version: 66.08
glider: 502
mission: 3
dive: 556
start: 1 8 111 7 15 19
data:
$ID,502
$MISSION,3
$DIVE,556
$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,-30840.719
$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,27
$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
$GPS1,080111,070454,-7628.777,17649.680,23,1.1,42,122.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-73.6
$GPS2,080111,071452,-7628.775,17649.650,13,3.1,32,122.5
$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,168.0,177123,-17.5,-10.000
$D_GRID,378
$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,-85.28,0.000,2,0.000,0.000,421,2665,3327,0,0,0,0,0,0
$GC,108,-0.76,-146.0,3.2,-1.8,13,130,8.90,2.35,-6.22,0.000,4,0.197,0.062,2806,1245,3560,0,0,0,0,0,0
$GC,262,-0.76,-146.0,30.4,-15.7,40,270,0.00,2.33,0.00,0.000,6,0.000,0.055,2798,2643,3563,0,0,0,0,0,0
$GC,402,-0.76,-146.0,53.5,-16.8,65,409,0.00,1.83,0.00,0.000,4,0.000,0.059,2790,3756,3563,0,0,0,0,0,0
$GC,439,-0.76,-146.0,59.9,-18.1,71,446,0.00,1.75,0.00,0.000,6,0.000,0.041,2790,2655,3563,0,0,0,0,0,0
$GC,577,-0.76,-146.0,83.7,-17.2,96,586,0.00,1.85,0.00,0.000,4,0.000,0.060,2782,3767,3563,0,0,0,0,0,0
$GC,620,-0.76,-146.0,91.5,-18.7,103,629,0.12,1.75,0.00,0.000,6,0.158,0.040,2815,2666,3563,0,0,0,0,0,0
$GC,761,-0.76,-146.0,113.0,-15.2,120,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2664,3564,0,0,0,0,0,0
$GC,897,-0.76,-146.0,134.0,-15.5,133,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2665,3564,0,0,0,0,0,0
$GC,1024,-0.76,-146.0,153.5,-15.1,145,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2664,3564,0,0,0,0,0,0
$GC,1152,-0.76,-146.0,172.4,-14.8,157,1155,0.00,1.77,0.00,0.000,4,0.000,0.059,2808,3763,3564,0,0,0,0,0,0
$GC,1189,-0.76,-146.0,179.0,-15.8,160,1198,0.00,1.73,0.00,0.000,6,0.000,0.039,2808,2676,3564,0,0,0,0,0,0
$GC,1327,-0.76,-146.0,199.6,-15.5,173,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2675,3564,0,0,0,0,0,0
$GC,1463,-0.76,-146.0,220.9,-15.1,186,1467,0.00,1.77,0.00,0.000,4,0.000,0.060,2799,3767,3564,0,0,0,0,0,0
$GC,1500,-0.76,-146.0,227.5,-15.9,189,1509,0.00,1.73,0.00,0.000,6,0.000,0.040,2799,2679,3564,0,0,0,0,0,0
$GC,1637,-0.76,-146.0,248.1,-15.4,202,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2678,3564,0,0,0,0,0,0
$GC,1764,-0.76,-146.0,267.1,-14.9,214,1768,0.00,1.77,0.00,0.000,4,0.000,0.059,2791,3771,3564,0,0,0,0,0,0
$GC,1802,-0.76,-146.0,273.8,-16.4,217,1809,0.00,1.73,0.00,0.000,6,0.000,0.040,2791,2683,3564,0,0,0,0,0,0
$GC,2000,-0.76,-146.0,304.3,-15.6,236,2004,0.00,1.77,0.00,0.000,4,0.000,0.060,2783,3773,3564,0,0,0,0,0,0
