version: 66.08
glider: 502
mission: 3
dive: 576
start: 1 9 111 21 0 4
data:
$ID,502
$MISSION,3
$DIVE,576
$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,-30865.873
$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,36
$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
$GPS1,090111,205006,-7628.859,17551.051,15,1.8,31,123.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-74.5
$GPS2,090111,205938,-7628.786,17551.111,11,1.7,11,123.9
$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,149.1,151816,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.76,-146.0,0.0,0.0,0,101,0.00,0.00,-81.07,0.000,2,0.000,0.000,406,2665,3239,0,0,0,0,0,0
$GC,104,-0.76,-146.0,3.1,-1.0,12,129,8.93,2.38,-9.40,0.000,4,0.191,0.061,2809,1247,3559,0,0,0,0,0,0
$GC,380,-0.76,-146.0,45.2,-13.8,60,388,0.00,2.35,0.00,0.000,6,0.000,0.054,2801,2645,3562,0,0,0,0,0,0
$GC,525,-0.76,-146.0,68.1,-16.3,85,532,0.00,1.85,0.00,0.000,4,0.000,0.057,2792,3762,3562,0,0,0,0,0,0
$GC,557,-0.76,-146.0,73.5,-17.6,90,566,0.00,1.77,0.00,0.000,6,0.000,0.039,2792,2653,3563,0,0,0,0,0,0
$GC,701,-0.76,-146.0,97.8,-16.8,115,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2653,3563,0,0,0,0,0,0
$GC,843,-0.76,-146.0,121.6,-16.7,129,847,0.00,1.83,0.00,0.000,4,0.000,0.060,2784,3763,3563,0,0,0,0,0,0
$GC,902,-0.76,-146.0,131.8,-17.3,134,906,0.12,1.73,0.00,0.000,6,0.160,0.039,2817,2659,3563,0,0,0,0,0,0
$GC,1045,-0.76,-146.0,153.2,-14.4,147,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2658,3564,0,0,0,0,0,0
$GC,1180,-0.76,-146.0,173.2,-14.4,160,1184,0.00,1.83,0.00,0.000,4,0.000,0.060,2810,3766,3564,0,0,0,0,0,0
$GC,1228,-0.76,-146.0,180.3,-15.7,164,1231,0.00,1.70,0.00,0.000,6,0.000,0.039,2810,2675,3564,0,0,0,0,0,0
$GC,1370,-0.76,-146.0,201.6,-15.3,177,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2671,3564,0,0,0,0,0,0
$GC,1506,-0.76,-146.0,222.2,-14.9,190,1509,0.00,1.80,0.00,0.000,4,0.000,0.059,2801,3766,3564,0,0,0,0,0,0
$GC,1544,-0.76,-146.0,228.7,-16.9,193,1552,0.00,1.75,0.00,0.000,6,0.000,0.040,2801,2677,3564,0,0,0,0,0,0
$GC,1679,-0.76,-146.0,249.3,-15.8,206,1684,0.00,1.80,0.00,0.000,4,0.000,0.060,2793,3767,3564,0,0,0,0,0,0
$GC,1706,-0.76,-146.0,254.3,-16.5,208,1714,0.00,1.73,0.00,0.000,6,0.000,0.040,2793,2687,3563,0,0,0,0,0,0
$GC,1906,-0.76,-146.0,285.8,-15.2,227,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2686,3564,0,0,0,0,0,0
$GC,2095,-0.76,-146.0,315.4,-15.4,245,2099,0.00,1.77,0.00,0.000,4,0.000,0.059,2786,3763,3564,0,0,0,0,0,0
$GC,2141,-0.76,-146.0,323.0,-17.0,249,2145,0.12,1.70,0.00,0.000,6,0.158,0.039,2818,2677,3564,0,0,0,0,0,0
$GC,2349,-0.76,-146.0,350.7,-13.4,268,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2676,3564,0,0,0,0,0,0
$STATE,2534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2534,begin apogee
$GC,2540,-0.27,0.0,376.3,13.7,286,2677,0.47,0.00,130.80,1.047,4,0.122,0.000,2973,2496,2961,0,0,0,0,0,0
$STATE,2678,end apogee,CONTROL_FINISHED_OK
$STATE,2678,begin climb
$GC,2680,0.76,146.0,383.2,0.0,298,2840,1.10,2.58,148.43,0.973,4,0.079,0.047,3306,1105,2363,0,0,0,0,0,0
$GC,2965,0.76,146.0,359.6,11.3,323,2969,0.00,2.55,0.00,0.000,6,0.000,0.049,3306,2502,2354,0,0,0,0,0,0
$GC,3163,0.76,146.0,337.1,11.4,341,3168,0.00,2.40,0.00,0.000,4,0.000,0.047,3315,1104,2351,0,0,0,0,0,0
$GC,3309,0.76,146.0,320.7,11.4,353,3316,0.00,2.40,0.00,0.000,6,0.000,0.050,3315,2516,2348,0,0,0,0,0,0
$GC,3508,0.76,146.0,297.6,11.9,372,3511,0.00,2.03,0.00,0.000,4,0.000,0.056,3315,3766,2348,0,0,0,0,0,0
$GC,3598,0.76,146.0,285.2,13.4,380,3602,0.00,1.92,0.00,0.000,6,0.000,0.037,3324,2528,2347,0,0,0,0,0,0
