version: 66.08
glider: 502
mission: 3
dive: 535
start: 1 6 111 15 45 17
data:
$ID,502
$MISSION,3
$DIVE,535
$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,-8
$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,-30814.291
$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,37
$R_STBD_OVSHOOT,35
$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
$GPS1,060111,153602,-7627.901,17738.473,9,1.7,9,121.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-66.7
$GPS2,060111,154450,-7627.869,17738.551,14,1.5,14,121.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,POLYNYA1
$TGT_LATLONG,-7630.000,17000.000
$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,139.3,198290,-17.5,-10.000
$D_GRID,375
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,157,0.00,0.00,-138.20,0.000,2,0.000,0.000,409,2664,3165,0,0,0,0,0,0
$GC,162,-0.76,-146.0,3.0,-1.3,20,192,8.82,1.83,-12.10,0.000,4,0.189,0.079,2803,3746,3560,0,0,0,0,0,0
$GC,413,-0.76,-146.0,44.8,-16.7,63,420,0.00,1.75,0.00,0.000,6,0.000,0.040,2803,2642,3563,0,0,0,0,0,0
$GC,555,-0.76,-146.0,68.2,-15.8,88,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2641,3564,0,0,0,0,0,0
$GC,698,-0.76,-146.0,91.4,-16.4,113,705,0.00,1.83,0.00,0.000,4,0.000,0.060,2794,3758,3564,0,0,0,0,0,0
$GC,740,-0.76,-146.0,98.6,-17.6,120,748,0.00,1.75,0.00,0.000,6,0.000,0.040,2794,2658,3564,0,0,0,0,0,0
$GC,885,-0.76,-146.0,122.8,-16.9,134,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2657,3564,0,0,0,0,0,0
$GC,1021,-0.76,-146.0,145.7,-16.7,147,1025,0.00,1.80,0.00,0.000,4,0.000,0.061,2785,3760,3565,0,0,0,0,0,0
$GC,1068,-0.76,-146.0,153.6,-18.2,151,1073,0.12,1.70,0.00,0.000,6,0.160,0.040,2819,2656,3565,0,0,0,0,0,0
$GC,1211,-0.76,-146.0,174.7,-14.2,164,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2654,3564,0,0,0,0,0,0
$GC,1346,-0.76,-146.0,194.4,-14.3,177,1350,0.00,1.80,0.00,0.000,4,0.000,0.061,2812,3756,3565,0,0,0,0,0,0
$GC,1393,-0.76,-146.0,201.2,-15.0,181,1397,0.00,1.67,0.00,0.000,6,0.000,0.041,2813,2673,3565,0,0,0,0,0,0
$GC,1536,-0.76,-146.0,222.3,-15.1,194,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2671,3565,0,0,0,0,0,0
$GC,1672,-0.76,-146.0,242.4,-15.1,207,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2671,3564,0,0,0,0,0,0
$GC,1798,-0.76,-146.0,260.8,-14.0,219,1800,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2671,3565,0,0,0,0,0,0
$GC,1988,-0.76,-146.0,287.2,-13.9,237,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2672,3564,0,0,0,0,0,0
$GC,2181,-0.76,-146.0,313.8,-14.1,255,2185,0.00,1.77,0.00,0.000,4,0.000,0.060,2804,3757,3564,0,0,0,0,0,0
$GC,2238,-0.76,-146.0,322.7,-15.1,260,2242,0.00,1.73,0.00,0.000,6,0.000,0.041,2804,2676,3564,0,0,0,0,0,0
$GC,2441,-0.76,-146.0,353.4,-15.0,279,2442,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2674,3564,0,0,0,0,0,0
$STATE,2589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2589,begin apogee
$GC,2595,-0.27,0.0,375.6,15.1,293,2735,0.52,0.00,131.75,1.048,4,0.124,0.000,2973,2491,2961,0,0,0,0,0,0
$STATE,2735,end apogee,CONTROL_FINISHED_OK
$STATE,2736,begin climb
$GC,2738,0.76,146.0,383.1,0.0,305,2901,1.10,2.53,150.52,0.976,4,0.079,0.047,3310,1104,2362,0,0,0,0,0,0
$GC,3018,0.76,146.0,359.3,10.8,330,3026,0.00,2.53,0.00,0.000,6,0.000,0.049,3310,2490,2353,0,0,0,0,0,0
$GC,3218,0.76,146.0,336.3,12.0,349,3222,0.00,2.33,0.00,0.000,4,0.000,0.048,3316,1098,2350,0,0,0,0,0,0
$GC,3382,0.76,146.0,317.3,11.7,363,3386,0.00,2.33,0.00,0.000,6,0.000,0.052,3316,2526,2347,0,0,0,0,0,0
$GC,3580,0.76,146.0,293.5,11.9,381,3583,0.00,1.98,0.00,0.000,4,0.000,0.058,3316,3763,2346,0,0,0,0,0,0
