version: 66.08
glider: 502
mission: 3
dive: 561
start: 1 8 111 16 52 58
data:
$ID,502
$MISSION,3
$DIVE,561
$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,300
$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,-30847.008
$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,33
$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
$GPS1,080111,164336,-7628.511,17635.803,10,1.5,27,122.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-68.3
$GPS2,080111,165231,-7628.488,17635.779,13,1.9,30,122.8
$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,141.0,171134,-17.5,-10.000
$D_GRID,377
$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,14,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,165,0.00,0.00,-145.65,0.000,2,0.000,0.000,409,2672,3372,0,0,0,0,0,0
$GC,170,-0.76,-146.0,3.3,-2.1,21,193,9.07,1.77,-4.70,0.000,4,0.201,0.072,2802,3756,3560,0,0,0,0,0,0
$GC,364,-0.76,-146.0,41.1,-18.0,55,372,0.00,1.75,0.00,0.000,6,0.000,0.040,2802,2652,3563,0,0,0,0,0,0
$GC,504,-0.76,-146.0,64.6,-16.2,80,512,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2652,3563,0,0,0,0,0,0
$GC,645,-0.76,-146.0,87.6,-16.4,105,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2652,3564,0,0,0,0,0,0
$GC,787,-0.76,-146.0,110.5,-16.1,125,790,0.00,1.80,0.00,0.000,4,0.000,0.060,2793,3759,3564,0,0,0,0,0,0
$GC,847,-0.76,-146.0,121.4,-16.7,130,855,0.00,1.77,0.00,0.000,6,0.000,0.039,2793,2644,3564,0,0,0,0,0,0
$GC,984,-0.76,-146.0,143.7,-16.6,143,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2642,3564,0,0,0,0,0,0
$GC,1121,-0.76,-146.0,167.0,-16.9,156,1125,0.00,1.80,0.00,0.000,4,0.000,0.059,2785,3753,3564,0,0,0,0,0,0
$GC,1168,-0.76,-146.0,175.5,-17.6,160,1172,0.12,1.70,0.00,0.000,6,0.159,0.040,2818,2656,3564,0,0,0,0,0,0
$GC,1310,-0.76,-146.0,197.3,-15.0,173,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2655,3564,0,0,0,0,0,0
$GC,1446,-0.76,-146.0,217.0,-14.7,186,1449,0.00,1.80,0.00,0.000,4,0.000,0.060,2812,3759,3564,0,0,0,0,0,0
$GC,1473,-0.76,-146.0,221.8,-15.7,188,1481,0.00,1.73,0.00,0.000,6,0.000,0.040,2811,2674,3564,0,0,0,0,0,0
$GC,1608,-0.76,-146.0,241.6,-14.9,201,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2674,3564,0,0,0,0,0,0
$GC,1735,-0.76,-146.0,260.4,-14.9,213,1739,0.00,1.80,0.00,0.000,4,0.000,0.059,2803,3753,3563,0,0,0,0,0,0
$GC,1761,-0.76,-146.0,264.9,-16.3,215,1770,0.00,1.73,0.00,0.000,6,0.000,0.040,2803,2670,3563,0,0,0,0,0,0
$GC,1960,-0.76,-146.0,295.5,-15.8,234,1963,0.00,1.77,0.00,0.000,4,0.000,0.058,2796,3760,3563,0,0,0,0,0,0
$GC,1984,-0.76,-146.0,299.4,-16.5,236,1989,0.00,1.73,0.00,0.000,6,0.000,0.039,2795,2678,3563,0,0,0,0,0,0
