version: 66.08
glider: 502
mission: 3
dive: 602
start: 1 12 111 0 11 7
data:
$ID,502
$MISSION,3
$DIVE,602
$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,-30900.01
$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,35
$R_STBD_OVSHOOT,23
$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
$GPS1,120111,000055,-7629.630,17425.365,9,1.7,14,126.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-68.4
$GPS2,120111,001038,-7629.626,17425.113,12,2.0,12,126.0
$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,152.4,114621,-16.0,-9.091
$D_GRID,380
$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,-146.0,0.0,0.0,0,83,0.00,0.00,-64.60,0.000,2,0.000,0.000,351,2628,3126,0,0,0,0,0,0
$GC,86,-0.71,-146.0,3.0,-2.0,9,116,9.20,2.25,-13.95,0.000,4,0.196,0.060,2826,1246,3559,0,0,0,0,0,0
$GC,359,-0.71,-146.0,42.4,-14.6,58,367,0.00,2.38,0.00,0.000,6,0.000,0.056,2817,2649,3562,0,0,0,0,0,0
$GC,499,-0.71,-146.0,63.3,-15.3,83,507,0.00,1.85,0.00,0.000,4,0.000,0.058,2808,3762,3563,0,0,0,0,0,0
$GC,543,-0.71,-146.0,70.6,-16.3,90,551,0.00,1.77,0.00,0.000,6,0.000,0.039,2808,2659,3563,0,0,0,0,0,0
$GC,682,-0.71,-146.0,92.8,-16.0,115,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2657,3563,0,0,0,0,0,0
$GC,825,-0.71,-146.0,116.1,-16.0,132,829,0.00,1.85,0.00,0.000,4,0.000,0.059,2799,3773,3563,0,0,0,0,0,0
$GC,873,-0.71,-146.0,124.0,-17.1,136,877,0.12,1.75,0.00,0.000,6,0.157,0.040,2833,2662,3563,0,0,0,0,0,0
$GC,1014,-0.71,-146.0,144.1,-14.1,149,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2661,3563,0,0,0,0,0,0
$GC,1142,-0.71,-146.0,161.3,-13.3,161,1145,0.00,1.83,0.00,0.000,4,0.000,0.058,2826,3762,3563,0,0,0,0,0,0
$GC,1202,-0.71,-146.0,170.1,-14.1,166,1210,0.00,1.77,0.00,0.000,6,0.000,0.039,2826,2666,3563,0,0,0,0,0,0
$GC,1337,-0.71,-146.0,188.6,-13.8,179,1341,0.00,1.83,0.00,0.000,4,0.000,0.058,2817,3764,3563,0,0,0,0,0,0
$GC,1375,-0.71,-146.0,194.1,-15.5,182,1378,0.00,1.70,0.00,0.000,6,0.000,0.038,2817,2682,3563,0,0,0,0,0,0
$GC,1518,-0.71,-146.0,214.5,-14.1,195,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2681,3563,0,0,0,0,0,0
$GC,1654,-0.71,-146.0,233.8,-14.4,208,1658,0.00,1.83,0.00,0.000,4,0.000,0.060,2808,3770,3563,0,0,0,0,0,0
$GC,1703,-0.71,-146.0,241.7,-14.8,212,1711,0.00,1.75,0.00,0.000,6,0.000,0.039,2809,2685,3563,0,0,0,0,0,0
$GC,1838,-0.71,-146.0,261.4,-15.0,225,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2685,3563,0,0,0,0,0,0
$GC,2028,-0.71,-146.0,289.5,-15.0,243,2032,0.00,1.80,0.00,0.000,4,0.000,0.059,2801,3764,3563,0,0,0,0,0,0
$GC,2074,-0.71,-146.0,296.5,-15.4,247,2078,0.12,1.70,0.00,0.000,6,0.155,0.039,2834,2684,3563,0,0,0,0,0,0
