version: 66.08
glider: 502
mission: 3
dive: 598
start: 1 11 111 15 47 15
data:
$ID,502
$MISSION,3
$DIVE,598
$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,623.29712
$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,-30893.547
$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,32
$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
$GPS1,110111,153644,-7629.844,17444.822,14,1.2,14,125.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-69.8
$GPS2,110111,154646,-7629.877,17444.602,16,2.6,35,125.5
$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,176.6,123045,-16.0,-9.091
$D_GRID,383
$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,-146.0,0.0,0.0,0,80,0.00,0.00,-62.20,0.000,2,0.000,0.000,360,2677,3091,0,0,0,0,0,0
$GC,83,-0.71,-146.0,3.1,-2.2,9,114,9.25,2.40,-15.57,0.000,4,0.199,0.061,2828,1243,3560,0,0,0,0,0,0
$GC,249,-0.71,-146.0,25.1,-13.4,38,257,0.00,2.35,0.00,0.000,6,0.000,0.054,2819,2642,3562,0,0,0,0,0,0
$GC,390,-0.71,-146.0,46.9,-15.6,63,398,0.00,1.83,0.00,0.000,4,0.000,0.058,2810,3761,3563,0,0,0,0,0,0
$GC,465,-0.71,-146.0,59.1,-16.0,76,473,0.00,1.77,0.00,0.000,6,0.000,0.040,2810,2660,3563,0,0,0,0,0,0
$GC,606,-0.71,-146.0,80.8,-15.7,101,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2659,3563,0,0,0,0,0,0
$GC,747,-0.71,-146.0,102.4,-14.9,126,750,0.00,1.83,0.00,0.000,4,0.000,0.059,2802,3761,3564,0,0,0,0,0,0
$GC,794,-0.71,-146.0,110.0,-16.4,130,798,0.12,1.70,0.00,0.000,6,0.157,0.039,2835,2677,3564,0,0,0,0,0,0
$GC,934,-0.71,-146.0,129.4,-13.3,143,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2674,3564,0,0,0,0,0,0
$GC,1062,-0.71,-146.0,146.7,-13.4,155,1065,0.00,1.80,0.00,0.000,4,0.000,0.059,2829,3762,3564,0,0,0,0,0,0
$GC,1098,-0.71,-146.0,151.7,-14.2,158,1102,0.00,1.70,0.00,0.000,6,0.000,0.038,2828,2678,3564,0,0,0,0,0,0
$GC,1239,-0.71,-146.0,171.3,-13.8,171,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2676,3564,0,0,0,0,0,0
$GC,1367,-0.71,-146.0,188.5,-13.6,183,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2676,3564,0,0,0,0,0,0
$GC,1494,-0.71,-146.0,205.7,-13.6,195,1495,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2676,3564,0,0,0,0,0,0
$GC,1620,-0.71,-146.0,223.1,-13.9,207,1623,0.00,1.80,0.00,0.000,4,0.000,0.059,2820,3763,3564,0,0,0,0,0,0
$GC,1668,-0.71,-146.0,230.6,-15.0,211,1677,0.00,1.73,0.00,0.000,6,0.000,0.039,2820,2691,3564,0,0,0,0,0,0
$GC,1807,-0.71,-146.0,249.6,-14.2,224,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2691,3564,0,0,0,0,0,0
$GC,1941,-0.71,-146.0,270.1,-14.8,237,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2691,3565,0,0,0,0,0,0
