version: 66.08
glider: 502
mission: 3
dive: 605
start: 1 12 111 6 24 5
data:
$ID,502
$MISSION,3
$DIVE,605
$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,-30903.973
$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,29
$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
$GPS1,120111,061255,-7629.892,17414.504,38,1.9,39,126.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-60.9
$GPS2,120111,062337,-7629.877,17414.406,30,1.4,30,126.3
$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,161.0,109990,-16.0,-9.091
$D_GRID,403
$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,-146.0,0.0,0.0,0,160,0.00,0.00,-141.52,0.000,2,0.000,0.000,375,2669,3258,0,0,0,0,0,0
$GC,166,-0.71,-146.0,3.2,-2.1,20,189,9.10,0.00,-8.32,0.000,6,0.192,0.000,2824,2669,3561,0,0,0,0,0,0
$GC,327,-0.71,-146.0,30.8,-17.1,47,333,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2670,3564,0,0,0,0,0,0
$GC,467,-0.71,-146.0,50.8,-14.6,72,476,0.00,1.85,0.00,0.000,4,0.000,0.060,2818,3757,3564,0,0,0,0,0,0
$GC,505,-0.71,-146.0,56.7,-15.3,78,514,0.00,1.80,0.00,0.000,6,0.000,0.040,2818,2645,3564,0,0,0,0,0,0
$GC,651,-0.71,-146.0,77.9,-15.0,103,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2645,3564,0,0,0,0,0,0
$GC,792,-0.71,-146.0,99.2,-14.7,128,800,0.00,1.90,0.00,0.000,4,0.000,0.058,2809,3756,3564,0,0,0,0,0,0
$GC,865,-0.71,-146.0,110.9,-17.0,135,868,0.00,1.73,0.00,0.000,6,0.000,0.039,2809,2663,3564,0,0,0,0,0,0
$GC,1007,-0.71,-146.0,133.4,-15.3,148,1010,0.00,1.83,0.00,0.000,4,0.000,0.059,2800,3757,3565,0,0,0,0,0,0
$GC,1033,-0.71,-146.0,138.2,-15.9,150,1043,0.08,1.77,0.00,0.000,6,0.136,0.039,2826,2660,3565,0,0,0,0,0,0
$GC,1171,-0.71,-146.0,156.2,-13.5,163,1174,0.00,1.83,0.00,0.000,4,0.000,0.058,2818,3756,3565,0,0,0,0,0,0
$GC,1206,-0.71,-146.0,161.5,-15.3,166,1210,0.00,1.70,0.00,0.000,6,0.000,0.039,2819,2677,3565,0,0,0,0,0,0
$GC,1349,-0.71,-146.0,180.6,-13.6,179,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2676,3565,0,0,0,0,0,0
$GC,1485,-0.71,-146.0,199.2,-13.6,192,1488,0.00,1.80,0.00,0.000,4,0.000,0.059,2810,3756,3565,0,0,0,0,0,0
$GC,1523,-0.71,-146.0,205.3,-15.4,195,1531,0.00,1.75,0.00,0.000,6,0.000,0.040,2810,2678,3565,0,0,0,0,0,0
$GC,1659,-0.71,-146.0,224.8,-15.1,208,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2678,3565,0,0,0,0,0,0
$GC,1786,-0.71,-146.0,243.4,-14.5,220,1789,0.00,1.80,0.00,0.000,4,0.000,0.059,2802,3756,3564,0,0,0,0,0,0
$GC,1836,-0.71,-146.0,251.9,-15.8,224,1843,0.05,1.73,0.00,0.000,6,0.115,0.040,2829,2691,3565,0,0,0,0,0,0
$GC,2035,-0.71,-146.0,277.9,-13.0,243,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2691,3564,0,0,0,0,0,0
$GC,2226,-0.71,-146.0,301.9,-12.7,261,2230,0.00,1.83,0.00,0.000,4,0.000,0.060,2823,3756,3564,0,0,0,0,0,0
