version: 66.08
glider: 502
mission: 3
dive: 597
start: 1 11 111 13 45 28
data:
$ID,502
$MISSION,3
$DIVE,597
$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,-30892.285
$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,36
$R_STBD_OVSHOOT,41
$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
$GPS1,110111,132950,-7629.804,17449.197,10,1.4,11,125.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-59.5
$GPS2,110111,134501,-7629.837,17448.736,38,1.0,38,125.4
$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,179.3,124833,-16.0,-9.091
$D_GRID,382
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.71,-146.0,0.0,0.0,0,158,0.00,0.00,-137.73,0.000,2,0.000,0.000,361,2685,3188,0,0,0,0,0,0
$GC,163,-0.71,-146.0,3.2,-1.6,20,193,9.65,2.45,-10.77,0.000,4,0.203,0.060,2827,1242,3560,0,0,0,0,0,0
$GC,249,-0.71,-146.0,17.1,-14.1,34,257,0.00,2.38,0.00,0.000,6,0.000,0.054,2818,2637,3564,0,0,0,0,0,0
$GC,387,-0.71,-146.0,39.6,-16.0,59,394,0.00,1.85,0.00,0.000,4,0.000,0.057,2809,3767,3564,0,0,0,0,0,0
$GC,473,-0.71,-146.0,54.3,-15.7,74,481,0.00,1.77,0.00,0.000,6,0.000,0.039,2809,2667,3564,0,0,0,0,0,0
$GC,613,-0.71,-146.0,75.5,-15.4,99,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2666,3564,0,0,0,0,0,0
$GC,748,-0.71,-146.0,96.4,-14.8,124,756,0.00,1.85,0.00,0.000,4,0.000,0.058,2801,3760,3565,0,0,0,0,0,0
$GC,800,-0.71,-146.0,105.2,-16.1,130,809,0.08,1.75,0.00,0.000,6,0.139,0.039,2826,2668,3565,0,0,0,0,0,0
$GC,938,-0.71,-146.0,123.8,-13.5,143,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2667,3565,0,0,0,0,0,0
$GC,1073,-0.71,-146.0,142.5,-13.8,156,1077,0.00,1.83,0.00,0.000,4,0.000,0.057,2819,3771,3565,0,0,0,0,0,0
$GC,1111,-0.71,-146.0,148.5,-15.0,159,1119,0.00,1.77,0.00,0.000,6,0.000,0.040,2819,2677,3565,0,0,0,0,0,0
$GC,1247,-0.71,-146.0,167.9,-14.9,172,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2676,3565,0,0,0,0,0,0
$GC,1374,-0.71,-146.0,186.4,-14.7,184,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2676,3565,0,0,0,0,0,0
$GC,1511,-0.71,-146.0,206.7,-14.9,197,1514,0.00,1.80,0.00,0.000,4,0.000,0.059,2811,3763,3565,0,0,0,0,0,0
$GC,1538,-0.71,-146.0,211.5,-15.9,199,1546,0.00,1.75,0.00,0.000,6,0.000,0.039,2811,2678,3565,0,0,0,0,0,0
$GC,1673,-0.71,-146.0,231.9,-15.7,212,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2678,3564,0,0,0,0,0,0
$GC,1802,-0.71,-146.0,250.8,-14.8,224,1805,0.00,1.80,0.00,0.000,4,0.000,0.060,2802,3763,3565,0,0,0,0,0,0
$GC,1859,-0.71,-146.0,260.2,-15.8,229,1863,0.12,1.70,0.00,0.000,6,0.155,0.039,2836,2679,3565,0,0,0,0,0,0
$GC,2064,-0.71,-146.0,285.7,-12.4,248,2070,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2677,3565,0,0,0,0,0,0