$GC,2132,-0.71,-146.0,297.6,-14.1,255,2136,0.00,1.77,0.00,0.000,4,0.000,0.059,2812,3762,3564,0,0,0,0,0,0
$GC,2171,-0.71,-146.0,303.7,-15.3,258,2178,0.00,1.73,0.00,0.000,6,0.000,0.040,2811,2695,3564,0,0,0,0,0,0
$GC,2371,-0.71,-146.0,332.0,-14.3,277,2372,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2694,3564,0,0,0,0,0,0
$GC,2560,-0.71,-146.0,359.3,-14.2,295,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2694,3564,0,0,0,0,0,0
$STATE,2727,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2727,begin apogee
$GC,2733,-0.27,0.0,383.1,14.2,311,2873,0.50,0.00,131.15,1.048,4,0.123,0.000,2971,2480,2960,0,0,0,0,0,0
$STATE,2874,end apogee,CONTROL_FINISHED_OK
$STATE,2874,begin climb
$GC,2876,0.71,146.0,389.9,0.0,323,3032,1.05,2.55,147.62,0.965,4,0.080,0.047,3288,1105,2364,0,0,0,0,0,0
$GC,3143,0.71,146.0,369.2,10.5,347,3147,0.00,2.58,0.00,0.000,6,0.000,0.049,3288,2505,2354,0,0,0,0,0,0
$GC,3342,0.71,146.0,347.2,10.8,365,3346,0.00,2.45,0.00,0.000,4,0.000,0.047,3297,1106,2350,0,0,0,0,0,0
$GC,3465,0.71,146.0,333.5,10.8,375,3472,0.00,2.45,0.00,0.000,6,0.000,0.049,3298,2516,2348,0,0,0,0,0,0
$GC,3662,0.71,146.0,311.0,11.6,394,3666,0.00,2.10,0.00,0.000,4,0.000,0.054,3297,3770,2347,0,0,0,0,0,0
$GC,3741,0.71,146.0,300.6,13.2,400,3748,0.00,2.00,0.00,0.000,6,0.000,0.038,3307,2532,2346,0,0,0,0,0,0
$GC,3940,0.71,146.0,278.5,10.7,419,3944,0.00,2.03,0.00,0.000,4,0.000,0.055,3307,3765,2346,0,0,0,0,0,0
$GC,4007,0.71,146.0,269.7,13.4,425,4011,0.00,1.98,0.00,0.000,6,0.000,0.038,3316,2540,2345,0,0,0,0,0,0
$GC,4215,0.71,146.0,246.7,10.9,444,4219,0.00,2.00,0.00,0.000,4,0.000,0.055,3316,3766,2345,0,0,0,0,0,0
$GC,4275,0.71,146.0,238.5,13.0,449,4284,0.08,1.98,0.00,0.000,6,0.141,0.038,3300,2535,2345,0,0,0,0,0,0
$GC,4412,0.71,146.0,224.6,10.4,462,4416,0.00,2.03,0.00,0.000,4,0.000,0.057,3300,3774,2344,0,0,0,0,0,0
$GC,4461,0.71,146.0,218.3,12.4,466,4470,0.00,1.95,0.00,0.000,6,0.000,0.039,3308,2553,2344,0,0,0,0,0,0
$GC,4597,0.71,146.0,203.9,10.6,479,4600,0.00,2.00,0.00,0.000,4,0.000,0.056,3308,3775,2344,0,0,0,0,0,0
$GC,4646,0.71,146.0,197.7,12.6,483,4655,0.00,1.95,0.00,0.000,6,0.000,0.039,3316,2562,2344,0,0,0,0,0,0
$GC,4783,0.71,146.0,183.1,10.9,496,4790,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2561,2343,0,0,0,0,0,0
$GC,4919,0.71,146.0,168.3,10.8,509,4922,0.00,1.98,0.00,0.000,4,0.000,0.056,3316,3768,2344,0,0,0,0,0,0
$GC,4977,0.71,146.0,160.9,13.1,514,4981,0.00,1.88,0.00,0.000,6,0.000,0.038,3324,2569,2343,0,0,0,0,0,0
$GC,5118,0.71,146.0,143.9,12.0,527,5119,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2567,2343,0,0,0,0,0,0
$GC,5245,0.71,146.0,128.7,12.2,539,5248,0.00,1.98,0.00,0.000,4,0.000,0.057,3323,3767,2343,0,0,0,0,0,0
