version: 66.08
glider: 502
mission: 3
dive: 215
start: 12 12 110 19 27 58
data:
$ID,502
$MISSION,3
$DIVE,215
$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,-28605.396
$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,36
$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
$GPS1,121210,162802,-7642.066,16756.830,13,0.9,13,137.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.64
$_SM_ANGLEo,-2.9
$GPS2,121210,162802,-7642.066,16756.830,13,0.9,13,137.1
$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,308.7,52745,-17.5,-10.000
$D_GRID,731
$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,12,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,25,0.00,0.00,-8.98,0.000,2,0.000,0.000,3065,3774,3336,0,0,0,0,0,0
$GC,28,-0.76,-146.0,8.0,-0.0,1,43,0.65,4.07,-5.93,0.000,4,0.077,0.055,2823,1244,3560,0,0,0,0,0,0
$GC,92,-0.76,-146.0,14.4,-11.5,12,100,0.00,2.33,0.00,0.000,6,0.000,0.059,2812,2647,3562,0,0,0,0,0,0
$GC,232,-0.76,-146.0,33.5,-14.6,37,238,0.00,1.80,0.00,0.000,4,0.000,0.063,2803,3765,3563,0,0,0,0,0,0
$GC,279,-0.76,-146.0,41.0,-16.1,45,286,0.00,1.75,0.00,0.000,6,0.000,0.044,2803,2666,3563,0,0,0,0,0,0
$GC,417,-0.76,-146.0,63.2,-15.3,70,425,0.00,2.28,0.00,0.000,4,0.000,0.052,2803,1244,3563,0,0,0,0,0,0
$GC,442,-0.76,-146.0,67.3,-16.2,74,450,0.00,2.33,0.00,0.000,6,0.000,0.059,2795,2646,3563,0,0,0,0,0,0
$GC,583,-0.76,-146.0,90.1,-16.1,99,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2646,3563,0,0,0,0,0,0
$GC,726,-0.76,-146.0,112.5,-16.0,118,730,0.00,1.80,0.00,0.000,4,0.000,0.063,2786,3770,3563,0,0,0,0,0,0
$GC,773,-0.76,-146.0,121.2,-17.3,122,783,0.08,1.77,0.00,0.000,6,0.150,0.044,2811,2652,3563,0,0,0,0,0,0
$GC,910,-0.76,-146.0,140.4,-14.2,135,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2652,3563,0,0,0,0,0,0
$GC,1037,-0.76,-146.0,159.3,-14.8,147,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2652,3564,0,0,0,0,0,0
$GC,1164,-0.76,-146.0,178.2,-14.4,159,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2652,3564,0,0,0,0,0,0
$GC,1292,-0.76,-146.0,196.8,-14.6,171,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2652,3564,0,0,0,0,0,0
$GC,1419,-0.76,-146.0,215.0,-14.3,183,1423,0.00,1.80,0.00,0.000,4,0.000,0.063,2804,3764,3564,0,0,0,0,0,0
$GC,1456,-0.76,-146.0,221.2,-15.4,186,1465,0.00,1.75,0.00,0.000,6,0.000,0.044,2804,2666,3564,0,0,0,0,0,0
$GC,1593,-0.76,-146.0,240.8,-15.0,199,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2666,3564,0,0,0,0,0,0
$GC,1727,-0.76,-146.0,261.0,-14.8,212,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2666,3564,0,0,0,0,0,0
$GC,1919,-0.76,-146.0,289.3,-15.3,230,1923,0.00,1.77,0.00,0.000,4,0.000,0.064,2797,3763,3564,0,0,0,0,0,0
$GC,1957,-0.76,-146.0,295.7,-16.0,233,1965,0.00,1.75,0.00,0.000,6,0.000,0.044,2797,2666,3564,0,0,0,0,0,0
$GC,2156,-0.76,-146.0,325.3,-15.0,252,2157,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2666,3564,0,0,0,0,0,0
$GC,2346,-0.76,-146.0,353.6,-14.6,270,2350,0.00,1.77,0.00,0.000,4,0.000,0.064,2789,3763,3564,0,0,0,0,0,0
$GC,2384,-0.76,-146.0,359.7,-15.2,273,2392,0.00,1.75,0.00,0.000,6,0.000,0.044,2789,2663,3564,0,0,0,0,0,0
$GC,2582,-0.76,-146.0,389.7,-15.0,292,2586,0.10,1.80,0.00,0.000,4,0.181,0.064,2807,3763,3563,0,0,0,0,0,0
