version: 66.08
glider: 502
mission: 3
dive: 585
start: 1 10 111 13 53 10
data:
$ID,502
$MISSION,3
$DIVE,585
$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,-30877.184
$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,21
$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
$GPS1,100111,134337,-7628.942,17530.559,29,0.8,30,124.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-68.2
$GPS2,100111,135244,-7628.941,17530.582,14,1.0,14,124.4
$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,152.5,142938,-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,15,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,163,0.00,0.00,-142.30,0.000,2,0.000,0.000,399,2641,3296,0,0,0,0,0,0
$GC,168,-0.76,-146.0,3.1,-1.5,21,191,9.20,2.38,-7.03,0.000,4,0.194,0.061,2812,1246,3560,0,0,0,0,0,0
$GC,383,-0.76,-146.0,37.2,-14.3,59,391,0.00,2.35,0.00,0.000,6,0.000,0.054,2803,2660,3564,0,0,0,0,0,0
$GC,521,-0.76,-146.0,58.9,-15.8,84,529,0.00,1.83,0.00,0.000,4,0.000,0.058,2796,3764,3564,0,0,0,0,0,0
$GC,548,-0.76,-146.0,63.7,-17.0,88,557,0.00,1.80,0.00,0.000,6,0.000,0.040,2795,2642,3564,0,0,0,0,0,0
$GC,691,-0.76,-146.0,87.8,-17.1,113,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2642,3565,0,0,0,0,0,0
$GC,828,-0.76,-146.0,110.7,-16.8,132,832,0.00,1.85,0.00,0.000,4,0.000,0.058,2787,3767,3565,0,0,0,0,0,0
$GC,864,-0.76,-146.0,117.0,-18.5,135,868,0.12,1.75,0.00,0.000,6,0.159,0.039,2820,2651,3565,0,0,0,0,0,0
$GC,1008,-0.76,-146.0,138.6,-14.5,148,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2649,3565,0,0,0,0,0,0
$GC,1143,-0.76,-146.0,159.2,-14.7,161,1147,0.00,1.85,0.00,0.000,4,0.000,0.060,2813,3772,3565,0,0,0,0,0,0
$GC,1179,-0.76,-146.0,164.6,-16.1,164,1182,0.00,1.75,0.00,0.000,6,0.000,0.040,2812,2658,3565,0,0,0,0,0,0
$GC,1320,-0.76,-146.0,186.5,-15.2,177,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2656,3565,0,0,0,0,0,0
$GC,1447,-0.76,-146.0,205.4,-14.8,189,1450,0.00,1.83,0.00,0.000,4,0.000,0.059,2804,3764,3565,0,0,0,0,0,0
$GC,1484,-0.76,-146.0,211.6,-14.8,192,1493,0.00,1.75,0.00,0.000,6,0.000,0.039,2804,2671,3565,0,0,0,0,0,0
$GC,1621,-0.76,-146.0,231.4,-15.0,205,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2670,3565,0,0,0,0,0,0
$GC,1758,-0.76,-146.0,251.4,-14.4,218,1761,0.00,1.80,0.00,0.000,4,0.000,0.059,2796,3762,3565,0,0,0,0,0,0
$GC,1792,-0.76,-146.0,257.1,-16.1,221,1796,0.00,1.73,0.00,0.000,6,0.000,0.040,2796,2663,3565,0,0,0,0,0,0
$GC,1997,-0.76,-146.0,288.3,-15.3,240,2001,0.00,1.83,0.00,0.000,4,0.000,0.059,2787,3769,3565,0,0,0,0,0,0
$GC,2020,-0.76,-146.0,292.1,-15.6,242,2025,0.10,1.73,0.00,0.000,6,0.166,0.040,2813,2671,3565,0,0,0,0,0,0
$GC,2225,-0.76,-146.0,320.3,-13.6,261,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2669,3565,0,0,0,0,0,0
$GC,2417,-0.76,-146.0,346.0,-13.2,279,2420,0.00,1.80,0.00,0.000,4,0.000,0.060,2806,3761,3565,0,0,0,0,0,0
$GC,2489,-0.76,-146.0,357.0,-14.6,285,2496,0.00,1.70,0.00,0.000,6,0.000,0.040,2806,2678,3565,0,0,0,0,0,0
$STATE,2621,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2621,begin apogee
$GC,2628,-0.27,0.0,375.3,13.8,298,2765,0.52,0.00,131.25,1.033,4,0.122,0.000,2974,2480,2961,0,0,0,0,0,0
$STATE,2766,end apogee,CONTROL_FINISHED_OK
$STATE,2766,begin climb
$GC,2768,0.76,146.0,381.4,0.0,310,2932,1.10,2.55,150.50,0.951,4,0.080,0.047,3308,1098,2365,0,0,0,0,1,0
$GC,3038,0.76,146.0,359.5,10.8,333,3045,0.00,2.60,0.00,0.000,6,0.000,0.049,3308,2504,2354,0,0,0,0,0,0
$GC,3239,0.76,146.0,336.7,11.2,352,3244,0.00,2.42,0.00,0.000,4,0.000,0.047,3315,1106,2350,0,0,0,0,0,0
$GC,3404,0.76,146.0,318.0,11.5,366,3408,0.00,2.40,0.00,0.000,6,0.000,0.050,3315,2513,2348,0,0,0,0,0,0
$GC,3602,0.76,146.0,294.7,11.7,384,3606,0.00,2.05,0.00,0.000,4,0.000,0.055,3315,3777,2347,0,0,0,0,0,0
