version: 66.08
glider: 502
mission: 3
dive: 538
start: 1 6 111 21 27 1
data:
$ID,502
$MISSION,3
$DIVE,538
$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,250
$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,-30818.066
$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,38
$R_STBD_OVSHOOT,25
$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
$GPS1,060111,211636,-7627.646,17731.256,36,0.9,42,121.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-73.8
$GPS2,060111,212634,-7627.650,17731.250,14,2.5,33,121.5
$SPEED_LIMITS,0.173,0.260
$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,130.2,195142,-17.5,-10.000
$D_GRID,375
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,101,0.00,0.00,-81.80,0.000,2,0.000,0.000,419,2614,3240,0,0,0,0,0,0
$GC,104,-0.76,-146.0,3.1,-1.5,12,129,8.80,1.98,-9.45,0.000,4,0.193,0.074,2800,3773,3560,0,0,0,0,0,0
$GC,381,-0.76,-146.0,49.7,-16.0,60,389,0.00,1.80,0.00,0.000,6,0.000,0.041,2800,2642,3563,0,0,0,0,0,0
$GC,525,-0.76,-146.0,72.4,-15.9,85,532,0.00,1.88,0.00,0.000,4,0.000,0.059,2792,3763,3564,0,0,0,0,0,0
$GC,602,-0.76,-146.0,85.6,-17.0,98,611,0.00,1.77,0.00,0.000,6,0.000,0.040,2792,2647,3563,0,0,0,0,0,0
$GC,744,-0.76,-146.0,109.0,-16.1,118,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2647,3564,0,0,0,0,0,0
$GC,871,-0.76,-146.0,129.6,-16.4,130,874,0.00,1.83,0.00,0.000,4,0.000,0.060,2784,3767,3564,0,0,0,0,0,0
$GC,907,-0.76,-146.0,135.7,-17.3,133,911,0.12,1.73,0.00,0.000,6,0.158,0.040,2818,2656,3564,0,0,0,0,0,0
$GC,1049,-0.76,-146.0,156.3,-13.9,146,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2655,3565,0,0,0,0,0,0
$GC,1185,-0.76,-146.0,175.6,-14.2,159,1189,0.00,1.83,0.00,0.000,4,0.000,0.061,2811,3768,3565,0,0,0,0,0,0
$GC,1222,-0.76,-146.0,181.5,-15.6,162,1232,0.00,1.75,0.00,0.000,6,0.000,0.041,2811,2670,3565,0,0,0,0,0,0
$GC,1359,-0.76,-146.0,200.9,-14.3,175,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2670,3564,0,0,0,0,0,0
$GC,1486,-0.76,-146.0,219.4,-14.0,187,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2670,3565,0,0,0,0,0,0
$GC,1613,-0.76,-146.0,237.1,-13.8,199,1617,0.00,1.80,0.00,0.000,4,0.000,0.059,2802,3770,3565,0,0,0,0,0,0
$GC,1660,-0.76,-146.0,244.4,-15.4,203,1663,0.00,1.73,0.00,0.000,6,0.000,0.041,2802,2666,3564,0,0,0,0,0,0
$GC,1799,-0.76,-146.0,265.7,-14.8,216,1800,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2663,3565,0,0,0,0,0,0
$GC,1991,-0.76,-146.0,293.4,-14.1,234,1995,0.00,1.85,0.00,0.000,4,0.000,0.059,2794,3764,3564,0,0,0,0,0,0
$GC,2040,-0.76,-146.0,301.5,-15.4,238,2048,0.00,1.75,0.00,0.000,6,0.000,0.040,2794,2669,3565,0,0,0,0,0,0
$GC,2241,-0.76,-146.0,331.1,-14.9,257,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2669,3565,0,0,0,0,0,0
$GC,2439,-0.76,-146.0,362.0,-16.2,276,2442,0.00,1.80,0.00,0.000,4,0.000,0.060,2785,3767,3565,0,0,0,0,0,0
$GC,2474,-0.76,-146.0,367.7,-16.8,279,2478,0.12,1.70,0.00,0.000,6,0.158,0.041,2820,2676,3565,0,0,0,0,0,0
$STATE,2525,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2526,begin apogee
$GC,2532,-0.27,0.0,375.8,14.3,284,2670,0.45,0.00,131.82,1.040,4,0.117,0.000,2971,2494,2961,0,0,0,0,0,0
$STATE,2671,end apogee,CONTROL_FINISHED_OK
$STATE,2671,begin climb
$GC,2673,0.76,146.0,383.3,0.0,296,2831,1.08,0.00,150.57,0.965,6,0.084,0.000,3304,2494,2364,0,0,0,0,0,0
$GC,3022,0.76,146.0,350.4,11.7,328,3026,0.00,2.28,0.00,0.000,4,0.000,0.057,3305,3761,2352,0,0,0,0,0,0
$GC,3130,0.76,146.0,335.5,13.8,337,3134,0.00,2.05,0.00,0.000,6,0.000,0.037,3314,2519,2351,0,0,0,0,0,0
$GC,3330,0.76,146.0,312.1,11.6,355,3333,0.00,2.05,0.00,0.000,4,0.000,0.057,3314,3768,2348,0,0,0,0,0,0
$GC,3380,0.76,146.0,305.1,13.7,359,3387,0.00,1.95,0.00,0.000,6,0.000,0.038,3323,2516,2348,0,0,0,0,0,0
