version: 66.08
glider: 502
mission: 3
dive: 555
start: 1 8 111 5 21 46
data:
$ID,502
$MISSION,3
$DIVE,555
$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,-30839.459
$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,38
$R_STBD_OVSHOOT,28
$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
$GPS1,080111,051232,-7628.636,17652.846,15,1.2,15,122.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-67.4
$GPS2,080111,052120,-7628.619,17652.812,17,1.9,17,122.4
$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,160.1,178494,-17.5,-10.000
$D_GRID,376
$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,-145.18,0.000,2,0.000,0.000,406,2661,3324,0,0,0,0,0,0
$GC,170,-0.76,-146.0,3.1,-1.2,21,194,8.95,2.35,-6.32,0.000,4,0.194,0.063,2809,1244,3562,0,0,0,0,0,0
$GC,366,-0.76,-146.0,36.0,-14.8,55,374,0.00,2.30,0.00,0.000,6,0.000,0.054,2801,2648,3565,0,0,0,0,0,0
$GC,505,-0.76,-146.0,58.8,-17.1,80,513,0.00,1.83,0.00,0.000,4,0.000,0.058,2792,3760,3564,0,0,0,0,0,0
$GC,549,-0.76,-146.0,66.7,-18.5,87,557,0.00,1.75,0.00,0.000,6,0.000,0.040,2792,2659,3565,0,0,0,0,0,0
$GC,690,-0.76,-146.0,90.5,-16.6,112,698,0.00,1.85,0.00,0.000,4,0.000,0.060,2784,3766,3565,0,0,0,0,0,0
$GC,743,-0.76,-146.0,99.7,-17.4,121,750,0.12,1.75,0.00,0.000,6,0.159,0.040,2817,2666,3565,0,0,0,0,0,0
$GC,880,-0.76,-146.0,119.6,-14.7,134,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2664,3565,0,0,0,0,0,0
$GC,1016,-0.76,-146.0,139.6,-14.8,147,1020,0.00,2.25,0.00,0.000,4,0.000,0.048,2817,1240,3565,0,0,0,0,0,0
$GC,1059,-0.76,-146.0,146.5,-14.2,150,1068,0.00,2.38,0.00,0.000,6,0.000,0.054,2808,2666,3565,0,0,0,0,0,0
$GC,1195,-0.76,-146.0,166.1,-15.1,163,1199,0.00,1.77,0.00,0.000,4,0.000,0.058,2799,3774,3566,0,0,0,0,0,0
$GC,1243,-0.76,-146.0,173.5,-16.1,167,1246,0.00,1.70,0.00,0.000,6,0.000,0.041,2799,2677,3565,0,0,0,0,0,0
$GC,1387,-0.76,-146.0,196.0,-15.7,180,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2674,3565,0,0,0,0,0,0
$GC,1522,-0.76,-146.0,217.3,-15.2,193,1526,0.00,1.77,0.00,0.000,4,0.000,0.059,2791,3766,3565,0,0,0,0,0,0
$GC,1560,-0.76,-146.0,223.9,-16.4,196,1569,0.00,1.73,0.00,0.000,6,0.000,0.041,2790,2682,3565,0,0,0,0,0,0
$GC,1696,-0.76,-146.0,244.5,-15.4,209,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2682,3565,0,0,0,0,0,0
$GC,1821,-0.76,-146.0,264.0,-15.3,221,1823,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2681,3565,0,0,0,0,0,0
$GC,2013,-0.76,-146.0,293.6,-15.1,239,2014,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2681,3565,0,0,0,0,0,0
$GC,2204,-0.76,-146.0,322.9,-15.5,257,2207,0.00,1.77,0.00,0.000,4,0.000,0.060,2783,3769,3565,0,0,0,0,0,0
$GC,2249,-0.76,-146.0,330.4,-16.3,261,2253,0.12,1.67,0.00,0.000,6,0.156,0.041,2817,2686,3565,0,0,0,0,0,0
$GC,2455,-0.76,-146.0,358.3,-13.7,280,2461,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2684,3565,0,0,0,0,0,0
$STATE,2588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2588,begin apogee
$GC,2594,-0.27,0.0,376.4,13.4,293,2733,0.47,0.00,131.10,1.037,4,0.120,0.000,2972,2486,2961,0,0,0,0,0,0
$STATE,2734,end apogee,CONTROL_FINISHED_OK
$STATE,2734,begin climb
$GC,2736,0.76,146.0,383.6,0.0,305,2896,1.10,2.53,149.05,0.955,4,0.080,0.047,3308,1106,2364,0,0,0,0,0,0
$GC,3024,0.76,146.0,360.5,10.8,330,3032,0.00,2.55,0.00,0.000,6,0.000,0.050,3308,2506,2352,0,0,0,0,0,0
$GC,3223,0.76,146.0,338.5,11.1,349,3228,0.00,2.38,0.00,0.000,4,0.000,0.049,3315,1101,2349,0,0,0,0,0,0
$GC,3387,0.76,146.0,320.4,10.7,363,3391,0.00,2.33,0.00,0.000,6,0.000,0.052,3315,2516,2347,0,0,0,0,0,0
$GC,3585,0.76,146.0,297.8,11.2,381,3589,0.00,2.00,0.00,0.000,4,0.000,0.057,3315,3771,2346,0,0,0,0,0,0
$GC,3680,0.76,146.0,284.6,14.1,389,3687,0.00,1.98,0.00,0.000,6,0.000,0.040,3325,2522,2345,0,0,0,0,0,0
