version: 66.08
glider: 502
mission: 3
dive: 554
start: 1 8 111 3 27 52
data:
$ID,502
$MISSION,3
$DIVE,554
$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,623.29712
$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,-30838.199
$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,34
$R_STBD_OVSHOOT,33
$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
$GPS1,080111,031800,-7628.529,17656.500,42,1.0,42,122.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-75.0
$GPS2,080111,032726,-7628.532,17656.494,11,1.7,11,122.3
$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,155.3,180088,-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,17,-0.76,-146.0,0.0,0.0,0,105,0.00,0.00,-85.88,0.000,2,0.000,0.000,426,2668,3332,0,0,0,0,0,0
$GC,109,-0.76,-146.0,3.1,-1.1,13,131,8.85,2.38,-6.30,0.000,4,0.192,0.062,2809,1241,3560,0,0,0,0,0,0
$GC,249,-0.76,-146.0,26.7,-14.9,37,256,0.00,2.30,0.00,0.000,6,0.000,0.054,2800,2642,3563,0,0,0,0,0,0
$GC,387,-0.76,-146.0,49.4,-16.4,62,395,0.00,1.85,0.00,0.000,4,0.000,0.059,2792,3768,3563,0,0,0,0,0,0
$GC,443,-0.76,-146.0,59.1,-17.3,71,451,0.00,1.77,0.00,0.000,6,0.000,0.040,2792,2630,3563,0,0,0,0,0,0
$GC,582,-0.76,-146.0,83.1,-17.9,96,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2628,3563,0,0,0,0,0,0
$GC,727,-0.76,-146.0,108.1,-17.3,118,731,0.00,1.85,0.00,0.000,4,0.000,0.060,2783,3763,3564,0,0,0,0,0,0
$GC,774,-0.76,-146.0,116.4,-18.3,122,779,0.12,1.70,0.00,0.000,6,0.158,0.039,2816,2664,3564,0,0,0,0,0,0
$GC,917,-0.76,-146.0,138.0,-14.9,135,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2663,3564,0,0,0,0,0,0
$GC,1055,-0.76,-146.0,158.8,-15.5,148,1059,0.00,1.80,0.00,0.000,4,0.000,0.057,2809,3773,3565,0,0,0,0,0,0
$GC,1102,-0.76,-146.0,166.6,-16.3,152,1106,0.00,1.70,0.00,0.000,6,0.000,0.040,2809,2676,3564,0,0,0,0,0,0
$GC,1243,-0.76,-146.0,188.6,-15.6,165,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2674,3564,0,0,0,0,0,0
$GC,1370,-0.76,-146.0,208.5,-15.5,177,1373,0.00,1.77,0.00,0.000,4,0.000,0.059,2800,3764,3564,0,0,0,0,0,0
$GC,1408,-0.76,-146.0,215.2,-17.0,180,1416,0.00,1.73,0.00,0.000,6,0.000,0.039,2801,2680,3564,0,0,0,0,0,0
$GC,1543,-0.76,-146.0,236.4,-15.7,193,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2680,3565,0,0,0,0,0,0
$GC,1668,-0.76,-146.0,255.9,-15.2,205,1672,0.00,1.77,0.00,0.000,4,0.000,0.060,2792,3767,3564,0,0,0,0,0,0
$GC,1696,-0.76,-146.0,260.5,-16.0,207,1704,0.00,1.70,0.00,0.000,6,0.000,0.040,2792,2672,3564,0,0,0,0,0,0
$GC,1894,-0.76,-146.0,291.2,-15.5,226,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2670,3564,0,0,0,0,0,0
$GC,2086,-0.76,-146.0,320.7,-15.2,244,2089,0.00,1.80,0.00,0.000,4,0.000,0.060,2785,3770,3564,0,0,0,0,0,0
$GC,2146,-0.76,-146.0,331.1,-16.7,249,2154,0.12,1.70,0.00,0.000,6,0.157,0.041,2818,2677,3564,0,0,0,0,0,0
$GC,2346,-0.76,-146.0,357.9,-13.5,268,2350,0.00,1.77,0.00,0.000,4,0.000,0.060,2811,3762,3564,0,0,0,0,0,0
$GC,2374,-0.76,-146.0,362.3,-14.2,270,2380,0.00,1.70,0.00,0.000,6,0.000,0.040,2811,2695,3563,0,0,0,0,0,0
$STATE,2474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2474,begin apogee
$GC,2480,-0.27,0.0,376.2,13.6,280,2618,0.50,0.00,130.48,1.035,4,0.123,0.000,2972,2497,2961,0,0,0,0,0,0
$STATE,2619,end apogee,CONTROL_FINISHED_OK
$STATE,2619,begin climb
$GC,2621,0.76,146.0,382.9,0.0,292,2780,1.10,2.58,148.45,0.953,4,0.079,0.047,3309,1097,2365,0,0,0,0,0,0
$GC,2887,0.76,146.0,361.6,10.6,315,2895,0.00,2.55,0.00,0.000,6,0.000,0.049,3309,2497,2354,0,0,0,0,0,0
$GC,3085,0.76,146.0,338.8,11.4,334,3089,0.00,2.38,0.00,0.000,4,0.000,0.047,3316,1101,2352,0,0,0,0,0,0
$GC,3239,0.76,146.0,321.9,11.0,347,3243,0.00,2.35,0.00,0.000,6,0.000,0.051,3315,2521,2349,0,0,0,0,0,0
$GC,3442,0.76,146.0,298.1,11.7,366,3445,0.00,2.00,0.00,0.000,4,0.000,0.056,3316,3768,2348,0,0,0,0,0,0
