version: 66.08
glider: 502
mission: 3
dive: 286
start: 12 21 110 8 30 1
data:
$ID,502
$MISSION,3
$DIVE,286
$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,-30498.43
$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
$GPS1,211210,082158,-7636.114,17332.533,20,3.0,40,127.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-73.7
$GPS2,211210,082934,-7636.119,17332.488,12,7.6,31,127.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,POLYNYA_tmp
$TGT_LATLONG,-7630.000,17400.000
$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,276.0,16428,-17.5,-10.000
$D_GRID,493
$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
$STATE,13,begin dive
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$GC,88,-0.76,-146.0,3.1,-3.1,10,131,8.85,2.28,-27.40,0.000,4,0.200,0.060,2806,1227,3555,0,0,0,0,0,0
$GC,261,-0.76,-146.0,23.4,-15.0,39,268,0.00,2.33,0.00,0.000,6,0.000,0.057,2797,2651,3558,0,0,0,0,0,0
$GC,403,-0.76,-146.0,47.2,-17.1,64,411,0.00,1.83,0.00,0.000,4,0.000,0.062,2788,3766,3558,0,0,0,0,0,0
$GC,463,-0.76,-146.0,57.8,-17.5,74,472,0.00,1.77,0.00,0.000,6,0.000,0.042,2789,2652,3558,0,0,0,0,0,0
$GC,608,-0.76,-146.0,82.8,-16.6,99,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2652,3558,0,0,0,0,0,0
$GC,754,-0.76,-146.0,108.0,-16.9,121,758,0.10,1.83,0.00,0.000,4,0.181,0.063,2807,3767,3558,0,0,0,0,0,0
$GC,788,-0.76,-146.0,113.8,-16.3,124,791,0.00,1.70,0.00,0.000,6,0.000,0.043,2807,2674,3558,0,0,0,0,0,0
$GC,929,-0.76,-146.0,135.3,-15.3,137,932,0.00,1.77,0.00,0.000,4,0.000,0.063,2798,3769,3558,0,0,0,0,0,0
$GC,954,-0.76,-146.0,140.2,-16.1,139,964,0.00,1.73,0.00,0.000,6,0.000,0.043,2799,2686,3558,0,0,0,0,0,0
$GC,1091,-0.76,-146.0,161.7,-16.3,152,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2685,3559,0,0,0,0,0,0
$GC,1217,-0.76,-146.0,182.6,-16.2,164,1221,0.00,1.75,0.00,0.000,4,0.000,0.063,2790,3768,3558,0,0,0,0,0,0
$GC,1277,-0.76,-146.0,193.4,-17.6,169,1286,0.00,1.70,0.00,0.000,6,0.000,0.043,2790,2693,3558,0,0,0,0,0,0
$GC,1415,-0.76,-146.0,215.5,-16.6,182,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2692,3558,0,0,0,0,0,0
$GC,1550,-0.76,-146.0,237.5,-15.7,195,1553,0.00,1.75,0.00,0.000,4,0.000,0.063,2783,3773,3558,0,0,0,0,0,0
$GC,1584,-0.76,-146.0,243.5,-17.2,198,1589,0.12,1.67,0.00,0.000,6,0.164,0.043,2816,2693,3558,0,0,0,0,0,0
$GC,1724,-0.76,-146.0,264.0,-14.1,211,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2691,3558,0,0,0,0,0,0
$GC,1915,-0.76,-146.0,290.2,-13.3,229,1919,0.00,1.80,0.00,0.000,4,0.000,0.063,2809,3771,3558,0,0,0,0,0,0
$GC,1953,-0.76,-146.0,295.8,-14.4,232,1961,0.00,1.70,0.00,0.000,6,0.000,0.043,2809,2704,3558,0,0,0,0,0,0
$GC,2151,-0.76,-146.0,323.3,-14.4,251,2154,0.00,1.73,0.00,0.000,4,0.000,0.064,2801,3766,3558,0,0,0,0,0,0
$GC,2177,-0.76,-146.0,327.5,-15.1,253,2185,0.00,1.67,0.00,0.000,6,0.000,0.042,2801,2711,3558,0,0,0,0,0,0
$GC,2376,-0.76,-146.0,355.5,-14.3,272,2380,0.00,1.73,0.00,0.000,4,0.000,0.063,2793,3773,3558,0,0,0,0,0,0
