version: 66.08
glider: 502
mission: 3
dive: 557
start: 1 8 111 9 9 36
data:
$ID,502
$MISSION,3
$DIVE,557
$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,-30841.975
$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,34
$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
$GPS1,080111,090000,-7628.869,17646.980,34,1.0,39,122.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-66.7
$GPS2,080111,090908,-7628.885,17646.986,15,1.1,15,122.6
$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,171.9,175969,-17.5,-10.000
$D_GRID,383
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,162,0.00,0.00,-143.73,0.000,2,0.000,0.000,425,2663,3296,0,0,0,0,0,0
$GC,167,-0.76,-146.0,3.0,-1.0,21,190,8.98,2.35,-7.15,0.000,4,0.197,0.062,2810,1246,3561,0,0,0,0,0,0
$GC,329,-0.76,-146.0,30.4,-15.2,49,336,0.00,2.30,0.00,0.000,6,0.000,0.054,2801,2649,3564,0,0,0,0,0,0
$GC,465,-0.76,-146.0,52.1,-15.9,74,473,0.00,1.83,0.00,0.000,4,0.000,0.058,2792,3764,3564,0,0,0,0,0,0
$GC,503,-0.76,-146.0,58.6,-18.1,80,511,0.00,1.77,0.00,0.000,6,0.000,0.039,2793,2641,3564,0,0,0,0,0,0
$GC,645,-0.76,-146.0,81.7,-15.7,105,651,0.00,1.85,0.00,0.000,4,0.000,0.060,2785,3771,3564,0,0,0,0,0,0
$GC,680,-0.76,-146.0,88.4,-17.9,111,689,0.12,1.77,0.00,0.000,6,0.161,0.040,2818,2632,3565,0,0,0,0,0,0
$GC,824,-0.76,-146.0,109.8,-14.5,131,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2630,3565,0,0,0,0,0,0
$GC,951,-0.76,-146.0,128.3,-14.6,143,955,0.00,1.85,0.00,0.000,4,0.000,0.060,2811,3767,3565,0,0,0,0,0,0
$GC,978,-0.76,-146.0,133.2,-14.8,145,986,0.00,1.75,0.00,0.000,6,0.000,0.040,2811,2661,3565,0,0,0,0,0,0
$GC,1114,-0.76,-146.0,153.1,-15.0,158,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2661,3565,0,0,0,0,0,0
$GC,1241,-0.76,-146.0,172.2,-15.2,170,1245,0.00,1.80,0.00,0.000,4,0.000,0.060,2802,3766,3566,0,0,0,0,0,0
$GC,1279,-0.76,-146.0,178.7,-15.2,173,1288,0.00,1.75,0.00,0.000,6,0.000,0.039,2802,2664,3565,0,0,0,0,0,0
$GC,1415,-0.76,-146.0,199.5,-16.0,186,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2664,3565,0,0,0,0,0,0
$GC,1543,-0.76,-146.0,219.8,-15.8,198,1546,0.00,1.80,0.00,0.000,4,0.000,0.059,2794,3773,3565,0,0,0,0,0,0
$GC,1567,-0.76,-146.0,223.8,-16.1,200,1571,0.00,1.70,0.00,0.000,6,0.000,0.041,2793,2676,3565,0,0,0,0,0,0
$GC,1708,-0.76,-146.0,247.1,-16.3,213,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2673,3565,0,0,0,0,0,0
$GC,1835,-0.76,-146.0,268.0,-16.3,225,1839,0.00,1.77,0.00,0.000,4,0.000,0.060,2785,3763,3565,0,0,0,0,0,0
$GC,1861,-0.76,-146.0,273.0,-17.5,227,1870,0.08,1.73,0.00,0.000,6,0.138,0.039,2811,2677,3565,0,0,0,0,0,0
