version: 66.08
glider: 502
mission: 3
dive: 573
start: 1 9 111 15 22 35
data:
$ID,502
$MISSION,3
$DIVE,573
$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,-30862.096
$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,30
$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
$GPS1,090111,151325,-7628.876,17558.082,41,1.0,42,123.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-67.8
$GPS2,090111,152208,-7628.870,17558.143,10,1.6,10,123.7
$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,153.9,154854,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,165,0.00,0.00,-145.43,0.000,2,0.000,0.000,411,2663,3373,0,0,0,0,0,0
$GC,170,-0.76,-146.0,3.4,-1.9,21,193,8.90,2.30,-4.68,0.000,4,0.192,0.060,2810,1245,3560,0,0,0,0,0,0
$GC,419,-0.76,-146.0,44.4,-14.1,65,426,0.00,2.30,0.00,0.000,6,0.000,0.054,2801,2645,3563,0,0,0,0,0,0
$GC,556,-0.76,-146.0,66.5,-16.5,90,564,0.00,1.85,0.00,0.000,4,0.000,0.058,2793,3766,3563,0,0,0,0,0,0
$GC,582,-0.76,-146.0,71.1,-16.8,94,590,0.00,1.77,0.00,0.000,6,0.000,0.040,2793,2652,3563,0,0,0,0,0,0
$GC,721,-0.76,-146.0,94.5,-17.3,119,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2651,3563,0,0,0,0,0,0
$GC,864,-0.76,-146.0,119.0,-17.3,135,867,0.00,1.83,0.00,0.000,4,0.000,0.060,2784,3766,3563,0,0,0,0,0,0
$GC,923,-0.76,-146.0,129.4,-17.9,140,927,0.12,1.75,0.00,0.000,6,0.159,0.040,2817,2641,3563,0,0,0,0,0,0
$GC,1064,-0.76,-146.0,150.6,-14.4,153,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2639,3563,0,0,0,0,0,0
$GC,1190,-0.76,-146.0,168.9,-14.0,165,1194,0.00,1.85,0.00,0.000,4,0.000,0.060,2809,3771,3563,0,0,0,0,0,0
$GC,1238,-0.76,-146.0,176.7,-14.7,169,1247,0.00,1.77,0.00,0.000,6,0.000,0.040,2810,2663,3563,0,0,0,0,0,0
$GC,1377,-0.76,-146.0,196.2,-14.8,182,1380,0.00,1.80,0.00,0.000,4,0.000,0.059,2801,3766,3563,0,0,0,0,0,0
$GC,1404,-0.76,-146.0,201.4,-15.8,184,1413,0.00,1.75,0.00,0.000,6,0.000,0.039,2801,2669,3563,0,0,0,0,0,0
$GC,1541,-0.76,-146.0,221.5,-15.2,197,1542,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2668,3563,0,0,0,0,0,0
$GC,1669,-0.76,-146.0,240.7,-14.8,209,1672,0.00,1.80,0.00,0.000,4,0.000,0.058,2793,3770,3563,0,0,0,0,0,0
$GC,1704,-0.76,-146.0,246.5,-17.0,212,1708,0.00,1.73,0.00,0.000,6,0.000,0.040,2793,2667,3563,0,0,0,0,0,0
$GC,1844,-0.76,-146.0,269.3,-16.3,225,1845,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2664,3563,0,0,0,0,0,0
$GC,2036,-0.76,-146.0,299.6,-16.0,243,2041,0.00,1.83,0.00,0.000,4,0.000,0.059,2785,3754,3563,0,0,0,0,0,0
$GC,2082,-0.76,-146.0,307.3,-16.7,247,2086,0.12,1.67,0.00,0.000,6,0.157,0.040,2818,2677,3563,0,0,0,0,0,0
$GC,2285,-0.76,-146.0,335.5,-13.2,266,2289,0.00,1.83,0.00,0.000,4,0.000,0.060,2811,3758,3563,0,0,0,0,0,0
$GC,2319,-0.76,-146.0,340.5,-15.4,269,2323,0.00,1.73,0.00,0.000,6,0.000,0.040,2811,2684,3562,0,0,0,0,0,0
$GC,2523,-0.76,-146.0,368.6,-13.5,288,2524,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2682,3563,0,0,0,0,0,0
$STATE,2586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2586,begin apogee
$GC,2593,-0.27,0.0,377.5,13.8,294,2731,0.50,0.00,130.55,1.039,4,0.123,0.000,2971,2484,2961,0,0,0,0,0,0
$STATE,2732,end apogee,CONTROL_FINISHED_OK
$STATE,2732,begin climb
$GC,2734,0.76,146.0,384.9,0.0,306,2895,1.10,2.55,149.10,0.962,4,0.079,0.047,3307,1098,2363,0,0,0,0,0,0
$GC,3009,0.76,146.0,362.4,10.4,330,3014,0.00,2.55,0.00,0.000,6,0.000,0.049,3306,2496,2354,0,0,0,0,0,0
$GC,3210,0.76,146.0,338.7,12.2,348,3214,0.00,2.40,0.00,0.000,4,0.000,0.047,3316,1098,2349,0,0,0,0,0,0
$GC,3364,0.76,146.0,320.6,11.9,361,3368,0.00,2.40,0.00,0.000,6,0.000,0.050,3316,2518,2347,0,0,0,0,0,0
$GC,3563,0.76,146.0,295.6,12.4,379,3566,0.00,2.03,0.00,0.000,4,0.000,0.056,3316,3773,2347,0,0,0,0,0,0