$GC,2279,-0.71,-146.0,322.5,-12.3,266,2283,0.00,1.80,0.00,0.000,4,0.000,0.060,2827,3763,3563,0,0,0,0,0,0
$GC,2313,-0.71,-146.0,327.2,-12.9,269,2317,0.00,1.67,0.00,0.000,6,0.000,0.039,2827,2698,3563,0,0,0,0,0,0
$GC,2518,-0.71,-146.0,354.0,-12.6,288,2519,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2697,3563,0,0,0,0,0,0
$GC,2707,-0.71,-146.0,379.0,-12.9,306,2711,0.00,1.77,0.00,0.000,4,0.000,0.059,2819,3763,3562,0,0,0,0,0,0
$STATE,2717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2717,begin apogee
$GC,2725,-0.27,0.0,380.6,13.3,307,2865,0.47,0.00,130.98,1.060,4,0.125,0.000,2970,2491,2961,0,0,0,0,0,0
$STATE,2865,end apogee,CONTROL_FINISHED_OK
$STATE,2866,begin climb
$GC,2868,0.71,146.0,388.6,0.0,319,3025,1.08,2.58,147.80,0.981,4,0.080,0.047,3293,1099,2364,0,0,0,0,0,0
$GC,3144,0.71,146.0,368.9,9.5,344,3149,0.00,2.58,0.00,0.000,6,0.000,0.049,3293,2502,2353,0,0,0,0,0,0
$GC,3344,0.71,146.0,347.9,11.1,362,3349,0.00,2.45,0.00,0.000,4,0.000,0.047,3300,1102,2350,0,0,0,0,0,0
$GC,3475,0.71,146.0,333.5,10.6,373,3479,0.00,2.47,0.00,0.000,6,0.000,0.050,3300,2519,2348,0,0,0,0,0,0
$GC,3674,0.71,146.0,311.5,10.9,391,3678,0.00,2.12,0.00,0.000,4,0.000,0.055,3300,3773,2348,0,0,0,0,0,0
$GC,3807,0.71,146.0,293.5,13.6,402,3815,0.00,2.03,0.00,0.000,6,0.000,0.038,3309,2539,2346,0,0,0,0,0,0
$GC,4006,0.71,146.0,270.6,11.7,421,4010,0.00,2.05,0.00,0.000,4,0.000,0.057,3309,3774,2346,0,0,0,0,0,0
$GC,4067,0.71,146.0,262.1,14.1,426,4074,0.00,1.95,0.00,0.000,6,0.000,0.039,3318,2549,2346,0,0,0,0,0,0
$GC,4267,0.71,146.0,238.6,11.4,445,4270,0.00,2.03,0.00,0.000,4,0.000,0.057,3318,3773,2345,0,0,0,0,0,0
$GC,4336,0.71,146.0,229.5,14.2,451,4341,0.12,1.92,0.00,0.000,6,0.157,0.038,3295,2555,2345,0,0,0,0,0,0
$GC,4473,0.71,146.0,214.7,10.3,463,4477,0.00,2.00,0.00,0.000,4,0.000,0.057,3295,3765,2345,0,0,0,0,0,0
$GC,4511,0.71,146.0,209.8,11.6,466,4519,0.00,1.92,0.00,0.000,6,0.000,0.038,3300,2567,2344,0,0,0,0,0,0
$GC,4649,0.71,146.0,195.3,10.6,479,4653,0.00,2.00,0.00,0.000,4,0.000,0.057,3300,3775,2344,0,0,0,0,0,0
$GC,4687,0.71,146.0,190.1,12.6,482,4695,0.00,1.92,0.00,0.000,6,0.000,0.037,3309,2579,2344,0,0,0,0,0,0
$GC,4825,0.71,146.0,174.8,10.8,495,4833,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,2578,2344,0,0,0,0,0,0
$GC,4961,0.71,146.0,159.7,11.0,508,4965,0.00,1.95,0.00,0.000,4,0.000,0.056,3309,3764,2344,0,0,0,0,0,0
$GC,5019,0.71,146.0,152.6,12.2,513,5022,0.00,1.85,0.00,0.000,6,0.000,0.038,3318,2588,2343,0,0,0,0,0,0
$GC,5160,0.71,146.0,136.7,10.9,526,5164,0.00,1.95,0.00,0.000,4,0.000,0.057,3318,3767,2343,0,0,0,0,0,0