$GC,5325,0.71,146.0,117.7,13.9,546,5329,0.15,1.85,0.00,0.000,6,0.148,0.037,3292,2582,2343,0,0,0,0,0,0
$GC,5465,0.71,146.0,102.6,10.0,559,5467,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2580,2343,0,0,0,0,0,0
$GC,5593,0.71,146.0,89.9,9.5,580,5601,0.00,2.00,0.00,0.000,4,0.000,0.057,3293,3766,2342,0,0,0,0,0,0
$GC,5642,0.71,146.0,84.5,11.6,588,5650,0.00,1.88,0.00,0.000,6,0.000,0.038,3300,2598,2342,0,0,0,0,0,0
$GC,5782,0.71,146.0,70.2,9.7,613,5788,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2597,2342,0,0,0,0,0,0
$GC,5918,0.71,146.0,56.6,10.1,638,5925,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2597,2342,0,0,0,0,0,0
$GC,6059,0.71,146.0,42.4,10.3,663,6067,0.00,1.98,0.00,0.000,4,0.000,0.055,3300,3764,2342,0,0,0,0,0,0
$GC,6134,0.71,146.0,33.2,12.9,676,6142,0.00,1.88,0.00,0.000,6,0.000,0.038,3308,2597,2342,0,0,0,0,0,0
$GC,6275,0.71,146.0,17.0,12.4,701,6281,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,2596,2342,0,0,0,0,0,0
$FREEZE,8.84,-0.031,-1.892,2,2,0
$FREEZE,8.32,-0.030,-1.891,2,2,0
$FREEZE,7.92,-0.033,-1.891,2,2,0
$FREEZE,7.40,-0.034,-1.891,2,2,0
$FREEZE,6.95,-0.034,-1.890,2,2,0
$FREEZE,6.39,-0.035,-1.890,2,2,0
$FREEZE,5.92,-0.033,-1.889,2,2,0
$FREEZE,5.33,-0.034,-1.889,2,2,0
$FREEZE,4.68,-0.034,-1.888,2,2,0
$FREEZE,4.00,-0.034,-1.888,2,2,0
$FREEZE,3.37,-0.034,-1.887,2,2,0
$FREEZE,2.66,-0.035,-1.887,2,2,0
$STATE,6405,end climb,SURFACE_DEPTH_REACHED
$STATE,6405,begin surface coast
$FREEZE,2.23,-0.042,-1.887,2,2,0
$FREEZE,1.71,-0.047,-1.886,2,2,0
$FREEZE,1.31,-0.049,-1.886,2,2,0
$FREEZE,1.32,-0.048,-1.886,2,2,0
$FREEZE,1.21,-0.773,-1.932,2,2,0
$FINISH,1.2,1.028270
$STATE,6437,end surface coast,CONTROL_FINISHED_OK
$STATE,6437,begin surface
$SM_CCo,6454,260.10,0.101,0,0,419,623.30
$SM_GC,1.87,0.00,0.00,260.10,0.000,0.000,0.101,395,2660,419,-8.31,0.31,623.30
$IRIDIUM_FIX,-7545.40,17455.02,110111,151521
$TT8_MAMPS,0.028462
$HUMID,51.96
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.6
$24V_AH,20.5,85.565
$10V_AH,9.6,59.321
$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,18.950,68.225,278.775,260.100,0.000,82.039,225.322,0.000,1.000,0.000,37.454,1864.128,2459.326,638.918,2101.060,259.403,0.000,1365.748,0.000,1207.180,0.000,7.767,0.000
$DEVICE_MAMPS,198.900,100.980,1048.050,100.980,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,512.907,944.180,1029.292,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50315,729
$CAP_FILE_SIZE,94274,0
$CFSIZE,260165632,220151808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.138,220.6,1
$GPS,110111,174031,-7629.837,17440.129,41,1.2,41,125.7