version: 66.08
glider: 502
mission: 3
dive: 601
start: 1 11 111 22 9 4
data:
$ID,502
$MISSION,3
$DIVE,601
$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,-30898.752
$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,36
$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
$GPS1,110111,215820,-7629.625,17429.947,12,1.8,13,125.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-58.1
$GPS2,110111,220836,-7629.584,17429.676,39,0.8,39,125.9
$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,150.8,116594,-16.0,-9.091
$D_GRID,386
$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,-0.71,-146.0,0.0,0.0,0,156,0.00,0.00,-137.77,0.000,2,0.000,0.000,368,2672,3197,0,0,0,0,0,0
$GC,161,-0.71,-146.0,3.3,-2.5,20,191,9.18,2.38,-10.30,0.000,4,0.197,0.060,2827,1250,3561,0,0,0,0,0,0
$GC,373,-0.71,-146.0,36.0,-13.7,56,381,0.00,2.35,0.00,0.000,6,0.000,0.054,2818,2641,3565,0,0,0,0,0,0
$GC,518,-0.71,-146.0,58.0,-14.8,81,524,0.00,1.85,0.00,0.000,4,0.000,0.057,2810,3769,3565,0,0,0,0,0,0
$GC,572,-0.71,-146.0,66.8,-15.6,90,581,0.00,1.77,0.00,0.000,6,0.000,0.039,2810,2667,3565,0,0,0,0,0,0
$GC,716,-0.71,-146.0,89.6,-16.0,115,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2666,3565,0,0,0,0,0,0
$GC,862,-0.71,-146.0,112.3,-15.4,134,866,0.00,1.83,0.00,0.000,4,0.000,0.058,2801,3767,3566,0,0,0,0,0,0
$GC,910,-0.71,-146.0,120.4,-16.8,138,915,0.12,1.75,0.00,0.000,6,0.156,0.039,2835,2654,3566,0,0,0,0,0,0
$GC,1051,-0.71,-146.0,140.5,-13.7,151,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2652,3566,0,0,0,0,0,0
$GC,1178,-0.71,-146.0,157.9,-13.6,163,1181,0.00,1.85,0.00,0.000,4,0.000,0.059,2828,3771,3566,0,0,0,0,0,0
$GC,1225,-0.71,-146.0,164.3,-14.6,167,1229,0.00,1.75,0.00,0.000,6,0.000,0.041,2828,2663,3566,0,0,0,0,0,0
$GC,1368,-0.71,-146.0,185.0,-14.4,180,1375,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2660,3566,0,0,0,0,0,0
$GC,1503,-0.71,-146.0,204.1,-13.6,193,1507,0.00,1.85,0.00,0.000,4,0.000,0.059,2819,3771,3565,0,0,0,0,0,0
$GC,1551,-0.71,-146.0,210.9,-14.5,197,1555,0.00,1.73,0.00,0.000,6,0.000,0.040,2819,2676,3566,0,0,0,0,0,0
$GC,1694,-0.71,-146.0,231.3,-14.4,210,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2674,3566,0,0,0,0,0,0
$GC,1831,-0.71,-146.0,251.1,-14.7,223,1834,0.00,1.80,0.00,0.000,4,0.000,0.059,2810,3762,3566,0,0,0,0,0,0
$GC,1866,-0.71,-146.0,256.7,-15.2,226,1870,0.00,1.70,0.00,0.000,6,0.000,0.039,2810,2681,3566,0,0,0,0,0,0
$GC,2070,-0.71,-146.0,286.7,-14.4,245,2071,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2680,3565,0,0,0,0,0,0
$GC,2261,-0.71,-146.0,313.9,-13.9,263,2265,0.00,1.80,0.00,0.000,4,0.000,0.059,2802,3762,3566,0,0,0,0,0,0
$GC,2319,-0.71,-146.0,322.7,-15.2,268,2323,0.12,1.70,0.00,0.000,6,0.153,0.040,2836,2681,3565,0,0,0,0,0,0