$GC,2187,-0.76,-146.0,331.4,-15.1,255,2191,0.00,1.75,0.00,0.000,4,0.000,0.060,2786,3753,3563,0,0,0,0,0,0
$GC,2214,-0.76,-146.0,336.0,-16.3,257,2222,0.08,1.70,0.00,0.000,6,0.136,0.041,2812,2681,3563,0,0,0,0,0,0
$GC,2415,-0.76,-146.0,363.9,-14.2,276,2419,0.00,1.75,0.00,0.000,4,0.000,0.060,2804,3753,3563,0,0,0,0,0,0
$GC,2461,-0.76,-146.0,371.1,-15.0,280,2465,0.00,1.65,0.00,0.000,6,0.000,0.041,2805,2690,3563,0,0,0,0,0,0
$STATE,2504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2504,begin apogee
$GC,2510,-0.27,0.0,377.5,14.3,284,2648,0.52,0.00,130.32,1.033,4,0.124,0.000,2973,2490,2961,0,0,0,0,0,0
$STATE,2648,end apogee,CONTROL_FINISHED_OK
$STATE,2649,begin climb
$GC,2651,0.76,146.0,384.2,0.0,296,2810,1.10,2.55,148.65,0.955,4,0.080,0.048,3309,1098,2364,0,0,0,0,0,0
$GC,2906,0.76,146.0,363.4,10.7,318,2914,0.00,2.55,0.00,0.000,6,0.000,0.049,3309,2488,2353,0,0,0,0,0,0
$GC,3105,0.76,146.0,340.0,11.5,337,3109,0.00,2.38,0.00,0.000,4,0.000,0.047,3318,1103,2349,0,0,0,0,0,0
$GC,3268,0.76,146.0,320.9,11.3,351,3275,0.00,2.38,0.00,0.000,6,0.000,0.051,3318,2517,2347,0,0,0,0,0,0
$GC,3466,0.76,146.0,297.3,11.9,370,3470,0.00,2.00,0.00,0.000,4,0.000,0.056,3318,3768,2346,0,0,0,0,0,0
$GC,3560,0.76,146.0,284.0,14.5,378,3568,0.00,1.98,0.00,0.000,6,0.000,0.038,3328,2526,2345,0,0,0,0,0,0
$GC,3759,0.76,146.0,259.8,12.0,397,3763,0.00,2.00,0.00,0.000,4,0.000,0.056,3327,3768,2344,0,0,0,0,0,0
$GC,3797,0.76,146.0,254.1,14.4,400,3805,0.00,1.98,0.00,0.000,6,0.000,0.038,3337,2522,2344,0,0,0,0,0,0
$GC,3999,0.76,146.0,228.8,12.8,419,4007,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2520,2344,0,0,0,0,0,0
$GC,4135,0.76,146.0,211.2,13.0,432,4139,0.00,2.00,0.00,0.000,4,0.000,0.056,3337,3764,2344,0,0,0,0,0,0
$GC,4182,0.76,146.0,204.6,15.2,436,4186,0.12,1.90,0.00,0.000,6,0.164,0.037,3314,2538,2343,0,0,0,0,0,0
$GC,4324,0.76,146.0,188.5,10.7,449,4331,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2535,2343,0,0,0,0,0,0
$GC,4460,0.76,146.0,174.0,10.3,462,4464,0.00,2.00,0.00,0.000,4,0.000,0.057,3313,3773,2343,0,0,0,0,0,0
$GC,4508,0.76,146.0,168.1,12.5,466,4512,0.00,1.92,0.00,0.000,6,0.000,0.039,3321,2536,2342,0,0,0,0,0,0
$GC,4651,0.76,146.0,152.0,11.2,479,4659,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2533,2342,0,0,0,0,0,0
$GC,4787,0.76,146.0,136.8,11.3,492,4791,0.00,2.00,0.00,0.000,4,0.000,0.056,3321,3772,2342,0,0,0,0,0,0
$GC,4845,0.76,146.0,129.2,13.4,497,4848,0.00,1.92,0.00,0.000,6,0.000,0.039,3331,2538,2342,0,0,0,0,0,0
$GC,4986,0.76,146.0,112.2,11.8,510,4989,0.00,2.00,0.00,0.000,4,0.000,0.057,3331,3771,2341,0,0,0,0,0,0
