version: 66.08
glider: 502
mission: 3
dive: 208
start: 12 12 110 0 8 20
data:
$ID,502
$MISSION,3
$DIVE,208
$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,29
$R_STBD_OVSHOOT,21
$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
$GPS1,111210,214449,-7640.406,16711.348,15,1.4,32,138.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,7.9
$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,-146.0,0.0,0.0,0,82,0.00,0.00,-64.68,0.000,6,0.000,0.000,3321,2634,3557,0,0,0,0,0,0
$GC,84,-0.76,-146.0,2.9,-3.5,10,93,1.50,2.25,0.00,0.000,4,0.119,0.049,2825,1225,3559,0,0,0,0,0,0
$GC,182,-0.76,-146.0,13.5,-12.7,27,189,0.00,2.35,0.00,0.000,6,0.000,0.061,2814,2657,3560,0,0,0,0,0,0
$GC,320,-0.76,-146.0,37.0,-16.9,52,328,0.00,1.80,0.00,0.000,4,0.000,0.063,2806,3760,3561,0,0,0,0,0,0
$GC,352,-0.76,-146.0,42.3,-16.9,57,359,0.00,1.75,0.00,0.000,6,0.000,0.045,2806,2662,3561,0,0,0,0,0,0
$GC,490,-0.76,-146.0,64.3,-15.7,82,497,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2662,3560,0,0,0,0,0,0
$GC,630,-0.76,-146.0,86.3,-15.4,107,637,0.00,1.80,0.00,0.000,4,0.000,0.063,2799,3767,3561,0,0,0,0,0,0
$GC,670,-0.76,-146.0,93.1,-16.8,114,678,0.00,1.75,0.00,0.000,6,0.000,0.045,2798,2672,3560,0,0,0,0,0,0
$GC,813,-0.76,-146.0,116.5,-16.5,131,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2671,3560,0,0,0,0,0,0
$GC,940,-0.76,-146.0,137.4,-16.1,143,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2671,3560,0,0,0,0,0,0
$GC,1068,-0.76,-146.0,157.9,-16.2,155,1072,0.00,1.77,0.00,0.000,4,0.000,0.064,2790,3767,3560,0,0,0,0,0,0
$GC,1083,-0.76,-146.0,161.1,-16.7,156,1092,0.00,1.75,0.00,0.000,6,0.000,0.044,2789,2669,3560,0,0,0,0,0,0
$GC,1221,-0.76,-146.0,183.0,-16.7,169,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2669,3560,0,0,0,0,0,0
$GC,1356,-0.76,-146.0,205.6,-16.4,182,1359,0.00,1.77,0.00,0.000,4,0.000,0.064,2783,3765,3560,0,0,0,0,0,0
$GC,1381,-0.76,-146.0,210.6,-18.3,184,1391,0.08,1.75,0.00,0.000,6,0.153,0.044,2807,2670,3560,0,0,0,0,0,0
$GC,1518,-0.76,-146.0,231.0,-15.1,197,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2670,3560,0,0,0,0,0,0
$GC,1645,-0.76,-146.0,250.4,-15.3,209,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2670,3561,0,0,0,0,0,0
$GC,1833,-0.76,-146.0,279.4,-15.1,227,1837,0.00,1.77,0.00,0.000,4,0.000,0.064,2800,3767,3560,0,0,0,0,0,0
$GC,1867,-0.76,-146.0,284.9,-15.7,230,1871,0.00,1.70,0.00,0.000,6,0.000,0.045,2800,2674,3560,0,0,0,0,0,0
$GC,2070,-0.76,-146.0,316.7,-15.9,249,2071,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2672,3561,0,0,0,0,0,0
$GC,2261,-0.76,-146.0,346.8,-15.7,267,2264,0.00,1.77,0.00,0.000,4,0.000,0.065,2793,3768,3560,0,0,0,0,0,0
$GC,2294,-0.76,-146.0,352.1,-16.6,270,2298,0.00,1.70,0.00,0.000,6,0.000,0.045,2793,2676,3561,0,0,0,0,0,0
$GC,2499,-0.76,-146.0,384.0,-16.0,289,2500,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2674,3560,0,0,0,0,0,0
$GC,2688,-0.76,-146.0,414.8,-16.1,307,2691,0.00,1.77,0.00,0.000,4,0.000,0.065,2785,3764,3560,0,0,0,0,0,0
$GC,2725,-0.76,-146.0,421.5,-17.5,310,2734,0.08,1.73,0.00,0.000,6,0.148,0.044,2810,2683,3560,0,0,0,0,0,0
