version: 66.08
glider: 502
mission: 3
dive: 577
start: 1 9 111 22 55 23
data:
$ID,502
$MISSION,3
$DIVE,577
$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,-30867.129
$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,33
$R_STBD_OVSHOOT,22
$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
$GPS1,090111,224631,-7628.726,17548.449,38,1.5,38,123.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-69.7
$GPS2,090111,225456,-7628.724,17548.496,17,1.1,17,123.9
$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,142.7,150688,-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,16,-0.76,-146.0,0.0,0.0,0,161,0.00,0.00,-141.75,0.000,2,0.000,0.000,410,2648,3290,0,0,0,0,0,0
$GC,166,-0.76,-146.0,3.1,-1.7,21,189,9.00,1.92,-7.20,0.000,4,0.193,0.073,2794,3767,3560,0,0,0,0,0,0
$GC,435,-0.76,-146.0,52.0,-16.7,69,442,0.00,1.77,0.00,0.000,6,0.000,0.039,2794,2633,3563,0,0,0,0,0,0
$GC,571,-0.76,-146.0,74.9,-17.0,94,579,0.00,1.90,0.00,0.000,4,0.000,0.058,2785,3763,3564,0,0,0,0,0,0
$GC,650,-0.76,-146.0,89.2,-17.4,108,659,0.08,1.77,0.00,0.000,6,0.136,0.039,2811,2653,3564,0,0,0,0,0,0
$GC,796,-0.76,-146.0,112.1,-15.4,127,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2652,3564,0,0,0,0,0,0
$GC,922,-0.76,-146.0,131.6,-15.1,139,926,0.00,1.83,0.00,0.000,4,0.000,0.060,2804,3767,3565,0,0,0,0,0,0
$GC,969,-0.76,-146.0,139.2,-17.2,143,972,0.00,1.73,0.00,0.000,6,0.000,0.040,2804,2659,3565,0,0,0,0,0,0
$GC,1112,-0.76,-146.0,161.6,-16.1,156,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2657,3564,0,0,0,0,0,0
$GC,1248,-0.76,-146.0,183.2,-15.3,169,1251,0.00,1.83,0.00,0.000,4,0.000,0.059,2795,3773,3564,0,0,0,0,0,0
$GC,1274,-0.76,-146.0,188.0,-16.3,171,1283,0.00,1.77,0.00,0.000,6,0.000,0.040,2795,2665,3565,0,0,0,0,0,0
$GC,1413,-0.76,-146.0,209.7,-16.5,184,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2664,3564,0,0,0,0,0,0
$GC,1548,-0.76,-146.0,232.5,-16.6,197,1552,0.00,1.80,0.00,0.000,4,0.000,0.059,2786,3764,3564,0,0,0,0,0,0
$GC,1584,-0.76,-146.0,238.5,-18.3,200,1588,0.12,1.73,0.00,0.000,6,0.158,0.040,2820,2660,3564,0,0,0,0,0,0
$GC,1724,-0.76,-146.0,259.1,-14.4,213,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2658,3564,0,0,0,0,0,0
$GC,1915,-0.76,-146.0,285.4,-13.5,231,1919,0.00,1.85,0.00,0.000,4,0.000,0.060,2813,3759,3564,0,0,0,0,0,0
$GC,1965,-0.76,-146.0,293.1,-14.7,235,1972,0.00,1.73,0.00,0.000,6,0.000,0.039,2812,2680,3564,0,0,0,0,0,0
$GC,2164,-0.76,-146.0,321.4,-14.4,254,2165,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2680,3564,0,0,0,0,0,0
$GC,2355,-0.76,-146.0,348.6,-14.6,272,2358,0.00,1.80,0.00,0.000,4,0.000,0.060,2804,3773,3564,0,0,0,0,0,0
$GC,2407,-0.76,-146.0,357.0,-15.5,276,2414,0.00,1.75,0.00,0.000,6,0.000,0.041,2804,2685,3564,0,0,0,0,0,0
$STATE,2539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2539,begin apogee
$GC,2545,-0.27,0.0,376.4,14.6,289,2684,0.52,0.00,130.50,1.038,4,0.124,0.000,2972,2485,2961,0,0,0,0,0,0
$STATE,2685,end apogee,CONTROL_FINISHED_OK
$STATE,2685,begin climb
$GC,2687,0.76,146.0,383.1,0.0,301,2857,1.10,2.55,150.68,0.955,4,0.079,0.047,3306,1103,2363,0,0,0,0,1,0
$GC,2958,0.76,146.0,360.5,11.1,325,2963,0.00,2.55,0.00,0.000,6,0.000,0.049,3306,2499,2354,0,0,0,0,0,0
$GC,3156,0.76,146.0,337.6,11.3,343,3160,0.00,2.42,0.00,0.000,4,0.000,0.047,3316,1107,2350,0,0,0,0,0,0
$GC,3316,0.76,146.0,319.7,11.0,357,3321,0.00,2.40,0.00,0.000,6,0.000,0.050,3316,2515,2348,0,0,0,0,0,0
$GC,3521,0.76,146.0,295.2,11.6,376,3524,0.00,2.03,0.00,0.000,4,0.000,0.055,3316,3767,2347,0,0,0,0,0,0
$GC,3634,0.76,146.0,279.8,13.3,386,3638,0.00,1.92,0.00,0.000,6,0.000,0.037,3325,2532,2345,0,0,0,0,0,0
