version: 66.08
glider: 502
mission: 3
dive: 603
start: 1 12 111 2 14 48
data:
$ID,502
$MISSION,3
$DIVE,603
$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,275
$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,250
$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,-30901.363
$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,32
$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
$GPS1,120111,020401,-7629.722,17421.271,40,1.6,40,126.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-53.8
$GPS2,120111,021420,-7629.728,17421.102,16,1.1,16,126.1
$SPEED_LIMITS,0.157,0.251
$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,155.9,112886,-16.0,-9.091
$D_GRID,387
$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,-0.71,-146.0,0.0,0.0,0,156,0.00,0.00,-137.55,0.000,2,0.000,0.000,350,2642,3174,0,0,0,0,0,0
$GC,162,-0.71,-146.0,3.2,-2.9,20,192,9.12,2.35,-11.60,0.000,4,0.189,0.062,2829,1241,3560,0,0,0,0,0,0
$GC,352,-0.71,-146.0,32.8,-14.9,52,361,0.00,2.38,0.00,0.000,6,0.000,0.054,2819,2649,3563,0,0,0,0,0,0
$GC,498,-0.71,-146.0,56.0,-16.0,77,504,0.00,1.83,0.00,0.000,4,0.000,0.057,2811,3764,3563,0,0,0,0,0,0
$GC,569,-0.71,-146.0,67.9,-16.6,89,577,0.00,1.77,0.00,0.000,6,0.000,0.039,2811,2639,3563,0,0,0,0,0,0
$GC,713,-0.71,-146.0,90.3,-14.9,114,722,0.00,1.90,0.00,0.000,4,0.000,0.058,2802,3757,3564,0,0,0,0,0,0
$GC,751,-0.71,-146.0,96.7,-16.5,120,760,0.08,1.75,0.00,0.000,6,0.138,0.038,2827,2674,3564,0,0,0,0,0,0
$GC,892,-0.71,-146.0,116.6,-13.9,134,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2674,3565,0,0,0,0,0,0
$GC,1029,-0.71,-146.0,135.5,-13.7,147,1032,0.00,1.80,0.00,0.000,4,0.000,0.058,2820,3763,3564,0,0,0,0,0,0
$GC,1077,-0.71,-146.0,143.4,-14.6,151,1086,0.00,1.75,0.00,0.000,6,0.000,0.038,2820,2677,3564,0,0,0,0,0,0
$GC,1214,-0.71,-146.0,162.5,-14.2,164,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2676,3564,0,0,0,0,0,0
$GC,1349,-0.71,-146.0,181.6,-13.7,177,1353,0.00,1.83,0.00,0.000,4,0.000,0.059,2812,3770,3564,0,0,0,0,0,0
$GC,1408,-0.71,-146.0,190.1,-14.9,182,1412,0.00,1.73,0.00,0.000,6,0.000,0.039,2812,2677,3564,0,0,0,0,0,0
$GC,1551,-0.71,-146.0,211.8,-15.6,195,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2675,3564,0,0,0,0,0,0
$GC,1687,-0.71,-146.0,232.5,-15.2,208,1690,0.00,1.83,0.00,0.000,4,0.000,0.058,2803,3771,3564,0,0,0,0,0,0
$GC,1722,-0.71,-146.0,238.1,-15.8,211,1727,0.10,1.73,0.00,0.000,6,0.165,0.040,2830,2677,3564,0,0,0,0,0,0
$GC,1862,-0.71,-146.0,257.6,-13.1,224,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2675,3564,0,0,0,0,0,0
$GC,2053,-0.71,-146.0,282.2,-12.5,242,2056,0.00,1.83,0.00,0.000,4,0.000,0.060,2823,3768,3564,0,0,0,0,0,0
