version: 66.08
glider: 502
mission: 3
dive: 559
start: 1 8 111 13 5 12
data:
$ID,502
$MISSION,3
$DIVE,559
$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,-30844.492
$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,31
$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
$GPS1,080111,125030,-7628.828,17641.635,40,1.4,40,122.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-68.0
$GPS2,080111,130444,-7628.814,17641.656,11,1.6,11,122.7
$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,162.9,173666,-17.5,-10.000
$D_GRID,382
$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,16,-0.76,-146.0,0.0,0.0,0,162,0.00,0.00,-143.82,0.000,2,0.000,0.000,410,2669,3307,0,0,0,0,0,0
$GC,168,-0.76,-146.0,3.1,-0.9,21,191,8.93,2.35,-6.85,0.000,4,0.194,0.062,2809,1249,3561,0,0,0,0,0,0
$GC,224,-0.76,-146.0,15.0,-16.1,30,233,0.00,2.30,0.00,0.000,6,0.000,0.054,2801,2637,3563,0,0,0,0,0,0
$GC,365,-0.76,-146.0,38.8,-17.6,55,373,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2637,3563,0,0,0,0,0,0
$GC,504,-0.76,-146.0,62.3,-16.5,80,512,0.00,1.85,0.00,0.000,4,0.000,0.058,2792,3766,3564,0,0,0,0,0,0
$GC,562,-0.76,-146.0,72.2,-17.2,90,570,0.00,1.77,0.00,0.000,6,0.000,0.040,2792,2647,3564,0,0,0,0,0,0
$GC,702,-0.76,-146.0,95.8,-17.2,115,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2645,3563,0,0,0,0,0,0
$GC,844,-0.76,-146.0,120.2,-16.9,130,848,0.00,1.83,0.00,0.000,4,0.000,0.060,2785,3770,3564,0,0,0,0,0,0
$GC,881,-0.76,-146.0,126.8,-18.5,133,885,0.12,1.73,0.00,0.000,6,0.159,0.040,2818,2657,3564,0,0,0,0,0,0
$GC,1021,-0.76,-146.0,148.6,-15.1,146,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2655,3564,0,0,0,0,0,0
$GC,1148,-0.76,-146.0,167.4,-14.8,158,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2656,3564,0,0,0,0,0,0
$GC,1275,-0.76,-146.0,186.0,-14.7,170,1279,0.00,1.80,0.00,0.000,4,0.000,0.060,2811,3762,3565,0,0,0,0,0,0
$GC,1324,-0.76,-146.0,193.8,-15.2,174,1332,0.00,1.73,0.00,0.000,6,0.000,0.039,2811,2674,3565,0,0,0,0,0,0
$GC,1461,-0.76,-146.0,213.5,-14.7,187,1470,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2674,3564,0,0,0,0,0,0
$GC,1598,-0.76,-146.0,233.9,-14.7,200,1602,0.00,1.77,0.00,0.000,4,0.000,0.060,2803,3761,3565,0,0,0,0,0,0
$GC,1635,-0.76,-146.0,240.2,-15.6,203,1644,0.00,1.73,0.00,0.000,6,0.000,0.039,2803,2674,3564,0,0,0,0,0,0
$GC,1770,-0.76,-146.0,260.7,-15.6,216,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2673,3564,0,0,0,0,0,0
$GC,1961,-0.76,-146.0,290.0,-15.4,234,1965,0.00,1.77,0.00,0.000,4,0.000,0.060,2794,3762,3565,0,0,0,0,0,0
$GC,1995,-0.76,-146.0,295.4,-16.1,237,1999,0.00,1.67,0.00,0.000,6,0.000,0.039,2794,2679,3565,0,0,0,0,0,0
$GC,2199,-0.76,-146.0,327.6,-15.2,256,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2677,3565,0,0,0,0,0,0
$GC,2390,-0.76,-146.0,356.7,-15.4,274,2394,0.00,1.77,0.00,0.000,4,0.000,0.060,2786,3764,3564,0,0,0,0,0,0
$GC,2447,-0.76,-146.0,365.8,-16.0,279,2452,0.12,1.67,0.00,0.000,6,0.157,0.040,2819,2684,3564,0,0,0,0,0,0
$STATE,2564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2564,begin apogee
$GC,2570,-0.27,0.0,382.1,13.4,290,2709,0.47,0.00,130.93,1.039,4,0.119,0.000,2975,2482,2961,0,0,0,0,0,0
$STATE,2709,end apogee,CONTROL_FINISHED_OK
$STATE,2710,begin climb
$GC,2712,0.76,146.0,389.1,0.0,302,2872,1.08,2.53,149.05,0.959,4,0.078,0.048,3306,1103,2364,0,0,0,0,0,0
$GC,2976,0.76,146.0,368.5,10.9,325,2981,0.00,2.55,0.00,0.000,6,0.000,0.050,3305,2502,2353,0,0,0,0,0,0
$GC,3175,0.76,146.0,344.9,11.5,343,3179,0.00,2.38,0.00,0.000,4,0.000,0.047,3315,1104,2349,0,0,0,0,0,0
$GC,3319,0.76,146.0,328.5,11.6,355,3323,0.00,2.35,0.00,0.000,6,0.000,0.051,3315,2517,2347,0,0,0,0,0,0
$GC,3518,0.76,146.0,304.4,12.0,373,3521,0.00,2.00,0.00,0.000,4,0.000,0.055,3314,3771,2346,0,0,0,0,0,0