$GC,2262,-0.71,-146.0,309.4,-11.8,267,2266,0.00,1.80,0.00,0.000,4,0.000,0.060,2829,3762,3564,0,0,0,0,0,0
$GC,2300,-0.71,-146.0,314.4,-13.0,270,2307,0.00,1.73,0.00,0.000,6,0.000,0.039,2829,2692,3565,0,0,0,0,0,0
$GC,2500,-0.71,-146.0,339.3,-12.8,289,2507,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2693,3565,0,0,0,0,0,0
$GC,2700,-0.71,-146.0,364.8,-12.5,308,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2692,3565,0,0,0,0,0,0
$STATE,2834,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2834,begin apogee
$GC,2841,-0.27,0.0,382.6,12.9,321,2979,0.45,0.00,130.18,1.043,4,0.121,0.000,2974,2494,2961,0,0,0,0,0,0
$STATE,2979,end apogee,CONTROL_FINISHED_OK
$STATE,2980,begin climb
$GC,2982,0.71,146.0,389.7,0.0,333,3142,1.05,2.55,147.45,0.963,4,0.080,0.047,3291,1109,2364,0,0,0,0,0,0
$GC,3259,0.71,146.0,369.6,9.8,357,3267,0.00,2.55,0.00,0.000,6,0.000,0.049,3291,2499,2354,0,0,0,0,0,0
$GC,3459,0.71,146.0,349.0,10.6,376,3464,0.00,2.45,0.00,0.000,4,0.000,0.047,3301,1098,2350,0,0,0,0,0,0
$GC,3589,0.71,146.0,335.2,10.7,387,3593,0.00,2.47,0.00,0.000,6,0.000,0.050,3300,2523,2348,0,0,0,0,0,0
$GC,3788,0.71,146.0,313.1,11.3,405,3792,0.00,2.08,0.00,0.000,4,0.000,0.056,3301,3764,2347,0,0,0,0,0,0
$GC,3885,0.71,146.0,300.5,13.3,413,3889,0.00,1.98,0.00,0.000,6,0.000,0.037,3310,2529,2345,0,0,0,0,0,0
$GC,4089,0.71,146.0,277.0,11.1,432,4092,0.00,2.05,0.00,0.000,4,0.000,0.056,3310,3771,2345,0,0,0,0,0,0
$GC,4146,0.71,146.0,269.6,13.5,437,4149,0.00,1.95,0.00,0.000,6,0.000,0.038,3319,2536,2344,0,0,0,0,0,0
$GC,4351,0.71,146.0,245.2,12.1,456,4354,0.00,2.03,0.00,0.000,4,0.000,0.055,3319,3773,2344,0,0,0,0,0,0
$GC,4420,0.71,146.0,235.9,14.4,462,4425,0.12,1.92,0.00,0.000,6,0.158,0.038,3296,2553,2344,0,0,0,0,0,0
$GC,4563,0.71,146.0,220.3,10.3,475,4567,0.00,2.00,0.00,0.000,4,0.000,0.057,3295,3769,2343,0,0,0,0,0,0
$GC,4601,0.71,146.0,215.3,11.9,478,4609,0.00,1.95,0.00,0.000,6,0.000,0.039,3303,2557,2344,0,0,0,0,0,0
$GC,4737,0.71,146.0,200.8,10.8,491,4738,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,2556,2343,0,0,0,0,0,0
$GC,4863,0.71,146.0,187.3,10.7,503,4867,0.00,2.00,0.00,0.000,4,0.000,0.056,3303,3767,2343,0,0,0,0,0,0
$GC,4921,0.71,146.0,180.5,12.1,508,4924,0.00,1.90,0.00,0.000,6,0.000,0.038,3312,2560,2343,0,0,0,0,0,0
$GC,5062,0.71,146.0,164.6,11.0,521,5064,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2558,2343,0,0,0,0,0,0
$GC,5189,0.71,146.0,150.4,11.1,533,5192,0.00,2.00,0.00,0.000,4,0.000,0.056,3313,3771,2343,0,0,0,0,0,0
$GC,5248,0.71,146.0,142.3,12.5,538,5257,0.00,1.92,0.00,0.000,6,0.000,0.039,3321,2574,2342,0,0,0,0,0,0
