version: 66.08
glider: 502
mission: 3
dive: 589
start: 1 10 111 21 27 0
data:
$ID,502
$MISSION,3
$DIVE,589
$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,-30882.219
$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,35
$R_STBD_OVSHOOT,35
$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
$GPS1,100111,211455,-7628.735,17519.539,43,1.4,43,124.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-62.4
$GPS2,100111,212632,-7628.665,17519.242,16,2.0,16,124.6
$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,141.0,138044,-17.5,-10.000
$D_GRID,381
$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,-146.0,0.0,0.0,0,154,0.00,0.00,-135.90,0.000,2,0.000,0.000,395,2669,3176,0,0,0,0,0,0
$GC,160,-0.76,-146.0,3.2,-2.1,20,190,8.95,2.38,-11.20,0.000,4,0.190,0.062,2807,1243,3560,0,0,0,0,0,0
$GC,415,-0.76,-146.0,41.9,-15.3,65,423,0.00,2.30,0.00,0.000,6,0.000,0.054,2798,2641,3563,0,0,0,0,0,0
$GC,554,-0.76,-146.0,65.1,-17.2,90,562,0.00,1.85,0.00,0.000,4,0.000,0.058,2790,3758,3564,0,0,0,0,0,0
$GC,599,-0.76,-146.0,72.8,-18.6,97,607,0.00,1.77,0.00,0.000,6,0.000,0.040,2790,2630,3564,0,0,0,0,0,0
$GC,738,-0.76,-146.0,96.5,-16.9,122,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2629,3564,0,0,0,0,0,0
$GC,877,-0.76,-146.0,120.4,-16.8,136,881,0.00,1.88,0.00,0.000,4,0.000,0.059,2781,3767,3564,0,0,0,0,0,0
$GC,927,-0.76,-146.0,129.9,-17.9,140,935,0.10,1.77,0.00,0.000,6,0.131,0.039,2814,2662,3564,0,0,0,0,0,0
$GC,1064,-0.76,-146.0,150.5,-15.1,153,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2661,3564,0,0,0,0,0,0
$GC,1200,-0.76,-146.0,171.0,-15.0,166,1203,0.00,1.80,0.00,0.000,4,0.000,0.058,2806,3761,3564,0,0,0,0,0,0
$GC,1237,-0.76,-146.0,177.3,-16.2,169,1246,0.00,1.77,0.00,0.000,6,0.000,0.039,2806,2655,3564,0,0,0,0,0,0
$GC,1374,-0.76,-146.0,197.8,-15.0,182,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2654,3564,0,0,0,0,0,0
$GC,1509,-0.76,-146.0,218.9,-15.6,195,1513,0.00,1.83,0.00,0.000,4,0.000,0.060,2798,3761,3564,0,0,0,0,0,0
$GC,1556,-0.76,-146.0,226.7,-17.2,199,1560,0.00,1.73,0.00,0.000,6,0.000,0.039,2798,2660,3564,0,0,0,0,0,0
$GC,1699,-0.76,-146.0,249.5,-16.0,212,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2657,3564,0,0,0,0,0,0
$GC,1835,-0.76,-146.0,271.4,-15.9,225,1839,0.00,1.83,0.00,0.000,4,0.000,0.059,2790,3767,3564,0,0,0,0,0,0
$GC,1885,-0.76,-146.0,280.3,-17.2,229,1893,0.00,1.70,0.00,0.000,6,0.000,0.039,2789,2677,3564,0,0,0,0,0,0
$GC,2083,-0.76,-146.0,311.6,-15.5,248,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2677,3564,0,0,0,0,0,0
$GC,2275,-0.76,-146.0,341.8,-15.6,266,2278,0.00,1.80,0.00,0.000,4,0.000,0.060,2782,3767,3564,0,0,0,0,0,0
$GC,2322,-0.76,-146.0,349.4,-16.7,270,2330,0.12,1.70,0.00,0.000,6,0.151,0.040,2815,2680,3564,0,0,0,0,0,0
$GC,2530,-0.76,-146.0,377.5,-13.3,289,2533,0.00,1.77,0.00,0.000,4,0.000,0.060,2808,3759,3564,0,0,0,0,0,0
$STATE,2555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2555,begin apogee
$GC,2563,-0.27,0.0,381.7,14.7,291,2699,0.52,0.00,130.70,1.042,4,0.120,0.000,2975,2490,2961,0,0,0,0,0,0
$STATE,2700,end apogee,CONTROL_FINISHED_OK
$STATE,2700,begin climb
$GC,2703,0.76,146.0,388.5,0.0,303,2862,1.10,2.55,148.10,0.968,4,0.078,0.047,3310,1103,2364,0,0,0,0,0,0
$GC,2955,0.76,146.0,368.1,10.9,325,2959,0.00,2.55,0.00,0.000,6,0.000,0.048,3309,2494,2354,0,0,0,0,0,0
$GC,3153,0.76,146.0,345.0,11.4,343,3157,0.00,2.42,0.00,0.000,4,0.000,0.046,3315,1099,2350,0,0,0,0,0,0
$GC,3307,0.76,146.0,328.1,11.3,356,3311,0.00,2.45,0.00,0.000,6,0.000,0.049,3315,2529,2349,0,0,0,0,0,0
$GC,3506,0.76,146.0,305.4,11.6,374,3509,0.00,2.03,0.00,0.000,4,0.000,0.055,3315,3763,2347,0,0,0,0,0,0
$GC,3607,0.76,146.0,291.7,13.3,383,3611,0.00,1.95,0.00,0.000,6,0.000,0.037,3324,2523,2346,0,0,0,0,0,0
