version: 66.08
glider: 502
mission: 3
dive: 600
start: 1 11 111 20 3 12
data:
$ID,502
$MISSION,3
$DIVE,600
$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,-30896.064
$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,37
$R_STBD_OVSHOOT,35
$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
$GPS1,110111,195254,-7629.714,17434.932,25,0.8,43,125.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-70.8
$GPS2,110111,200243,-7629.689,17434.709,14,1.2,14,125.8
$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,157.6,118769,-16.0,-9.091
$D_GRID,389
$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,12,begin dive
$GC,15,-0.71,-146.0,0.0,0.0,0,73,0.00,0.00,-55.28,0.000,2,0.000,0.000,360,2672,2934,0,0,0,0,0,0
$GC,76,-0.71,-146.0,3.0,-2.1,8,119,9.25,2.35,-24.15,0.000,4,0.200,0.060,2826,1252,3560,0,0,0,0,0,0
$GC,253,-0.71,-146.0,25.0,-13.8,37,260,0.00,2.30,0.00,0.000,6,0.000,0.055,2817,2641,3562,0,0,0,0,0,0
$GC,396,-0.71,-146.0,47.2,-15.1,62,404,0.00,1.88,0.00,0.000,4,0.000,0.058,2808,3767,3562,0,0,0,0,0,0
$GC,442,-0.71,-146.0,54.4,-16.4,69,449,0.00,1.77,0.00,0.000,6,0.000,0.040,2808,2642,3562,0,0,0,0,0,0
$GC,583,-0.71,-146.0,76.6,-16.1,94,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2642,3562,0,0,0,0,0,0
$GC,728,-0.71,-146.0,99.3,-15.6,119,735,0.00,1.88,0.00,0.000,4,0.000,0.057,2799,3770,3562,0,0,0,0,0,0
$GC,766,-0.71,-146.0,105.6,-17.4,123,771,0.12,1.75,0.00,0.000,6,0.158,0.040,2833,2659,3562,0,0,0,0,0,0
$GC,909,-0.71,-146.0,126.3,-14.1,136,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2658,3562,0,0,0,0,0,0
$GC,1045,-0.71,-146.0,145.5,-13.9,149,1048,0.00,1.83,0.00,0.000,4,0.000,0.059,2826,3763,3563,0,0,0,0,0,0
$GC,1083,-0.71,-146.0,151.5,-15.4,152,1092,0.00,1.77,0.00,0.000,6,0.000,0.039,2826,2664,3563,0,0,0,0,0,0
$GC,1219,-0.71,-146.0,170.3,-14.1,165,1220,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2663,3563,0,0,0,0,0,0
$GC,1346,-0.71,-146.0,187.5,-13.5,177,1349,0.00,1.83,0.00,0.000,4,0.000,0.058,2817,3767,3563,0,0,0,0,0,0
$GC,1384,-0.71,-146.0,193.7,-15.3,180,1392,0.00,1.77,0.00,0.000,6,0.000,0.039,2817,2670,3563,0,0,0,0,0,0
$GC,1521,-0.71,-146.0,212.8,-13.9,193,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2668,3563,0,0,0,0,0,0
$GC,1657,-0.71,-146.0,231.9,-14.1,206,1660,0.00,1.83,0.00,0.000,4,0.000,0.059,2808,3770,3563,0,0,0,0,0,0
$GC,1715,-0.71,-146.0,240.5,-15.3,211,1719,0.00,1.73,0.00,0.000,6,0.000,0.040,2809,2677,3563,0,0,0,0,0,0
$GC,1855,-0.71,-146.0,261.1,-14.6,224,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2674,3563,0,0,0,0,0,0
$GC,2046,-0.71,-146.0,288.7,-14.1,242,2050,0.00,1.83,0.00,0.000,4,0.000,0.060,2800,3770,3563,0,0,0,0,0,0
$GC,2081,-0.71,-146.0,293.9,-14.9,245,2086,0.12,1.73,0.00,0.000,6,0.155,0.040,2834,2677,3563,0,0,0,0,0,0