$GC,2063,-0.76,-146.0,301.7,-14.4,246,2067,0.00,1.77,0.00,0.000,4,0.000,0.061,2803,3762,3565,0,0,0,0,0,0
$GC,2109,-0.76,-146.0,309.2,-15.5,250,2112,0.00,1.67,0.00,0.000,6,0.000,0.040,2803,2681,3565,0,0,0,0,0,0
$GC,2314,-0.76,-146.0,339.3,-14.9,269,2315,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2679,3565,0,0,0,0,0,0
$GC,2503,-0.76,-146.0,367.3,-14.6,287,2506,0.00,1.77,0.00,0.000,4,0.000,0.060,2795,3768,3565,0,0,0,0,0,0
$GC,2542,-0.76,-146.0,373.6,-15.8,290,2549,0.00,1.73,0.00,0.000,6,0.000,0.041,2795,2687,3565,0,0,0,0,0,0
$STATE,2612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2612,begin apogee
$GC,2618,-0.27,0.0,383.9,15.0,297,2756,0.55,0.00,131.25,1.039,4,0.127,0.000,2970,2487,2961,0,0,0,0,0,0
$STATE,2757,end apogee,CONTROL_FINISHED_OK
$STATE,2757,begin climb
$GC,2759,0.76,146.0,391.3,0.0,309,2917,1.08,0.00,149.35,0.960,6,0.087,0.000,3301,2487,2364,0,0,0,0,0,0
$GC,3108,0.76,146.0,357.9,11.4,341,3112,0.00,2.28,0.00,0.000,4,0.000,0.056,3300,3758,2352,0,0,0,0,0,0
$GC,3174,0.76,146.0,349.0,13.2,346,3181,0.00,2.12,0.00,0.000,6,0.000,0.038,3310,2523,2351,0,0,0,0,0,0
$GC,3373,0.76,146.0,325.0,12.0,365,3377,0.00,2.08,0.00,0.000,4,0.000,0.057,3310,3772,2348,0,0,0,0,0,0
$GC,3405,0.76,146.0,320.4,14.1,367,3413,0.00,2.03,0.00,0.000,6,0.000,0.039,3320,2516,2348,0,0,0,0,0,0
$GC,3603,0.76,146.0,295.9,12.4,386,3607,0.00,2.03,0.00,0.000,4,0.000,0.057,3320,3771,2346,0,0,0,0,0,0
$GC,3661,0.76,146.0,287.9,15.2,391,3665,0.00,1.95,0.00,0.000,6,0.000,0.039,3329,2516,2346,0,0,0,0,0,0
$GC,3864,0.76,146.0,261.2,12.7,410,3867,0.00,2.03,0.00,0.000,4,0.000,0.057,3329,3770,2344,0,0,0,0,0,0
$GC,3909,0.76,146.0,254.5,15.2,414,3913,0.00,1.90,0.00,0.000,6,0.000,0.039,3339,2542,2344,0,0,0,0,0,0
$GC,4115,0.76,146.0,226.5,13.5,433,4122,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2538,2344,0,0,0,0,0,0
$GC,4250,0.76,146.0,208.3,13.2,446,4254,0.00,1.98,0.00,0.000,4,0.000,0.056,3339,3767,2343,0,0,0,0,0,0
$GC,4299,0.76,146.0,200.5,15.8,450,4308,0.10,1.95,0.00,0.000,6,0.138,0.038,3317,2541,2343,0,0,0,0,0,0
$GC,4436,0.76,146.0,184.4,11.8,463,4445,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2539,2343,0,0,0,0,0,0
$GC,4572,0.76,146.0,168.8,11.5,476,4576,0.00,1.98,0.00,0.000,4,0.000,0.057,3316,3762,2342,0,0,0,0,0,0
$GC,4641,0.76,146.0,159.8,14.1,482,4645,0.00,1.90,0.00,0.000,6,0.000,0.038,3323,2538,2342,0,0,0,0,0,0
$GC,4784,0.76,146.0,142.9,11.8,495,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2535,2342,0,0,0,0,0,0
$GC,4920,0.76,146.0,127.0,11.6,508,4924,0.00,2.00,0.00,0.000,4,0.000,0.057,3323,3773,2342,0,0,0,0,0,0
