version: 66.08
glider: 502
mission: 3
dive: 591
start: 1 11 111 1 20 24
data:
$ID,502
$MISSION,3
$DIVE,591
$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,-30884.732
$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,44
$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
$GPS1,110111,010800,-7629.012,17511.301,39,1.2,40,124.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-62.2
$GPS2,110111,011956,-7629.043,17510.908,11,2.0,11,124.8
$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,160.3,134430,-17.5,-10.000
$D_GRID,387
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,162,0.00,0.00,-143.55,0.000,2,0.000,0.000,365,2637,3332,0,0,0,0,0,0
$GC,167,-0.76,-146.0,3.3,-2.1,21,190,9.05,2.25,-5.88,0.000,4,0.190,0.059,2810,1250,3561,0,0,0,0,0,0
$GC,445,-0.76,-146.0,49.6,-14.6,69,452,0.00,2.33,0.00,0.000,6,0.000,0.054,2801,2652,3564,0,0,0,0,0,0
$GC,587,-0.76,-146.0,72.7,-16.7,94,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2652,3565,0,0,0,0,0,0
$GC,733,-0.76,-146.0,96.1,-16.2,119,740,0.00,1.83,0.00,0.000,4,0.000,0.057,2793,3770,3565,0,0,0,0,0,0
$GC,794,-0.76,-146.0,107.6,-17.4,126,803,0.00,1.77,0.00,0.000,6,0.000,0.039,2793,2661,3565,0,0,0,0,0,0
$GC,930,-0.76,-146.0,129.9,-16.7,139,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2659,3565,0,0,0,0,0,0
$GC,1066,-0.76,-146.0,152.6,-16.8,152,1070,0.00,1.83,0.00,0.000,4,0.000,0.060,2785,3763,3565,0,0,0,0,0,0
$GC,1102,-0.76,-146.0,159.1,-17.8,155,1106,0.12,1.73,0.00,0.000,6,0.157,0.039,2818,2660,3565,0,0,0,0,0,0
$GC,1242,-0.76,-146.0,180.5,-14.5,168,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2657,3566,0,0,0,0,0,0
$GC,1370,-0.76,-146.0,199.4,-14.9,180,1371,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2657,3566,0,0,0,0,0,0
$GC,1497,-0.76,-146.0,218.0,-14.8,192,1500,0.00,1.83,0.00,0.000,4,0.000,0.060,2811,3763,3566,0,0,0,0,0,0
$GC,1545,-0.76,-146.0,226.0,-15.1,196,1553,0.00,1.77,0.00,0.000,6,0.000,0.039,2811,2661,3565,0,0,0,0,0,0
$GC,1683,-0.76,-146.0,245.6,-14.7,209,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2660,3565,0,0,0,0,0,0
$GC,1817,-0.76,-146.0,265.5,-14.3,222,1821,0.00,1.83,0.00,0.000,4,0.000,0.059,2802,3763,3566,0,0,0,0,0,0
$GC,1855,-0.76,-146.0,271.7,-15.4,225,1862,0.00,1.75,0.00,0.000,6,0.000,0.038,2802,2676,3565,0,0,0,0,0,0
$GC,2054,-0.76,-146.0,301.9,-15.6,244,2055,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2676,3565,0,0,0,0,0,0
$GC,2244,-0.76,-146.0,331.5,-15.3,262,2248,0.00,1.80,0.00,0.000,4,0.000,0.061,2794,3763,3565,0,0,0,0,0,0
$GC,2278,-0.76,-146.0,337.2,-16.5,265,2282,0.00,1.73,0.00,0.000,6,0.000,0.040,2794,2666,3565,0,0,0,0,0,0
$GC,2483,-0.76,-146.0,368.8,-15.1,284,2486,0.00,1.83,0.00,0.000,4,0.000,0.059,2785,3767,3565,0,0,0,0,0,0
$GC,2521,-0.76,-146.0,375.4,-15.7,287,2528,0.08,1.75,0.00,0.000,6,0.136,0.039,2810,2681,3565,0,0,0,0,0,0
$STATE,2611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2611,begin apogee
$GC,2617,-0.27,0.0,388.0,13.4,296,2756,0.50,0.00,130.57,1.057,4,0.122,0.000,2972,2482,2961,0,0,0,0,0,0
$STATE,2757,end apogee,CONTROL_FINISHED_OK
$STATE,2757,begin climb
$GC,2759,0.76,146.0,394.3,0.0,308,2918,1.10,2.55,148.30,0.982,4,0.079,0.047,3305,1106,2364,0,0,0,0,0,0
$GC,3022,0.76,146.0,372.3,10.4,331,3027,0.00,2.55,0.00,0.000,6,0.000,0.049,3305,2498,2355,0,0,0,0,0,0
$GC,3221,0.76,146.0,349.4,10.9,349,3225,0.00,2.42,0.00,0.000,4,0.000,0.047,3315,1103,2351,0,0,0,0,0,0
$GC,3354,0.76,146.0,334.6,11.2,360,3362,0.00,2.47,0.00,0.000,6,0.000,0.050,3315,2511,2349,0,0,0,0,0,0
$GC,3554,0.76,146.0,312.2,11.4,379,3558,0.00,2.08,0.00,0.000,4,0.000,0.056,3315,3763,2348,0,0,0,0,0,0
$GC,3665,0.76,146.0,297.0,13.6,388,3672,0.00,1.98,0.00,0.000,6,0.000,0.037,3324,2538,2347,0,0,0,0,0,0