$GC,3803,0.76,146.0,259.3,12.6,399,3806,0.00,2.03,0.00,0.000,4,0.000,0.057,3324,3768,2346,0,0,0,0,0,0
$GC,3841,0.76,146.0,253.6,14.8,402,3849,0.00,1.98,0.00,0.000,6,0.000,0.039,3333,2532,2346,0,0,0,0,0,0
$GC,4041,0.76,146.0,227.7,12.9,421,4045,0.00,2.00,0.00,0.000,4,0.000,0.055,3333,3764,2346,0,0,0,0,0,0
$GC,4088,0.76,146.0,220.8,14.7,425,4093,0.12,1.92,0.00,0.000,6,0.162,0.038,3310,2536,2345,0,0,0,0,0,0
$GC,4225,0.76,146.0,204.7,11.1,437,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2533,2345,0,0,0,0,0,0
$GC,4361,0.76,146.0,189.7,10.8,450,4364,0.00,2.00,0.00,0.000,4,0.000,0.057,3310,3764,2345,0,0,0,0,0,0
$GC,4430,0.76,146.0,181.1,13.4,456,4434,0.00,1.92,0.00,0.000,6,0.000,0.038,3316,2537,2344,0,0,0,0,0,0
$GC,4573,0.76,146.0,164.8,11.1,469,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2533,2344,0,0,0,0,0,0
$GC,4708,0.76,146.0,149.4,11.2,482,4712,0.00,2.03,0.00,0.000,4,0.000,0.057,3316,3773,2343,0,0,0,0,0,0
$GC,4766,0.76,146.0,142.1,13.3,487,4770,0.00,1.92,0.00,0.000,6,0.000,0.039,3326,2545,2344,0,0,0,0,0,0
$GC,4907,0.76,146.0,125.0,11.6,500,4908,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2543,2344,0,0,0,0,0,0
$GC,5034,0.76,146.0,110.2,11.6,512,5037,0.00,2.00,0.00,0.000,4,0.000,0.057,3326,3770,2344,0,0,0,0,0,0
$GC,5093,0.76,146.0,102.4,14.1,517,5096,0.00,1.90,0.00,0.000,6,0.000,0.038,3335,2555,2343,0,0,0,0,0,0
$GC,5232,0.76,146.0,84.6,11.9,540,5240,0.00,2.03,0.00,0.000,4,0.000,0.057,3335,3763,2343,0,0,0,0,0,0
$GC,5270,0.76,146.0,79.4,14.6,546,5280,0.08,1.90,0.00,0.000,6,0.141,0.038,3318,2574,2343,0,0,0,0,0,0
$GC,5419,0.76,146.0,62.6,11.0,571,5425,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2573,2343,0,0,0,0,0,0
$GC,5558,0.76,146.0,46.7,11.1,596,5567,0.00,2.00,0.00,0.000,4,0.000,0.057,3318,3761,2343,0,0,0,0,0,0
$GC,5625,0.76,146.0,38.6,12.5,607,5632,0.00,1.90,0.00,0.000,6,0.000,0.038,3326,2573,2343,0,0,0,0,0,0
$GC,5768,0.76,146.0,21.9,11.6,632,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2572,2343,0,0,0,0,0,0
$FREEZE,8.52,0.098,-1.891,2,2,0
$FREEZE,7.93,0.113,-1.891,2,2,0
$FREEZE,7.18,0.117,-1.891,2,2,0
$FREEZE,6.56,0.129,-1.890,2,2,0
$FREEZE,5.72,0.119,-1.889,2,2,0
$FREEZE,4.88,0.119,-1.889,2,2,0
$GC,5916,0.76,146.0,4.9,11.8,657,5923,0.00,1.98,0.00,0.000,4,0.000,0.058,3326,3765,2342,0,0,0,0,0,0
$FREEZE,2.83,0.147,-1.888,2,2,0
$STATE,5931,end climb,SURFACE_DEPTH_REACHED
$STATE,5931,begin surface coast
$FREEZE,1.69,0.160,-1.886,2,2,0
$FREEZE,1.22,0.235,-1.886,2,2,0
$FREEZE,1.14,0.142,-1.026,2,2,0
$FREEZE,1.14,0.155,-0.643,2,2,0
$FINISH,1.1,1.009449
$STATE,5956,end surface coast,CONTROL_FINISHED_OK
$STATE,5956,begin surface
$SM_CCo,5975,304.25,0.732,6,0,419,623.30
$SM_GC,1.97,0.00,0.00,304.25,0.000,0.000,0.732,415,2648,419,-8.26,-0.08,623.30
$IRIDIUM_FIX,-7545.40,17552.25,090111,202042
$TT8_MAMPS,0.028462
$HUMID,51.53
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,14.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,19.1
$ALTIM_BOTTOM_PING,350.7,63.7
$24V_AH,20.4,82.961
$10V_AH,9.6,57.334
$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,18.650,71.400,279.225,304.250,0.000,88.267,225.324,0.000,2.000,0.000,12.147,1683.047,2299.181,723.937,1952.156,227.602,0.000,1408.252,0.000,1114.485,0.000,10.647,0.000
$DEVICE_MAMPS,191.250,61.200,1047.285,732.105,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,465.619,858.469,939.588,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258188
$DATA_FILE_SIZE,47035,663
$CAP_FILE_SIZE,88711,0
$CFSIZE,260165632,221351936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$CURRENT,0.033, 69.5,1
$GPS,090111,224631,-7628.726,17548.449,38,1.5,38,123.9