version: 66.08
glider: 502
mission: 3
dive: 566
start: 1 9 111 2 12 58
data:
$ID,502
$MISSION,3
$DIVE,566
$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,-30853.295
$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,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
$GPS1,090111,020307,-7628.242,17617.066,41,0.8,41,123.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-71.5
$GPS2,090111,021232,-7628.208,17616.912,11,1.5,11,123.2
$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,137.5,162988,-17.5,-10.000
$D_GRID,375
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.76,-146.0,0.0,0.0,0,102,0.00,0.00,-80.50,0.000,2,0.000,0.000,403,2679,3229,0,0,0,0,0,0
$GC,105,-0.76,-146.0,3.0,-1.4,12,129,8.93,2.38,-9.93,0.000,4,0.195,0.062,2806,1243,3559,0,0,0,0,0,0
$GC,378,-0.76,-146.0,45.4,-14.9,59,385,0.00,2.30,0.00,0.000,6,0.000,0.055,2798,2644,3563,0,0,0,0,0,0
$GC,520,-0.76,-146.0,69.5,-16.3,84,528,0.00,1.83,0.00,0.000,4,0.000,0.058,2789,3754,3563,0,0,0,0,0,0
$GC,579,-0.76,-146.0,79.5,-17.8,93,585,0.00,1.75,0.00,0.000,6,0.000,0.040,2790,2654,3564,0,0,0,0,0,0
$GC,723,-0.76,-146.0,104.4,-17.1,116,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2653,3564,0,0,0,0,0,0
$GC,858,-0.76,-146.0,128.1,-17.2,129,862,0.00,1.80,0.00,0.000,4,0.000,0.060,2781,3763,3564,0,0,0,0,0,0
$GC,894,-0.76,-146.0,134.6,-18.9,132,898,0.12,1.70,0.00,0.000,6,0.156,0.039,2815,2663,3564,0,0,0,0,0,0
$GC,1035,-0.76,-146.0,156.8,-15.7,145,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2661,3564,0,0,0,0,0,0
$GC,1163,-0.76,-146.0,176.4,-15.2,157,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2661,3564,0,0,0,0,0,0
$GC,1290,-0.76,-146.0,196.0,-15.2,169,1294,0.00,1.80,0.00,0.000,4,0.000,0.059,2808,3764,3564,0,0,0,0,0,0
$GC,1328,-0.76,-146.0,202.6,-16.7,172,1337,0.00,1.75,0.00,0.000,6,0.000,0.039,2807,2669,3564,0,0,0,0,0,0
$GC,1464,-0.76,-146.0,223.9,-15.8,185,1465,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2667,3565,0,0,0,0,0,0
$GC,1592,-0.76,-146.0,243.7,-15.3,197,1599,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2667,3564,0,0,0,0,0,0
$GC,1726,-0.76,-146.0,264.3,-14.9,210,1729,0.00,1.80,0.00,0.000,4,0.000,0.059,2799,3769,3564,0,0,0,0,0,0
$GC,1775,-0.76,-146.0,272.4,-15.9,214,1783,0.00,1.75,0.00,0.000,6,0.000,0.040,2799,2674,3564,0,0,0,0,0,0
$GC,1974,-0.76,-146.0,302.6,-15.5,233,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2673,3564,0,0,0,0,0,0
$GC,2165,-0.76,-146.0,332.1,-15.3,251,2169,0.00,1.80,0.00,0.000,4,0.000,0.060,2790,3770,3564,0,0,0,0,0,0
$GC,2215,-0.76,-146.0,340.6,-16.5,255,2222,0.00,1.75,0.00,0.000,6,0.000,0.040,2790,2678,3564,0,0,0,0,0,0
$GC,2414,-0.76,-146.0,370.7,-14.8,274,2417,0.00,1.77,0.00,0.000,4,0.000,0.061,2783,3761,3564,0,0,0,0,0,0
$STATE,2439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2439,begin apogee
$GC,2446,-0.27,0.0,375.4,15.6,276,2583,0.60,0.00,130.32,1.037,4,0.130,0.000,2969,2489,2961,0,0,0,0,0,0
$STATE,2584,end apogee,CONTROL_FINISHED_OK
$STATE,2584,begin climb
$GC,2586,0.76,146.0,382.2,0.0,288,2745,1.10,2.55,147.80,0.959,4,0.081,0.047,3305,1101,2364,0,0,0,0,0,0
$GC,2814,0.76,146.0,364.3,10.6,308,2819,0.00,2.58,0.00,0.000,6,0.000,0.048,3305,2497,2357,0,0,0,0,0,0
$GC,3013,0.76,146.0,341.4,11.3,326,3017,0.00,2.42,0.00,0.000,4,0.000,0.047,3314,1092,2352,0,0,0,0,0,0
$GC,3187,0.76,146.0,321.7,10.9,341,3192,0.00,2.40,0.00,0.000,6,0.000,0.051,3314,2520,2349,0,0,0,0,0,0
$GC,3386,0.76,146.0,298.6,11.8,359,3390,0.00,2.03,0.00,0.000,4,0.000,0.056,3314,3775,2348,0,0,0,0,0,0
$GC,3488,0.76,146.0,284.5,13.9,368,3492,0.00,1.95,0.00,0.000,6,0.000,0.039,3324,2524,2347,0,0,0,0,0,0