$GC,3864,0.76,146.0,272.9,12.3,407,3868,0.00,2.03,0.00,0.000,4,0.000,0.056,3324,3774,2346,0,0,0,0,0,0
$GC,3921,0.76,146.0,264.8,14.4,412,3925,0.00,1.95,0.00,0.000,6,0.000,0.039,3334,2536,2346,0,0,0,0,0,0
$GC,4126,0.76,146.0,238.3,13.1,431,4130,0.00,2.00,0.00,0.000,4,0.000,0.056,3334,3764,2345,0,0,0,0,0,0
$GC,4162,0.76,146.0,233.2,15.8,434,4167,0.12,1.92,0.00,0.000,6,0.161,0.038,3310,2540,2345,0,0,0,0,0,0
$GC,4299,0.76,146.0,217.1,11.2,446,4303,0.00,2.00,0.00,0.000,4,0.000,0.056,3310,3764,2345,0,0,0,0,0,0
$GC,4346,0.76,146.0,210.9,14.3,450,4349,0.00,1.90,0.00,0.000,6,0.000,0.037,3318,2550,2344,0,0,0,0,0,0
$GC,4488,0.76,146.0,194.5,11.2,463,4492,0.00,2.00,0.00,0.000,4,0.000,0.057,3318,3767,2344,0,0,0,0,0,0
$GC,4535,0.76,146.0,188.3,13.7,467,4538,0.00,1.88,0.00,0.000,6,0.000,0.038,3327,2565,2344,0,0,0,0,0,0
$GC,4677,0.76,146.0,170.8,11.9,480,4685,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2563,2344,0,0,0,0,0,0
$GC,4814,0.76,146.0,154.7,11.7,493,4817,0.00,1.98,0.00,0.000,4,0.000,0.057,3327,3769,2343,0,0,0,0,0,0
$GC,4884,0.76,146.0,144.9,14.0,499,4893,0.00,1.90,0.00,0.000,6,0.000,0.038,3336,2579,2343,0,0,0,0,0,0
$GC,5023,0.76,146.0,128.5,12.1,512,5030,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2577,2343,0,0,0,0,0,0
$GC,5158,0.76,146.0,112.1,11.7,525,5162,0.00,1.95,0.00,0.000,4,0.000,0.056,3336,3769,2343,0,0,0,0,0,0
$GC,5195,0.76,146.0,106.8,13.7,528,5205,0.10,1.90,0.00,0.000,6,0.134,0.039,3313,2586,2343,0,0,0,0,0,0
$GC,5336,0.76,146.0,91.7,11.0,547,5342,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2586,2343,0,0,0,0,0,0
$GC,5475,0.76,146.0,76.4,11.0,572,5483,0.00,1.98,0.00,0.000,4,0.000,0.057,3312,3760,2343,0,0,0,0,0,0
$GC,5524,0.76,146.0,70.5,12.0,580,5532,0.00,1.88,0.00,0.000,6,0.000,0.039,3319,2593,2342,0,0,0,0,0,0
$GC,5671,0.76,146.0,53.9,11.9,605,5677,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2591,2342,0,0,0,0,0,0
$GC,5813,0.76,146.0,37.0,11.0,630,5822,0.00,1.98,0.00,0.000,4,0.000,0.057,3320,3762,2342,0,0,0,0,0,0
$GC,5903,0.76,146.0,25.6,13.0,645,5910,0.00,1.85,0.00,0.000,6,0.000,0.038,3329,2589,2342,0,0,0,0,0,0
$FREEZE,8.60,0.195,-1.890,2,1,0
$FREEZE,7.92,0.198,-1.890,2,1,0
$FREEZE,6.86,0.195,-1.889,2,1,0
$GC,6050,0.76,146.0,6.9,13.3,670,6059,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2587,2341,0,0,0,0,0,0
$FREEZE,4.40,0.200,-1.887,2,1,0
$FREEZE,3.73,0.199,-1.887,2,1,0
$FREEZE,2.91,0.200,-1.886,2,1,0
$STATE,6076,end climb,SURFACE_DEPTH_REACHED
$STATE,6076,begin surface coast
$FREEZE,2.24,0.199,-1.885,2,1,0
$FREEZE,1.22,0.199,-1.885,2,1,0
$FREEZE,1.18,0.159,-1.886,2,1,0
$FREEZE,1.24,-0.009,-1.354,2,1,0
$FINISH,1.2,1.019963
$STATE,6102,end surface coast,CONTROL_FINISHED_OK
$STATE,6102,begin surface
$SM_CCo,6121,79.25,0.749,1,0,1736,300.24
$SM_GC,1.99,0.00,0.00,79.25,0.000,0.000,0.749,417,2675,1736,-8.27,0.71,300.24
$IRIDIUM_FIX,-7545.40,17505.01,110111,010134
$TT8_MAMPS,0.028462
$HUMID,55.19
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,14.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,18.5
$24V_AH,20.5,84.694
$10V_AH,9.6,58.652
$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,18.825,71.525,278.875,79.250,0.000,61.116,117.289,314.944,1.750,0.000,12.178,1700.325,2283.588,525.175,2140.420,278.006,0.000,1240.966,0.000,1140.264,0.000,7.778,0.000
$DEVICE_MAMPS,190.485,91.800,1057.230,748.935,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,474.909,873.405,936.316,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258108
$DATA_FILE_SIZE,47114,678
$CAP_FILE_SIZE,96986,0
$CFSIZE,260165632,220573696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.137,203.0,1
$GPS,110111,030458,-7629.306,17507.014,10,2.6,29,124.9