version: 66.08
glider: 502
mission: 3
dive: 593
start: 1 11 111 5 14 47
data:
$ID,502
$MISSION,3
$DIVE,593
$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,275
$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,250
$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,-30887.25
$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,39
$R_STBD_OVSHOOT,30
$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
$GPS1,110111,050506,-7629.499,17503.301,38,0.8,38,125.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-61.8
$GPS2,110111,051419,-7629.521,17503.178,11,0.9,16,125.0
$SPEED_LIMITS,0.157,0.251
$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,181.0,131079,-16.0,-9.091
$D_GRID,388
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.71,-146.0,0.0,0.0,0,144,0.00,0.00,-125.70,0.000,2,0.000,0.000,395,2669,2939,0,0,0,0,0,0
$GC,148,-0.71,-146.0,3.1,-2.9,18,186,9.52,2.45,-23.05,0.000,4,0.195,0.059,2827,1250,3559,0,0,0,0,0,0
$GC,371,-0.71,-146.0,31.1,-13.5,56,379,0.00,2.35,0.00,0.000,6,0.000,0.054,2819,2638,3562,0,0,0,0,0,0
$GC,517,-0.71,-146.0,52.5,-15.7,81,524,0.00,1.88,0.00,0.000,4,0.000,0.058,2810,3763,3563,0,0,0,0,0,0
$GC,548,-0.71,-146.0,58.1,-16.6,86,556,0.00,1.77,0.00,0.000,6,0.000,0.039,2810,2661,3563,0,0,0,0,0,0
$GC,694,-0.71,-146.0,81.8,-15.9,111,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2659,3563,0,0,0,0,0,0
$GC,839,-0.71,-146.0,105.6,-16.6,134,843,0.00,1.88,0.00,0.000,4,0.000,0.058,2801,3767,3563,0,0,0,0,0,0
$GC,866,-0.71,-146.0,110.7,-17.3,136,876,0.08,1.77,0.00,0.000,6,0.137,0.039,2827,2659,3563,0,0,0,0,0,0
$GC,1004,-0.71,-146.0,130.7,-14.9,149,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2659,3563,0,0,0,0,0,0
$GC,1139,-0.71,-146.0,150.7,-14.8,162,1143,0.00,1.83,0.00,0.000,4,0.000,0.059,2820,3767,3563,0,0,0,0,0,0
$GC,1166,-0.71,-146.0,155.0,-14.9,164,1175,0.00,1.77,0.00,0.000,6,0.000,0.040,2820,2662,3563,0,0,0,0,0,0
$GC,1304,-0.71,-146.0,174.7,-14.7,177,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2661,3563,0,0,0,0,0,0
$GC,1439,-0.71,-146.0,194.8,-14.3,190,1443,0.00,1.83,0.00,0.000,4,0.000,0.059,2811,3765,3563,0,0,0,0,0,0
$GC,1486,-0.71,-146.0,201.8,-15.3,194,1490,0.00,1.73,0.00,0.000,6,0.000,0.039,2811,2669,3563,0,0,0,0,0,0
$GC,1630,-0.71,-146.0,222.8,-15.1,207,1637,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2666,3563,0,0,0,0,0,0
$GC,1765,-0.71,-146.0,242.9,-14.6,220,1769,0.00,1.83,0.00,0.000,4,0.000,0.059,2803,3769,3563,0,0,0,0,0,0
$GC,1802,-0.71,-146.0,249.3,-15.4,223,1812,0.08,1.77,0.00,0.000,6,0.135,0.040,2828,2665,3563,0,0,0,0,0,0
$GC,1938,-0.71,-146.0,267.0,-12.9,236,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2664,3563,0,0,0,0,0,0