$GC,5385,0.71,146.0,126.4,12.1,551,5386,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2573,2342,0,0,0,0,0,0
$GC,5511,0.71,146.0,111.7,11.6,563,5515,0.00,1.98,0.00,0.000,4,0.000,0.056,3321,3773,2342,0,0,0,0,0,0
$GC,5571,0.71,146.0,103.5,13.6,568,5580,0.10,1.90,0.00,0.000,6,0.135,0.039,3299,2589,2342,0,0,0,0,0,0
$GC,5710,0.71,146.0,89.6,10.3,590,5718,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2589,2341,0,0,0,0,0,0
$GC,5849,0.71,146.0,75.9,9.9,615,5856,0.00,2.00,0.00,0.000,4,0.000,0.057,3299,3769,2341,0,0,0,0,0,0
$GC,5923,0.71,146.0,67.5,12.1,628,5931,0.00,1.90,0.00,0.000,6,0.000,0.038,3306,2591,2341,0,0,0,0,0,0
$GC,6064,0.71,146.0,53.1,10.3,653,6071,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,2590,2341,0,0,0,0,0,0
$GC,6203,0.71,146.0,37.6,11.1,678,6211,0.00,2.00,0.00,0.000,4,0.000,0.059,3306,3768,2341,0,0,0,0,0,0
$GC,6290,0.71,146.0,28.8,12.5,693,6297,0.00,1.85,0.00,0.000,6,0.000,0.037,3315,2594,2340,0,0,0,0,0,0
$GC,6432,0.71,146.0,13.0,9.1,718,6439,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2593,2340,0,0,0,0,0,0
$FREEZE,8.81,-0.346,-1.892,2,1,0
$FREEZE,8.27,-0.347,-1.892,2,1,0
$FREEZE,7.63,-0.347,-1.891,2,1,0
$FREEZE,7.09,-0.351,-1.891,2,1,0
$FREEZE,6.53,-0.352,-1.890,2,1,0
$FREEZE,6.00,-0.352,-1.890,2,1,0
$FREEZE,5.36,-0.348,-1.889,2,1,0
$FREEZE,4.65,-0.349,-1.889,2,1,0
$FREEZE,3.65,-0.353,-1.888,2,1,0
$FREEZE,2.94,-0.354,-1.887,2,1,0
$STATE,6519,end climb,SURFACE_DEPTH_REACHED
$STATE,6519,begin surface coast
$FREEZE,1.95,-0.349,-1.887,2,1,0
$FREEZE,1.16,-0.359,-1.886,2,1,0
$FREEZE,1.25,-0.411,-1.888,2,1,0
$FREEZE,1.14,-0.401,-1.888,2,1,0
$FINISH,1.1,1.027630
$STATE,6545,end surface coast,CONTROL_FINISHED_OK
$STATE,6545,begin surface
$SM_CCo,6562,54.60,0.729,1,0,1941,250.20
$SM_GC,2.21,0.00,0.00,54.60,0.000,0.000,0.729,404,2676,1941,-8.31,0.74,250.20
$IRIDIUM_FIX,-7545.40,17445.83,110111,131333
$TT8_MAMPS,0.027713
$HUMID,54.80
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,18.7
$24V_AH,20.5,85.466
$10V_AH,9.6,59.226
$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,19.125,72.050,277.625,54.600,0.000,54.495,74.794,509.246,2.000,0.000,39.736,1854.514,2421.929,506.430,2429.804,325.438,0.000,1263.918,0.000,1222.844,0.000,10.742,0.000
$DEVICE_MAMPS,203.490,99.450,1043.460,729.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,516.788,948.675,1015.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258168
$DATA_FILE_SIZE,50545,737
$CAP_FILE_SIZE,107578,0
$CFSIZE,260165632,220205056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.150,206.7,1
$GPS,110111,153644,-7629.844,17444.822,14,1.2,14,125.5