$GC,3692,0.76,146.0,259.7,11.8,387,3695,0.00,2.03,0.00,0.000,4,0.000,0.057,3324,3776,2346,0,0,0,0,0,0
$GC,3749,0.76,146.0,252.1,13.7,392,3752,0.00,1.92,0.00,0.000,6,0.000,0.039,3333,2540,2345,0,0,0,0,0,0
$GC,3954,0.76,146.0,228.0,11.6,411,3958,0.00,1.98,0.00,0.000,4,0.000,0.056,3333,3764,2345,0,0,0,0,0,0
$GC,4002,0.76,146.0,221.0,13.8,415,4012,0.10,1.92,0.00,0.000,6,0.134,0.037,3310,2553,2345,0,0,0,0,0,0
$GC,4140,0.76,146.0,206.5,10.7,428,4147,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2552,2345,0,0,0,0,0,0
$GC,4275,0.76,146.0,191.7,10.9,441,4276,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2552,2345,0,0,0,0,0,0
$GC,4403,0.76,146.0,178.1,10.7,453,4407,0.00,1.98,0.00,0.000,4,0.000,0.056,3310,3773,2344,0,0,0,0,0,0
$GC,4441,0.76,146.0,173.3,12.6,456,4450,0.00,1.95,0.00,0.000,6,0.000,0.039,3318,2548,2344,0,0,0,0,0,0
$GC,4577,0.76,146.0,158.2,11.0,469,4578,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2548,2344,0,0,0,0,0,0
$GC,4704,0.76,146.0,144.3,11.0,481,4707,0.00,1.98,0.00,0.000,4,0.000,0.057,3318,3764,2344,0,0,0,0,0,0
$GC,4764,0.76,146.0,136.4,13.3,486,4773,0.00,1.92,0.00,0.000,6,0.000,0.038,3327,2554,2344,0,0,0,0,0,0
$GC,4901,0.76,146.0,121.2,11.4,499,4905,0.00,1.98,0.00,0.000,4,0.000,0.057,3327,3771,2343,0,0,0,0,0,0
$GC,4938,0.76,146.0,116.4,13.7,502,4941,0.00,1.88,0.00,0.000,6,0.000,0.039,3337,2564,2343,0,0,0,0,0,0
$GC,5082,0.76,146.0,99.0,11.9,515,5088,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2563,2343,0,0,0,0,0,0
$GC,5221,0.76,146.0,81.8,11.9,540,5229,0.00,2.00,0.00,0.000,4,0.000,0.056,3337,3768,2343,0,0,0,0,0,0
$GC,5271,0.76,146.0,75.1,14.1,548,5280,0.10,1.90,0.00,0.000,6,0.132,0.038,3313,2572,2343,0,0,0,0,0,0
$GC,5418,0.76,146.0,59.1,10.5,573,5424,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2571,2343,0,0,0,0,0,0
$GC,5559,0.78,155.8,44.0,9.5,598,5569,0.00,0.00,6.10,0.754,6,0.000,0.000,3313,2571,2325,0,0,0,0,0,0
$GC,5706,0.78,155.8,28.1,11.4,623,5713,0.00,1.95,0.00,0.000,4,0.000,0.057,3312,3771,2323,0,0,0,0,0,0
$GC,5756,0.78,155.8,22.2,12.2,631,5763,0.00,1.88,0.00,0.000,6,0.000,0.038,3320,2568,2324,0,0,0,0,0,0
$FREEZE,8.54,0.018,-1.892,2,2,0
$FREEZE,7.73,0.020,-1.892,2,2,0
$FREEZE,7.05,0.018,-1.891,2,2,0
$FREEZE,6.16,0.019,-1.891,2,2,0
$FREEZE,5.40,0.022,-1.890,2,2,0
$FREEZE,4.54,0.020,-1.889,2,2,0
$GC,5903,0.78,155.8,4.5,12.8,656,5911,0.00,2.00,0.00,0.000,4,0.000,0.059,3320,3767,2323,0,0,0,0,0,0
$FREEZE,3.09,0.021,-1.888,2,2,0
$FREEZE,2.45,0.020,-1.888,2,2,0
$STATE,5924,end climb,SURFACE_DEPTH_REACHED
$STATE,5924,begin surface coast
$FREEZE,1.75,0.015,-1.887,2,2,0
$FINISH,1.7,1.027597
$STATE,5931,end surface coast,CONTROL_FINISHED_OK
$STATE,5931,begin surface
$SM_CCo,5950,297.33,0.721,6,0,420,623.30
$SM_GC,1.84,0.00,0.00,297.33,0.000,0.000,0.721,402,2636,420,-8.30,-0.40,623.30
$IRIDIUM_FIX,-7545.40,17551.59,090111,020242
$TT8_MAMPS,0.028462
$HUMID,51.33
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.8
$24V_AH,20.3,81.654
$10V_AH,9.6,56.460
$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,18.600,71.200,284.225,297.325,0.000,81.757,225.322,0.000,1.250,0.000,12.717,1678.359,2277.896,718.448,1938.663,233.910,0.000,1398.996,0.000,1101.100,0.000,10.742,0.000
$DEVICE_MAMPS,195.075,61.965,1037.340,721.395,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,463.537,859.323,948.558,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47028,660
$CAP_FILE_SIZE,88709,0
$CFSIZE,260165632,221859840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$CURRENT,0.048,286.5,1
$GPS,090111,035826,-7628.293,17613.201,11,1.3,11,123.3