$GC,2414,-0.76,-146.0,361.6,-15.4,275,2421,0.00,1.67,0.00,0.000,6,0.000,0.042,2793,2719,3558,0,0,0,0,0,0
$GC,2612,-0.76,-146.0,390.5,-14.3,294,2616,0.00,1.70,0.00,0.000,4,0.000,0.063,2785,3767,3559,0,0,0,0,0,0
$GC,2639,-0.76,-146.0,394.8,-15.1,296,2647,0.00,1.65,0.00,0.000,6,0.000,0.043,2785,2736,3558,0,0,0,0,0,0
$GC,2837,-0.76,-146.0,424.2,-15.4,315,2841,0.12,1.70,0.00,0.000,4,0.165,0.063,2813,3770,3558,0,0,0,0,0,0
$GC,2860,-0.76,-146.0,427.5,-14.5,317,2864,0.00,1.65,0.00,0.000,6,0.000,0.043,2813,2740,3558,0,0,0,0,0,0
$GC,3063,-0.76,-146.0,454.7,-13.4,336,3064,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2738,3558,0,0,0,0,0,0
$GC,3254,-0.76,-146.0,480.1,-13.5,354,3255,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2738,3558,0,0,0,0,0,0
$STATE,3358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3358,begin apogee
$GC,3364,-0.17,0.0,494.1,13.1,364,3502,0.60,0.00,132.80,1.100,4,0.125,0.000,3007,2493,2961,0,0,0,0,0,0
$STATE,3503,end apogee,CONTROL_FINISHED_OK
$STATE,3503,begin climb
$GC,3505,0.76,146.0,498.3,0.0,376,3668,0.95,2.53,150.50,1.007,4,0.072,0.049,3310,1104,2365,0,0,0,0,1,0
$GC,3785,0.76,146.0,471.3,12.4,400,3793,0.00,2.47,0.00,0.000,6,0.000,0.050,3310,2492,2354,0,0,0,0,0,0
$GC,3985,0.76,146.0,446.5,12.3,419,3989,0.00,2.28,0.00,0.000,4,0.000,0.050,3319,1090,2351,0,0,0,0,0,0
$GC,4107,0.76,146.0,430.6,12.7,429,4114,0.00,2.33,0.00,0.000,6,0.000,0.053,3319,2521,2348,0,0,0,0,0,0
$GC,4305,0.76,146.0,403.9,13.8,448,4308,0.00,1.98,0.00,0.000,4,0.000,0.060,3319,3765,2348,0,0,0,0,0,0
$GC,4417,0.76,146.0,386.1,16.0,458,4420,0.00,1.90,0.00,0.000,6,0.000,0.042,3328,2545,2347,0,0,0,0,0,0
$GC,4623,0.76,146.0,356.7,14.2,477,4627,0.00,1.98,0.00,0.000,4,0.000,0.060,3328,3770,2347,0,0,0,0,0,0
$GC,4672,0.76,146.0,348.2,16.7,481,4679,0.00,1.95,0.00,0.000,6,0.000,0.042,3338,2545,2346,0,0,0,0,0,0
$GC,4872,0.76,146.0,318.8,14.8,500,4876,0.00,1.98,0.00,0.000,4,0.000,0.060,3338,3767,2346,0,0,0,0,0,0
$GC,4917,0.76,146.0,311.0,17.8,504,4921,0.12,1.90,0.00,0.000,6,0.167,0.041,3314,2549,2346,0,0,0,0,0,0
$GC,5122,0.76,146.0,284.2,12.8,523,5125,0.00,1.98,0.00,0.000,4,0.000,0.060,3314,3770,2346,0,0,0,0,0,0
$GC,5156,0.76,146.0,279.3,14.3,526,5159,0.00,1.90,0.00,0.000,6,0.000,0.043,3322,2552,2346,0,0,0,0,0,0
$GC,5359,0.76,146.0,253.2,12.5,545,5363,0.00,1.98,0.00,0.000,4,0.000,0.062,3322,3772,2345,0,0,0,0,0,0
$GC,5393,0.76,146.0,248.5,14.0,548,5397,0.00,1.88,0.00,0.000,6,0.000,0.043,3331,2562,2345,0,0,0,0,0,0
$GC,5535,0.76,146.0,229.7,13.1,561,5536,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2560,2345,0,0,0,0,0,0
$GC,5661,0.76,146.0,212.8,13.2,573,5665,0.00,1.95,0.00,0.000,4,0.000,0.061,3331,3769,2345,0,0,0,0,0,0
$GC,5707,0.76,146.0,205.9,15.3,577,5711,0.00,1.88,0.00,0.000,6,0.000,0.042,3340,2563,2344,0,0,0,0,0,0
$GC,5850,0.76,146.0,185.4,13.8,590,5857,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2561,2344,0,0,0,0,0,0