$GC,2605,-0.76,-146.0,393.1,-15.1,294,2609,0.00,1.70,0.00,0.000,6,0.000,0.044,2807,2668,3564,0,0,0,0,0,0
$GC,2810,-0.76,-146.0,420.7,-13.4,313,2811,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2666,3564,0,0,0,0,0,0
$GC,2998,-0.76,-146.0,446.7,-13.8,331,3002,0.00,1.80,0.00,0.000,4,0.000,0.064,2799,3770,3564,0,0,0,0,0,0
$GC,3055,-0.76,-146.0,454.9,-14.5,336,3059,0.00,1.70,0.00,0.000,6,0.000,0.045,2799,2680,3564,0,0,0,0,0,0
$GC,3258,-0.76,-146.0,483.3,-13.7,355,3259,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2678,3564,0,0,0,0,0,0
$GC,3446,-0.76,-146.0,509.3,-13.8,369,3450,0.00,1.77,0.00,0.000,4,0.000,0.065,2790,3771,3564,0,0,0,0,0,0
$GC,3473,-0.76,-146.0,513.4,-14.7,369,3480,0.00,1.73,0.00,0.000,6,0.000,0.044,2790,2687,3564,0,0,0,0,0,0
$GC,3663,-0.76,-146.0,540.3,-14.2,376,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2686,3564,0,0,0,0,0,0
$GC,3847,-0.76,-146.0,566.3,-14.2,382,3851,0.00,1.75,0.00,0.000,4,0.000,0.063,2783,3764,3564,0,0,0,0,0,0
$GC,3890,-0.76,-146.0,573.2,-15.3,383,3895,0.08,1.70,0.00,0.000,6,0.145,0.044,2808,2695,3564,0,0,0,0,0,0
$GC,4098,-0.76,-146.0,599.7,-12.7,390,4100,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2693,3564,0,0,0,0,0,0
$GC,4282,-0.76,-146.0,622.6,-12.3,396,4285,0.00,1.73,0.00,0.000,4,0.000,0.063,2802,3765,3564,0,0,0,0,0,0
$GC,4319,-0.76,-146.0,627.9,-13.9,397,4324,0.00,1.70,0.00,0.000,6,0.000,0.044,2802,2697,3564,0,0,0,0,0,0
$GC,4533,-0.76,-146.0,654.6,-12.5,404,4537,0.00,1.77,0.00,0.000,4,0.000,0.064,2795,3759,3563,0,0,0,0,0,0
$GC,4553,-0.76,-146.0,657.4,-12.7,404,4558,0.00,1.67,0.00,0.000,6,0.000,0.044,2794,2705,3563,0,0,0,0,0,0
$GC,4750,-0.76,-146.0,682.9,-13.0,411,4751,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2703,3564,0,0,0,0,0,0
$GC,4934,-0.76,-146.0,706.1,-12.7,417,4937,0.00,1.73,0.00,0.000,4,0.000,0.065,2786,3766,3563,0,0,0,0,0,0
$GC,4960,-0.76,-146.0,710.0,-13.4,417,4968,0.08,1.67,0.00,0.000,6,0.145,0.044,2811,2710,3563,0,0,0,0,0,0
$STATE,5150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5150,begin apogee
$GC,5154,-0.17,0.0,732.2,11.6,424,5299,0.57,0.00,140.30,1.253,4,0.127,0.000,3001,2484,2961,0,0,0,0,0,0
$STATE,5300,end apogee,CONTROL_FINISHED_OK
$STATE,5300,begin climb
$GC,5302,0.76,146.0,736.4,0.0,428,5472,0.98,2.58,154.77,1.155,4,0.070,0.050,3308,1091,2364,0,0,0,0,1,0
$GC,5566,0.76,146.0,710.3,13.1,437,5572,0.00,2.53,0.00,0.000,6,0.000,0.053,3308,2498,2353,0,0,0,0,0,0
$GC,5781,0.76,146.0,680.3,14.2,444,5785,0.00,2.30,0.00,0.000,4,0.000,0.052,3318,1094,2349,0,0,0,0,0,0
$GC,5891,0.76,146.0,664.7,13.6,447,5896,0.00,2.38,0.00,0.000,6,0.000,0.055,3318,2509,2347,0,0,0,0,0,0
$GC,6093,0.76,146.0,635.5,14.6,454,6096,0.00,2.03,0.00,0.000,4,0.000,0.062,3318,3768,2346,0,0,0,0,0,0
$GC,6210,0.76,146.0,615.7,17.3,457,6214,0.00,1.98,0.00,0.000,6,0.000,0.044,3328,2543,2345,0,0,0,0,0,0
$GC,6411,0.76,146.0,584.8,15.2,464,6415,0.00,1.98,0.00,0.000,4,0.000,0.061,3328,3765,2344,0,0,0,0,0,0
$GC,6454,0.76,146.0,577.1,17.0,465,6459,0.00,1.95,0.00,0.000,6,0.000,0.043,3337,2544,2344,0,0,0,0,0,0
$GC,6663,0.76,146.0,544.0,15.9,472,6666,0.00,1.98,0.00,0.000,4,0.000,0.062,3337,3767,2344,0,0,0,0,0,0
$GC,6717,0.76,146.0,533.8,18.5,473,6722,0.10,1.95,0.00,0.000,6,0.148,0.043,3314,2547,2343,0,0,0,0,0,0