$GC,2130,-0.71,-146.0,291.7,-12.8,254,2133,0.00,1.83,0.00,0.000,4,0.000,0.059,2821,3770,3563,0,0,0,0,0,0
$GC,2175,-0.71,-146.0,298.1,-14.2,258,2178,0.00,1.73,0.00,0.000,6,0.000,0.040,2821,2674,3563,0,0,0,0,0,0
$GC,2381,-0.71,-146.0,325.6,-13.6,277,2385,0.00,1.80,0.00,0.000,4,0.000,0.059,2812,3763,3563,0,0,0,0,0,0
$GC,2419,-0.71,-146.0,331.7,-14.5,280,2427,0.00,1.73,0.00,0.000,6,0.000,0.039,2812,2686,3563,0,0,0,0,0,0
$GC,2618,-0.71,-146.0,359.2,-14.1,299,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2685,3563,0,0,0,0,0,0
$GC,2809,-0.71,-146.0,385.7,-13.5,317,2812,0.00,1.77,0.00,0.000,4,0.000,0.059,2804,3763,3563,0,0,0,0,0,0
$STATE,2822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2823,begin apogee
$GC,2830,-0.27,0.0,388.4,14.1,318,2968,0.52,0.00,130.80,1.051,4,0.125,0.000,2970,2496,2960,0,0,0,0,0,0
$STATE,2969,end apogee,CONTROL_FINISHED_OK
$STATE,2969,begin climb
$GC,2971,0.71,146.0,395.4,0.0,330,3127,1.05,2.60,147.77,0.978,4,0.080,0.047,3288,1095,2365,0,0,0,0,0,0
$GC,3224,0.71,146.0,376.8,9.5,352,3232,0.00,2.60,0.00,0.000,6,0.000,0.049,3288,2500,2354,0,0,0,0,0,0
$GC,3422,0.71,146.0,356.3,10.3,371,3427,0.00,2.45,0.00,0.000,4,0.000,0.047,3297,1095,2350,0,0,0,0,0,0
$GC,3544,0.71,146.0,343.2,11.3,381,3551,0.00,2.47,0.00,0.000,6,0.000,0.049,3297,2522,2348,0,0,0,0,0,0
$GC,3744,0.71,146.0,322.1,10.7,400,3748,0.00,2.08,0.00,0.000,4,0.000,0.054,3297,3771,2346,0,0,0,0,0,0
$GC,3864,0.71,146.0,307.2,12.5,410,3868,0.00,1.98,0.00,0.000,6,0.000,0.039,3306,2532,2346,0,0,0,0,0,0
$GC,4068,0.71,146.0,284.1,11.3,429,4072,0.00,2.03,0.00,0.000,4,0.000,0.056,3307,3767,2345,0,0,0,0,0,0
$GC,4137,0.71,146.0,275.2,13.4,435,4140,0.00,1.90,0.00,0.000,6,0.000,0.037,3316,2553,2344,0,0,0,0,0,0
$GC,4342,0.71,146.0,250.8,11.3,454,4345,0.00,2.00,0.00,0.000,4,0.000,0.057,3316,3774,2344,0,0,0,0,0,0
$GC,4412,0.71,146.0,241.6,14.0,460,4415,0.00,1.90,0.00,0.000,6,0.000,0.039,3325,2560,2343,0,0,0,0,0,0
$GC,4555,0.71,146.0,224.3,11.4,473,4558,0.00,1.98,0.00,0.000,4,0.000,0.056,3325,3766,2343,0,0,0,0,0,0
$GC,4612,0.71,146.0,216.4,13.5,478,4616,0.15,1.88,0.00,0.000,6,0.152,0.037,3294,2565,2343,0,0,0,0,0,0
$GC,4755,0.71,146.0,201.8,9.5,491,4763,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,2563,2343,0,0,0,0,0,0
$GC,4891,0.71,146.0,188.5,9.6,504,4894,0.00,1.98,0.00,0.000,4,0.000,0.057,3294,3767,2343,0,0,0,0,0,0
$GC,4937,0.71,146.0,183.4,11.8,508,4941,0.00,1.85,0.00,0.000,6,0.000,0.037,3300,2584,2342,0,0,0,0,0,0
$GC,5081,0.71,146.0,168.4,10.2,521,5089,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2581,2342,0,0,0,0,0,0
$GC,5217,0.71,146.0,154.0,10.3,534,5220,0.00,1.95,0.00,0.000,4,0.000,0.057,3300,3767,2342,0,0,0,0,0,0