$GC,4968,0.76,146.0,121.0,13.4,512,4971,0.00,1.90,0.00,0.000,6,0.000,0.039,3333,2551,2342,0,0,0,0,0,0
$GC,5110,0.76,146.0,104.0,11.5,525,5118,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2549,2341,0,0,0,0,0,0
$GC,5248,0.76,146.0,87.7,11.8,547,5256,0.00,1.98,0.00,0.000,4,0.000,0.057,3333,3763,2341,0,0,0,0,0,0
$GC,5286,0.76,146.0,82.7,13.7,553,5294,0.12,1.90,0.00,0.000,6,0.163,0.038,3309,2549,2341,0,0,0,0,0,0
$GC,5426,0.76,146.0,67.8,10.3,578,5433,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2547,2341,0,0,0,0,0,0
$GC,5566,0.76,146.0,53.2,10.2,603,5574,0.00,2.03,0.00,0.000,4,0.000,0.057,3309,3782,2341,0,0,0,0,0,0
$GC,5646,0.76,146.0,43.6,13.0,617,5653,0.00,1.95,0.00,0.000,6,0.000,0.038,3317,2554,2340,0,0,0,0,0,0
$GC,5784,0.76,146.0,28.2,11.1,642,5792,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2552,2340,0,0,0,0,0,0
$GC,5923,0.76,146.0,12.9,10.7,667,5930,0.00,1.98,0.00,0.000,4,0.000,0.057,3317,3764,2340,0,0,0,0,0,0
$FREEZE,8.91,-0.205,-1.893,2,1,0
$FREEZE,8.25,-0.199,-1.893,2,1,0
$FREEZE,7.37,-0.197,-1.892,2,1,0
$FREEZE,6.56,-0.197,-1.892,2,1,0
$FREEZE,5.71,-0.195,-1.891,2,1,0
$FREEZE,5.03,-0.194,-1.890,2,1,0
$GC,5985,0.76,146.0,5.0,14.3,677,5991,0.00,1.88,0.00,0.000,6,0.000,0.038,3327,2559,2340,0,0,0,0,0,0
$FREEZE,2.83,-0.191,-1.889,2,1,0
$STATE,6000,end climb,SURFACE_DEPTH_REACHED
$STATE,6000,begin surface coast
$FREEZE,1.75,-0.194,-1.888,2,1,0
$FREEZE,1.24,-0.230,-1.888,2,1,0
$FREEZE,1.19,-0.343,-1.879,2,1,0
$FREEZE,1.23,-0.315,-0.569,2,1,0
$FINISH,1.2,1.008331
$STATE,6025,end surface coast,CONTROL_FINISHED_OK
$STATE,6025,begin surface
$SM_CCo,6043,73.80,0.097,0,0,1737,300.24
$SM_GC,2.15,0.00,0.00,73.80,0.000,0.000,0.097,418,2662,1737,-8.27,0.34,300.24
$IRIDIUM_FIX,-7545.40,17647.17,080111,070723
$TT8_MAMPS,0.027713
$HUMID,54.13
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,18.6
$ALTIM_BOTTOM_PING,350.2,51.3
$24V_AH,20.3,80.485
$10V_AH,9.7,55.665
$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,18.650,73.225,280.600,73.800,0.000,30.020,37.051,322.761,1.750,0.000,16.386,1707.184,2148.576,523.312,2015.489,277.463,0.000,1225.980,0.000,1106.851,0.000,10.619,0.000
$DEVICE_MAMPS,197.370,78.795,1038.870,97.155,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,478.396,886.873,960.295,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258172
$DATA_FILE_SIZE,47170,683
$CAP_FILE_SIZE,97764,0
$CFSIZE,260165632,222326784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.109,164.7,1
$GPS,080111,105246,-7628.901,17644.002,15,4.9,34,122.6