version: 66.08
glider: 502
mission: 3
dive: 263
start: 12 19 110 0 36 34
data:
$ID,502
$MISSION,3
$DIVE,263
$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,-2
$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,2
$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,300
$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,-30469.398
$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,25
$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
$GPS1,191210,002927,-7640.839,17150.115,27,2.1,46,130.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-74.4
$GPS2,191210,003607,-7640.813,17150.092,33,1.0,33,130.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,POLYNYA
$TGT_LATLONG,-7630.000,18000.000
$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,330.1,212752,-17.5,-10.000
$D_GRID,703
$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
$STATE,12,begin dive
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$GC,81,-0.76,-146.0,3.0,-2.3,9,132,8.85,1.92,-35.00,0.000,4,0.200,0.080,2801,3766,3559,0,0,0,0,0,0
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$GC,452,-0.76,-146.0,58.0,-17.4,73,458,0.00,1.85,0.00,0.000,4,0.000,0.063,2793,3762,3561,0,0,0,0,0,0
$GC,493,-0.76,-146.0,65.4,-18.4,80,501,0.00,1.75,0.00,0.000,6,0.000,0.043,2793,2662,3561,0,0,0,0,0,0
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$GC,661,-0.76,-146.0,95.3,-18.1,110,670,0.08,1.75,0.00,0.000,6,0.150,0.042,2809,2661,3561,0,0,0,0,0,0
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$GC,1103,-0.76,-146.0,167.4,-17.0,153,1112,0.00,1.75,0.00,0.000,6,0.000,0.042,2802,2655,3562,0,0,0,0,0,0
$GC,1241,-0.76,-146.0,189.2,-16.4,166,1245,0.00,1.80,0.00,0.000,4,0.000,0.063,2794,3763,3562,0,0,0,0,0,0
$GC,1287,-0.76,-146.0,197.2,-17.1,170,1291,0.00,1.67,0.00,0.000,6,0.000,0.042,2794,2679,3562,0,0,0,0,0,0
$GC,1427,-0.76,-146.0,220.8,-16.2,183,1432,0.00,2.25,0.00,0.000,4,0.000,0.050,2794,1241,3563,0,0,0,0,0,0
$GC,1448,-0.76,-146.0,224.7,-16.0,184,1458,0.10,2.38,0.00,0.000,6,0.128,0.057,2817,2678,3562,0,0,0,0,0,0
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$GC,1620,-0.76,-146.0,248.8,-15.7,200,1625,0.00,1.67,0.00,0.000,6,0.000,0.042,2810,2688,3562,0,0,0,0,0,0
$GC,1761,-0.76,-146.0,270.0,-14.9,213,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2686,3562,0,0,0,0,0,0
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$GC,2017,-0.76,-146.0,308.1,-14.7,237,2021,0.00,1.65,0.00,0.000,6,0.000,0.042,2802,2694,3562,0,0,0,0,0,0
$GC,2220,-0.76,-146.0,338.6,-15.0,256,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2692,3562,0,0,0,0,0,0
$GC,2413,-0.76,-146.0,366.4,-14.4,274,2416,0.00,1.75,0.00,0.000,4,0.000,0.063,2794,3771,3562,0,0,0,0,0,0
$GC,2462,-0.76,-146.0,374.4,-14.9,278,2470,0.00,1.70,0.00,0.000,6,0.000,0.042,2794,2701,3562,0,0,0,0,0,0
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$GC,2851,-0.76,-146.0,432.1,-14.7,315,2855,0.00,1.73,0.00,0.000,4,0.000,0.064,2786,3763,3562,0,0,0,0,0,0
$GC,2889,-0.76,-146.0,438.3,-16.3,318,2897,0.08,1.67,0.00,0.000,6,0.145,0.042,2811,2707,3562,0,0,0,0,0,0
$GC,3090,-0.76,-146.0,466.0,-13.7,337,3096,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2707,3562,0,0,0,0,0,0
$GC,3288,-0.76,-146.0,494.1,-14.1,356,3291,0.00,1.73,0.00,0.000,4,0.000,0.063,2804,3764,3562,0,0,0,0,0,0
