version: 66.08
glider: 502
mission: 3
dive: 565
start: 1 9 111 0 19 54
data:
$ID,502
$MISSION,3
$DIVE,565
$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,-30852.035
$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,39
$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
$GPS1,090111,001032,-7628.218,17621.012,8,1.9,8,123.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-67.0
$GPS2,090111,001926,-7628.183,17620.955,16,2.0,16,123.1
$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,131.5,164737,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,162,0.00,0.00,-143.07,0.000,2,0.000,0.000,409,2663,3297,0,0,0,0,0,0
$GC,167,-0.76,-146.0,3.1,-1.5,21,190,8.88,2.35,-7.20,0.000,4,0.190,0.062,2808,1247,3561,0,0,0,0,0,0
$GC,318,-0.76,-146.0,28.3,-14.4,47,326,0.00,2.28,0.00,0.000,6,0.000,0.054,2800,2641,3564,0,0,0,0,0,0
$GC,456,-0.76,-146.0,50.1,-16.1,72,464,0.00,1.85,0.00,0.000,4,0.000,0.058,2791,3766,3564,0,0,0,0,0,0
$GC,504,-0.76,-146.0,58.4,-17.2,80,512,0.00,1.77,0.00,0.000,6,0.000,0.040,2791,2650,3564,0,0,0,0,0,0
$GC,645,-0.76,-146.0,82.6,-17.0,105,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2650,3565,0,0,0,0,0,0
$GC,782,-0.76,-146.0,106.1,-16.8,127,786,0.00,1.83,0.00,0.000,4,0.000,0.060,2786,3769,3565,0,0,0,0,0,0
$GC,820,-0.76,-146.0,113.4,-18.0,130,829,0.00,1.75,0.00,0.000,6,0.000,0.039,2785,2665,3565,0,0,0,0,0,0
$GC,958,-0.76,-146.0,136.5,-17.5,143,967,0.12,0.00,0.00,0.000,6,0.161,0.000,2819,2663,3565,0,0,0,0,0,0
$GC,1094,-0.76,-146.0,157.5,-14.6,156,1098,0.00,1.80,0.00,0.000,4,0.000,0.060,2812,3770,3566,0,0,0,0,0,0
$GC,1131,-0.76,-146.0,163.8,-16.3,159,1141,0.00,1.77,0.00,0.000,6,0.000,0.040,2812,2656,3566,0,0,0,0,0,0
$GC,1268,-0.76,-146.0,184.2,-15.3,172,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2656,3566,0,0,0,0,0,0
$GC,1404,-0.76,-146.0,205.2,-15.1,185,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2656,3566,0,0,0,0,0,0
$GC,1531,-0.76,-146.0,223.9,-15.0,197,1535,0.00,1.80,0.00,0.000,4,0.000,0.060,2803,3762,3566,0,0,0,0,0,0
$GC,1578,-0.76,-146.0,231.1,-15.9,201,1582,0.00,1.70,0.00,0.000,6,0.000,0.039,2803,2666,3565,0,0,0,0,0,0
$GC,1718,-0.76,-146.0,253.0,-15.3,214,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2663,3566,0,0,0,0,0,0
$GC,1910,-0.76,-146.0,282.2,-15.2,232,1913,0.00,1.80,0.00,0.000,4,0.000,0.060,2797,3766,3565,0,0,0,0,0,0
$GC,1971,-0.76,-146.0,292.3,-16.2,237,1977,0.00,1.70,0.00,0.000,6,0.000,0.040,2797,2673,3566,0,0,0,0,0,0
$GC,2169,-0.76,-146.0,322.4,-14.6,256,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2673,3565,0,0,0,0,0,0
$GC,2363,-0.76,-146.0,350.9,-14.8,274,2367,0.00,1.83,0.00,0.000,4,0.000,0.060,2788,3760,3565,0,0,0,0,0,0
$GC,2419,-0.76,-146.0,360.4,-16.8,279,2423,0.00,1.67,0.00,0.000,6,0.000,0.040,2789,2682,3565,0,0,0,0,0,0
$STATE,2514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2514,begin apogee
$GC,2520,-0.27,0.0,375.4,15.2,288,2658,0.57,0.00,130.60,1.040,4,0.127,0.000,2970,2494,2961,0,0,0,0,0,0
$STATE,2659,end apogee,CONTROL_FINISHED_OK
$STATE,2659,begin climb
$GC,2661,0.76,146.0,382.1,0.0,300,2831,1.10,2.55,150.98,0.952,4,0.080,0.048,3305,1106,2363,0,0,0,0,1,0
$GC,2927,0.76,146.0,361.3,10.7,323,2935,0.00,2.58,0.00,0.000,6,0.000,0.049,3305,2499,2354,0,0,0,0,0,0
$GC,3125,0.76,146.0,338.6,11.4,342,3129,0.00,2.40,0.00,0.000,4,0.000,0.047,3315,1104,2350,0,0,0,0,0,0
$GC,3272,0.76,146.0,322.3,11.3,355,3277,0.00,2.38,0.00,0.000,6,0.000,0.051,3315,2519,2347,0,0,0,0,0,0
$GC,3471,0.76,146.0,299.8,10.9,373,3475,0.00,2.05,0.00,0.000,4,0.000,0.056,3315,3768,2347,0,0,0,0,0,0
$GC,3571,0.76,146.0,286.4,14.2,382,3575,0.00,1.92,0.00,0.000,6,0.000,0.038,3324,2530,2346,0,0,0,0,0,0
$GC,3777,0.76,146.0,261.5,12.1,401,3780,0.00,2.00,0.00,0.000,4,0.000,0.057,3324,3767,2345,0,0,0,0,0,0
