0,0,0,0,0,0
$GC,6950,0.76,146.0,183.7,13.1,615,6954,0.00,1.90,0.00,0.000,4,0.000,0.062,3326,3775,2342,0,0,0,0,0,0
$GC,6996,0.76,146.0,177.3,15.7,619,6999,0.00,1.83,0.00,0.000,6,0.000,0.044,3335,2603,2342,0,0,0,0,0,0
$GC,7138,0.76,146.0,157.7,13.7,632,7146,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2600,2342,0,0,0,0,0,0
$GC,7272,0.76,146.0,139.5,13.3,645,7276,0.00,1.88,0.00,0.000,4,0.000,0.060,3336,3765,2342,0,0,0,0,0,0
$GC,7320,0.76,146.0,132.1,15.9,649,7329,0.08,1.83,0.00,0.000,6,0.153,0.043,3319,2615,2342,0,0,0,0,0,0
$GC,7457,0.76,146.0,115.7,12.0,662,7458,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2614,2342,0,0,0,0,0,0
$GC,7582,0.76,146.0,100.7,12.1,674,7586,0.00,1.85,0.00,0.000,4,0.000,0.062,3319,3764,2342,0,0,0,0,0,0
$GC,7631,0.76,146.0,93.8,14.3,682,7640,0.00,1.83,0.00,0.000,6,0.000,0.043,3326,2617,2341,0,0,0,0,0,0
$GC,7773,0.76,146.0,75.3,13.4,707,7780,0.00,1.90,0.00,0.000,4,0.000,0.063,3326,3764,2342,0,0,0,0,0,0
$GC,7813,0.76,146.0,69.2,14.5,714,7821,0.00,1.80,0.00,0.000,6,0.000,0.044,3335,2629,2342,0,0,0,0,0,0
$GC,7955,0.76,146.0,50.1,13.1,739,7961,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2628,2341,0,0,0,0,0,0
$GC,8091,0.76,146.0,32.8,11.7,764,8099,0.00,1.88,0.00,0.000,4,0.000,0.062,3335,3763,2341,0,0,0,0,0,0
$GC,8137,0.76,146.0,26.3,15.1,772,8146,0.10,1.77,0.00,0.000,6,0.146,0.044,3311,2646,2341,0,0,0,0,0,0
$GC,8279,0.76,146.0,10.1,12.1,797,8286,0.00,2.47,0.00,0.000,4,0.000,0.053,3321,1080,2341,0,0,0,0,0,0
$FREEZE,8.50,-1.262,-1.893,2,1,0
$FREEZE,7.78,-1.241,-1.892,2,1,0
$FREEZE,7.18,-1.236,-1.892,2,1,0
$FREEZE,6.54,-1.229,-1.891,2,1,0
$GC,8311,0.76,146.0,6.5,11.9,802,8319,0.00,2.55,0.00,0.000,6,0.000,0.057,3321,2632,2340,0,0,0,0,0,0
$FREEZE,4.90,-1.229,-1.889,2,1,0
$FREEZE,4.26,-1.235,-1.889,2,1,0
$FREEZE,3.49,-1.230,-1.888,2,1,0
$FREEZE,2.86,-1.225,-1.888,2,1,0
$STATE,8343,end climb,SURFACE_DEPTH_REACHED
$STATE,8343,begin surface coast
$FREEZE,2.11,-1.213,-1.887,2,1,0
$FREEZE,2.01,-1.365,-1.896,2,1,0
$FREEZE,2.04,-1.243,-1.888,2,1,0
$FREEZE,2.05,-1.224,-1.887,2,1,0
$FINISH,2.0,1.027635
$STATE,8368,end surface coast,CONTROL_FINISHED_OK
$STATE,8368,begin surface
$IRIDIUM_FIX,-7554.21,16710.09,111210,212125
$TT8_MAMPS,0.027713
$HUMID,52.99
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,17.3
$24V_AH,20.7,42.665
$10V_AH,9.9,26.115
$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,11.250,100.250,279.950,0.000,0.000,58.222,74.363,223.800,2.750,0.000,33.529,2041.207,4111.752,398.418,2359.036,171.519,0.000,1274.510,0.000,1416.707,0.000,14.644,0.000
$DEVICE_MAMPS,208.080,81.090,1153.620,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,573.200,992.034,895.822,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276664
$DATA_FILE_SIZE,53611,811
$CAP_FILE_SIZE,122553,0
$CFSIZE,260165632,240865280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111210,214449,-7640.406,16711.348,15,1.4,32,138.2