$GC,3555,0.76,146.0,283.4,13.6,376,3559,0.00,1.92,0.00,0.000,6,0.000,0.038,3326,2524,2347,0,0,0,0,0,0
$GC,3758,0.76,146.0,259.2,11.4,395,3762,0.00,2.03,0.00,0.000,4,0.000,0.057,3325,3770,2346,0,0,0,0,0,0
$GC,3791,0.76,146.0,254.9,13.3,398,3795,0.00,1.98,0.00,0.000,6,0.000,0.039,3335,2523,2345,0,0,0,0,0,0
$GC,3997,0.76,146.0,229.2,12.9,417,3998,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2520,2345,0,0,0,0,0,0
$GC,4123,0.76,146.0,213.5,12.1,429,4127,0.00,2.00,0.00,0.000,4,0.000,0.057,3335,3764,2345,0,0,0,0,0,0
$GC,4193,0.76,146.0,203.0,14.7,435,4203,0.10,1.95,0.00,0.000,6,0.139,0.037,3312,2529,2345,0,0,0,0,0,0
$GC,4331,0.76,146.0,188.0,10.8,448,4338,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2528,2344,0,0,0,0,0,0
$GC,4466,0.76,146.0,172.8,11.2,461,4470,0.00,2.00,0.00,0.000,4,0.000,0.057,3312,3770,2344,0,0,0,0,0,0
$GC,4524,0.76,146.0,165.6,13.2,466,4528,0.00,1.90,0.00,0.000,6,0.000,0.039,3320,2543,2344,0,0,0,0,0,0
$GC,4665,0.76,146.0,148.9,11.3,479,4666,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2541,2344,0,0,0,0,0,0
$GC,4792,0.76,146.0,134.4,11.5,491,4795,0.00,1.98,0.00,0.000,4,0.000,0.057,3320,3765,2344,0,0,0,0,0,0
$GC,4850,0.76,146.0,127.2,13.0,496,4854,0.00,1.88,0.00,0.000,6,0.000,0.038,3330,2551,2344,0,0,0,0,0,0
$GC,4991,0.76,146.0,109.4,11.8,509,4995,0.00,2.30,0.00,0.000,4,0.000,0.050,3340,1091,2344,0,0,0,0,0,0
$GC,5011,0.76,146.0,106.6,12.2,510,5020,0.00,2.40,0.00,0.000,6,0.000,0.051,3340,2550,2343,0,0,0,0,0,0
$GC,5148,0.76,146.0,90.3,11.7,530,5156,0.00,1.98,0.00,0.000,4,0.000,0.057,3339,3758,2343,0,0,0,0,0,0
$GC,5203,0.76,146.0,82.9,14.0,539,5211,0.12,1.88,0.00,0.000,6,0.162,0.039,3316,2556,2342,0,0,0,0,0,0
$GC,5342,0.76,146.0,67.2,10.7,564,5351,0.00,2.00,0.00,0.000,4,0.000,0.057,3316,3758,2342,0,0,0,0,0,0
$GC,5400,0.76,146.0,60.2,12.5,574,5408,0.00,1.88,0.00,0.000,6,0.000,0.039,3323,2573,2343,0,0,0,0,0,0
$GC,5541,0.76,146.0,44.5,11.0,599,5548,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2571,2342,0,0,0,0,0,0
$GC,5679,0.76,146.0,29.2,11.2,624,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2572,2343,0,0,0,0,0,0
$GC,5818,0.76,146.0,13.9,11.2,649,5824,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2572,2342,0,0,0,0,0,0
$FREEZE,9.00,-0.038,-1.894,2,2,0
$FREEZE,8.31,-0.042,-1.894,2,2,0
$FREEZE,7.65,-0.041,-1.894,2,2,0
$FREEZE,7.09,-0.043,-1.894,2,2,0
$FREEZE,6.37,-0.055,-1.894,2,2,0
$FREEZE,5.77,-0.041,-1.893,2,2,0
$FREEZE,5.16,-0.040,-1.893,2,2,0
$FREEZE,4.53,-0.040,-1.892,2,2,0
$FREEZE,3.87,-0.042,-1.892,2,2,0
$FREEZE,3.12,-0.047,-1.892,2,2,0
$FREEZE,2.44,-0.052,-1.891,2,2,0
$STATE,5922,end climb,SURFACE_DEPTH_REACHED
$STATE,5922,begin surface coast
$FREEZE,1.31,-0.037,-1.890,2,2,0
$FREEZE,1.18,-0.070,-1.892,2,2,0
$FREEZE,1.21,-0.179,-1.878,2,2,0
$FREEZE,1.14,-0.116,-0.974,2,2,0
$FINISH,1.1,1.014387
$STATE,5946,end surface coast,CONTROL_FINISHED_OK
$STATE,5947,begin surface
$SM_CCo,5964,261.38,0.102,0,0,419,623.30
$SM_GC,1.98,0.00,0.00,261.38,0.000,0.000,0.102,406,2660,419,-8.31,0.28,623.30
$IRIDIUM_FIX,-7545.40,17656.34,080111,030330
$TT8_MAMPS,0.028462
$HUMID,51.65
$INTERNAL_PRESSURE,8.68197
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,18.3
$ALTIM_BOTTOM_PING,350.8,45.6
$24V_AH,20.3,80.166
$10V_AH,9.6,55.400
$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,18.600,71.625,278.925,261.375,0.000,85.386,225.328,0.000,1.500,0.000,12.422,1709.238,2239.381,654.391,1962.435,231.732,0.000,1350.064,0.000,1128.784,0.000,10.602,0.000
$DEVICE_MAMPS,192.015,92.565,1035.045,101.745,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,471.262,870.178,945.606,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47093,671
$CAP_FILE_SIZE,90680,0
$CFSIZE,260165632,222490624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.067,205.7,1
$GPS,080111,051232,-7628.636,17652.846,15,1.2,15,122.4