$GC,2925,-0.76,-146.0,452.0,-15.5,329,2928,0.00,1.77,0.00,0.000,4,0.000,0.065,2802,3772,3561,0,0,0,0,0,0
$GC,2962,-0.76,-146.0,458.6,-16.8,332,2970,0.00,1.73,0.00,0.000,6,0.000,0.045,2802,2696,3560,0,0,0,0,0,0
$GC,3161,-0.76,-146.0,488.2,-14.6,351,3162,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2694,3560,0,0,0,0,0,0
$GC,3348,-0.76,-146.0,514.2,-14.0,363,3352,0.00,1.75,0.00,0.000,4,0.000,0.063,2795,3772,3561,0,0,0,0,0,0
$GC,3391,-0.76,-146.0,521.0,-15.1,364,3396,0.00,1.70,0.00,0.000,6,0.000,0.044,2795,2706,3560,0,0,0,0,0,0
$GC,3600,-0.76,-146.0,550.4,-14.2,371,3604,0.00,2.33,0.00,0.000,4,0.000,0.054,2795,1241,3560,0,0,0,0,0,0
$GC,3621,-0.76,-146.0,553.8,-14.3,371,3629,0.08,2.45,0.00,0.000,6,0.138,0.060,2810,2711,3560,0,0,0,0,0,0
$STATE,3811,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3811,begin apogee
$GC,3815,-0.17,0.0,577.8,12.5,378,3954,0.60,0.00,134.50,1.158,4,0.129,0.000,3005,2482,2961,0,0,0,0,0,0
$STATE,3955,end apogee,CONTROL_FINISHED_OK
$STATE,3955,begin climb
$GC,3957,0.76,146.0,581.3,0.0,382,4112,0.95,2.53,147.40,1.069,4,0.070,0.051,3308,1101,2365,0,0,0,0,0,0
$GC,4240,0.76,146.0,553.0,12.2,391,4244,0.00,2.47,0.00,0.000,6,0.000,0.055,3308,2498,2353,0,0,0,0,0,0
$GC,4448,0.76,146.0,525.4,13.4,398,4452,0.00,2.30,0.00,0.000,4,0.000,0.053,3318,1085,2349,0,0,0,0,0,0
$GC,4558,0.76,146.0,510.7,13.1,401,4563,0.00,2.40,0.00,0.000,6,0.000,0.057,3319,2517,2347,0,0,0,0,0,0
$GC,4754,0.76,146.0,483.4,14.0,415,4758,0.00,2.00,0.00,0.000,4,0.000,0.059,3319,3770,2346,0,0,0,0,0,0
$GC,4837,0.76,146.0,469.5,17.0,422,4845,0.00,1.98,0.00,0.000,6,0.000,0.044,3328,2542,2346,0,0,0,0,0,0
$GC,5035,0.76,146.0,440.0,14.4,441,5039,0.00,2.00,0.00,0.000,4,0.000,0.061,3328,3776,2345,0,0,0,0,0,0
$GC,5081,0.76,146.0,432.7,16.7,445,5085,0.00,1.98,0.00,0.000,6,0.000,0.044,3337,2546,2345,0,0,0,0,0,0
$GC,5283,0.76,146.0,403.0,14.4,464,5287,0.00,1.98,0.00,0.000,4,0.000,0.062,3337,3770,2344,0,0,0,0,0,0
$GC,5328,0.76,146.0,395.7,16.9,468,5333,0.12,1.92,0.00,0.000,6,0.174,0.044,3314,2538,2344,0,0,0,0,0,0
$GC,5528,0.76,146.0,369.6,13.1,486,5532,0.00,2.00,0.00,0.000,4,0.000,0.061,3314,3775,2343,0,0,0,0,0,0
$GC,5573,0.76,146.0,362.5,15.1,490,5577,0.00,1.90,0.00,0.000,6,0.000,0.045,3322,2557,2343,0,0,0,0,0,0
$GC,5777,0.76,146.0,335.2,13.3,509,5780,0.00,1.98,0.00,0.000,4,0.000,0.060,3322,3780,2343,0,0,0,0,0,0
$GC,5822,0.76,146.0,328.3,16.1,513,5825,0.00,1.90,0.00,0.000,6,0.000,0.044,3332,2561,2343,0,0,0,0,0,0
$GC,6024,0.76,146.0,299.8,13.9,532,6028,0.00,1.95,0.00,0.000,4,0.000,0.061,3332,3768,2343,0,0,0,0,0,0
$GC,6061,0.76,146.0,293.7,16.4,535,6069,0.00,1.90,0.00,0.000,6,0.000,0.044,3341,2576,2343,0,0,0,0,0,0
$GC,6261,0.76,146.0,264.6,14.9,554,6265,0.00,1.92,0.00,0.000,4,0.000,0.062,3341,3770,2343,0,0,0,0,0,0
$GC,6298,0.76,146.0,258.0,16.4,557,6306,0.10,1.88,0.00,0.000,6,0.150,0.043,3317,2590,2343,0,0,0,0,0,0
$GC,6500,0.76,146.0,231.9,12.9,576,6503,0.00,1.90,0.00,0.000,4,0.000,0.063,3317,3768,2343,0,0,0,0,0,0
$GC,6536,0.76,146.0,226.0,15.4,579,6545,0.00,1.88,0.00,0.000,6,0.000,0.044,3324,2589,2342,0,0,0,0,0,0
$GC,6672,0.76,146.0,208.1,13.1,592,6673,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2589,2342,0,0,0,0,0,0
