version: 66.08
glider: 502
mission: 3
dive: 569
start: 1 9 111 7 52 17
data:
$ID,502
$MISSION,3
$DIVE,569
$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,-30857.068
$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,29
$R_STBD_OVSHOOT,22
$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
$GPS1,090111,074306,-7628.665,17606.586,9,1.4,25,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-65.8
$GPS2,090111,075150,-7628.703,17606.465,12,1.4,12,123.5
$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,160.2,158456,-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,17,-0.76,-146.0,0.0,0.0,0,158,0.00,0.00,-138.35,0.000,2,0.000,0.000,400,2651,3208,0,0,0,0,0,0
$GC,163,-0.76,-146.0,3.1,-1.9,20,193,8.90,2.35,-10.35,0.000,4,0.190,0.061,2807,1240,3561,0,0,0,0,0,0
$GC,448,-0.76,-146.0,47.0,-14.8,69,455,0.00,2.33,0.00,0.000,6,0.000,0.054,2798,2658,3564,0,0,0,0,0,0
$GC,591,-0.76,-146.0,70.4,-16.3,94,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2658,3564,0,0,0,0,0,0
$GC,735,-0.76,-146.0,94.3,-16.3,119,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2658,3564,0,0,0,0,0,0
$GC,879,-0.76,-146.0,117.8,-16.2,135,883,0.00,1.77,0.00,0.000,4,0.000,0.058,2790,3762,3565,0,0,0,0,0,0
$GC,937,-0.76,-146.0,128.0,-17.4,140,941,0.00,1.75,0.00,0.000,6,0.000,0.040,2790,2638,3565,0,0,0,0,0,0
$GC,1079,-0.76,-146.0,151.8,-16.8,153,1082,0.00,1.85,0.00,0.000,4,0.000,0.060,2782,3768,3565,0,0,0,0,0,0
$GC,1115,-0.76,-146.0,158.1,-17.9,156,1120,0.12,1.73,0.00,0.000,6,0.155,0.040,2815,2660,3565,0,0,0,0,0,0
$GC,1258,-0.76,-146.0,179.7,-14.7,169,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2658,3565,0,0,0,0,0,0
$GC,1394,-0.76,-146.0,200.5,-14.8,182,1397,0.00,1.80,0.00,0.000,4,0.000,0.059,2808,3763,3565,0,0,0,0,0,0
$GC,1432,-0.76,-146.0,206.9,-16.0,185,1441,0.00,1.75,0.00,0.000,6,0.000,0.040,2808,2670,3565,0,0,0,0,0,0
$GC,1568,-0.76,-146.0,226.9,-14.7,198,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2670,3565,0,0,0,0,0,0
$GC,1695,-0.76,-146.0,245.9,-14.7,210,1699,0.00,1.77,0.00,0.000,4,0.000,0.059,2799,3762,3565,0,0,0,0,0,0
$GC,1733,-0.76,-146.0,252.3,-16.0,213,1740,0.00,1.70,0.00,0.000,6,0.000,0.040,2799,2670,3564,0,0,0,0,0,0
$GC,1931,-0.76,-146.0,282.8,-15.1,232,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2669,3565,0,0,0,0,0,0
$GC,2124,-0.76,-146.0,311.5,-15.0,250,2128,0.00,1.80,0.00,0.000,4,0.000,0.059,2791,3772,3564,0,0,0,0,0,0
$GC,2170,-0.76,-146.0,319.0,-16.4,254,2173,0.00,1.70,0.00,0.000,6,0.000,0.040,2791,2681,3564,0,0,0,0,0,0
$GC,2378,-0.76,-146.0,350.1,-15.6,273,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2680,3565,0,0,0,0,0,0
$STATE,2543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2543,begin apogee
$GC,2550,-0.27,0.0,376.1,15.0,289,2687,0.57,0.00,130.82,1.038,4,0.127,0.000,2973,2479,2961,0,0,0,0,0,0
$STATE,2688,end apogee,CONTROL_FINISHED_OK
$STATE,2688,begin climb
$GC,2691,0.76,146.0,383.8,0.0,301,2861,1.10,2.53,152.82,1.021,4,0.079,0.047,3309,1103,2363,0,0,0,0,1,0
$GC,2958,0.76,146.0,363.1,11.0,324,2965,0.00,2.58,0.00,0.000,6,0.000,0.049,3309,2500,2354,0,0,0,0,0,0
$GC,3157,0.76,146.0,341.0,11.1,343,3160,0.00,2.42,0.00,0.000,4,0.000,0.048,3315,1109,2350,0,0,0,0,0,0
$GC,3304,0.76,146.0,324.9,11.3,356,3308,0.00,2.40,0.00,0.000,6,0.000,0.050,3316,2526,2348,0,0,0,0,0,0
$GC,3503,0.76,146.0,301.3,12.0,374,3507,0.00,2.00,0.00,0.000,4,0.000,0.057,3315,3770,2347,0,0,0,0,0,0
$GC,3605,0.76,146.0,287.0,14.6,383,3608,0.00,1.92,0.00,0.000,6,0.000,0.038,3324,2536,2345,0,0,0,0,0,0