$GC,2028,-0.76,-146.0,309.1,-16.4,238,2036,0.08,1.73,0.00,0.000,6,0.125,0.041,2819,2689,3564,0,0,0,0,0,0
$GC,2226,-0.76,-146.0,335.7,-13.3,257,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2688,3564,0,0,0,0,0,0
$GC,2417,-0.76,-146.0,360.5,-13.1,275,2421,0.00,1.80,0.00,0.000,4,0.000,0.060,2812,3766,3564,0,0,0,0,0,0
$GC,2457,-0.76,-146.0,366.0,-14.4,278,2464,0.00,1.70,0.00,0.000,6,0.000,0.040,2812,2697,3564,0,0,0,0,0,0
$STATE,2547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2547,begin apogee
$GC,2553,-0.27,0.0,378.5,13.7,287,2691,0.47,0.00,130.23,1.036,4,0.125,0.000,2966,2494,2961,0,0,0,0,0,0
$STATE,2692,end apogee,CONTROL_FINISHED_OK
$STATE,2692,begin climb
$GC,2694,0.76,146.0,385.3,0.0,299,2853,1.12,2.55,148.57,0.957,4,0.083,0.047,3306,1103,2365,0,0,0,0,0,0
$GC,2968,0.76,146.0,362.7,11.0,323,2973,0.00,2.53,0.00,0.000,6,0.000,0.049,3306,2497,2354,0,0,0,0,0,0
$GC,3166,0.76,146.0,339.9,11.2,341,3171,0.00,2.38,0.00,0.000,4,0.000,0.048,3315,1097,2351,0,0,0,0,0,0
$GC,3313,0.76,146.0,323.3,11.7,353,3320,0.00,2.35,0.00,0.000,6,0.000,0.051,3316,2515,2349,0,0,0,0,0,0
$GC,3511,0.76,146.0,299.7,11.7,372,3515,0.00,2.00,0.00,0.000,4,0.000,0.056,3315,3770,2348,0,0,0,0,0,0
$GC,3605,0.76,146.0,286.3,14.3,380,3612,0.00,1.95,0.00,0.000,6,0.000,0.039,3325,2519,2347,0,0,0,0,0,0
$GC,3803,0.76,146.0,261.5,12.6,399,3807,0.00,2.00,0.00,0.000,4,0.000,0.057,3325,3763,2346,0,0,0,0,0,0
$GC,3863,0.76,146.0,253.5,14.3,404,3867,0.00,1.90,0.00,0.000,6,0.000,0.039,3335,2536,2346,0,0,0,0,0,0
$GC,4069,0.76,146.0,226.0,12.9,423,4072,0.00,1.98,0.00,0.000,4,0.000,0.055,3334,3764,2345,0,0,0,0,0,0
$GC,4106,0.76,146.0,220.0,15.4,426,4115,0.10,1.95,0.00,0.000,6,0.137,0.039,3311,2536,2345,0,0,0,0,0,0
$GC,4244,0.76,146.0,204.4,11.4,439,4253,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2535,2344,0,0,0,0,0,0
$GC,4380,0.76,146.0,188.6,11.5,452,4384,0.00,2.00,0.00,0.000,4,0.000,0.057,3311,3772,2344,0,0,0,0,0,0
$GC,4449,0.76,146.0,179.7,14.0,458,4453,0.00,1.90,0.00,0.000,6,0.000,0.040,3319,2549,2344,0,0,0,0,0,0
$GC,4592,0.76,146.0,162.6,11.8,471,4596,0.00,1.98,0.00,0.000,4,0.000,0.057,3319,3767,2344,0,0,0,0,0,0
$GC,4617,0.76,146.0,159.1,13.0,473,4621,0.00,1.88,0.00,0.000,6,0.000,0.038,3329,2556,2344,0,0,0,0,0,0
$GC,4758,0.76,146.0,141.6,12.0,486,4762,0.00,1.95,0.00,0.000,4,0.000,0.057,3329,3764,2343,0,0,0,0,0,0
$GC,4797,0.76,146.0,136.0,14.1,489,4805,0.00,1.88,0.00,0.000,6,0.000,0.037,3338,2576,2344,0,0,0,0,0,0
$GC,4934,0.76,146.0,118.9,12.8,502,4941,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2575,2343,0,0,0,0,0,0