$GC,3682,0.76,146.0,279.0,14.7,390,3685,0.00,1.90,0.00,0.000,6,0.000,0.038,3325,2534,2345,0,0,0,0,0,0
$GC,3886,0.76,146.0,253.9,11.8,409,3890,0.00,2.00,0.00,0.000,4,0.000,0.057,3325,3771,2345,0,0,0,0,0,0
$GC,3920,0.76,146.0,249.5,12.7,412,3924,0.00,1.95,0.00,0.000,6,0.000,0.039,3335,2538,2345,0,0,0,0,0,0
$GC,4061,0.76,146.0,232.7,11.4,425,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2535,2345,0,0,0,0,0,0
$GC,4187,0.76,146.0,218.0,11.8,437,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2535,2344,0,0,0,0,0,0
$GC,4315,0.76,146.0,202.5,12.2,449,4316,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2535,2344,0,0,0,0,0,0
$GC,4442,0.76,146.0,187.0,12.4,461,4446,0.00,2.00,0.00,0.000,4,0.000,0.057,3335,3773,2344,0,0,0,0,0,0
$GC,4499,0.76,146.0,178.8,14.6,466,4504,0.12,1.90,0.00,0.000,6,0.160,0.040,3311,2549,2343,0,0,0,0,0,0
$GC,4641,0.76,146.0,163.0,10.8,479,4645,0.00,1.98,0.00,0.000,4,0.000,0.058,3311,3764,2343,0,0,0,0,0,0
$GC,4690,0.76,146.0,156.8,12.6,483,4698,0.00,1.90,0.00,0.000,6,0.000,0.039,3318,2561,2343,0,0,0,0,0,0
$GC,4825,0.76,146.0,141.7,11.1,496,4829,0.00,1.95,0.00,0.000,4,0.000,0.058,3318,3762,2343,0,0,0,0,0,0
$GC,4863,0.76,146.0,136.6,13.4,499,4872,0.00,1.88,0.00,0.000,6,0.000,0.038,3328,2577,2342,0,0,0,0,0,0
$GC,5001,0.76,146.0,120.8,11.8,512,5009,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2577,2342,0,0,0,0,0,0
$GC,5137,0.76,146.0,104.8,11.7,525,5140,0.00,1.92,0.00,0.000,4,0.000,0.057,3328,3763,2342,0,0,0,0,0,0
$GC,5195,0.76,146.0,97.2,13.9,531,5202,0.00,1.88,0.00,0.000,6,0.000,0.039,3337,2577,2341,0,0,0,0,0,0
$GC,5338,0.76,146.0,79.2,12.9,556,5345,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2575,2342,0,0,0,0,0,0
$GC,5481,0.76,146.0,61.6,12.2,581,5488,0.00,1.95,0.00,0.000,4,0.000,0.058,3337,3767,2341,0,0,0,0,0,0
$GC,5542,0.76,146.0,53.2,13.9,591,5550,0.10,1.88,0.00,0.000,6,0.129,0.038,3313,2584,2341,0,0,0,0,0,0
$GC,5688,0.77,148.3,37.3,9.9,616,5695,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2582,2341,0,0,0,0,0,0
$GC,5831,0.77,148.3,22.3,10.5,641,5838,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2582,2341,0,0,0,0,0,0
$FREEZE,8.96,-0.261,-1.892,2,1,0
$FREEZE,8.32,-0.244,-1.891,2,1,0
$FREEZE,7.73,-0.243,-1.891,2,1,0
$FREEZE,7.19,-0.241,-1.891,2,1,0
$FREEZE,6.64,-0.239,-1.890,2,1,0
$GC,5976,0.77,148.3,6.6,10.0,666,5985,0.00,1.95,0.00,0.000,4,0.000,0.059,3312,3755,2340,0,0,0,0,0,0
$FREEZE,4.43,-0.240,-1.889,2,1,0
$FREEZE,3.85,-0.239,-1.888,2,1,0
$FREEZE,3.19,-0.239,-1.888,2,1,0
$FREEZE,2.47,-0.239,-1.887,2,1,0
$STATE,6009,end climb,SURFACE_DEPTH_REACHED
$STATE,6009,begin surface coast
$FREEZE,1.54,-0.239,-1.886,2,1,0
$FINISH,1.5,1.027597
$STATE,6018,end surface coast,CONTROL_FINISHED_OK
$STATE,6018,begin surface
$SM_CCo,6037,78.55,0.753,1,0,1736,300.24
$SM_GC,1.93,0.00,0.00,78.55,0.000,0.000,0.753,423,2636,1736,-8.26,-0.37,300.24
$IRIDIUM_FIX,-7545.40,17741.83,060111,131329
$TT8_MAMPS,0.028462
$HUMID,53.85
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,20.0,19.3
$ALTIM_BOTTOM_PING,300.4,92.5
$24V_AH,20.2,77.927
$10V_AH,9.6,53.730
$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,18.400,58.350,282.275,78.550,0.000,29.554,36.150,308.086,1.750,0.000,14.984,1678.539,2212.570,511.011,1996.603,257.109,0.000,1206.145,0.000,1115.698,0.000,9.014,0.000
$DEVICE_MAMPS,188.955,78.795,1048.050,752.760,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,471.342,870.732,948.826,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258128
$DATA_FILE_SIZE,47014,672
$CAP_FILE_SIZE,92131,0
$CFSIZE,260165632,223469568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.123, 49.6,1
$GPS,060111,172837,-7627.684,17736.711,40,1.1,40,121.3