$GC,3812,0.76,146.0,267.1,11.9,402,3815,0.00,2.05,0.00,0.000,4,0.000,0.057,3324,3774,2345,0,0,0,0,0,0
$GC,3858,0.76,146.0,260.8,13.9,406,3862,0.00,1.98,0.00,0.000,6,0.000,0.038,3334,2547,2345,0,0,0,0,0,0
$GC,4063,0.76,146.0,235.1,12.2,425,4066,0.00,2.00,0.00,0.000,4,0.000,0.057,3334,3769,2344,0,0,0,0,0,0
$GC,4121,0.76,146.0,227.1,15.0,430,4126,0.12,1.92,0.00,0.000,6,0.161,0.037,3310,2541,2344,0,0,0,0,0,0
$GC,4258,0.76,146.0,211.6,10.7,442,4259,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2539,2344,0,0,0,0,0,0
$GC,4384,0.76,146.0,198.1,10.8,454,4388,0.00,2.03,0.00,0.000,4,0.000,0.057,3310,3773,2343,0,0,0,0,0,0
$GC,4453,0.76,146.0,189.6,12.5,460,4457,0.00,1.92,0.00,0.000,6,0.000,0.039,3318,2549,2343,0,0,0,0,0,0
$GC,4595,0.76,146.0,173.3,11.0,473,4604,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2547,2343,0,0,0,0,0,0
$GC,4732,0.76,146.0,157.7,11.6,486,4735,0.00,2.00,0.00,0.000,4,0.000,0.057,3318,3767,2342,0,0,0,0,0,0
$GC,4791,0.76,146.0,149.4,12.8,491,4799,0.00,1.92,0.00,0.000,6,0.000,0.037,3327,2560,2341,0,0,0,0,0,0
$GC,4927,0.76,146.0,133.2,12.0,504,4928,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2558,2342,0,0,0,0,0,0
$GC,5055,0.76,146.0,118.1,12.1,516,5058,0.00,1.98,0.00,0.000,4,0.000,0.056,3328,3763,2342,0,0,0,0,0,0
$GC,5092,0.76,146.0,112.7,13.6,519,5101,0.00,1.92,0.00,0.000,6,0.000,0.038,3336,2563,2341,0,0,0,0,0,0
$GC,5228,0.76,146.0,95.8,12.5,535,5234,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2562,2341,0,0,0,0,0,0
$GC,5364,0.76,146.0,79.1,12.0,560,5372,0.00,2.03,0.00,0.000,4,0.000,0.057,3337,3764,2341,0,0,0,0,0,0
$GC,5407,0.76,146.0,73.2,14.3,567,5415,0.10,1.92,0.00,0.000,6,0.132,0.039,3313,2564,2341,0,0,0,0,0,0
$GC,5547,0.76,146.0,57.4,10.8,592,5555,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2562,2341,0,0,0,0,0,0
$GC,5687,0.76,146.0,42.4,10.5,617,5695,0.00,2.00,0.00,0.000,4,0.000,0.057,3313,3768,2340,0,0,0,0,0,0
$GC,5729,0.76,146.0,37.3,12.3,624,5737,0.00,1.92,0.00,0.000,6,0.000,0.039,3320,2567,2340,0,0,0,0,0,0
$GC,5868,0.76,146.0,21.9,10.9,649,5875,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2566,2340,0,0,0,0,0,0
$FREEZE,8.87,0.473,-1.891,2,1,0
$FREEZE,8.12,0.476,-1.890,2,1,0
$FREEZE,7.29,0.485,-1.889,2,1,0
$FREEZE,6.80,0.484,-1.889,2,1,0
$FREEZE,6.01,0.482,-1.889,2,1,0
$GC,6009,0.76,146.0,6.0,12.2,674,6016,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2566,2340,0,0,0,0,0,0
$FREEZE,3.69,0.485,-1.887,2,1,0
$FREEZE,3.14,0.484,-1.886,2,1,0
$FREEZE,2.55,0.479,-1.886,2,1,0
$STATE,6034,end climb,SURFACE_DEPTH_REACHED
$STATE,6034,begin surface coast
$FREEZE,2.01,0.469,-1.886,2,1,0
$FREEZE,1.23,0.474,-1.885,2,1,0
$FREEZE,1.18,0.140,-1.461,2,1,0
$FREEZE,1.20,0.348,-1.141,2,1,0
$FREEZE,1.25,0.349,-0.984,2,1,0
$FINISH,1.3,1.014529
$STATE,6066,end surface coast,CONTROL_FINISHED_OK
$STATE,6066,begin surface
$SM_CCo,6084,74.75,0.098,0,0,1737,300.24
$SM_GC,2.13,0.00,0.00,74.75,0.000,0.000,0.098,415,2664,1737,-8.28,0.40,300.24
$IRIDIUM_FIX,-7545.40,17455.84,100111,212127
$TT8_MAMPS,0.028462
$HUMID,54.92
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,17.9
$24V_AH,20.5,84.470
$10V_AH,9.6,58.475
$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,18.800,71.625,278.800,74.750,0.000,60.600,90.786,319.766,1.250,0.000,17.011,1717.808,2215.370,515.620,2139.010,275.144,0.000,1238.450,0.000,1147.830,0.000,7.764,0.000
$DEVICE_MAMPS,189.720,88.740,1041.930,97.920,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,478.428,886.201,961.673,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258112
$DATA_FILE_SIZE,47183,683
$CAP_FILE_SIZE,97098,0
$CFSIZE,260165632,220680192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.025,242.8,1
$GPS,100111,231052,-7628.780,17515.736,15,5.4,34,124.7