$GC,3839,0.76,146.0,254.9,11.7,405,3840,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2529,2344,0,0,0,0,0,0
$GC,4032,0.76,146.0,231.7,12.3,423,4035,0.00,2.00,0.00,0.000,4,0.000,0.056,3325,3764,2344,0,0,0,0,0,0
$GC,4122,0.76,146.0,218.7,14.4,431,4126,0.00,1.92,0.00,0.000,6,0.000,0.037,3335,2531,2344,0,0,0,0,0,0
$GC,4264,0.76,146.0,200.7,12.4,444,4268,0.00,2.03,0.00,0.000,4,0.000,0.056,3334,3774,2344,0,0,0,0,0,0
$GC,4300,0.76,146.0,195.8,13.5,447,4304,0.12,1.95,0.00,0.000,6,0.161,0.039,3312,2529,2343,0,0,0,0,0,0
$GC,4435,0.76,146.0,180.1,10.7,459,4437,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2525,2343,0,0,0,0,0,0
$GC,4563,0.76,146.0,166.4,10.6,471,4566,0.00,2.03,0.00,0.000,4,0.000,0.056,3311,3773,2343,0,0,0,0,0,0
$GC,4621,0.76,146.0,159.4,12.8,476,4625,0.00,1.92,0.00,0.000,6,0.000,0.039,3319,2541,2343,0,0,0,0,0,0
$GC,4763,0.76,146.0,142.9,11.5,489,4764,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2538,2343,0,0,0,0,0,0
$GC,4890,0.76,146.0,128.4,11.2,501,4894,0.00,2.00,0.00,0.000,4,0.000,0.056,3319,3765,2343,0,0,0,0,0,0
$GC,4939,0.76,146.0,121.8,13.0,505,4947,0.00,1.92,0.00,0.000,6,0.000,0.038,3328,2562,2342,0,0,0,0,0,0
$GC,5076,0.76,146.0,105.7,11.9,518,5084,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2560,2342,0,0,0,0,0,0
$GC,5214,0.76,146.0,89.3,11.9,539,5222,0.00,2.00,0.00,0.000,4,0.000,0.057,3328,3757,2342,0,0,0,0,0,0
$GC,5266,0.76,146.0,82.2,13.2,548,5274,0.00,1.92,0.00,0.000,6,0.000,0.038,3338,2555,2342,0,0,0,0,0,0
$GC,5406,0.76,146.0,64.9,12.4,573,5412,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2553,2341,0,0,0,0,0,0
$GC,5543,0.76,146.0,47.8,12.0,598,5551,0.00,2.03,0.00,0.000,4,0.000,0.056,3338,3765,2341,0,0,0,0,0,0
$GC,5590,0.76,146.0,41.4,14.8,606,5598,0.10,1.90,0.00,0.000,6,0.132,0.037,3314,2573,2341,0,0,0,0,0,0
$GC,5734,0.76,146.0,25.6,10.3,631,5741,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2571,2341,0,0,0,0,0,0
$GC,5875,0.76,146.0,10.4,10.1,656,5883,0.00,2.00,0.00,0.000,4,0.000,0.057,3314,3768,2341,0,0,0,0,0,0
$FREEZE,8.35,0.028,-1.891,2,1,0
$FREEZE,7.83,0.041,-1.891,2,1,0
$FREEZE,7.02,0.062,-1.890,2,1,0
$FREEZE,6.48,0.075,-1.889,2,1,0
$FREEZE,5.54,0.099,-1.889,2,1,0
$FREEZE,4.96,0.119,-1.888,2,1,0
$GC,5921,0.76,146.0,5.0,13.2,663,5929,0.00,1.88,0.00,0.000,6,0.000,0.038,3321,2569,2340,0,0,0,0,0,0
$FREEZE,2.81,0.231,-1.885,2,1,0
$STATE,5936,end climb,SURFACE_DEPTH_REACHED
$STATE,5936,begin surface coast
$FREEZE,2.15,0.590,-1.879,2,1,0
$FREEZE,1.64,0.610,-1.881,2,1,0
$FREEZE,1.25,1.059,-1.877,2,1,0
$FREEZE,1.17,0.549,-0.917,2,1,0
$FINISH,1.2,1.013539
$STATE,5961,end surface coast,CONTROL_FINISHED_OK
$STATE,5961,begin surface
$SM_CCo,5978,79.25,0.744,1,0,1737,300.24
$SM_GC,2.04,0.00,0.00,79.25,0.000,0.000,0.744,420,2661,1737,-8.26,0.31,300.24
$IRIDIUM_FIX,-7545.40,17552.25,090111,202031
$TT8_MAMPS,0.028462
$HUMID,54.37
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,18.5
$ALTIM_BOTTOM_PING,350.4,68.7
$24V_AH,20.4,83.077
$10V_AH,9.7,57.422
$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,18.725,66.975,281.175,79.250,0.000,28.038,35.041,281.678,1.750,0.000,17.936,1677.179,2145.749,512.726,1962.996,276.067,0.000,1212.855,0.000,1118.757,0.000,13.639,0.000
$DEVICE_MAMPS,192.780,89.505,1038.105,744.345,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,468.992,865.749,936.667,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47116,669
$CAP_FILE_SIZE,93919,0
$CFSIZE,260165632,221298688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.017, 99.2,1
$GPS,100111,003720,-7628.724,17545.744,15,1.7,15,124.0