$GC,6914,0.76,146.0,506.1,13.9,480,6917,0.00,1.98,0.00,0.000,4,0.000,0.063,3314,3768,2343,0,0,0,0,0,0
$GC,6948,0.76,146.0,501.0,15.6,481,6952,0.00,1.90,0.00,0.000,6,0.000,0.044,3322,2547,2343,0,0,0,0,0,0
$GC,7152,0.76,146.0,471.6,14.1,498,7155,0.00,1.98,0.00,0.000,4,0.000,0.063,3322,3765,2343,0,0,0,0,0,0
$GC,7189,0.76,146.0,465.4,16.2,501,7197,0.00,1.90,0.00,0.000,6,0.000,0.043,3331,2566,2343,0,0,0,0,0,0
$GC,7388,0.76,146.0,436.1,14.6,520,7392,0.00,1.92,0.00,0.000,4,0.000,0.062,3332,3765,2342,0,0,0,0,0,0
$GC,7414,0.76,146.0,431.5,17.0,522,7423,0.08,1.88,0.00,0.000,6,0.148,0.042,3316,2574,2342,0,0,0,0,0,0
$GC,7616,0.76,146.0,404.5,13.2,541,7619,0.00,1.92,0.00,0.000,4,0.000,0.063,3316,3765,2342,0,0,0,0,0,0
$GC,7650,0.76,146.0,399.0,15.1,544,7653,0.00,1.85,0.00,0.000,6,0.000,0.043,3323,2568,2342,0,0,0,0,0,0
$GC,7852,0.76,146.0,370.5,14.1,563,7856,0.00,1.95,0.00,0.000,4,0.000,0.063,3323,3771,2342,0,0,0,0,0,0
$GC,7879,0.76,146.0,366.2,15.7,565,7886,0.00,1.88,0.00,0.000,6,0.000,0.044,3333,2588,2342,0,0,0,0,0,0
$GC,8079,0.76,146.0,337.0,14.5,584,8082,0.00,1.90,0.00,0.000,4,0.000,0.063,3333,3765,2341,0,0,0,0,0,0
$GC,8105,0.76,146.0,332.3,16.1,586,8113,0.08,1.85,0.00,0.000,6,0.148,0.043,3317,2600,2341,0,0,0,0,0,0
$GC,8304,0.76,146.0,306.0,13.2,605,8305,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2599,2341,0,0,0,0,0,0
$GC,8494,0.76,146.0,281.4,12.8,623,8498,0.00,1.90,0.00,0.000,4,0.000,0.063,3317,3774,2341,0,0,0,0,0,0
$GC,8532,0.76,146.0,275.6,15.2,626,8540,0.00,1.88,0.00,0.000,6,0.000,0.044,3324,2594,2341,0,0,0,0,0,0
$GC,8732,0.76,146.0,248.3,14.0,645,8736,0.00,1.90,0.00,0.000,4,0.000,0.063,3324,3772,2341,0,0,0,0,0,0
$GC,8767,0.76,146.0,243.0,16.1,648,8771,0.00,1.83,0.00,0.000,6,0.000,0.044,3333,2598,2341,0,0,0,0,0,0
$GC,8909,0.76,146.0,222.8,14.0,661,8913,0.00,1.90,0.00,0.000,4,0.000,0.061,3333,3776,2341,0,0,0,0,0,0
$GC,8934,0.76,146.0,218.0,15.9,663,8945,0.08,1.85,0.00,0.000,6,0.151,0.043,3317,2616,2341,0,0,0,0,0,0
$GC,9070,0.76,146.0,200.6,12.7,676,9071,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2614,2341,0,0,0,0,0,0
$GC,9198,0.76,146.0,184.1,13.0,688,9202,0.00,1.88,0.00,0.000,4,0.000,0.063,3316,3777,2341,0,0,0,0,0,0
$GC,9222,0.76,146.0,180.7,13.9,690,9225,0.00,1.80,0.00,0.000,6,0.000,0.044,3324,2617,2341,0,0,0,0,0,0
$GC,9362,0.76,146.0,161.7,13.3,703,9364,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2614,2341,0,0,0,0,0,0
$GC,9490,0.76,146.0,144.6,13.6,715,9491,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2614,2341,0,0,0,0,0,0
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$STATE,10717,end climb,NO_VERTICAL_VELOCITY
$STATE,10717,begin subsurface finish
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$FINISH2,3.7
$STATE,10734,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,10734,begin surface
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$HUMID,52.95
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,20.0,17.2
$24V_AH,20.5,43.632
$10V_AH,9.9,26.889
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,276684
$DATA_FILE_SIZE,60320,904
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$CFSIZE,260165632,240332800
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
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