$GC,3355,-0.76,-146.0,504.1,-14.7,361,3359,0.00,1.65,0.00,0.000,6,0.000,0.042,2804,2694,3562,0,0,0,0,0,0
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$GC,3792,-0.76,-146.0,567.1,-14.5,375,3793,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2730,3562,0,0,0,0,0,0
$GC,3975,-0.76,-146.0,593.6,-14.3,381,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2730,3561,0,0,0,0,0,0
$GC,4159,-0.76,-146.0,620.3,-14.6,387,4162,0.00,1.67,0.00,0.000,4,0.000,0.063,2789,3764,3562,0,0,0,0,0,0
$GC,4185,-0.76,-146.0,624.6,-15.0,387,4194,0.00,1.65,0.00,0.000,6,0.000,0.041,2789,2721,3562,0,0,0,0,0,0
$GC,4379,-0.76,-146.0,652.8,-14.7,394,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2720,3562,0,0,0,0,0,0
$GC,4561,-0.76,-146.0,668.2,-4.9,400,4564,0.00,1.70,0.00,0.000,4,0.000,0.065,2789,3763,3562,0,0,0,0,0,0
$STATE,4695,end dive,NO_VERTICAL_VELOCITY
$STATE,4695,begin apogee
$GC,4703,-0.17,0.0,668.3,0.0,404,4846,0.62,0.00,137.73,1.205,4,0.095,0.000,3011,2490,2960,0,0,0,0,0,0
$STATE,4847,end apogee,CONTROL_FINISHED_OK
$STATE,4847,begin climb
$GC,4849,0.76,146.0,668.2,0.0,408,5011,0.95,2.58,152.43,1.125,4,0.065,0.049,3314,1096,2363,0,0,0,0,0,0
$GC,5087,0.76,146.0,647.9,12.1,416,5091,0.00,2.50,0.00,0.000,6,0.000,0.051,3314,2500,2354,0,0,0,0,0,0
$GC,5299,0.76,146.0,619.0,13.6,423,5303,0.00,2.30,0.00,0.000,4,0.000,0.050,3324,1092,2351,0,0,0,0,0,0
$GC,5394,0.76,146.0,606.7,12.8,426,5398,0.00,2.35,0.00,0.000,6,0.000,0.054,3324,2527,2348,0,0,0,0,0,0
$GC,5605,0.76,146.0,577.3,14.1,433,5609,0.00,2.00,0.00,0.000,4,0.000,0.061,3324,3772,2347,0,0,0,0,0,0
$GC,5710,0.76,146.0,560.8,15.6,436,5714,0.00,1.98,0.00,0.000,6,0.000,0.043,3334,2541,2346,0,0,0,0,0,0
$GC,5923,0.76,146.0,530.7,14.2,443,5927,0.00,1.98,0.00,0.000,4,0.000,0.060,3333,3763,2345,0,0,0,0,0,0
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$GC,6209,0.76,146.0,486.5,15.2,455,6217,0.00,1.92,0.00,0.000,6,0.000,0.042,3318,2553,2345,0,0,0,0,0,0
$GC,6407,0.76,146.0,461.8,12.2,474,6411,0.00,1.95,0.00,0.000,4,0.000,0.060,3318,3763,2345,0,0,0,0,0,0
$GC,6452,0.76,146.0,455.6,14.1,478,6456,0.00,1.88,0.00,0.000,6,0.000,0.043,3328,2554,2344,0,0,0,0,0,0
$GC,6655,0.76,146.0,429.1,12.8,497,6659,0.00,1.95,0.00,0.000,4,0.000,0.060,3328,3763,2344,0,0,0,0,0,0
$GC,6679,0.76,146.0,425.9,14.4,499,6682,0.00,1.88,0.00,0.000,6,0.000,0.042,3337,2553,2344,0,0,0,0,0,0
$GC,6882,0.76,146.0,398.0,13.3,518,6885,0.00,1.95,0.00,0.000,4,0.000,0.060,3337,3763,2344,0,0,0,0,0,0
$GC,6916,0.76,146.0,393.0,14.9,521,6920,0.12,1.85,0.00,0.000,6,0.171,0.042,3313,2566,2344,0,0,0,0,0,0
$GC,7119,0.76,146.0,369.0,11.6,540,7122,0.00,1.95,0.00,0.000,4,0.000,0.061,3313,3769,2343,0,0,0,0,0,0
$GC,7147,0.76,146.0,365.3,12.6,542,7154,0.00,1.88,0.00,0.000,6,0.000,0.042,3321,2564,2343,0,0,0,0,0,0
$GC,7345,0.76,146.0,341.0,11.8,561,7348,0.00,1.95,0.00,0.000,4,0.000,0.060,3321,3768,2343,0,0,0,0,0,0
$GC,7379,0.76,146.0,336.4,14.4,564,7383,0.00,1.83,0.00,0.000,6,0.000,0.042,3330,2586,2343,0,0,0,0,0,0
$GC,7582,0.76,146.0,309.6,12.6,583,7586,0.00,1.90,0.00,0.000,4,0.000,0.061,3330,3761,2343,0,0,0,0,0,0
$GC,7609,0.76,146.0,305.7,14.8,585,7616,0.00,1.83,0.00,0.000,6,0.000,0.042,3339,2580,2343,0,0,0,0,0,0
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$GC,8032,0.76,146.0,252.0,11.3,625,8036,0.00,1.92,0.00,0.000,4,0.000,0.062,3315,3757,2342,0,0,0,0,0,0
$GC,8059,0.76,146.0,248.2,13.7,627,8069,0.00,1.85,0.00,0.000,6,0.000,0.041,3323,2591,2343,0,0,0,0,0,0