$GC,2110,-0.71,-146.0,289.8,-13.5,247,2114,0.00,1.70,0.00,0.000,6,0.000,0.040,2823,2688,3565,0,0,0,0,0,0
$GC,2316,-0.71,-146.0,315.8,-12.9,266,2320,0.00,1.80,0.00,0.000,4,0.000,0.058,2815,3769,3564,0,0,0,0,0,0
$GC,2344,-0.71,-146.0,320.1,-14.3,268,2351,0.00,1.73,0.00,0.000,6,0.000,0.040,2815,2700,3564,0,0,0,0,0,0
$GC,2544,-0.71,-146.0,347.1,-13.3,287,2545,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2700,3564,0,0,0,0,0,0
$GC,2734,-0.71,-146.0,372.6,-13.2,305,2738,0.00,1.83,0.00,0.000,4,0.000,0.060,2806,3767,3564,0,0,0,0,0,0
$GC,2761,-0.71,-146.0,376.7,-14.8,307,2768,0.00,1.73,0.00,0.000,6,0.000,0.040,2806,2701,3564,0,0,0,0,0,0
$STATE,2840,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2840,begin apogee
$GC,2847,-0.27,0.0,388.0,14.0,315,2986,0.52,0.00,131.75,1.061,4,0.125,0.000,2972,2490,2960,0,0,0,0,0,0
$STATE,2987,end apogee,CONTROL_FINISHED_OK
$STATE,2987,begin climb
$GC,2989,0.71,146.0,394.9,0.0,327,3153,1.08,2.58,150.32,0.975,4,0.080,0.047,3295,1107,2365,0,0,0,0,1,0
$GC,3234,0.71,146.0,378.0,9.8,348,3239,0.00,2.58,0.00,0.000,6,0.000,0.049,3294,2497,2355,0,0,0,0,0,0
$GC,3434,0.71,146.0,356.5,10.8,366,3439,0.00,2.45,0.00,0.000,4,0.000,0.046,3303,1105,2351,0,0,0,0,0,0
$GC,3565,0.71,146.0,342.2,10.8,377,3569,0.00,2.47,0.00,0.000,6,0.000,0.050,3303,2518,2348,0,0,0,0,0,0
$GC,3764,0.71,146.0,320.1,11.4,395,3768,0.00,2.10,0.00,0.000,4,0.000,0.054,3303,3765,2347,0,0,0,0,0,0
$GC,3893,0.71,146.0,302.8,13.6,406,3897,0.00,1.98,0.00,0.000,6,0.000,0.037,3312,2544,2346,0,0,0,0,0,0
$GC,4098,0.71,146.0,278.4,11.9,425,4102,0.00,2.05,0.00,0.000,4,0.000,0.057,3312,3771,2345,0,0,0,0,0,0
$GC,4172,0.71,146.0,268.3,14.2,431,4176,0.00,1.95,0.00,0.000,6,0.000,0.039,3321,2543,2345,0,0,0,0,0,0
$GC,4377,0.71,146.0,242.9,12.1,450,4381,0.00,2.03,0.00,0.000,4,0.000,0.056,3321,3768,2344,0,0,0,0,0,0
$GC,4437,0.71,146.0,234.2,14.9,455,4446,0.10,1.95,0.00,0.000,6,0.138,0.037,3299,2560,2344,0,0,0,0,0,0
$GC,4573,0.71,146.0,219.3,10.9,468,4574,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2559,2344,0,0,0,0,0,0
$GC,4700,0.71,146.0,205.4,10.9,480,4704,0.00,2.00,0.00,0.000,4,0.000,0.057,3299,3765,2343,0,0,0,0,0,0
$GC,4770,0.71,146.0,196.0,13.1,486,4779,0.00,1.92,0.00,0.000,6,0.000,0.037,3307,2567,2343,0,0,0,0,0,0
$GC,4908,0.71,146.0,180.5,11.5,499,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,2566,2343,0,0,0,0,0,0
$GC,5044,0.71,146.0,165.3,10.7,512,5048,0.00,2.00,0.00,0.000,4,0.000,0.057,3307,3774,2343,0,0,0,0,0,0
$GC,5103,0.71,146.0,158.2,12.8,517,5106,0.00,1.88,0.00,0.000,6,0.000,0.038,3316,2582,2343,0,0,0,0,0,0
$GC,5244,0.71,146.0,141.9,11.1,530,5247,0.00,1.98,0.00,0.000,4,0.000,0.056,3316,3775,2343,0,0,0,0,0,0
