version: 66.08
glider: 502
mission: 3
dive: 563
start: 1 8 111 20 38 35
data:
$ID,502
$MISSION,3
$DIVE,563
$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,-30849.525
$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,36
$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
$GPS1,080111,202907,-7628.228,17628.596,36,1.0,36,123.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-68.7
$GPS2,080111,203808,-7628.192,17628.484,15,1.3,15,123.0
$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,127.9,167991,-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,14,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,162,0.00,0.00,-142.62,0.000,2,0.000,0.000,410,2661,3310,0,0,0,0,0,0
$GC,167,-0.76,-146.0,3.1,-1.3,21,190,8.88,2.35,-6.75,0.000,4,0.194,0.061,2808,1242,3560,0,0,0,0,0,0
$GC,383,-0.76,-146.0,37.9,-15.0,59,391,0.00,2.30,0.00,0.000,6,0.000,0.054,2799,2649,3563,0,0,0,0,0,0
$GC,522,-0.76,-146.0,60.3,-16.5,84,530,0.00,1.83,0.00,0.000,4,0.000,0.057,2790,3764,3564,0,0,0,0,0,0
$GC,566,-0.76,-146.0,67.9,-17.7,91,574,0.00,1.77,0.00,0.000,6,0.000,0.039,2791,2626,3564,0,0,0,0,0,0
$GC,705,-0.76,-146.0,91.8,-16.9,116,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2624,3564,0,0,0,0,0,0
$GC,849,-0.76,-146.0,116.6,-17.5,133,852,0.00,1.85,0.00,0.000,4,0.000,0.058,2782,3764,3565,0,0,0,0,0,0
$GC,907,-0.76,-146.0,127.1,-18.6,138,911,0.12,1.70,0.00,0.000,6,0.157,0.039,2815,2665,3565,0,0,0,0,0,0
$GC,1048,-0.76,-146.0,148.7,-15.1,151,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2663,3565,0,0,0,0,0,0
$GC,1174,-0.76,-146.0,167.4,-15.1,163,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2663,3565,0,0,0,0,0,0
$GC,1302,-0.76,-146.0,186.6,-15.0,175,1305,0.00,1.80,0.00,0.000,4,0.000,0.058,2808,3771,3565,0,0,0,0,0,0
$GC,1329,-0.76,-146.0,191.4,-16.0,177,1337,0.00,1.75,0.00,0.000,6,0.000,0.040,2808,2676,3565,0,0,0,0,0,0
$GC,1466,-0.76,-146.0,212.3,-15.6,190,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2674,3565,0,0,0,0,0,0
$GC,1602,-0.76,-146.0,233.7,-15.5,203,1605,0.00,1.77,0.00,0.000,4,0.000,0.059,2799,3764,3565,0,0,0,0,0,0
$GC,1649,-0.76,-146.0,241.3,-17.1,207,1652,0.00,1.70,0.00,0.000,6,0.000,0.039,2799,2670,3565,0,0,0,0,0,0
$GC,1789,-0.76,-146.0,263.5,-15.0,220,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2667,3565,0,0,0,0,0,0
$GC,1980,-0.76,-146.0,293.0,-15.3,238,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2668,3565,0,0,0,0,0,0
$GC,2172,-0.76,-146.0,321.7,-15.5,256,2175,0.00,1.80,0.00,0.000,4,0.000,0.059,2791,3773,3565,0,0,0,0,0,0
$GC,2210,-0.76,-146.0,328.5,-17.6,259,2218,0.00,1.75,0.00,0.000,6,0.000,0.040,2791,2679,3565,0,0,0,0,0,0
$GC,2409,-0.76,-146.0,359.8,-15.7,278,2413,0.00,1.77,0.00,0.000,4,0.000,0.060,2783,3764,3564,0,0,0,0,0,0
$GC,2447,-0.76,-146.0,366.4,-16.7,281,2454,0.10,1.73,0.00,0.000,6,0.135,0.040,2816,2681,3564,0,0,0,0,0,0
$STATE,2517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2518,begin apogee
$GC,2524,-0.27,0.0,376.1,13.5,288,2661,0.47,0.00,130.23,1.030,4,0.121,0.000,2970,2496,2961,0,0,0,0,0,0
$STATE,2662,end apogee,CONTROL_FINISHED_OK
$STATE,2662,begin climb
$GC,2664,0.76,146.0,382.9,0.0,300,2823,1.10,2.55,148.52,0.952,4,0.080,0.047,3307,1108,2363,0,0,0,0,0,0
$GC,2903,0.76,146.0,363.1,11.0,321,2908,0.00,2.55,0.00,0.000,6,0.000,0.048,3307,2496,2354,0,0,0,0,0,0
$GC,3101,0.76,146.0,339.6,11.5,339,3105,0.00,2.40,0.00,0.000,4,0.000,0.047,3315,1099,2349,0,0,0,0,0,0
$GC,3265,0.76,146.0,321.5,11.1,353,3269,0.00,2.38,0.00,0.000,6,0.000,0.050,3316,2521,2346,0,0,0,0,0,0
$GC,3462,0.76,146.0,297.3,12.1,371,3466,0.00,2.00,0.00,0.000,4,0.000,0.055,3315,3771,2346,0,0,0,0,0,0
$GC,3554,0.76,146.0,284.9,13.7,379,3557,0.00,1.92,0.00,0.000,6,0.000,0.040,3325,2532,2345,0,0,0,0,0,0