$GC,2286,-0.71,-146.0,319.4,-12.5,264,2289,0.00,1.80,0.00,0.000,4,0.000,0.059,2827,3762,3563,0,0,0,0,0,0
$GC,2321,-0.71,-146.0,324.3,-13.8,267,2325,0.00,1.70,0.00,0.000,6,0.000,0.039,2827,2681,3563,0,0,0,0,0,0
$GC,2526,-0.71,-146.0,350.5,-12.6,286,2527,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2680,3563,0,0,0,0,0,0
$GC,2715,-0.71,-146.0,374.1,-12.6,304,2719,0.00,1.80,0.00,0.000,4,0.000,0.060,2818,3760,3563,0,0,0,0,0,0
$GC,2754,-0.71,-146.0,379.5,-14.0,307,2761,0.00,1.67,0.00,0.000,6,0.000,0.039,2819,2693,3563,0,0,0,0,0,0
$STATE,2833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2833,begin apogee
$GC,2840,-0.27,0.0,390.0,13.1,315,2978,0.47,0.00,131.48,1.068,4,0.122,0.000,2971,2496,2961,0,0,0,0,0,0
$STATE,2979,end apogee,CONTROL_FINISHED_OK
$STATE,2979,begin climb
$GC,2981,0.71,146.0,396.3,0.0,327,3141,1.08,2.60,148.20,0.987,4,0.080,0.047,3294,1098,2364,0,0,0,0,0,0
$GC,3234,0.71,146.0,376.9,10.6,349,3238,0.00,2.58,0.00,0.000,6,0.000,0.049,3293,2497,2355,0,0,0,0,0,0
$GC,3432,0.71,146.0,355.0,10.9,367,3436,0.00,2.45,0.00,0.000,4,0.000,0.046,3302,1099,2351,0,0,0,0,0,0
$GC,3578,0.71,146.0,339.8,11.4,379,3582,0.00,2.45,0.00,0.000,6,0.000,0.049,3302,2513,2349,0,0,0,0,0,0
$GC,3776,0.71,146.0,317.8,10.9,397,3780,0.00,2.10,0.00,0.000,4,0.000,0.056,3302,3762,2348,0,0,0,0,0,0
$GC,3865,0.71,146.0,305.7,13.6,404,3872,0.00,2.00,0.00,0.000,6,0.000,0.037,3312,2526,2347,0,0,0,0,0,0
$GC,4065,0.71,146.0,281.7,12.3,423,4068,0.00,2.05,0.00,0.000,4,0.000,0.057,3312,3763,2346,0,0,0,0,0,0
$GC,4125,0.71,146.0,273.1,14.0,428,4133,0.08,1.98,0.00,0.000,6,0.140,0.037,3298,2539,2346,0,0,0,0,0,0
$GC,4325,0.71,146.0,251.4,10.9,447,4328,0.00,2.03,0.00,0.000,4,0.000,0.057,3298,3767,2345,0,0,0,0,0,0
$GC,4361,0.71,146.0,247.1,12.0,450,4364,0.00,1.95,0.00,0.000,6,0.000,0.039,3305,2535,2345,0,0,0,0,0,0
$GC,4504,0.71,146.0,231.6,10.5,463,4507,0.00,2.03,0.00,0.000,4,0.000,0.056,3305,3766,2345,0,0,0,0,0,0
$GC,4562,0.71,146.0,224.2,12.9,468,4566,0.00,1.90,0.00,0.000,6,0.000,0.037,3315,2552,2344,0,0,0,0,0,0
$GC,4705,0.71,146.0,207.6,11.2,481,4712,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2549,2344,0,0,0,0,0,0
$GC,4840,0.71,146.0,192.1,11.3,494,4844,0.00,2.00,0.00,0.000,4,0.000,0.056,3315,3764,2344,0,0,0,0,0,0
$GC,4910,0.71,146.0,183.1,13.6,500,4914,0.00,1.90,0.00,0.000,6,0.000,0.038,3324,2553,2344,0,0,0,0,0,0
$GC,5053,0.71,146.0,166.1,11.5,513,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2552,2344,0,0,0,0,0,0
$GC,5189,0.71,146.0,150.1,11.7,526,5193,0.00,2.00,0.00,0.000,4,0.000,0.057,3324,3764,2343,0,0,0,0,0,0
$GC,5249,0.71,146.0,141.6,13.4,531,5258,0.10,1.92,0.00,0.000,6,0.134,0.037,3301,2566,2343,0,0,0,0,0,0
$GC,5385,0.71,146.0,127.1,10.6,544,5386,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,2566,2343,0,0,0,0,0,0