$GC,5985,0.76,146.0,166.2,14.0,603,5988,0.00,1.95,0.00,0.000,4,0.000,0.061,3341,3768,2344,0,0,0,0,0,0
$GC,6042,0.76,146.0,156.7,17.4,608,6046,0.15,1.88,0.00,0.000,6,0.159,0.042,3308,2560,2344,0,0,0,0,0,0
$GC,6182,0.76,146.0,139.1,11.4,621,6183,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,2559,2344,0,0,0,0,0,0
$GC,6309,0.76,146.0,125.0,10.8,633,6313,0.00,1.95,0.00,0.000,4,0.000,0.061,3308,3765,2344,0,0,0,0,0,0
$GC,6335,0.76,146.0,121.6,12.1,635,6343,0.00,1.90,0.00,0.000,6,0.000,0.042,3316,2569,2344,0,0,0,0,0,0
$GC,6471,0.76,146.0,106.0,12.2,648,6474,0.00,1.95,0.00,0.000,4,0.000,0.062,3316,3772,2344,0,0,0,0,0,0
$GC,6497,0.76,146.0,102.1,14.4,650,6506,0.00,1.90,0.00,0.000,6,0.000,0.043,3325,2578,2344,0,0,0,0,0,0
$GC,6637,0.76,146.0,84.7,12.2,674,6645,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2577,2343,0,0,0,0,0,0
$GC,6780,0.76,146.0,68.0,11.9,699,6787,0.00,1.92,0.00,0.000,4,0.000,0.060,3325,3764,2343,0,0,0,0,0,0
$GC,6806,0.76,146.0,65.0,12.1,703,6812,0.00,1.85,0.00,0.000,6,0.000,0.041,3334,2576,2343,0,0,0,0,0,0
$GC,6948,0.76,146.0,47.9,12.6,728,6957,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2576,2343,0,0,0,0,0,0
$GC,7092,0.76,146.0,31.0,12.1,753,7099,0.00,1.92,0.00,0.000,4,0.000,0.061,3334,3765,2343,0,0,0,0,0,0
$GC,7152,0.76,146.0,22.7,14.0,763,7160,0.12,1.83,0.00,0.000,6,0.164,0.042,3310,2597,2343,0,0,0,0,0,0
$FREEZE,8.72,-0.430,-1.896,2,1,0
$FREEZE,8.02,-0.412,-1.896,2,1,0
$FREEZE,7.29,-0.408,-1.895,2,1,0
$FREEZE,6.52,-0.401,-1.895,2,1,0
$FREEZE,5.99,-0.366,-1.895,2,1,0
$FREEZE,5.30,-0.348,-1.894,2,1,0
$GC,7297,0.76,146.0,5.3,11.1,788,7306,0.00,1.92,0.00,0.000,4,0.000,0.061,3310,3761,2343,0,0,0,0,0,0
$FREEZE,3.31,-0.357,-1.894,2,1,0
$FREEZE,2.64,-0.353,-1.893,2,1,0
$STATE,7318,end climb,SURFACE_DEPTH_REACHED
$STATE,7319,begin surface coast
$FREEZE,1.65,-0.350,-1.892,2,1,0
$FREEZE,1.28,-0.333,-1.856,2,1,0
$FINISH,1.3,1.027179
$STATE,7332,end surface coast,CONTROL_FINISHED_OK
$STATE,7332,begin surface
$SM_CCo,7349,80.25,0.726,1,0,1736,300.24
$SM_GC,2.21,0.00,0.00,80.25,0.000,0.000,0.726,426,2639,1736,-8.25,-0.31,300.24
$IRIDIUM_FIX,-7554.21,17338.56,211210,060604
$TT8_MAMPS,0.028462
$HUMID,53.03
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,13.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,18.4
$24V_AH,20.4,52.929
$10V_AH,9.8,34.033
$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,18.625,95.050,283.300,80.250,0.000,30.638,42.973,252.364,2.000,0.000,32.862,2027.582,2985.549,513.827,2179.976,189.551,0.000,1317.626,0.000,1323.555,0.000,14.181,0.000
$DEVICE_MAMPS,199.665,64.260,1100.070,725.985,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,557.978,943.886,894.620,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,257956
$DATA_FILE_SIZE,53766,793
$CAP_FILE_SIZE,112827,0
$CFSIZE,260165632,235421696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.100,202.6,1
$GPS,211210,103504,-7635.778,17334.787,12,4.4,31,127.7