$GC,2275,-0.71,-146.0,308.9,-12.9,265,2282,0.00,1.73,0.00,0.000,6,0.000,0.039,2823,2691,3564,0,0,0,0,0,0
$GC,2474,-0.71,-146.0,333.8,-12.5,284,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2691,3565,0,0,0,0,0,0
$GC,2665,-0.71,-146.0,357.9,-12.2,302,2669,0.00,1.77,0.00,0.000,4,0.000,0.059,2815,3757,3565,0,0,0,0,0,0
$GC,2726,-0.71,-146.0,366.3,-13.7,307,2732,0.00,1.70,0.00,0.000,6,0.000,0.040,2814,2703,3564,0,0,0,0,0,0
$GC,2925,-0.71,-146.0,391.9,-13.0,326,2926,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2703,3564,0,0,0,0,0,0
$STATE,3018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3018,begin apogee
$GC,3024,-0.27,0.0,404.1,12.7,335,3163,0.50,0.00,132.00,1.076,4,0.122,0.000,2974,2490,2962,0,0,0,0,0,0
$STATE,3164,end apogee,CONTROL_FINISHED_OK
$STATE,3164,begin climb
$GC,3166,0.71,146.0,409.8,0.0,347,3332,1.05,2.58,151.32,0.987,4,0.079,0.047,3289,1108,2364,0,0,0,0,1,0
$GC,3431,0.71,146.0,388.9,10.8,371,3435,0.00,2.55,0.00,0.000,6,0.000,0.050,3289,2491,2354,0,0,0,0,0,0
$GC,3629,0.71,146.0,366.2,11.7,389,3633,0.00,2.45,0.00,0.000,4,0.000,0.046,3300,1101,2349,0,0,0,0,0,0
$GC,3760,0.71,146.0,351.6,11.2,400,3764,0.00,2.50,0.00,0.000,6,0.000,0.050,3300,2525,2347,0,0,0,0,0,0
$GC,3957,0.71,146.0,327.4,12.1,418,3961,0.00,2.10,0.00,0.000,4,0.000,0.054,3300,3762,2347,0,0,0,0,0,0
$GC,4067,0.71,146.0,312.1,13.8,427,4074,0.00,1.98,0.00,0.000,6,0.000,0.037,3308,2545,2345,0,0,0,0,0,0
$GC,4265,0.71,146.0,287.9,12.4,446,4266,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2543,2345,0,0,0,0,0,0
$GC,4458,0.71,146.0,264.5,12.3,464,4462,0.00,2.03,0.00,0.000,4,0.000,0.056,3309,3767,2344,0,0,0,0,0,0
$GC,4519,0.71,146.0,255.9,13.3,469,4526,0.00,1.98,0.00,0.000,6,0.000,0.038,3318,2545,2344,0,0,0,0,0,0
$GC,4719,0.71,146.0,232.5,11.7,488,4722,0.00,2.03,0.00,0.000,4,0.000,0.057,3318,3770,2343,0,0,0,0,0,0
$GC,4746,0.71,146.0,228.6,13.3,490,4756,0.10,1.98,0.00,0.000,6,0.135,0.039,3296,2549,2342,0,0,0,0,0,0
$GC,4881,0.71,146.0,214.1,10.6,503,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,2549,2343,0,0,0,0,0,0
$GC,5008,0.71,146.0,200.2,10.8,515,5012,0.00,2.00,0.00,0.000,4,0.000,0.056,3296,3763,2342,0,0,0,0,0,0
$GC,5068,0.71,146.0,192.4,12.6,520,5077,0.00,1.95,0.00,0.000,6,0.000,0.039,3304,2555,2342,0,0,0,0,0,0
$GC,5203,0.71,146.0,176.7,11.8,533,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,2553,2342,0,0,0,0,0,0
$GC,5330,0.71,146.0,161.3,12.1,545,5333,0.00,2.00,0.00,0.000,4,0.000,0.057,3303,3767,2342,0,0,0,0,0,0
$GC,5377,0.71,146.0,155.3,13.4,549,5380,0.00,1.90,0.00,0.000,6,0.000,0.038,3313,2558,2341,0,0,0,0,0,0
$GC,5519,0.71,146.0,138.2,11.9,562,5528,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2556,2341,0,0,0,0,0,0