$GC,3757,0.76,146.0,259.3,12.5,398,3758,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2529,2344,0,0,0,0,0,0
$GC,3951,0.76,146.0,236.1,11.9,416,3954,0.00,2.00,0.00,0.000,4,0.000,0.056,3325,3771,2343,0,0,0,0,0,0
$GC,4020,0.76,146.0,226.4,14.3,422,4024,0.00,1.92,0.00,0.000,6,0.000,0.039,3335,2532,2342,0,0,0,0,0,0
$GC,4161,0.76,146.0,208.5,12.6,435,4165,0.00,2.00,0.00,0.000,4,0.000,0.056,3335,3770,2342,0,0,0,0,0,0
$GC,4209,0.76,146.0,202.0,13.9,439,4213,0.12,1.90,0.00,0.000,6,0.163,0.038,3311,2545,2342,0,0,0,0,0,0
$GC,4350,0.76,146.0,185.5,11.1,452,4351,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2542,2342,0,0,0,0,0,0
$GC,4476,0.76,146.0,171.0,11.6,464,4477,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2542,2342,0,0,0,0,0,0
$GC,4604,0.76,146.0,156.2,11.8,476,4607,0.00,1.98,0.00,0.000,4,0.000,0.057,3311,3767,2342,0,0,0,0,0,0
$GC,4630,0.76,146.0,152.4,12.8,478,4638,0.00,1.95,0.00,0.000,6,0.000,0.038,3319,2542,2342,0,0,0,0,0,0
$GC,4766,0.76,146.0,136.6,11.3,491,4769,0.00,2.00,0.00,0.000,4,0.000,0.057,3319,3775,2341,0,0,0,0,0,0
$GC,4813,0.76,146.0,130.5,13.5,495,4816,0.00,1.88,0.00,0.000,6,0.000,0.038,3328,2563,2341,0,0,0,0,0,0
$GC,4956,0.76,146.0,113.3,11.9,508,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2562,2341,0,0,0,0,0,0
$GC,5092,0.76,146.0,97.1,11.8,523,5100,0.00,2.00,0.00,0.000,4,0.000,0.057,3328,3766,2341,0,0,0,0,0,0
$GC,5145,0.76,146.0,90.0,14.0,532,5153,0.00,1.90,0.00,0.000,6,0.000,0.038,3337,2565,2341,0,0,0,0,0,0
$GC,5286,0.76,146.0,72.3,12.4,557,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2564,2341,0,0,0,0,0,0
$GC,5423,0.76,146.0,55.8,12.1,582,5431,0.00,1.98,0.00,0.000,4,0.000,0.056,3337,3756,2341,0,0,0,0,0,0
$GC,5469,0.76,146.0,49.5,14.0,590,5478,0.10,1.88,0.00,0.000,6,0.134,0.039,3313,2573,2340,0,0,0,0,0,0
$GC,5612,0.76,146.0,34.5,10.5,615,5619,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2572,2340,0,0,0,0,0,0
$GC,5750,0.76,146.0,19.1,11.1,640,5759,0.00,1.98,0.00,0.000,4,0.000,0.056,3313,3763,2340,0,0,0,0,0,0
$GC,5804,0.76,146.0,12.4,13.1,649,5811,0.00,1.85,0.00,0.000,6,0.000,0.038,3321,2574,2339,0,0,0,0,0,0
$FREEZE,8.51,-0.058,-1.892,2,1,0
$FREEZE,7.89,-0.055,-1.891,2,1,0
$FREEZE,7.18,-0.048,-1.891,2,1,0
$FREEZE,6.57,-0.038,-1.890,2,1,0
$FREEZE,5.77,-0.021,-1.890,2,1,0
$FREEZE,5.17,-0.006,-1.889,2,1,0
$FREEZE,4.51,0.007,-1.889,2,1,0
$FREEZE,3.86,0.017,-1.888,2,1,0
$FREEZE,3.12,0.057,-1.888,2,1,0
$FREEZE,2.58,0.294,-1.885,2,1,0
$STATE,5885,end climb,SURFACE_DEPTH_REACHED
$STATE,5887,begin surface coast
$FREEZE,1.52,0.406,-1.884,2,1,0
$FREEZE,1.15,0.389,-1.885,2,1,0
$FREEZE,1.16,0.256,-0.934,2,1,0
$FREEZE,1.17,0.359,-1.003,2,1,0
$FREEZE,1.19,0.316,-0.705,2,1,0
$FINISH,1.2,1.010388
$STATE,5917,end surface coast,CONTROL_FINISHED_OK
$STATE,5917,begin surface
$SM_CCo,5934,77.38,0.737,1,0,1737,300.24
$SM_GC,1.94,0.00,0.00,77.38,0.000,0.000,0.737,414,2669,1737,-8.28,0.54,300.24
$IRIDIUM_FIX,-7545.40,17637.47,080111,181819
$TT8_MAMPS,0.027713
$HUMID,54.13
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,19.2
$24V_AH,20.3,81.287
$10V_AH,9.7,56.198
$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,18.525,67.275,278.750,77.375,0.000,27.203,35.522,320.192,1.500,0.000,16.439,1681.046,2114.937,505.206,1998.003,266.001,0.000,1195.953,0.000,1105.672,0.000,10.520,0.000
$DEVICE_MAMPS,193.545,88.740,1030.455,736.695,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,468.306,869.883,945.767,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258176
$DATA_FILE_SIZE,47132,668
$CAP_FILE_SIZE,94372,0
$CFSIZE,260165632,222007296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.086,324.7,1
$GPS,080111,222006,-7628.218,17624.812,35,0.8,35,123.1