$GC,3579,0.76,146.0,281.2,11.9,378,3583,0.00,2.03,0.00,0.000,4,0.000,0.057,3323,3764,2346,0,0,0,0,0,0
$GC,3639,0.76,146.0,272.2,14.6,383,3647,0.00,1.95,0.00,0.000,6,0.000,0.037,3333,2537,2346,0,0,0,0,0,0
$GC,3840,0.76,146.0,246.7,12.8,402,3843,0.00,2.00,0.00,0.000,4,0.000,0.057,3333,3765,2345,0,0,0,0,0,0
$GC,3909,0.76,146.0,236.6,15.5,408,3913,0.12,1.90,0.00,0.000,6,0.162,0.038,3309,2543,2345,0,0,0,0,0,0
$GC,4051,0.76,146.0,219.9,11.1,421,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2542,2344,0,0,0,0,0,0
$GC,4187,0.76,146.0,204.9,10.9,434,4190,0.00,2.00,0.00,0.000,4,0.000,0.057,3309,3767,2344,0,0,0,0,0,0
$GC,4246,0.76,146.0,196.8,12.8,439,4255,0.00,1.92,0.00,0.000,6,0.000,0.038,3317,2556,2344,0,0,0,0,0,0
$GC,4383,0.76,146.0,180.8,11.8,452,4387,0.00,1.98,0.00,0.000,4,0.000,0.057,3317,3770,2344,0,0,0,0,0,0
$GC,4430,0.76,146.0,174.3,14.2,456,4433,0.00,1.88,0.00,0.000,6,0.000,0.039,3326,2559,2344,0,0,0,0,0,0
$GC,4572,0.76,146.0,156.3,12.2,469,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2557,2344,0,0,0,0,0,0
$GC,4708,0.76,146.0,139.2,12.2,482,4712,0.00,1.98,0.00,0.000,4,0.000,0.057,3326,3770,2344,0,0,0,0,0,0
$GC,4766,0.76,146.0,131.0,14.6,487,4770,0.00,1.85,0.00,0.000,6,0.000,0.039,3335,2573,2344,0,0,0,0,0,0
$GC,4907,0.76,146.0,112.3,13.0,500,4908,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2570,2343,0,0,0,0,0,0
$GC,5038,0.76,146.0,95.3,13.0,515,5045,0.00,1.95,0.00,0.000,4,0.000,0.056,3335,3763,2343,0,0,0,0,0,0
$GC,5110,0.76,146.0,84.9,14.9,527,5117,0.12,1.85,0.00,0.000,6,0.158,0.038,3311,2576,2343,0,0,0,0,0,0
$GC,5256,0.76,146.0,68.3,11.2,552,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2575,2343,0,0,0,0,0,0
$GC,5400,0.76,146.0,52.3,11.3,577,5408,0.00,1.98,0.00,0.000,4,0.000,0.057,3311,3757,2342,0,0,0,0,0,0
$GC,5443,0.76,146.0,47.2,12.2,584,5451,0.00,1.88,0.00,0.000,6,0.000,0.040,3318,2577,2342,0,0,0,0,0,0
$GC,5589,0.76,146.0,30.3,11.6,609,5596,0.00,1.95,0.00,0.000,4,0.000,0.057,3318,3765,2342,0,0,0,0,0,0
$GC,5638,0.76,146.0,23.6,14.0,617,5645,0.00,1.83,0.00,0.000,6,0.000,0.037,3327,2590,2342,0,0,0,0,0,0
$FREEZE,8.47,-0.076,-1.893,2,2,0
$FREEZE,7.89,-0.077,-1.892,2,2,0
$FREEZE,7.07,-0.073,-1.892,2,2,0
$FREEZE,6.28,-0.070,-1.891,2,2,0
$FREEZE,5.69,-0.067,-1.891,2,2,0
$GC,5784,0.76,146.0,5.7,11.2,642,5793,0.00,1.95,0.00,0.000,4,0.000,0.058,3327,3758,2342,0,0,0,0,0,0
$FREEZE,3.53,-0.061,-1.889,2,2,0
$FREEZE,2.81,-0.059,-1.889,2,2,0
$STATE,5808,end climb,SURFACE_DEPTH_REACHED
$STATE,5808,begin surface coast
$FREEZE,1.73,-0.052,-1.888,2,2,0
$FREEZE,1.20,-0.058,-1.887,2,2,0
$FREEZE,1.14,-0.096,-1.866,2,2,0
$FREEZE,1.13,-0.113,-0.210,2,2,0
$FINISH,1.1,1.002939
$STATE,5833,end surface coast,CONTROL_FINISHED_OK
$STATE,5833,begin surface
$SM_CCo,5852,297.25,0.723,6,0,419,623.30
$SM_GC,1.76,0.00,0.00,297.25,0.000,0.000,0.723,407,2636,419,-8.29,-0.40,623.30
$IRIDIUM_FIX,-7545.40,17742.20,060111,212119
$TT8_MAMPS,0.027713
$HUMID,51.22
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.9
$ALTIM_BOTTOM_PING,300.5,89.9
$24V_AH,20.2,78.350
$10V_AH,9.6,53.995
$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,18.525,68.400,282.400,297.250,0.000,93.332,225.331,0.000,1.000,0.000,34.974,1653.216,2260.044,718.661,1923.811,227.304,0.000,1381.246,0.000,1069.377,0.000,9.005,0.000
$DEVICE_MAMPS,192.780,74.205,1040.400,722.925,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,455.810,840.084,926.011,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258132
$DATA_FILE_SIZE,47063,649
$CAP_FILE_SIZE,87709,0
$CFSIZE,260165632,223318016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$CURRENT,0.045,  0.9,1
$GPS,060111,231050,-7627.751,17728.094,10,2.0,10,121.5