version: 66.08
glider: 502
mission: 3
dive: 553
start: 1 8 111 1 37 28
data:
$ID,502
$MISSION,3
$DIVE,553
$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,-30836.943
$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,26
$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
$GPS1,080111,012800,-7628.367,17700.381,47,0.9,47,122.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-66.6
$GPS2,080111,013702,-7628.357,17700.381,11,1.3,11,122.2
$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,143.3,181773,-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,15,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,165,0.00,0.00,-145.02,0.000,2,0.000,0.000,406,2655,3322,0,0,0,0,0,0
$GC,170,-0.76,-146.0,3.2,-1.4,21,193,8.90,2.35,-6.32,0.000,4,0.192,0.061,2807,1240,3561,0,0,0,0,0,0
$GC,269,-0.76,-146.0,21.5,-15.6,38,277,0.00,2.35,0.00,0.000,6,0.000,0.054,2798,2652,3564,0,0,0,0,0,0
$GC,408,-0.76,-146.0,43.1,-15.8,63,415,0.00,1.80,0.00,0.000,4,0.000,0.057,2789,3772,3564,0,0,0,0,0,0
$GC,461,-0.76,-146.0,52.4,-17.5,72,469,0.00,1.77,0.00,0.000,6,0.000,0.041,2790,2659,3564,0,0,0,0,0,0
$GC,599,-0.76,-146.0,75.6,-16.8,97,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2658,3564,0,0,0,0,0,0
$GC,736,-0.76,-146.0,98.9,-17.2,122,745,0.00,1.85,0.00,0.000,4,0.000,0.060,2781,3762,3565,0,0,0,0,0,0
$GC,777,-0.76,-146.0,106.5,-18.3,126,786,0.10,1.75,0.00,0.000,6,0.137,0.039,2815,2663,3565,0,0,0,0,0,0
$GC,914,-0.76,-146.0,126.7,-14.5,139,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2661,3565,0,0,0,0,0,0
$GC,1050,-0.76,-146.0,146.9,-14.8,152,1053,0.00,1.80,0.00,0.000,4,0.000,0.058,2807,3767,3565,0,0,0,0,0,0
$GC,1107,-0.76,-146.0,155.9,-15.7,157,1111,0.00,1.73,0.00,0.000,6,0.000,0.040,2807,2656,3565,0,0,0,0,0,0
$GC,1249,-0.76,-146.0,177.6,-15.4,170,1250,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2654,3565,0,0,0,0,0,0
$GC,1375,-0.76,-146.0,196.9,-15.4,182,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2654,3565,0,0,0,0,0,0
$GC,1502,-0.76,-146.0,216.5,-15.3,194,1505,0.00,1.83,0.00,0.000,4,0.000,0.060,2798,3770,3565,0,0,0,0,0,0
$GC,1551,-0.76,-146.0,224.8,-16.1,198,1559,0.00,1.75,0.00,0.000,6,0.000,0.041,2798,2674,3565,0,0,0,0,0,0
$GC,1688,-0.76,-146.0,246.1,-16.0,211,1696,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2674,3565,0,0,0,0,0,0
$GC,1822,-0.76,-146.0,267.7,-15.6,224,1826,0.00,1.80,0.00,0.000,4,0.000,0.060,2790,3769,3565,0,0,0,0,0,0
$GC,1857,-0.76,-146.0,273.6,-17.5,227,1861,0.00,1.70,0.00,0.000,6,0.000,0.041,2790,2678,3565,0,0,0,0,0,0
$GC,2061,-0.76,-146.0,306.3,-15.5,246,2064,0.00,1.80,0.00,0.000,4,0.000,0.060,2782,3771,3566,0,0,0,0,0,0
$GC,2095,-0.76,-146.0,312.1,-17.1,249,2100,0.12,1.70,0.00,0.000,6,0.156,0.041,2815,2679,3565,0,0,0,0,0,0
$GC,2302,-0.76,-146.0,340.5,-13.8,268,2308,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2676,3565,0,0,0,0,0,0
$GC,2501,-0.76,-146.0,367.9,-13.4,287,2505,0.00,1.80,0.00,0.000,4,0.000,0.060,2809,3773,3565,0,0,0,0,0,0
$STATE,2549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2549,begin apogee
$GC,2557,-0.27,0.0,375.5,14.2,291,2700,0.50,0.00,131.30,1.040,4,0.125,0.000,2969,2486,2959,0,0,0,0,0,0
$STATE,2701,end apogee,CONTROL_FINISHED_OK
$STATE,2701,begin climb
$GC,2703,0.76,146.0,382.7,0.0,304,2862,1.12,2.55,148.68,0.952,4,0.081,0.048,3311,1092,2364,0,0,0,0,0,0
$GC,2955,0.76,146.0,362.1,10.9,326,2959,0.00,2.58,0.00,0.000,6,0.000,0.049,3311,2498,2354,0,0,0,0,0,0
$GC,3154,0.76,146.0,338.3,12.1,344,3158,0.00,2.40,0.00,0.000,4,0.000,0.048,3315,1091,2349,0,0,0,0,0,0
$GC,3307,0.76,146.0,320.6,11.2,357,3311,0.00,2.38,0.00,0.000,6,0.000,0.051,3315,2519,2347,0,0,0,0,0,0
$GC,3505,0.76,146.0,296.5,12.0,375,3509,0.00,2.00,0.00,0.000,4,0.000,0.056,3315,3771,2346,0,0,0,0,0,0