$GC,3881,0.76,146.0,260.7,12.1,408,3884,0.00,2.00,0.00,0.000,4,0.000,0.057,3325,3764,2345,0,0,0,0,0,0
$GC,3915,0.76,146.0,255.7,13.8,411,3919,0.00,1.92,0.00,0.000,6,0.000,0.038,3334,2520,2344,0,0,0,0,0,0
$GC,4120,0.76,146.0,229.5,12.5,430,4124,0.00,2.03,0.00,0.000,4,0.000,0.057,3334,3775,2344,0,0,0,0,0,0
$GC,4156,0.76,146.0,224.4,15.0,433,4161,0.12,1.92,0.00,0.000,6,0.163,0.039,3310,2538,2343,0,0,0,0,0,0
$GC,4293,0.76,146.0,208.0,11.5,445,4301,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2535,2343,0,0,0,0,0,0
$GC,4429,0.76,146.0,192.1,12.0,458,4432,0.00,1.98,0.00,0.000,4,0.000,0.057,3310,3765,2343,0,0,0,0,0,0
$GC,4489,0.76,146.0,183.7,13.6,463,4498,0.00,1.95,0.00,0.000,6,0.000,0.039,3318,2536,2342,0,0,0,0,0,0
$GC,4624,0.76,146.0,167.1,12.3,476,4628,0.00,1.98,0.00,0.000,4,0.000,0.057,3318,3765,2343,0,0,0,0,0,0
$GC,4671,0.76,146.0,160.8,14.3,480,4674,0.00,1.88,0.00,0.000,6,0.000,0.038,3328,2554,2342,0,0,0,0,0,0
$GC,4814,0.76,146.0,142.5,12.6,493,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2552,2342,0,0,0,0,0,0
$GC,4949,0.76,146.0,125.8,12.2,506,4953,0.00,1.98,0.00,0.000,4,0.000,0.056,3328,3773,2342,0,0,0,0,0,0
$GC,4976,0.76,146.0,121.9,13.4,508,4984,0.00,1.92,0.00,0.000,6,0.000,0.040,3337,2561,2342,0,0,0,0,0,0
$GC,5112,0.76,146.0,104.8,13.1,521,5114,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2559,2342,0,0,0,0,0,0
$GC,5239,0.76,146.0,88.7,12.5,541,5246,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2559,2342,0,0,0,0,0,0
$GC,5374,0.76,146.0,71.8,12.6,566,5382,0.00,2.00,0.00,0.000,4,0.000,0.056,3337,3764,2342,0,0,0,0,0,0
$GC,5427,0.76,146.0,64.9,13.6,575,5435,0.12,1.88,0.00,0.000,6,0.160,0.038,3313,2559,2341,0,0,0,0,0,0
$GC,5569,0.76,146.0,49.3,10.8,600,5576,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2557,2341,0,0,0,0,0,0
$GC,5709,0.76,146.0,34.0,11.0,625,5716,0.00,2.00,0.00,0.000,4,0.000,0.056,3313,3764,2341,0,0,0,0,0,0
$GC,5750,0.76,146.0,28.8,12.8,632,5758,0.00,1.90,0.00,0.000,6,0.000,0.039,3321,2562,2341,0,0,0,0,0,0
$GC,5893,0.76,146.0,12.9,11.5,657,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2560,2340,0,0,0,0,0,0
$FREEZE,8.30,-0.201,-1.894,2,1,0
$FREEZE,7.55,-0.175,-1.892,2,1,0
$FREEZE,6.90,-0.180,-1.892,2,1,0
$FREEZE,6.14,-0.179,-1.891,2,1,0
$FREEZE,5.46,-0.186,-1.891,2,1,0
$FREEZE,4.82,-0.175,-1.890,2,1,0
$FREEZE,4.12,-0.164,-1.890,2,1,0
$FREEZE,3.44,-0.166,-1.889,2,1,0
$FREEZE,2.84,-0.165,-1.889,2,1,0
$STATE,5974,end climb,SURFACE_DEPTH_REACHED
$STATE,5974,begin surface coast
$FREEZE,1.96,-0.164,-1.888,2,1,0
$FREEZE,1.36,-0.166,-1.888,2,1,0
$FREEZE,1.17,-0.263,-1.812,2,1,0
$FREEZE,1.15,-0.215,-1.092,2,1,0
$FREEZE,1.19,-0.263,-1.746,2,1,0
$FINISH,1.2,1.025607
$STATE,6006,end surface coast,CONTROL_FINISHED_OK
$STATE,6006,begin surface
$SM_CCo,6023,77.62,0.736,1,0,1736,300.24
$SM_GC,2.01,0.00,0.00,77.62,0.000,0.000,0.736,421,2664,1736,-8.26,0.40,300.24
$IRIDIUM_FIX,-7545.40,17705.51,080111,030318
$TT8_MAMPS,0.028462
$HUMID,53.74
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,18.5
$ALTIM_BOTTOM_PING,351.2,48.3
$24V_AH,20.3,80.283
$10V_AH,9.6,55.488
$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,18.675,68.400,280.150,77.625,0.000,24.080,43.080,301.313,1.750,0.000,18.031,1693.720,2135.790,526.027,2006.403,278.767,0.000,1232.618,0.000,1121.111,0.000,10.614,0.000
$DEVICE_MAMPS,193.545,82.620,1036.575,735.930,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,473.683,876.196,945.467,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47062,676
$CAP_FILE_SIZE,95118,0
$CFSIZE,260165632,222433280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.094,179.9,1
$GPS,080111,070454,-7628.777,17649.680,23,1.1,42,122.5