$GC,5655,0.71,146.0,122.5,11.1,575,5659,0.00,2.00,0.00,0.000,4,0.000,0.057,3313,3770,2341,0,0,0,0,0,0
$GC,5737,0.71,146.0,111.3,13.8,582,5746,0.00,1.95,0.00,0.000,6,0.000,0.039,3323,2560,2341,0,0,0,0,0,0
$GC,5872,0.71,146.0,95.4,11.5,598,5880,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2560,2341,0,0,0,0,0,0
$GC,6017,0.71,146.0,78.7,11.4,623,6024,0.00,2.00,0.00,0.000,4,0.000,0.057,3322,3763,2341,0,0,0,0,0,0
$GC,6055,0.71,146.0,73.8,13.1,629,6063,0.10,1.90,0.00,0.000,6,0.132,0.039,3299,2581,2340,0,0,0,0,0,0
$GC,6200,0.71,146.0,58.5,10.6,654,6208,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2580,2340,0,0,0,0,0,0
$GC,6346,0.71,146.0,44.4,9.7,679,6353,0.00,1.98,0.00,0.000,4,0.000,0.057,3299,3771,2340,0,0,0,0,0,0
$GC,6395,0.71,146.0,39.2,10.6,687,6402,0.00,1.88,0.00,0.000,6,0.000,0.038,3307,2588,2340,0,0,0,0,0,0
$GC,6539,0.71,146.0,25.3,10.0,712,6547,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,2587,2340,0,0,0,0,0,0
$FREEZE,8.74,0.237,-1.895,2,1,0
$FREEZE,8.08,0.235,-1.895,2,1,0
$GC,6685,0.71,146.0,8.1,12.7,737,6692,0.00,1.95,0.00,0.000,4,0.000,0.057,3307,3764,2339,0,0,0,0,0,0
$FREEZE,6.78,0.235,-1.894,2,1,0
$FREEZE,6.18,0.224,-1.894,2,1,0
$FREEZE,5.73,0.220,-1.893,2,1,0
$FREEZE,5.14,0.220,-1.893,2,1,0
$FREEZE,4.18,0.222,-1.892,2,1,0
$GC,6718,0.73,161.8,5.1,8.4,742,6736,0.00,1.88,10.60,0.810,6,0.000,0.037,3316,2597,2300,0,0,0,0,0,0
$FREEZE,1.38,0.230,-1.890,2,1,0
$STATE,6743,end climb,SURFACE_DEPTH_REACHED
$STATE,6743,begin surface coast
$FREEZE,1.25,0.071,-0.296,2,1,0
$FREEZE,1.15,0.004,-1.902,2,1,0
$FREEZE,1.15,0.114,-1.895,2,1,0
$FREEZE,1.25,-0.134,-1.056,2,1,0
$FINISH,1.3,1.015597
$STATE,6771,end surface coast,CONTROL_FINISHED_OK
$STATE,6771,begin surface
$SM_CCo,6788,43.45,0.099,0,0,1940,250.20
$SM_GC,1.95,0.00,0.00,43.45,0.000,0.000,0.099,408,2663,1940,-8.31,0.37,250.20
$IRIDIUM_FIX,-7545.40,17418.28,120111,040445
$TT8_MAMPS,0.027713
$HUMID,55.43
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,17.6
$24V_AH,20.6,86.349
$10V_AH,9.6,59.991
$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,18.625,74.425,293.925,43.450,0.000,29.214,44.308,373.783,1.500,0.000,31.820,1876.520,2523.508,511.460,2250.591,317.611,0.000,1288.316,0.000,1249.965,0.000,9.491,0.000
$DEVICE_MAMPS,192.015,110.160,1076.355,98.685,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,525.000,950.429,997.323,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258120
$DATA_FILE_SIZE,53711,749
$CAP_FILE_SIZE,106028,0
$CFSIZE,260165632,219717632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.092,159.8,1
$GPS,120111,081914,-7629.922,17411.367,37,1.1,38,126.4