$GC,5024,0.76,146.0,106.6,13.7,513,5032,0.00,1.95,0.00,0.000,6,0.000,0.039,3340,2551,2342,0,0,0,0,0,0
$GC,5161,0.76,146.0,89.8,12.3,533,5168,0.00,1.98,0.00,0.000,4,0.000,0.057,3340,3764,2342,0,0,0,0,0,0
$GC,5198,0.76,146.0,84.9,14.0,539,5206,0.15,1.88,0.00,0.000,6,0.155,0.037,3308,2560,2341,0,0,0,0,0,0
$GC,5340,0.76,146.0,69.7,10.3,564,5348,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,2557,2341,0,0,0,0,0,0
$GC,5481,0.77,149.0,55.0,9.9,589,5488,0.00,2.00,0.00,0.000,4,0.000,0.057,3308,3763,2341,0,0,0,0,0,0
$GC,5530,0.77,149.0,49.3,12.0,597,5537,0.00,1.90,0.00,0.000,6,0.000,0.039,3316,2564,2341,0,0,0,0,0,0
$GC,5668,0.77,149.0,33.9,11.2,622,5675,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2563,2341,0,0,0,0,0,0
$GC,5807,0.77,149.0,19.4,10.6,647,5814,0.00,1.98,0.00,0.000,4,0.000,0.056,3316,3774,2340,0,0,0,0,0,0
$GC,5855,0.77,149.0,13.3,13.4,655,5863,0.00,1.90,0.00,0.000,6,0.000,0.038,3325,2556,2340,0,0,0,0,0,0
$FREEZE,8.85,-0.139,-1.892,2,1,0
$FREEZE,8.08,-0.133,-1.891,2,1,0
$FREEZE,7.53,-0.128,-1.891,2,1,0
$FREEZE,6.80,-0.123,-1.890,2,1,0
$FREEZE,6.13,-0.120,-1.890,2,1,0
$FREEZE,5.47,-0.112,-1.889,2,1,0
$FREEZE,4.88,-0.103,-1.889,2,1,0
$FREEZE,4.09,-0.098,-1.888,2,1,0
$FREEZE,3.40,-0.094,-1.888,2,1,0
$FREEZE,2.64,-0.085,-1.887,2,1,0
$STATE,5943,end climb,SURFACE_DEPTH_REACHED
$STATE,5943,begin surface coast
$FREEZE,1.71,-0.045,-1.886,2,1,0
$FREEZE,1.24,0.150,-1.882,2,1,0
$FREEZE,1.34,0.224,-0.969,2,1,0
$FREEZE,1.26,0.214,-1.243,2,1,0
$FINISH,1.3,1.018347
$STATE,5968,end surface coast,CONTROL_FINISHED_OK
$STATE,5968,begin surface
$SM_CCo,5985,73.70,0.099,0,0,1736,300.24
$SM_GC,2.05,0.00,0.00,73.70,0.000,0.000,0.099,423,2661,1736,-8.25,0.31,300.24
$IRIDIUM_FIX,-7545.40,17636.93,080111,141412
$TT8_MAMPS,0.028462
$HUMID,54.25
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,20.0,19.1
$ALTIM_BOTTOM_PING,350.5,58.2
$24V_AH,20.3,81.020
$10V_AH,9.6,56.023
$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,18.850,73.575,278.975,73.700,0.000,25.727,38.132,296.596,1.750,0.000,31.567,1688.925,2092.308,528.369,2018.944,271.716,0.000,1242.055,0.000,1129.502,0.000,10.631,0.000
$DEVICE_MAMPS,201.195,81.855,1032.750,98.685,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,471.655,876.600,954.112,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258148
$DATA_FILE_SIZE,47029,674
$CAP_FILE_SIZE,97184,0
$CFSIZE,260165632,222113792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065,348.8,1
$GPS,080111,183450,-7628.331,17632.389,14,1.4,14,122.9