$GC,3809,0.76,146.0,262.4,11.8,402,3812,0.00,2.00,0.00,0.000,4,0.000,0.056,3324,3771,2345,0,0,0,0,0,0
$GC,3847,0.76,146.0,256.9,14.0,405,3854,0.00,1.95,0.00,0.000,6,0.000,0.038,3333,2548,2344,0,0,0,0,0,0
$GC,4048,0.76,146.0,231.6,12.9,424,4055,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2546,2344,0,0,0,0,0,0
$GC,4183,0.76,146.0,214.5,12.8,437,4187,0.00,1.98,0.00,0.000,4,0.000,0.056,3334,3766,2344,0,0,0,0,0,0
$GC,4240,0.76,146.0,206.5,15.3,442,4245,0.12,1.90,0.00,0.000,6,0.160,0.037,3310,2543,2343,0,0,0,0,0,0
$GC,4382,0.76,146.0,189.9,11.1,455,4390,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2541,2343,0,0,0,0,0,0
$GC,4519,0.76,146.0,174.5,11.1,468,4522,0.00,2.00,0.00,0.000,4,0.000,0.057,3310,3771,2343,0,0,0,0,0,0
$GC,4577,0.76,146.0,167.3,12.9,473,4580,0.00,1.90,0.00,0.000,6,0.000,0.038,3318,2550,2342,0,0,0,0,0,0
$GC,4720,0.76,146.0,150.4,11.8,486,4728,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2549,2342,0,0,0,0,0,0
$GC,4856,0.76,146.0,134.6,11.5,499,4860,0.00,1.98,0.00,0.000,4,0.000,0.057,3318,3764,2342,0,0,0,0,0,0
$GC,4913,0.76,146.0,127.2,13.4,504,4917,0.00,1.88,0.00,0.000,6,0.000,0.037,3327,2556,2341,0,0,0,0,0,0
$GC,5055,0.76,146.0,110.2,11.8,517,5056,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2554,2341,0,0,0,0,0,0
$GC,5181,0.76,146.0,94.8,11.9,532,5189,0.00,2.03,0.00,0.000,4,0.000,0.056,3327,3768,2341,0,0,0,0,0,0
$GC,5253,0.76,146.0,85.3,13.2,544,5261,0.00,1.90,0.00,0.000,6,0.000,0.037,3336,2570,2341,0,0,0,0,0,0
$GC,5400,0.76,146.0,67.2,12.3,569,5406,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2570,2341,0,0,0,0,0,0
$GC,5541,0.76,146.0,48.7,12.7,594,5550,0.00,2.00,0.00,0.000,4,0.000,0.057,3336,3767,2341,0,0,0,0,0,0
$GC,5591,0.76,146.0,41.7,13.9,602,5602,0.10,1.90,0.00,0.000,6,0.131,0.037,3312,2572,2340,0,0,0,0,0,0
$GC,5739,0.76,146.0,25.5,10.9,627,5745,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2572,2340,0,0,0,0,0,0
$FREEZE,8.91,-0.056,-1.892,2,1,0
$GC,5883,0.76,146.0,8.9,12.3,652,5891,0.00,1.98,0.00,0.000,4,0.000,0.056,3312,3757,2340,0,0,0,0,0,0
$FREEZE,6.74,-0.055,-1.891,2,1,0
$FREEZE,6.12,-0.056,-1.890,2,1,0
$FREEZE,5.41,-0.058,-1.890,2,1,0
$FREEZE,4.67,-0.058,-1.889,2,1,0
$FREEZE,3.74,-0.057,-1.888,2,1,0
$FREEZE,3.17,-0.055,-1.888,2,1,0
$FREEZE,2.13,-0.055,-1.887,2,1,0
$STATE,5934,end climb,SURFACE_DEPTH_REACHED
$STATE,5934,begin surface coast
$FREEZE,1.09,-0.053,-1.886,2,1,0
$FREEZE,1.07,-0.117,-1.177,2,1,0
$FREEZE,1.14,-0.101,-1.822,2,1,0
$FREEZE,1.17,-0.086,-1.887,2,1,0
$FINISH,1.2,1.027602
$STATE,5961,end surface coast,CONTROL_FINISHED_OK
$STATE,5961,begin surface
$SM_CCo,5980,73.80,0.099,0,0,1737,300.24
$SM_GC,2.17,0.00,0.00,73.80,0.000,0.000,0.099,409,2638,1737,-8.30,-0.34,300.24
$IRIDIUM_FIX,-7545.40,17600.76,090111,050531
$TT8_MAMPS,0.028462
$HUMID,54.56
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,18.1
$24V_AH,20.3,82.030
$10V_AH,9.7,56.721
$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,18.550,63.600,283.650,73.800,0.000,27.887,40.430,300.522,1.500,0.000,13.368,1659.051,2168.272,509.254,1975.642,271.734,0.000,1200.310,0.000,1104.936,0.000,10.678,0.000
$DEVICE_MAMPS,190.485,61.200,1038.105,99.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,465.205,861.253,939.527,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258212
$DATA_FILE_SIZE,47055,664
$CAP_FILE_SIZE,91263,0
$CFSIZE,260165632,221704192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.095,156.9,1
$GPS,090111,093430,-7628.885,17603.955,40,1.5,40,123.6