version: 66.08
glider: 502
mission: 3
dive: 567
start: 1 9 111 4 7 58
data:
$ID,502
$MISSION,3
$DIVE,567
$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,-30854.553
$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,42
$R_STBD_OVSHOOT,23
$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
$GPS1,090111,035826,-7628.293,17613.201,11,1.3,11,123.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-63.3
$GPS2,090111,040731,-7628.281,17613.029,12,1.3,17,123.3
$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,142.4,161307,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,157,0.00,0.00,-137.55,0.000,2,0.000,0.000,387,2635,3196,0,0,0,0,0,0
$GC,162,-0.76,-146.0,3.1,-1.2,20,192,9.02,2.28,-10.68,0.000,4,0.194,0.061,2809,1252,3560,0,0,0,0,0,0
$GC,447,-0.76,-146.0,46.7,-15.3,69,454,0.00,2.30,0.00,0.000,6,0.000,0.054,2800,2651,3564,0,0,0,0,0,0
$GC,589,-0.76,-146.0,69.3,-16.0,94,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2652,3563,0,0,0,0,0,0
$GC,734,-0.76,-146.0,92.7,-16.5,119,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2652,3564,0,0,0,0,0,0
$GC,877,-0.76,-146.0,115.9,-15.9,136,881,0.00,1.77,0.00,0.000,4,0.000,0.057,2792,3764,3564,0,0,0,0,0,0
$GC,927,-0.76,-146.0,125.0,-16.8,140,936,0.00,1.75,0.00,0.000,6,0.000,0.039,2791,2659,3564,0,0,0,0,0,0
$GC,1063,-0.76,-146.0,147.0,-16.7,153,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2658,3564,0,0,0,0,0,0
$GC,1191,-0.76,-146.0,168.5,-16.7,165,1194,0.00,1.80,0.00,0.000,4,0.000,0.060,2784,3764,3564,0,0,0,0,0,0
$GC,1226,-0.76,-146.0,174.9,-17.8,168,1230,0.12,1.73,0.00,0.000,6,0.155,0.039,2817,2651,3565,0,0,0,0,0,0
$GC,1367,-0.76,-146.0,196.3,-14.9,181,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2649,3564,0,0,0,0,0,0
$GC,1495,-0.76,-146.0,215.1,-14.7,193,1498,0.00,1.83,0.00,0.000,4,0.000,0.059,2810,3770,3564,0,0,0,0,0,0
$GC,1532,-0.76,-146.0,221.7,-16.3,196,1541,0.00,1.77,0.00,0.000,6,0.000,0.040,2810,2662,3564,0,0,0,0,0,0
$GC,1668,-0.76,-146.0,242.3,-15.2,209,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2660,3564,0,0,0,0,0,0
$GC,1796,-0.76,-146.0,261.6,-15.0,221,1799,0.00,1.80,0.00,0.000,4,0.000,0.060,2801,3764,3564,0,0,0,0,0,0
$GC,1834,-0.76,-146.0,268.2,-15.9,224,1841,0.00,1.75,0.00,0.000,6,0.000,0.039,2801,2666,3564,0,0,0,0,0,0
$GC,2033,-0.76,-146.0,297.4,-14.9,243,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2664,3564,0,0,0,0,0,0
$GC,2224,-0.76,-146.0,325.6,-14.5,261,2228,0.00,1.80,0.00,0.000,4,0.000,0.059,2793,3767,3564,0,0,0,0,0,0
$GC,2262,-0.76,-146.0,331.9,-16.1,264,2269,0.00,1.75,0.00,0.000,6,0.000,0.040,2793,2674,3564,0,0,0,0,0,0
$GC,2461,-0.76,-146.0,361.8,-15.1,283,2465,0.00,1.77,0.00,0.000,4,0.000,0.060,2785,3763,3564,0,0,0,0,0,0
$GC,2496,-0.76,-146.0,367.6,-16.6,286,2500,0.12,1.70,0.00,0.000,6,0.155,0.039,2819,2671,3564,0,0,0,0,0,0
$STATE,2548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2548,begin apogee
$GC,2554,-0.27,0.0,375.2,13.6,291,2692,0.47,0.00,130.35,1.031,4,0.118,0.000,2975,2487,2961,0,0,0,0,0,0
$STATE,2693,end apogee,CONTROL_FINISHED_OK
$STATE,2693,begin climb
$GC,2696,0.76,146.0,381.5,0.0,303,2855,1.10,2.55,148.43,0.958,4,0.078,0.047,3311,1098,2364,0,0,0,0,0,0
$GC,2938,0.76,146.0,361.9,10.9,324,2946,0.00,2.60,0.00,0.000,6,0.000,0.048,3311,2507,2354,0,0,0,0,0,0
$GC,3138,0.76,146.0,338.6,11.8,343,3142,0.00,2.42,0.00,0.000,4,0.000,0.047,3319,1097,2350,0,0,0,0,0,0
$GC,3294,0.76,146.0,320.2,11.9,356,3301,0.00,2.40,0.00,0.000,6,0.000,0.050,3320,2518,2347,0,0,0,0,0,0
$GC,3494,0.76,146.0,296.0,12.2,375,3498,0.00,2.05,0.00,0.000,4,0.000,0.056,3320,3782,2347,0,0,0,0,0,0
$GC,3607,0.76,146.0,278.8,14.8,385,3610,0.00,1.95,0.00,0.000,6,0.000,0.039,3329,2535,2345,0,0,0,0,0,0