$GC,2524,-0.71,-146.0,347.8,-12.0,287,2528,0.00,1.85,0.00,0.000,4,0.000,0.060,2829,3759,3566,0,0,0,0,0,0
$GC,2561,-0.71,-146.0,352.5,-13.6,290,2564,0.00,1.67,0.00,0.000,6,0.000,0.040,2829,2694,3565,0,0,0,0,0,0
$GC,2764,-0.71,-146.0,378.9,-13.0,309,2765,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2693,3565,0,0,0,0,0,0
$STATE,2826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2826,begin apogee
$GC,2832,-0.27,0.0,387.0,12.5,315,2970,0.45,0.00,129.85,1.063,4,0.119,0.000,2974,2495,2961,0,0,0,0,0,0
$STATE,2971,end apogee,CONTROL_FINISHED_OK
$STATE,2971,begin climb
$GC,2974,0.71,146.0,394.0,0.0,327,3133,1.05,2.58,147.60,0.980,4,0.079,0.047,3291,1108,2364,0,0,0,0,0,0
$GC,3225,0.71,146.0,376.3,10.5,349,3230,0.00,2.58,0.00,0.000,6,0.000,0.049,3291,2502,2355,0,0,0,0,0,0
$GC,3424,0.71,146.0,355.6,10.4,367,3429,0.00,2.45,0.00,0.000,4,0.000,0.047,3300,1106,2351,0,0,0,0,0,0
$GC,3558,0.71,146.0,341.1,10.3,378,3566,0.00,2.53,0.00,0.000,6,0.000,0.050,3300,2548,2349,0,0,0,0,0,0
$GC,3757,0.71,146.0,319.0,11.2,397,3761,0.00,2.05,0.00,0.000,4,0.000,0.056,3301,3767,2348,0,0,0,0,0,0
$GC,3856,0.71,146.0,305.7,13.5,405,3863,0.00,2.03,0.00,0.000,6,0.000,0.037,3310,2542,2348,0,0,0,0,0,0
$GC,4054,0.71,146.0,283.5,11.0,424,4058,0.00,2.03,0.00,0.000,4,0.000,0.057,3310,3763,2346,0,0,0,0,0,0
$GC,4123,0.71,146.0,274.6,13.4,430,4127,0.00,1.92,0.00,0.000,6,0.000,0.038,3319,2541,2346,0,0,0,0,0,0
$GC,4327,0.71,146.0,249.4,12.4,449,4331,0.00,2.03,0.00,0.000,4,0.000,0.055,3319,3763,2345,0,0,0,0,0,0
$GC,4365,0.71,146.0,244.0,13.3,452,4374,0.08,1.95,0.00,0.000,6,0.139,0.038,3304,2554,2345,0,0,0,0,0,0
$GC,4501,0.71,146.0,228.9,11.0,465,4502,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,2553,2345,0,0,0,0,0,0
$GC,4627,0.71,146.0,215.5,10.7,477,4631,0.00,2.00,0.00,0.000,4,0.000,0.057,3304,3765,2345,0,0,0,0,0,0
$GC,4697,0.71,146.0,207.3,12.5,483,4701,0.00,1.90,0.00,0.000,6,0.000,0.037,3311,2555,2344,0,0,0,0,0,0
$GC,4840,0.71,146.0,191.4,11.1,496,4843,0.00,2.00,0.00,0.000,4,0.000,0.057,3311,3767,2344,0,0,0,0,0,0
$GC,4897,0.71,146.0,184.2,12.5,501,4901,0.00,1.88,0.00,0.000,6,0.000,0.038,3320,2569,2344,0,0,0,0,0,0
$GC,5040,0.71,146.0,167.9,11.2,514,5044,0.00,1.98,0.00,0.000,4,0.000,0.057,3320,3764,2344,0,0,0,0,0,0
$GC,5088,0.71,146.0,161.8,12.9,518,5092,0.12,1.85,0.00,0.000,6,0.158,0.037,3296,2583,2344,0,0,0,0,0,0
$GC,5229,0.71,146.0,147.5,9.5,531,5230,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,2580,2343,0,0,0,0,0,0
$GC,5357,0.71,146.0,135.2,9.7,543,5360,0.00,1.95,0.00,0.000,4,0.000,0.057,3297,3764,2344,0,0,0,0,0,0
$GC,5394,0.71,146.0,130.7,11.2,546,5403,0.00,1.90,0.00,0.000,6,0.000,0.037,3304,2583,2343,0,0,0,0,0,0