$GC,5070,0.76,146.0,101.3,13.1,515,5071,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2575,2343,0,0,0,0,0,0
$GC,5199,0.76,146.0,85.2,12.1,537,5206,0.00,1.95,0.00,0.000,4,0.000,0.057,3338,3773,2343,0,0,0,0,0,0
$GC,5250,0.76,146.0,77.4,15.0,546,5259,0.10,1.88,0.00,0.000,6,0.132,0.039,3314,2590,2343,0,0,0,0,0,0
$GC,5395,0.76,146.0,61.5,10.9,571,5402,0.00,1.92,0.00,0.000,4,0.000,0.057,3313,3773,2343,0,0,0,0,0,0
$GC,5426,0.76,146.0,57.4,11.9,576,5434,0.00,1.88,0.00,0.000,6,0.000,0.039,3321,2591,2343,0,0,0,0,0,0
$GC,5566,0.76,146.0,41.3,11.3,601,5572,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2590,2343,0,0,0,0,0,0
$GC,5704,0.76,146.0,25.6,11.5,626,5712,0.00,1.95,0.00,0.000,4,0.000,0.057,3321,3768,2342,0,0,0,0,0,0
$GC,5741,0.76,146.0,21.1,12.9,632,5750,0.00,1.85,0.00,0.000,6,0.000,0.038,3330,2599,2342,0,0,0,0,0,0
$FREEZE,8.74,-0.201,-1.893,2,2,0
$FREEZE,8.07,-0.198,-1.893,2,2,0
$FREEZE,7.40,-0.192,-1.892,2,2,0
$FREEZE,6.68,-0.196,-1.892,2,2,0
$FREEZE,5.61,-0.193,-1.891,2,2,0
$FREEZE,5.01,-0.193,-1.890,2,2,0
$FREEZE,4.15,-0.196,-1.890,2,2,0
$FREEZE,3.42,-0.192,-1.889,2,2,0
$GC,5887,0.76,146.0,3.4,12.8,657,5893,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2598,2342,0,0,0,0,0,0
$FREEZE,1.46,-0.197,-1.888,2,2,0
$STATE,5900,end climb,SURFACE_DEPTH_REACHED
$STATE,5900,begin surface coast
$FREEZE,1.22,-0.223,-1.138,2,2,0
$FREEZE,1.13,-0.357,-1.636,2,2,0
$FREEZE,1.12,-0.228,-0.971,2,2,0
$FREEZE,1.16,-0.257,-1.123,2,2,0
$FINISH,1.2,1.016583
$STATE,5925,end surface coast,CONTROL_FINISHED_OK
$STATE,5925,begin surface
$SM_CCo,5942,260.33,0.100,0,0,420,623.30
$SM_GC,1.87,0.00,0.00,260.33,0.000,0.000,0.100,426,2662,420,-8.25,0.34,623.30
$IRIDIUM_FIX,-7545.40,17647.17,080111,070736
$TT8_MAMPS,0.027713
$HUMID,51.53
$INTERNAL_PRESSURE,8.68197
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.0,17.6
$ALTIM_BOTTOM_PING,300.9,100.6
$24V_AH,20.3,80.381
$10V_AH,9.6,55.576
$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,18.550,74.300,278.800,260.325,0.000,93.432,225.327,0.000,1.250,0.000,33.774,1682.047,2246.544,671.834,1962.590,243.044,0.000,1361.769,0.000,1101.363,0.000,9.037,0.000
$DEVICE_MAMPS,196.605,111.690,1035.810,100.215,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,464.953,856.597,932.058,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47106,663
$CAP_FILE_SIZE,91357,0
$CFSIZE,260165632,222384128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.114,165.5,1
$GPS,080111,090000,-7628.869,17646.980,34,1.0,39,122.6