$GC,3810,0.76,146.0,252.3,12.3,404,3814,0.00,2.00,0.00,0.000,4,0.000,0.055,3329,3774,2344,0,0,0,0,0,0
$GC,3847,0.76,146.0,247.5,14.2,407,3851,0.00,1.92,0.00,0.000,6,0.000,0.038,3339,2537,2344,0,0,0,0,0,0
$GC,3989,0.76,146.0,228.8,12.9,420,3990,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2534,2344,0,0,0,0,0,0
$GC,4116,0.76,146.0,212.2,12.8,432,4120,0.00,2.00,0.00,0.000,4,0.000,0.055,3339,3774,2344,0,0,0,0,0,0
$GC,4199,0.76,146.0,199.7,15.7,439,4207,0.10,1.95,0.00,0.000,6,0.133,0.038,3315,2553,2343,0,0,0,0,0,0
$GC,4336,0.76,146.0,184.3,10.9,452,4343,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2552,2343,0,0,0,0,0,0
$GC,4472,0.76,146.0,169.1,11.0,465,4473,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2552,2343,0,0,0,0,0,0
$GC,4598,0.76,146.0,154.6,11.2,477,4602,0.00,1.98,0.00,0.000,4,0.000,0.056,3315,3771,2342,0,0,0,0,0,0
$GC,4645,0.76,146.0,148.8,13.4,481,4649,0.00,1.90,0.00,0.000,6,0.000,0.039,3323,2550,2342,0,0,0,0,0,0
$GC,4788,0.76,146.0,132.1,11.7,494,4797,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2549,2342,0,0,0,0,0,0
$GC,4924,0.76,146.0,116.5,11.3,507,4928,0.00,1.98,0.00,0.000,4,0.000,0.056,3323,3767,2342,0,0,0,0,0,0
$GC,4973,0.76,146.0,109.9,13.2,511,4981,0.00,1.90,0.00,0.000,6,0.000,0.038,3332,2563,2342,0,0,0,0,0,0
$GC,5109,0.76,146.0,93.9,11.6,528,5117,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2562,2342,0,0,0,0,0,0
$GC,5254,0.76,146.0,77.3,11.1,553,5261,0.00,1.98,0.00,0.000,4,0.000,0.056,3332,3770,2342,0,0,0,0,0,0
$GC,5304,0.76,146.0,71.0,13.4,561,5311,0.00,1.88,0.00,0.000,6,0.000,0.038,3341,2567,2342,0,0,0,0,0,0
$GC,5448,0.76,146.0,53.2,12.8,586,5456,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2566,2341,0,0,0,0,0,0
$GC,5595,0.76,146.0,34.8,12.7,611,5601,0.00,1.98,0.00,0.000,4,0.000,0.056,3341,3774,2341,0,0,0,0,0,0
$GC,5648,0.76,146.0,27.3,13.7,620,5657,0.10,1.92,0.00,0.000,6,0.137,0.039,3318,2567,2341,0,0,0,0,0,0
$GC,5795,0.76,146.0,12.2,10.7,645,5802,0.00,1.98,0.00,0.000,4,0.000,0.057,3317,3770,2341,0,0,0,0,0,0
$FREEZE,8.84,0.034,-1.893,2,1,0
$FREEZE,7.94,0.026,-1.892,2,1,0
$FREEZE,7.17,0.031,-1.892,2,1,0
$GC,5836,0.76,146.0,7.2,14.0,651,5842,0.00,1.88,0.00,0.000,6,0.000,0.038,3325,2571,2340,0,0,0,0,0,0
$FREEZE,4.86,0.002,-1.890,2,1,0
$FREEZE,4.01,-0.002,-1.889,2,1,0
$FREEZE,3.55,0.006,-1.889,2,1,0
$FREEZE,2.90,0.010,-1.888,2,1,0
$STATE,5866,end climb,SURFACE_DEPTH_REACHED
$STATE,5866,begin surface coast
$FREEZE,2.20,0.011,-1.888,2,1,0
$FREEZE,1.48,0.012,-1.887,2,1,0
$FREEZE,1.20,-0.090,-1.894,2,1,0
$FREEZE,1.17,-0.104,-1.396,2,1,0
$FREEZE,1.26,-0.036,-1.888,2,1,0
$FINISH,1.3,1.027607
$STATE,5900,end surface coast,CONTROL_FINISHED_OK
$STATE,5900,begin surface
$SM_CCo,5917,77.82,0.742,1,0,1737,300.24
$SM_GC,2.12,0.00,0.00,77.82,0.000,0.000,0.742,412,2659,1737,-8.28,0.25,300.24
$IRIDIUM_FIX,-7545.40,17609.93,090111,020228
$TT8_MAMPS,0.028462
$HUMID,54.44
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,18.4
$ALTIM_BOTTOM_PING,350.5,65.3
$24V_AH,20.3,81.770
$10V_AH,9.6,56.547
$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,18.700,67.400,278.775,77.825,0.000,29.151,45.751,307.029,1.750,0.000,18.073,1659.415,2096.008,516.132,2000.774,280.145,0.000,1209.715,0.000,1104.953,0.000,13.622,0.000
$DEVICE_MAMPS,194.310,94.860,1031.220,742.050,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,462.936,860.852,942.010,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47120,661
$CAP_FILE_SIZE,94191,0
$CFSIZE,260165632,221806592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.028,222.2,1
$GPS,090111,054907,-7628.441,17609.734,29,1.0,29,123.4