$GC,3619,0.76,146.0,290.2,13.8,382,3623,0.00,1.92,0.00,0.000,6,0.000,0.038,3324,2529,2345,0,0,0,0,0,0
$GC,3823,0.76,146.0,265.1,12.1,401,3827,0.00,2.00,0.00,0.000,4,0.000,0.056,3324,3770,2344,0,0,0,0,0,0
$GC,3861,0.76,146.0,259.5,13.9,404,3868,0.00,1.95,0.00,0.000,6,0.000,0.039,3333,2540,2344,0,0,0,0,0,0
$GC,4061,0.76,146.0,233.6,12.8,423,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2538,2343,0,0,0,0,0,0
$GC,4188,0.76,146.0,217.3,12.7,435,4192,0.00,1.98,0.00,0.000,4,0.000,0.056,3333,3765,2343,0,0,0,0,0,0
$GC,4247,0.76,146.0,209.1,14.0,440,4251,0.12,1.92,0.00,0.000,6,0.164,0.037,3310,2524,2343,0,0,0,0,0,0
$GC,4383,0.76,146.0,193.0,10.9,452,4384,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2521,2343,0,0,0,0,0,0
$GC,4510,0.76,146.0,178.9,11.3,464,4514,0.00,2.00,0.00,0.000,4,0.000,0.057,3310,3762,2342,0,0,0,0,0,0
$GC,4568,0.76,146.0,171.4,12.7,469,4572,0.00,1.90,0.00,0.000,6,0.000,0.039,3317,2537,2342,0,0,0,0,0,0
$GC,4709,0.76,146.0,154.6,12.0,482,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2533,2342,0,0,0,0,0,0
$GC,4837,0.76,146.0,139.6,11.6,494,4841,0.00,2.00,0.00,0.000,4,0.000,0.055,3318,3774,2342,0,0,0,0,0,0
$GC,4906,0.76,146.0,130.4,13.8,500,4910,0.00,1.92,0.00,0.000,6,0.000,0.039,3328,2538,2341,0,0,0,0,0,0
$GC,5050,0.76,146.0,112.6,12.4,513,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2535,2341,0,0,0,0,0,0
$GC,5186,0.76,146.0,95.9,12.3,529,5192,0.00,2.00,0.00,0.000,4,0.000,0.056,3328,3764,2341,0,0,0,0,0,0
$GC,5258,0.76,146.0,85.8,14.0,542,5266,0.00,1.92,0.00,0.000,6,0.000,0.039,3337,2552,2341,0,0,0,0,0,0
$GC,5399,0.76,146.0,68.0,12.5,567,5406,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2550,2341,0,0,0,0,0,0
$GC,5537,0.76,146.0,50.5,12.4,592,5545,0.00,2.00,0.00,0.000,4,0.000,0.057,3337,3757,2341,0,0,0,0,0,0
$GC,5584,0.76,146.0,43.7,14.8,600,5593,0.10,1.90,0.00,0.000,6,0.131,0.039,3313,2561,2341,0,0,0,0,0,0
$GC,5728,0.76,146.0,28.0,10.7,625,5735,0.00,1.98,0.00,0.000,4,0.000,0.057,3313,3771,2340,0,0,0,0,0,0
$GC,5790,0.76,146.0,20.4,11.8,636,5799,0.00,1.90,0.00,0.000,6,0.000,0.040,3320,2574,2340,0,0,0,0,0,0
$FREEZE,8.54,-0.093,-1.893,2,1,0
$FREEZE,7.92,-0.089,-1.892,2,1,0
$FREEZE,7.18,-0.091,-1.892,2,1,0
$FREEZE,6.58,-0.095,-1.892,2,1,0
$FREEZE,5.65,-0.094,-1.891,2,1,0
$FREEZE,4.99,-0.093,-1.890,2,1,0
$FREEZE,4.25,-0.093,-1.890,2,1,0
$FREEZE,3.58,-0.090,-1.889,2,1,0
$GC,5936,0.76,146.0,3.6,11.5,661,5943,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2573,2340,0,0,0,0,0,0
$FREEZE,1.76,-0.096,-1.888,2,1,0
$STATE,5949,end climb,SURFACE_DEPTH_REACHED
$STATE,5950,begin surface coast
$FREEZE,1.22,-0.097,-1.887,2,1,0
$FREEZE,1.20,-0.169,-0.986,2,1,0
$FREEZE,1.10,-0.231,-0.982,2,1,0
$FREEZE,1.19,-0.221,-0.331,2,1,0
$FREEZE,1.24,-0.205,-0.999,2,1,0
$FINISH,1.2,1.014758
$STATE,5981,end surface coast,CONTROL_FINISHED_OK
$STATE,5982,begin surface
$SM_CCo,6000,79.28,0.736,1,0,1737,300.24
$SM_GC,2.00,0.00,0.00,79.28,0.000,0.000,0.736,425,2667,1737,-8.25,0.48,300.24
$IRIDIUM_FIX,-7545.40,17705.04,080111,121257
$TT8_MAMPS,0.026215
$HUMID,54.25
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,17.9
$ALTIM_BOTTOM_PING,350.2,57.2
$24V_AH,20.3,80.768
$10V_AH,9.6,55.846
$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,18.625,67.275,279.975,79.275,0.000,54.838,90.260,471.515,1.750,0.000,12.192,1679.359,2222.198,512.970,2238.920,291.206,0.000,1210.217,0.000,1112.210,0.000,13.586,0.000
$DEVICE_MAMPS,194.310,88.740,1038.870,735.930,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,468.365,863.648,938.122,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258144
$DATA_FILE_SIZE,47254,668
$CAP_FILE_SIZE,100034,0
$CFSIZE,260165632,222216192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.031,131.5,1
$GPS,080111,144755,-7628.661,17638.814,40,1.1,40,122.8