$GC,3668,0.76,146.0,280.1,14.2,388,3676,0.00,2.00,0.00,0.000,6,0.000,0.039,3325,2526,2345,0,0,0,0,0,0
$GC,3867,0.76,146.0,254.4,12.8,407,3871,0.00,2.03,0.00,0.000,4,0.000,0.057,3325,3771,2345,0,0,0,0,0,0
$GC,3916,0.76,146.0,247.7,15.0,411,3919,0.00,1.92,0.00,0.000,6,0.000,0.039,3335,2538,2344,0,0,0,0,0,0
$GC,4059,0.76,146.0,228.1,13.4,424,4066,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2536,2344,0,0,0,0,0,0
$GC,4195,0.76,146.0,210.6,12.8,437,4199,0.00,2.00,0.00,0.000,4,0.000,0.055,3335,3771,2344,0,0,0,0,0,0
$GC,4243,0.76,146.0,203.1,15.1,441,4252,0.10,1.98,0.00,0.000,6,0.138,0.040,3312,2536,2343,0,0,0,0,0,0
$GC,4381,0.76,146.0,188.0,10.8,454,4388,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2535,2343,0,0,0,0,0,0
$GC,4517,0.76,146.0,172.6,11.5,467,4521,0.00,2.00,0.00,0.000,4,0.000,0.056,3312,3768,2342,0,0,0,0,0,0
$GC,4576,0.76,146.0,165.3,12.6,472,4580,0.00,1.92,0.00,0.000,6,0.000,0.039,3320,2538,2343,0,0,0,0,0,0
$GC,4717,0.76,146.0,148.5,11.4,485,4718,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2536,2342,0,0,0,0,0,0
$GC,4844,0.76,146.0,133.7,11.4,497,4848,0.00,2.00,0.00,0.000,4,0.000,0.056,3320,3767,2343,0,0,0,0,0,0
$GC,4882,0.76,146.0,128.4,13.7,500,4891,0.00,1.95,0.00,0.000,6,0.000,0.038,3329,2550,2341,0,0,0,0,0,0
$GC,5018,0.76,146.0,111.8,12.3,513,5019,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2549,2342,0,0,0,0,0,0
$GC,5145,0.76,146.0,96.4,12.4,527,5153,0.00,2.00,0.00,0.000,4,0.000,0.057,3330,3766,2341,0,0,0,0,0,0
$GC,5205,0.76,146.0,88.0,14.7,537,5212,0.00,1.90,0.00,0.000,6,0.000,0.038,3339,2555,2341,0,0,0,0,0,0
$GC,5343,0.76,146.0,70.0,12.9,562,5351,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2553,2341,0,0,0,0,0,0
$GC,5483,0.76,146.0,51.8,13.2,587,5491,0.00,2.00,0.00,0.000,4,0.000,0.057,3339,3769,2341,0,0,0,0,0,0
$GC,5543,0.76,146.0,42.9,15.2,597,5550,0.10,1.92,0.00,0.000,6,0.133,0.039,3315,2566,2341,0,0,0,0,0,0
$GC,5682,0.76,146.0,26.2,11.1,622,5690,0.00,2.40,0.00,0.000,4,0.000,0.050,3316,1094,2341,0,0,0,0,0,0
$GC,5704,0.76,146.0,23.8,10.8,625,5711,0.00,2.42,0.00,0.000,6,0.000,0.051,3316,2573,2340,0,0,0,0,0,0
$FREEZE,8.64,-0.034,-1.892,2,1,0
$GC,5843,0.76,146.0,8.6,11.0,650,5852,0.00,1.98,0.00,0.000,4,0.000,0.057,3316,3768,2340,0,0,0,0,0,0
$FREEZE,6.40,-0.034,-1.890,2,1,0
$FREEZE,5.63,-0.035,-1.890,2,1,0
$FREEZE,4.83,-0.034,-1.889,2,1,0
$FREEZE,4.20,-0.033,-1.888,2,1,0
$FREEZE,3.60,-0.034,-1.888,2,1,0
$FREEZE,2.88,-0.037,-1.887,2,1,0
$STATE,5888,end climb,SURFACE_DEPTH_REACHED
$STATE,5888,begin surface coast
$FREEZE,1.99,-0.034,-1.887,2,1,0
$FREEZE,1.38,-0.032,-1.886,2,1,0
$FREEZE,1.20,-0.091,-1.002,2,1,0
$FINISH,1.2,1.014807
$STATE,5909,end surface coast,CONTROL_FINISHED_OK
$STATE,5909,begin surface
$SM_CCo,5928,77.47,0.739,1,0,1736,300.24
$SM_GC,1.93,0.00,0.00,77.47,0.000,0.000,0.739,405,2636,1736,-8.31,-0.40,300.24
$IRIDIUM_FIX,-7545.40,17600.12,090111,131316
$TT8_MAMPS,0.027713
$HUMID,54.29
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,18.6
$24V_AH,20.4,82.551
$10V_AH,9.7,57.069
$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,18.625,76.000,279.650,77.475,0.000,28.992,38.013,303.033,1.500,0.000,11.376,1663.490,2109.396,516.076,1973.873,278.483,0.000,1214.780,0.000,1105.461,0.000,10.662,0.000
$DEVICE_MAMPS,192.015,60.435,1038.870,738.990,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,462.605,856.629,933.617,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258140
$DATA_FILE_SIZE,47033,660
$CAP_FILE_SIZE,95161,0
$CFSIZE,260165632,221499392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.067, 99.6,1
$GPS,090111,170358,-7628.827,17555.961,12,3.4,31,123.8