$GC,6799,0.76,146.0,191.3,13.2,604,6802,0.00,1.92,0.00,0.000,4,0.000,0.062,3324,3780,2342,0,0,0,0,0,0
$GC,6835,0.76,146.0,185.7,14.8,607,6844,0.00,1.88,0.00,0.000,6,0.000,0.043,3333,2603,2342,0,0,0,0,0,0
$GC,6971,0.76,146.0,167.3,13.5,620,6975,0.00,1.88,0.00,0.000,4,0.000,0.060,3334,3770,2342,0,0,0,0,0,0
$GC,7007,0.76,146.0,162.4,14.1,623,7011,0.12,1.80,0.00,0.000,6,0.172,0.044,3309,2615,2342,0,0,0,0,0,0
$GC,7148,0.76,146.0,145.2,11.8,636,7149,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2613,2342,0,0,0,0,0,0
$GC,7274,0.76,146.0,130.4,12.1,648,7278,0.00,1.88,0.00,0.000,4,0.000,0.063,3309,3775,2342,0,0,0,0,0,0
$GC,7299,0.76,146.0,126.6,13.4,650,7309,0.00,1.85,0.00,0.000,6,0.000,0.044,3317,2616,2342,0,0,0,0,0,0
$GC,7435,0.76,146.0,109.6,13.0,663,7437,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2615,2342,0,0,0,0,0,0
$GC,7564,0.76,146.0,93.0,12.7,679,7570,0.00,1.90,0.00,0.000,4,0.000,0.064,3317,3780,2342,0,0,0,0,0,0
$GC,7590,0.76,146.0,89.5,13.9,683,7596,0.00,1.80,0.00,0.000,6,0.000,0.044,3326,2627,2341,0,0,0,0,0,0
$GC,7728,0.76,146.0,70.6,13.6,708,7735,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2624,2341,0,0,0,0,0,0
$GC,7867,0.76,146.0,52.4,13.2,733,7874,0.00,1.85,0.00,0.000,4,0.000,0.061,3326,3770,2341,0,0,0,0,0,0
$GC,7924,0.76,146.0,43.4,15.8,743,7931,0.00,1.77,0.00,0.000,6,0.000,0.044,3335,2630,2342,0,0,0,0,0,0
$GC,8062,0.76,146.0,23.4,13.1,768,8070,0.00,1.88,0.00,0.000,4,0.000,0.060,3335,3767,2341,0,0,0,0,0,0
$GC,8151,0.76,146.0,11.5,14.9,783,8158,0.05,1.73,0.00,0.000,6,0.135,0.043,3316,2683,2341,0,0,0,0,0,0
$FREEZE,8.66,-1.308,-1.893,2,2,0
$FREEZE,8.09,-1.306,-1.893,2,2,0
$FREEZE,7.31,-1.303,-1.892,2,2,0
$FREEZE,6.60,-1.297,-1.891,2,2,0
$FREEZE,5.90,-1.290,-1.890,2,2,0
$FREEZE,5.32,-1.292,-1.890,2,2,0
$FREEZE,4.54,-1.279,-1.889,2,2,0
$FREEZE,3.96,-1.284,-1.889,2,2,0
$FREEZE,3.15,-1.263,-1.887,2,2,0
$FREEZE,2.52,-1.270,-1.887,2,2,0
$STATE,8222,end climb,SURFACE_DEPTH_REACHED
$STATE,8222,begin surface coast
$FREEZE,1.60,-1.234,-1.886,2,2,0
$FREEZE,1.25,-1.171,-1.885,2,2,0
$FREEZE,1.27,-1.142,-0.854,2,2,0
$FINISH,1.3,1.012588
$STATE,8240,end surface coast,FINISH_DEPTH_REACHED
$STATE,8240,begin surface
$SM_CCo,8254,138.23,0.741,1,0,1329,400.08
$SM_GC,2.12,0.00,0.00,138.23,0.000,0.000,0.741,430,2681,1329,-8.24,0.88,400.08
$IRIDIUM_FIX,-7554.21,16710.09,111210,212125
$TT8_MAMPS,0.028462
$HUMID,51.26
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,17.7
$24V_AH,20.7,42.782
$10V_AH,9.8,26.203
$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,11.175,104.150,281.900,138.225,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2011.155,3880.490,540.689,1888.323,130.598,0.000,1378.533,0.000,1393.510,0.000,14.635,0.000
$DEVICE_MAMPS,174.420,65.025,1158.210,741.285,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,564.268,979.604,890.188,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53660,798
$CAP_FILE_SIZE,113029,0
$CFSIZE,260165632,240812032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,121210,023206,-7640.061,16724.121,191,1.3,191,137.9