$GC,5292,0.71,146.0,135.4,13.4,534,5302,0.00,1.90,0.00,0.000,6,0.000,0.038,3324,2597,2342,0,0,0,0,0,0
$GC,5430,0.71,146.0,119.6,11.6,547,5434,0.00,1.95,0.00,0.000,4,0.000,0.057,3324,3775,2342,0,0,0,0,0,0
$GC,5467,0.71,146.0,114.2,13.1,550,5477,0.10,1.88,0.00,0.000,6,0.134,0.038,3300,2607,2342,0,0,0,0,0,0
$GC,5605,0.71,146.0,100.6,9.8,563,5613,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,2606,2342,0,0,0,0,0,0
$GC,5747,0.71,146.0,86.4,9.5,588,5755,0.00,1.95,0.00,0.000,4,0.000,0.056,3300,3758,2341,0,0,0,0,0,0
$GC,5796,0.71,146.0,81.0,11.1,596,5804,0.00,1.85,0.00,0.000,6,0.000,0.039,3308,2613,2341,0,0,0,0,0,0
$GC,5944,0.71,146.0,66.2,9.7,621,5950,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,2612,2341,0,0,0,0,0,0
$GC,6084,0.71,146.0,51.4,10.5,646,6093,0.00,1.95,0.00,0.000,4,0.000,0.057,3307,3759,2341,0,0,0,0,0,0
$GC,6200,0.71,146.0,37.2,11.9,666,6209,0.00,1.83,0.00,0.000,6,0.000,0.037,3316,2622,2341,0,0,0,0,0,0
$GC,6348,0.71,146.0,21.5,11.0,691,6355,0.00,1.90,0.00,0.000,4,0.000,0.057,3317,3767,2340,0,0,0,0,0,0
$GC,6389,0.71,146.0,16.6,11.9,697,6395,0.00,1.80,0.00,0.000,6,0.000,0.039,3325,2635,2340,0,0,0,0,0,0
$FREEZE,8.99,0.161,-1.893,2,1,0
$FREEZE,8.02,0.170,-1.892,2,1,0
$FREEZE,7.25,0.172,-1.892,2,1,0
$FREEZE,6.49,0.169,-1.891,2,1,0
$FREEZE,5.86,0.170,-1.891,2,1,0
$FREEZE,5.03,0.173,-1.890,2,1,0
$FREEZE,4.58,0.173,-1.889,2,1,0
$FREEZE,4.01,0.170,-1.889,2,1,0
$FREEZE,3.48,0.171,-1.889,2,1,0
$FREEZE,2.59,0.170,-1.888,2,1,0
$STATE,6503,end climb,SURFACE_DEPTH_REACHED
$STATE,6503,begin surface coast
$FREEZE,1.23,0.172,-1.887,2,1,0
$FREEZE,1.30,0.064,-1.892,2,1,0
$FREEZE,1.14,0.099,-1.891,2,1,0
$FREEZE,1.06,0.053,-1.649,2,1,0
$FREEZE,1.23,0.055,-1.893,2,1,0
$FINISH,1.2,1.027682
$STATE,6535,end surface coast,CONTROL_FINISHED_OK
$STATE,6535,begin surface
$SM_CCo,6553,49.92,0.097,0,0,1941,250.20
$SM_GC,1.77,0.00,0.00,49.92,0.000,0.000,0.097,401,2628,1941,-8.32,-0.62,250.20
$IRIDIUM_FIX,-7545.40,17418.28,120111,000028
$TT8_MAMPS,0.028462
$HUMID,55.04
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.9
$24V_AH,20.6,86.135
$10V_AH,9.6,59.800
$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,18.875,82.425,282.075,49.925,0.000,28.632,42.354,368.365,1.000,0.000,17.910,1826.121,2396.319,505.288,2188.139,312.541,0.000,1270.969,0.000,1213.984,0.000,7.775,0.000
$DEVICE_MAMPS,188.955,61.965,1061.055,97.155,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,505.168,925.551,998.058,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258192
$DATA_FILE_SIZE,50249,721
$CAP_FILE_SIZE,103803,0
$CFSIZE,260165632,219844608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.077,180.1,1
$GPS,120111,040604,-7629.851,17417.607,14,7.7,33,126.2