$GC,5263,0.71,146.0,148.6,11.9,538,5266,0.00,1.85,0.00,0.000,6,0.000,0.038,3309,2588,2342,0,0,0,0,0,0
$GC,5406,0.71,146.0,133.1,10.7,551,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2586,2342,0,0,0,0,0,0
$GC,5541,0.71,146.0,118.5,10.7,564,5545,0.00,1.95,0.00,0.000,4,0.000,0.057,3308,3772,2342,0,0,0,0,0,0
$GC,5590,0.71,146.0,112.2,12.6,568,5600,0.00,1.90,0.00,0.000,6,0.000,0.039,3318,2592,2342,0,0,0,0,0,0
$GC,5728,0.71,146.0,96.7,11.4,583,5734,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2591,2341,0,0,0,0,0,0
$GC,5869,0.71,146.0,80.5,11.3,608,5878,0.00,1.98,0.00,0.000,4,0.000,0.057,3318,3765,2341,0,0,0,0,0,0
$GC,5907,0.71,146.0,75.4,13.5,614,5916,0.08,1.88,0.00,0.000,6,0.138,0.037,3302,2595,2341,0,0,0,0,0,0
$GC,6053,0.71,146.0,60.3,9.5,639,6059,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2594,2341,0,0,0,0,0,0
$GC,6195,0.71,146.0,45.8,10.6,664,6204,0.00,1.95,0.00,0.000,4,0.000,0.056,3302,3755,2340,0,0,0,0,0,0
$GC,6234,0.71,146.0,41.6,11.5,670,6242,0.00,1.85,0.00,0.000,6,0.000,0.038,3309,2606,2341,0,0,0,0,0,0
$GC,6380,0.71,146.0,25.5,10.9,695,6387,0.00,2.45,0.00,0.000,4,0.000,0.049,3315,1089,2340,0,0,0,0,0,0
$GC,6408,0.71,146.0,22.2,11.3,699,6415,0.00,2.53,0.00,0.000,6,0.000,0.050,3316,2624,2340,0,0,0,0,0,0
$FREEZE,8.95,0.042,-1.891,2,1,0
$FREEZE,8.20,0.042,-1.890,2,1,0
$FREEZE,7.28,0.042,-1.890,2,1,0
$FREEZE,6.48,0.043,-1.889,2,1,0
$FREEZE,5.17,0.043,-1.888,2,1,0
$FREEZE,4.64,0.044,-1.888,2,1,0
$FREEZE,3.80,0.044,-1.887,2,1,0
$GC,6554,0.71,146.0,3.8,14.2,724,6563,0.00,1.88,0.00,0.000,4,0.000,0.057,3316,3758,2339,0,0,0,0,0,0
$FREEZE,1.56,0.042,-1.885,2,1,0
$STATE,6569,end climb,SURFACE_DEPTH_REACHED
$STATE,6569,begin surface coast
$FREEZE,1.18,0.040,-1.885,2,1,0
$FREEZE,1.14,-0.161,-1.734,2,1,0
$FINISH,1.1,1.025435
$STATE,6581,end surface coast,CONTROL_FINISHED_OK
$STATE,6582,begin surface
$SM_CCo,6601,52.28,0.719,1,0,1940,250.20
$SM_GC,2.36,0.00,0.00,52.28,0.000,0.000,0.719,405,2652,1940,-8.31,0.06,250.20
$IRIDIUM_FIX,-7545.40,17455.84,110111,030324
$TT8_MAMPS,0.028462
$HUMID,55.27
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,19.2
$24V_AH,20.5,84.961
$10V_AH,9.6,58.837
$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,19.175,87.375,278.575,52.275,0.000,23.442,36.664,330.008,2.000,0.000,16.833,1839.463,2425.330,515.942,2148.494,288.617,0.000,1282.827,0.000,1216.977,0.000,10.727,0.000
$DEVICE_MAMPS,195.075,58.905,1051.110,719.100,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,510.187,934.273,1004.596,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50528,728
$CAP_FILE_SIZE,103841,0
$CFSIZE,260165632,220454912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.163,192.3,1
$GPS,110111,070658,-7629.623,17459.686,13,4.1,32,125.1