$GC,5512,0.71,146.0,114.0,10.4,556,5516,0.00,1.98,0.00,0.000,4,0.000,0.057,3301,3763,2343,0,0,0,0,0,0
$GC,5561,0.71,146.0,107.9,12.0,560,5569,0.00,1.90,0.00,0.000,6,0.000,0.038,3309,2576,2342,0,0,0,0,0,0
$GC,5697,0.71,146.0,93.3,10.8,578,5705,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,2576,2342,0,0,0,0,0,0
$GC,5842,0.71,146.0,78.5,10.2,603,5849,0.00,1.98,0.00,0.000,4,0.000,0.056,3308,3770,2343,0,0,0,0,0,0
$GC,5913,0.71,146.0,70.0,12.4,615,5920,0.00,1.90,0.00,0.000,6,0.000,0.038,3317,2589,2342,0,0,0,0,0,0
$GC,6058,0.71,146.0,55.4,10.0,640,6065,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2587,2343,0,0,0,0,0,0
$GC,6202,0.71,146.0,40.0,10.2,665,6209,0.00,1.95,0.00,0.000,4,0.000,0.057,3317,3764,2342,0,0,0,0,0,0
$GC,6267,0.71,146.0,31.6,13.6,676,6275,0.08,1.88,0.00,0.000,6,0.137,0.037,3302,2592,2342,0,0,0,0,0,0
$GC,6415,0.71,146.0,16.7,10.4,701,6422,0.00,2.42,0.00,0.000,4,0.000,0.047,3311,1087,2342,0,0,0,0,0,0
$GC,6435,0.71,146.0,14.5,10.3,704,6443,0.00,2.50,0.00,0.000,6,0.000,0.049,3311,2586,2342,0,0,0,0,0,0
$FREEZE,8.86,0.124,-1.892,2,2,0
$FREEZE,8.42,0.130,-1.892,2,2,0
$FREEZE,8.18,0.126,-1.892,2,2,0
$FREEZE,7.75,0.125,-1.891,2,2,0
$FREEZE,7.33,0.125,-1.891,2,2,0
$FREEZE,6.49,0.133,-1.890,2,2,0
$FREEZE,6.00,0.131,-1.890,2,2,0
$FREEZE,5.10,0.131,-1.889,2,2,0
$FREEZE,4.59,0.128,-1.889,2,2,0
$FREEZE,3.81,0.131,-1.888,2,2,0
$FREEZE,2.89,0.132,-1.887,2,2,0
$STATE,6550,end climb,SURFACE_DEPTH_REACHED
$STATE,6550,begin surface coast
$FREEZE,2.08,0.130,-1.887,2,2,0
$FREEZE,1.30,0.130,-1.886,2,2,0
$FREEZE,1.34,0.110,-1.887,2,2,0
$FREEZE,1.19,-0.032,-1.018,2,2,0
$FREEZE,1.24,0.045,-1.079,2,2,0
$FINISH,1.2,1.015939
$STATE,6580,end surface coast,CONTROL_FINISHED_OK
$STATE,6580,begin surface
$SM_CCo,6597,258.00,0.099,0,0,419,623.30
$SM_GC,1.88,0.00,0.00,258.00,0.000,0.000,0.099,405,2671,419,-8.29,0.59,623.30
$IRIDIUM_FIX,-7545.40,17436.64,110111,191940
$TT8_MAMPS,0.028462
$HUMID,52.75
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,14.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,17.5
$24V_AH,20.5,85.808
$10V_AH,9.6,59.517
$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,18.875,84.000,279.675,258.000,0.000,90.549,225.315,0.000,1.500,0.000,14.865,1874.681,2550.944,660.013,2087.300,276.984,0.000,1407.939,0.000,1219.099,0.000,7.773,0.000
$DEVICE_MAMPS,200.430,105.570,1067.940,99.450,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,511.559,931.556,1000.275,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258164
$DATA_FILE_SIZE,50376,728
$CAP_FILE_SIZE,99047,0
$CFSIZE,260165632,220028928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.085,248.5,1
$GPS,110111,215820,-7629.625,17429.947,12,1.8,13,125.9