$GC,5207,0.71,146.0,131.0,13.3,530,5211,0.12,1.83,0.00,0.000,6,0.158,0.037,3295,2600,2343,0,0,0,0,0,0
$GC,5349,0.71,146.0,116.9,9.4,543,5353,0.00,1.92,0.00,0.000,4,0.000,0.057,3295,3765,2343,0,0,0,0,0,0
$GC,5376,0.71,146.0,113.6,10.4,545,5385,0.00,1.85,0.00,0.000,6,0.000,0.037,3302,2614,2343,0,0,0,0,0,0
$GC,5513,0.71,146.0,99.4,10.3,558,5520,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2613,2342,0,0,0,0,0,0
$GC,5652,0.71,146.0,85.0,9.9,583,5660,0.00,1.95,0.00,0.000,4,0.000,0.057,3302,3766,2342,0,0,0,0,0,0
$GC,5737,0.71,146.0,75.1,12.1,598,5745,0.00,1.85,0.00,0.000,6,0.000,0.037,3311,2612,2343,0,0,0,0,0,0
$GC,5880,0.71,146.0,59.8,11.2,623,5887,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2611,2342,0,0,0,0,0,0
$GC,6018,0.71,146.0,44.3,11.2,648,6028,0.00,1.95,0.00,0.000,4,0.000,0.056,3311,3764,2342,0,0,0,0,0,0
$GC,6076,0.71,146.0,37.2,11.8,658,6084,0.00,1.85,0.00,0.000,6,0.000,0.037,3320,2612,2342,0,0,0,0,0,0
$GC,6218,0.71,146.0,21.7,12.5,683,6225,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2611,2342,0,0,0,0,0,0
$FREEZE,8.63,0.089,-1.892,2,2,0
$FREEZE,8.10,0.090,-1.892,2,2,0
$FREEZE,7.78,0.092,-1.891,2,2,0
$FREEZE,7.26,0.093,-1.891,2,2,0
$FREEZE,6.34,0.097,-1.890,2,2,0
$GC,6365,0.73,162.9,7.3,8.4,708,6382,0.00,2.00,12.07,0.819,4,0.000,0.054,3319,3775,2296,0,0,0,0,0,0
$FREEZE,3.71,0.093,-1.888,2,2,0
$FREEZE,2.96,0.092,-1.888,2,2,0
$STATE,6394,end climb,SURFACE_DEPTH_REACHED
$STATE,6394,begin surface coast
$FREEZE,2.05,0.091,-1.887,2,2,0
$FREEZE,1.18,0.095,-1.886,2,2,0
$FREEZE,1.14,0.016,-0.584,2,2,0
$FREEZE,1.24,0.022,-1.029,2,2,0
$FINISH,1.2,1.015205
$STATE,6423,end surface coast,CONTROL_FINISHED_OK
$STATE,6423,begin surface
$SM_CCo,6442,252.18,0.100,0,0,420,623.30
$SM_GC,1.88,0.00,0.00,252.18,0.000,0.000,0.100,388,2642,420,-8.33,-0.23,623.30
$IRIDIUM_FIX,-7545.40,17418.28,120111,000038
$TT8_MAMPS,0.027713
$HUMID,52.00
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,14.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,20.4
$24V_AH,20.6,86.027
$10V_AH,9.6,59.705
$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,18.925,86.200,290.850,252.175,0.000,86.034,225.326,0.000,1.500,0.000,13.521,1839.706,2452.291,653.092,2067.613,270.915,0.000,1395.348,0.000,1213.219,0.000,7.779,0.000
$DEVICE_MAMPS,195.840,60.435,1059.525,100.215,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,503.228,924.690,1003.944,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50318,716
$CAP_FILE_SIZE,97173,0
$CFSIZE,260165632,219910144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.061,207.9,1
$GPS,120111,020401,-7629.722,17421.271,40,1.6,40,126.1