$GC,8195,0.76,146.0,232.1,11.7,640,8199,0.00,1.90,0.00,0.000,4,0.000,0.062,3323,3761,2342,0,0,0,0,0,0
$GC,8221,0.76,146.0,228.1,15.0,642,8230,0.00,1.83,0.00,0.000,6,0.000,0.042,3331,2610,2342,0,0,0,0,0,0
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$GC,8484,0.76,146.0,195.0,13.2,667,8488,0.00,1.88,0.00,0.000,4,0.000,0.061,3331,3768,2342,0,0,0,0,0,0
$GC,8531,0.76,146.0,188.1,15.0,671,8534,0.00,1.80,0.00,0.000,6,0.000,0.042,3340,2608,2342,0,0,0,0,0,0
$GC,8672,0.76,146.0,168.4,13.4,684,8675,0.00,1.88,0.00,0.000,4,0.000,0.061,3340,3764,2342,0,0,0,0,0,0
$GC,8707,0.76,146.0,163.2,16.2,687,8711,0.12,1.77,0.00,0.000,6,0.168,0.042,3315,2618,2342,0,0,0,0,0,0
$GC,8849,0.76,146.0,145.4,12.6,700,8857,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2615,2342,0,0,0,0,0,0
$GC,8984,0.76,146.0,128.3,12.1,713,8985,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2616,2342,0,0,0,0,0,0
$GC,9112,0.76,146.0,112.5,12.5,725,9113,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2616,2342,0,0,0,0,0,0
$GC,9240,0.76,146.0,96.6,12.4,739,9248,0.00,1.90,0.00,0.000,4,0.000,0.062,3315,3762,2342,0,0,0,0,0,0
$GC,9281,0.76,146.0,90.9,13.5,746,9289,0.00,1.80,0.00,0.000,6,0.000,0.043,3322,2627,2342,0,0,0,0,0,0
$GC,9423,0.76,146.0,73.3,13.0,771,9430,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2625,2342,0,0,0,0,0,0
$GC,9559,0.76,146.0,56.1,12.5,796,9568,0.00,1.88,0.00,0.000,4,0.000,0.061,3322,3755,2342,0,0,0,0,0,0
$GC,9602,0.76,146.0,50.4,13.8,803,9610,0.00,1.77,0.00,0.000,6,0.000,0.043,3331,2617,2342,0,0,0,0,0,0
$GC,9742,0.76,146.0,32.6,12.8,828,9749,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2617,2342,0,0,0,0,0,0
$GC,9883,0.76,146.0,15.0,12.8,853,9889,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2616,2341,0,0,0,0,0,0
$FREEZE,8.55,-1.290,-1.895,2,1,0
$FREEZE,7.91,-1.283,-1.895,2,1,0
$FREEZE,7.24,-1.278,-1.895,2,1,0
$FREEZE,6.57,-1.258,-1.894,2,1,0
$FREEZE,5.78,-1.251,-1.893,2,1,0
$FREEZE,5.14,-1.240,-1.895,2,1,0
$FREEZE,4.37,-1.136,-1.891,2,1,0
$FREEZE,3.66,-1.024,-1.890,2,1,0
$FREEZE,2.95,-0.934,-1.889,2,1,0
$STATE,9977,end climb,SURFACE_DEPTH_REACHED
$STATE,9977,begin surface coast
$FREEZE,2.31,-0.867,-1.888,2,1,0
$FREEZE,1.45,-0.608,-1.884,2,1,0
$FREEZE,1.50,-0.748,-0.871,2,1,0
$FREEZE,1.47,-0.645,-0.860,2,1,0
$FINISH,1.5,1.012679
$STATE,10003,end surface coast,CONTROL_FINISHED_OK
$STATE,10003,begin surface
$SM_CCo,10019,81.30,0.734,1,0,1736,300.24
$SM_GC,2.35,0.00,0.00,81.30,0.000,0.000,0.734,413,2655,1736,-8.29,0.20,300.24
$IRIDIUM_FIX,-7554.21,17150.87,181210,212140
$TT8_MAMPS,0.028462
$HUMID,52.67
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,18.2
$24V_AH,20.3,50.172
$10V_AH,9.8,31.870
$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,18.750,120.275,290.150,81.300,0.000,30.533,38.762,200.224,3.750,0.000,34.266,2338.757,5015.582,534.811,2398.443,220.470,0.000,1496.091,0.000,1583.431,0.000,23.572,0.000
$DEVICE_MAMPS,199.665,122.400,1204.875,733.635,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,617.859,1075.753,899.982,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258304
$DATA_FILE_SIZE,60453,874
$CAP_FILE_SIZE,138305,0
$CFSIZE,260165632,236920832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.034,322.3,1
$GPS,191210,032556,-7640.931,17155.191,18,1.7,18,130.6