$GC,3703,0.76,146.0,280.5,13.6,392,3710,0.00,1.98,0.00,0.000,6,0.000,0.038,3324,2529,2345,0,0,0,0,0,0
$GC,3902,0.76,146.0,255.8,12.6,411,3905,0.00,2.03,0.00,0.000,4,0.000,0.057,3324,3773,2345,0,0,0,0,0,0
$GC,3951,0.76,146.0,248.3,14.5,415,3961,0.00,1.98,0.00,0.000,6,0.000,0.040,3334,2541,2345,0,0,0,0,0,0
$GC,4088,0.76,146.0,230.3,13.3,428,4092,0.00,2.00,0.00,0.000,4,0.000,0.057,3334,3770,2345,0,0,0,0,0,0
$GC,4125,0.76,146.0,224.1,15.2,431,4136,0.08,1.98,0.00,0.000,6,0.143,0.039,3319,2543,2344,0,0,0,0,0,0
$GC,4262,0.76,146.0,207.1,12.1,444,4269,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2543,2344,0,0,0,0,0,0
$GC,4398,0.76,146.0,191.0,11.8,457,4402,0.00,2.00,0.00,0.000,4,0.000,0.057,3319,3768,2343,0,0,0,0,0,0
$GC,4455,0.76,146.0,183.2,13.6,462,4459,0.00,1.92,0.00,0.000,6,0.000,0.038,3327,2541,2343,0,0,0,0,0,0
$GC,4597,0.76,146.0,165.5,12.4,475,4600,0.00,2.03,0.00,0.000,4,0.000,0.057,3327,3775,2343,0,0,0,0,0,0
$GC,4623,0.76,146.0,161.5,14.0,477,4632,0.00,1.95,0.00,0.000,6,0.000,0.039,3337,2560,2343,0,0,0,0,0,0
$GC,4760,0.76,146.0,144.2,12.9,490,4764,0.00,1.98,0.00,0.000,4,0.000,0.056,3337,3769,2343,0,0,0,0,0,0
$GC,4787,0.76,146.0,140.0,14.4,492,4795,0.10,1.92,0.00,0.000,6,0.136,0.038,3314,2565,2342,0,0,0,0,0,0
$GC,4925,0.76,146.0,124.8,11.1,505,4932,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2564,2342,0,0,0,0,0,0
$GC,5060,0.76,146.0,109.4,11.2,518,5064,0.00,1.98,0.00,0.000,4,0.000,0.057,3313,3768,2342,0,0,0,0,0,0
$GC,5119,0.76,146.0,101.5,13.1,523,5128,0.00,1.90,0.00,0.000,6,0.000,0.039,3321,2577,2342,0,0,0,0,0,0
$GC,5258,0.76,146.0,85.7,11.2,547,5265,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2576,2342,0,0,0,0,0,0
$GC,5395,0.76,146.0,69.5,12.2,572,5403,0.00,2.00,0.00,0.000,4,0.000,0.057,3321,3770,2342,0,0,0,0,0,0
$GC,5450,0.76,146.0,62.6,13.4,581,5457,0.00,1.88,0.00,0.000,6,0.000,0.040,3330,2581,2341,0,0,0,0,0,0
$GC,5590,0.76,146.0,45.6,12.1,606,5599,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2580,2341,0,0,0,0,0,0
$GC,5730,0.76,146.0,28.3,12.7,631,5737,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2580,2341,0,0,0,0,0,0
$GC,5870,0.76,146.0,10.8,12.6,656,5878,0.00,1.98,0.00,0.000,4,0.000,0.057,3330,3758,2340,0,0,0,0,0,0
$FREEZE,8.79,0.422,-1.891,2,1,0
$FREEZE,8.12,0.423,-1.890,2,1,0
$FREEZE,7.20,0.427,-1.890,2,1,0
$FREEZE,6.46,0.427,-1.889,2,1,0
$FREEZE,5.40,0.425,-1.888,2,1,0
$FREEZE,4.73,0.424,-1.888,2,1,0
$FREEZE,3.74,0.427,-1.887,2,1,0
$FREEZE,2.95,0.434,-1.886,2,1,0
$STATE,5925,end climb,SURFACE_DEPTH_REACHED
$STATE,5925,begin surface coast
$FREEZE,1.88,0.430,-1.885,2,1,0
$FREEZE,1.28,0.432,-1.885,2,1,0
$FREEZE,1.27,0.373,-1.888,2,1,0
$FINISH,1.3,1.027588
$STATE,5945,end surface coast,CONTROL_FINISHED_OK
$STATE,5945,begin surface
$SM_CCo,5965,73.30,0.097,0,0,1736,300.24
$SM_GC,2.14,0.00,0.00,73.30,0.000,0.000,0.097,426,2645,1736,-8.24,-0.14,300.24
$IRIDIUM_FIX,-7545.40,17524.10,100111,111158
$TT8_MAMPS,0.027713
$HUMID,54.92
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,18.4
$24V_AH,20.4,83.959
$10V_AH,9.6,58.122
$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,18.925,75.275,281.750,73.300,0.000,28.871,43.955,316.393,1.250,0.000,15.010,1671.735,2089.121,521.344,2019.740,289.071,0.000,1237.745,0.000,1126.767,0.000,7.775,0.000
$DEVICE_MAMPS,194.310,61.200,1032.750,97.155,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,467.764,869.569,942.007,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258136
$DATA_FILE_SIZE,47251,668
$CAP_FILE_SIZE,95890,0
$CFSIZE,260165632,220884992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.062,106.8,1
$GPS,100111,153438,-7628.926,17528.291,10,1.3,10,124.4