$GC,5530,0.71,146.0,116.9,10.3,559,5533,0.00,1.95,0.00,0.000,4,0.000,0.057,3304,3763,2343,0,0,0,0,0,0
$GC,5599,0.71,146.0,108.9,11.8,565,5603,0.00,1.83,0.00,0.000,6,0.000,0.038,3313,2602,2343,0,0,0,0,0,0
$GC,5735,0.71,146.0,93.8,10.7,582,5743,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2598,2342,0,0,0,0,0,0
$GC,5880,0.71,146.0,78.6,11.1,607,5886,0.00,1.95,0.00,0.000,4,0.000,0.057,3313,3773,2343,0,0,0,0,0,0
$GC,5934,0.71,146.0,72.0,12.8,616,5942,0.00,1.88,0.00,0.000,6,0.000,0.038,3321,2613,2342,0,0,0,0,0,0
$GC,6080,0.71,146.0,55.3,11.1,641,6086,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2613,2342,0,0,0,0,0,0
$GC,6221,0.71,146.0,38.5,11.5,666,6230,0.00,1.95,0.00,0.000,4,0.000,0.057,3321,3761,2342,0,0,0,0,0,0
$GC,6270,0.71,146.0,32.5,12.5,674,6280,0.10,1.83,0.00,0.000,6,0.137,0.038,3299,2623,2342,0,0,0,0,0,0
$GC,6420,0.71,146.0,17.2,11.7,699,6428,0.00,1.90,0.00,0.000,4,0.000,0.057,3299,3767,2341,0,0,0,0,0,0
$GC,6452,0.71,146.0,12.7,13.4,704,6460,0.00,1.83,0.00,0.000,6,0.000,0.038,3306,2633,2341,0,0,0,0,0,0
$FREEZE,8.82,0.080,-1.892,2,1,0
$FREEZE,8.16,0.081,-1.891,2,1,0
$FREEZE,7.51,0.081,-1.891,2,1,0
$FREEZE,6.83,0.082,-1.890,2,1,0
$FREEZE,6.13,0.081,-1.890,2,1,0
$FREEZE,5.77,0.077,-1.889,2,1,0
$FREEZE,5.17,0.078,-1.889,2,1,0
$FREEZE,4.76,0.078,-1.889,2,1,0
$FREEZE,4.17,0.076,-1.888,2,1,0
$FREEZE,3.76,0.077,-1.888,2,1,0
$FREEZE,3.09,0.077,-1.888,2,1,0
$FREEZE,2.59,0.078,-1.887,2,1,0
$STATE,6543,end climb,SURFACE_DEPTH_REACHED
$STATE,6543,begin surface coast
$FREEZE,1.78,0.081,-1.886,2,1,0
$FREEZE,1.48,0.074,-1.887,2,1,0
$FREEZE,1.19,-0.057,-1.895,2,1,0
$FREEZE,1.33,0.017,-1.889,2,1,0
$FREEZE,1.26,-0.170,-1.047,2,1,0
$FREEZE,1.23,0.029,-1.889,2,1,0
$FINISH,1.2,1.027622
$STATE,6580,end surface coast,CONTROL_FINISHED_OK
$STATE,6580,begin surface
$SM_CCo,6597,54.42,0.731,1,0,1940,250.20
$SM_GC,2.16,0.00,0.00,54.42,0.000,0.000,0.731,403,2629,1940,-8.31,-0.59,250.20
$IRIDIUM_FIX,-7545.40,17429.23,110111,202031
$TT8_MAMPS,0.027713
$HUMID,55.04
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,14.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,17.7
$24V_AH,20.6,85.924
$10V_AH,9.6,59.612
$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,18.900,82.575,277.450,54.425,0.000,30.518,37.021,344.569,1.500,0.000,41.441,1851.577,2425.663,493.126,2200.323,307.837,0.000,1253.210,0.000,1223.041,0.000,9.945,0.000
$DEVICE_MAMPS,196.605,60.435,1063.350,730.575,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,508.888,932.684,1008.790,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258120
$DATA_FILE_SIZE,50567,725
$CAP_FILE_SIZE,104935,0
$CFSIZE,260165632,219967488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.064,232.1,1
$GPS,120111,000055,-7629.630,17425.365,9,1.7,14,126.0