$GC,3823,0.76,146.0,255.1,14.2,405,3827,0.00,1.92,0.00,0.000,6,0.000,0.038,3334,2528,2344,0,0,0,0,0,0
$GC,4030,0.76,146.0,229.4,12.1,424,4033,0.00,2.00,0.00,0.000,4,0.000,0.056,3334,3766,2344,0,0,0,0,0,0
$GC,4098,0.76,146.0,219.8,13.8,430,4102,0.12,1.90,0.00,0.000,6,0.161,0.037,3309,2543,2343,0,0,0,0,0,0
$GC,4239,0.76,146.0,204.6,10.2,443,4242,0.00,1.98,0.00,0.000,4,0.000,0.056,3310,3767,2343,0,0,0,0,0,0
$GC,4266,0.76,146.0,201.0,12.4,445,4274,0.00,1.92,0.00,0.000,6,0.000,0.038,3317,2550,2343,0,0,0,0,0,0
$GC,4402,0.76,146.0,186.3,11.1,458,4403,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2549,2343,0,0,0,0,0,0
$GC,4528,0.76,146.0,172.0,11.3,470,4529,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2548,2343,0,0,0,0,0,0
$GC,4656,0.76,146.0,157.1,11.5,482,4659,0.00,1.98,0.00,0.000,4,0.000,0.057,3318,3767,2342,0,0,0,0,0,0
$GC,4704,0.76,146.0,150.4,13.4,486,4713,0.00,1.92,0.00,0.000,6,0.000,0.038,3327,2555,2342,0,0,0,0,0,0
$GC,4843,0.76,146.0,134.4,11.8,499,4851,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2553,2342,0,0,0,0,0,0
$GC,4979,0.76,146.0,118.2,11.5,512,4983,0.00,1.98,0.00,0.000,4,0.000,0.056,3327,3774,2341,0,0,0,0,0,0
$GC,5026,0.76,146.0,112.2,13.4,516,5030,0.00,1.88,0.00,0.000,6,0.000,0.039,3336,2565,2342,0,0,0,0,0,0
$GC,5162,0.76,146.0,95.6,12.2,532,5169,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2564,2342,0,0,0,0,0,0
$GC,5302,0.76,146.0,78.9,12.4,557,5309,0.00,1.98,0.00,0.000,4,0.000,0.057,3336,3770,2341,0,0,0,0,0,0
$GC,5353,0.76,146.0,71.7,14.1,566,5362,0.10,1.90,0.00,0.000,6,0.130,0.039,3312,2574,2342,0,0,0,0,0,0
$GC,5494,0.76,146.0,56.6,10.3,591,5501,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2574,2342,0,0,0,0,0,0
$GC,5633,0.76,146.0,42.3,10.9,616,5641,0.00,1.98,0.00,0.000,4,0.000,0.057,3312,3764,2341,0,0,0,0,0,0
$GC,5681,0.76,146.0,36.7,11.9,624,5689,0.00,1.88,0.00,0.000,6,0.000,0.038,3319,2579,2341,0,0,0,0,0,0
$GC,5822,0.76,146.0,20.6,11.9,649,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2578,2341,0,0,0,0,0,0
$FREEZE,8.75,-0.029,-1.893,2,1,0
$FREEZE,8.23,0.019,-1.891,2,1,0
$FREEZE,7.64,-0.008,-1.892,2,1,0
$FREEZE,6.98,-0.007,-1.891,2,1,0
$FREEZE,6.25,0.002,-1.890,2,1,0
$FREEZE,5.68,0.009,-1.890,2,1,0
$FREEZE,4.64,0.006,-1.889,2,1,0
$FREEZE,3.98,0.010,-1.889,2,1,0
$FREEZE,3.22,0.004,-1.888,2,1,0
$GC,5968,0.76,146.0,3.2,12.2,674,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2577,2340,0,0,0,0,0,0
$FREEZE,1.52,0.020,-1.887,2,1,0
$STATE,5981,end climb,SURFACE_DEPTH_REACHED
$STATE,5982,begin surface coast
$FREEZE,1.14,-0.119,-1.896,2,1,0
$FREEZE,1.15,-0.069,-1.027,2,1,0
$FREEZE,1.29,-0.087,-1.892,2,1,0
$FREEZE,1.24,-0.092,-1.893,2,1,0
$FREEZE,1.19,-0.047,-1.890,2,1,0
$FINISH,1.2,1.027642
$STATE,6012,end surface coast,CONTROL_FINISHED_OK
$STATE,6012,begin surface
$SM_CCo,6030,77.85,0.740,1,0,1736,300.24
$SM_GC,1.96,0.00,0.00,77.85,0.000,0.000,0.740,413,2679,1736,-8.28,0.79,300.24
$IRIDIUM_FIX,-7545.40,17628.85,080111,222224
$TT8_MAMPS,0.028462
$HUMID,54.76
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,19.4
$ALTIM_BOTTOM_PING,350.9,64.1
$24V_AH,20.3,81.502
$10V_AH,9.7,56.371
$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,18.525,67.375,281.575,77.850,0.000,30.133,40.734,305.091,1.750,0.000,17.181,1705.086,2115.099,525.500,2028.393,280.797,0.000,1243.369,0.000,1136.606,0.000,10.653,0.000
$DEVICE_MAMPS,190.485,87.210,1040.400,739.755,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,477.204,888.578,967.838,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47119,681
$CAP_FILE_SIZE,95947,0
$CFSIZE,260165632,221904896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.065,303.5,1
$GPS,090111,020307,-7628.242,17617.066,41,0.8,41,123.2