$GC,3599,0.76,146.0,283.0,13.9,383,3608,0.00,1.95,0.00,0.000,6,0.000,0.040,3325,2516,2345,0,0,0,0,0,0
$GC,3798,0.76,146.0,258.4,12.4,402,3802,0.00,2.03,0.00,0.000,4,0.000,0.057,3324,3767,2345,0,0,0,0,0,0
$GC,3856,0.76,146.0,250.2,15.2,407,3860,0.00,1.90,0.00,0.000,6,0.000,0.038,3334,2542,2344,0,0,0,0,0,0
$GC,4061,0.76,146.0,222.4,13.3,426,4065,0.00,2.00,0.00,0.000,4,0.000,0.056,3334,3777,2343,0,0,0,0,0,0
$GC,4098,0.76,146.0,217.1,15.5,429,4102,0.12,1.92,0.00,0.000,6,0.164,0.038,3310,2542,2343,0,0,0,0,0,0
$GC,4233,0.76,146.0,200.4,11.7,441,4237,0.00,2.00,0.00,0.000,4,0.000,0.057,3310,3774,2343,0,0,0,0,0,0
$GC,4272,0.76,146.0,194.9,13.7,444,4280,0.00,1.95,0.00,0.000,6,0.000,0.039,3318,2552,2343,0,0,0,0,0,0
$GC,4410,0.76,146.0,178.8,11.7,457,4417,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2550,2343,0,0,0,0,0,0
$GC,4545,0.76,146.0,162.7,11.7,470,4549,0.00,1.98,0.00,0.000,4,0.000,0.057,3318,3768,2343,0,0,0,0,0,0
$GC,4581,0.76,146.0,158.2,13.6,473,4584,0.00,1.88,0.00,0.000,6,0.000,0.038,3329,2558,2342,0,0,0,0,0,0
$GC,4722,0.76,146.0,140.0,12.6,486,4724,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2556,2342,0,0,0,0,0,0
$GC,4849,0.76,146.0,123.8,12.5,498,4852,0.00,1.98,0.00,0.000,4,0.000,0.056,3328,3774,2342,0,0,0,0,0,0
$GC,4897,0.76,146.0,116.4,14.3,502,4905,0.00,1.92,0.00,0.000,6,0.000,0.039,3337,2562,2342,0,0,0,0,0,0
$GC,5035,0.76,146.0,99.0,12.9,515,5043,0.00,1.98,0.00,0.000,4,0.000,0.057,3337,3768,2342,0,0,0,0,0,0
$GC,5089,0.76,146.0,91.0,14.2,524,5098,0.10,1.88,0.00,0.000,6,0.132,0.039,3313,2588,2341,0,0,0,0,0,0
$GC,5232,0.76,146.0,75.0,11.5,549,5238,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2588,2341,0,0,0,0,0,0
$GC,5367,0.76,146.0,59.3,11.4,574,5375,0.00,1.95,0.00,0.000,4,0.000,0.057,3313,3763,2341,0,0,0,0,0,0
$GC,5410,0.76,146.0,53.9,13.0,581,5416,0.00,1.85,0.00,0.000,6,0.000,0.038,3320,2573,2341,0,0,0,0,0,0
$GC,5550,0.76,146.0,37.5,11.4,606,5558,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2573,2341,0,0,0,0,0,0
$GC,5690,0.76,146.0,21.2,11.7,631,5698,0.00,1.95,0.00,0.000,4,0.000,0.057,3320,3766,2341,0,0,0,0,0,0
$GC,5739,0.76,146.0,14.7,13.7,639,5747,0.00,1.83,0.00,0.000,6,0.000,0.039,3329,2588,2340,0,0,0,0,0,0
$FREEZE,8.33,-0.069,-1.896,2,1,0
$FREEZE,7.53,-0.068,-1.895,2,1,0
$FREEZE,6.83,-0.068,-1.895,2,1,0
$FREEZE,6.05,-0.066,-1.894,2,1,0
$FREEZE,5.41,-0.066,-1.894,2,1,0
$FREEZE,4.64,-0.053,-1.893,2,1,0
$FREEZE,3.95,-0.053,-1.893,2,1,0
$FREEZE,3.24,-0.052,-1.892,2,1,0
$FREEZE,2.51,-0.054,-1.892,2,1,0
$STATE,5835,end climb,SURFACE_DEPTH_REACHED
$STATE,5835,begin surface coast
$FREEZE,1.41,-0.057,-1.891,2,1,0
$FREEZE,1.11,-0.057,-1.891,2,1,0
$FREEZE,1.15,-0.166,-1.220,2,1,0
$FREEZE,1.22,-0.096,-1.866,2,1,0
$FINISH,1.2,1.027303
$STATE,5859,end surface coast,CONTROL_FINISHED_OK
$STATE,5859,begin surface
$SM_CCo,5877,73.62,0.099,0,0,1736,300.24
$SM_GC,2.08,0.00,0.00,73.62,0.000,0.000,0.099,433,2667,1736,-8.23,0.51,300.24
$IRIDIUM_FIX,-7545.40,17656.34,070111,232307
$TT8_MAMPS,0.027713
$HUMID,54.21
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.2,17.8
$ALTIM_BOTTOM_PING,350.5,46.3
$24V_AH,20.3,80.068
$10V_AH,9.7,55.311
$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,18.600,74.800,279.975,73.625,0.000,23.581,38.466,327.766,2.000,0.000,12.584,1655.472,2068.378,522.237,1983.007,269.097,0.000,1222.830,0.000,1104.049,0.000,10.609,0.000
$DEVICE_MAMPS,192.015,97.155,1040.400,98.685,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,461.372,855.585,928.241,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258148
$DATA_FILE_SIZE,47103,659
$CAP_FILE_SIZE,95551,0
$CFSIZE,260165632,222539776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059,228.2,1
$GPS,080111,031800,-7628.529,17656.500,42,1.0,42,122.3