version: 66.08
glider: 502
mission: 3
dive: 562
start: 1 8 111 18 44 53
data:
$ID,502
$MISSION,3
$DIVE,562
$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,623.29712
$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,-30848.268
$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,28
$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
$GPS1,080111,183450,-7628.331,17632.389,14,1.4,14,122.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-74.4
$GPS2,080111,184426,-7628.305,17632.229,13,1.4,13,122.9
$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,131.8,169605,-17.5,-10.000
$D_GRID,376
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.76,-146.0,0.0,0.0,0,102,0.00,0.00,-82.30,0.000,2,0.000,0.000,414,2661,3270,0,0,0,0,0,0
$GC,105,-0.76,-146.0,3.3,-1.6,12,130,8.98,2.35,-8.23,0.000,4,0.196,0.061,2808,1245,3560,0,0,0,0,0,0
$GC,280,-0.76,-146.0,31.7,-14.4,42,289,0.00,2.33,0.00,0.000,6,0.000,0.055,2799,2641,3563,0,0,0,0,0,0
$GC,426,-0.76,-146.0,55.1,-16.6,67,433,0.00,1.85,0.00,0.000,4,0.000,0.059,2790,3765,3563,0,0,0,0,0,0
$GC,468,-0.76,-146.0,63.1,-18.5,74,477,0.00,1.77,0.00,0.000,6,0.000,0.040,2790,2648,3563,0,0,0,0,0,0
$GC,614,-0.76,-146.0,87.7,-17.2,99,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2647,3564,0,0,0,0,0,0
$GC,758,-0.76,-146.0,113.3,-17.3,118,762,0.00,1.83,0.00,0.000,4,0.000,0.059,2783,3769,3564,0,0,0,0,0,0
$GC,818,-0.76,-146.0,125.0,-18.4,123,827,0.10,1.77,0.00,0.000,6,0.136,0.040,2815,2655,3564,0,0,0,0,0,0
$GC,956,-0.76,-146.0,145.6,-14.8,136,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2654,3564,0,0,0,0,0,0
$GC,1092,-0.76,-146.0,166.1,-14.7,149,1095,0.00,1.80,0.00,0.000,4,0.000,0.060,2808,3762,3565,0,0,0,0,0,0
$GC,1130,-0.76,-146.0,172.5,-16.5,152,1138,0.00,1.75,0.00,0.000,6,0.000,0.040,2807,2663,3564,0,0,0,0,0,0
$GC,1265,-0.76,-146.0,193.0,-15.4,165,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2662,3565,0,0,0,0,0,0
$GC,1392,-0.76,-146.0,212.6,-15.2,177,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2661,3564,0,0,0,0,0,0
$GC,1520,-0.76,-146.0,231.9,-14.8,189,1524,0.00,1.80,0.00,0.000,4,0.000,0.059,2799,3769,3564,0,0,0,0,0,0
$GC,1546,-0.76,-146.0,236.8,-15.7,191,1555,0.00,1.75,0.00,0.000,6,0.000,0.038,2799,2667,3564,0,0,0,0,0,0
$GC,1681,-0.76,-146.0,257.4,-15.4,204,1682,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2667,3564,0,0,0,0,0,0
$GC,1874,-0.76,-146.0,286.7,-15.3,222,1878,0.00,1.77,0.00,0.000,4,0.000,0.059,2790,3762,3564,0,0,0,0,0,0
$GC,1901,-0.76,-146.0,291.6,-16.9,224,1908,0.00,1.73,0.00,0.000,6,0.000,0.039,2790,2677,3564,0,0,0,0,0,0
$GC,2100,-0.76,-146.0,322.8,-15.9,243,2101,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2676,3564,0,0,0,0,0,0
$GC,2291,-0.76,-146.0,352.7,-15.8,261,2295,0.00,1.77,0.00,0.000,4,0.000,0.060,2783,3762,3565,0,0,0,0,0,0
$GC,2348,-0.76,-146.0,362.2,-16.7,266,2352,0.12,1.67,0.00,0.000,6,0.155,0.040,2817,2680,3564,0,0,0,0,0,0
$STATE,2453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2453,begin apogee
$GC,2459,-0.27,0.0,377.1,13.3,276,2599,0.47,0.00,130.60,1.036,4,0.121,0.000,2972,2493,2960,0,0,0,0,0,0
$STATE,2600,end apogee,CONTROL_FINISHED_OK
$STATE,2600,begin climb
$GC,2602,0.76,146.0,383.4,0.0,288,2761,1.10,2.53,148.27,0.954,4,0.080,0.047,3307,1106,2364,0,0,0,0,0,0
$GC,2841,0.76,146.0,362.6,11.5,309,2846,0.00,2.58,0.00,0.000,6,0.000,0.049,3308,2495,2356,0,0,0,0,0,0
$GC,3042,0.76,146.0,338.8,12.0,327,3046,0.00,2.38,0.00,0.000,4,0.000,0.047,3315,1109,2351,0,0,0,0,0,0
$GC,3205,0.76,146.0,319.5,11.7,341,3210,0.00,2.35,0.00,0.000,6,0.000,0.050,3315,2518,2349,0,0,0,0,0,0
$GC,3404,0.76,146.0,295.8,12.1,359,3408,0.00,2.00,0.00,0.000,4,0.000,0.055,3315,3770,2348,0,0,0,0,0,0
$GC,3487,0.76,146.0,283.9,14.7,366,3495,0.00,1.95,0.00,0.000,6,0.000,0.038,3324,2541,2347,0,0,0,0,0,0
$GC,3688,0.76,146.0,259.5,12.3,385,3691,0.00,1.98,0.00,0.000,4,0.000,0.057,3324,3764,2346,0,0,0,0,0,0
$GC,3726,0.76,146.0,253.7,14.4,388,3733,0.00,1.95,0.00,0.000,6,0.000,0.038,3334,2535,2346,0,0,0,0,0,0
$GC,3926,0.76,146.0,228.6,12.4,407,3927,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2533,2345,0,0,0,0,0,0
$GC,4054,0.76,146.0,212.9,12.7,419,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2533,2345,0,0,0,0,0,0
$GC,4190,0.76,146.0,195.9,12.5,432,4193,0.00,2.00,0.00,0.000,4,0.000,0.056,3333,3774,2345,0,0,0,0,0,0
$GC,4249,0.76,146.0,186.9,15.0,437,4258,0.08,1.98,0.00,0.000,6,0.141,0.039,3318,2536,2344,0,0,0,0,0,0
$GC,4387,0.76,146.0,171.5,11.0,450,4396,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2536,2344,0,0,0,0,0,0
$GC,4523,0.76,146.0,155.6,11.4,463,4525,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2536,2344,0,0,0,0,0,0
$GC,4650,0.76,146.0,141.0,11.2,475,4654,0.00,2.00,0.00,0.000,4,0.000,0.056,3317,3774,2344,0,0,0,0,0,0
$GC,4710,0.76,146.0,132.6,13.8,480,4718,0.00,1.98,0.00,0.000,6,0.000,0.039,3326,2535,2343,0,0,0,0,0,0
$GC,4845,0.76,146.0,116.2,12.3,493,4846,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2533,2344,0,0,0,0,0,0
$GC,4973,0.76,146.0,101.1,11.7,505,4976,0.00,2.00,0.00,0.000,4,0.000,0.055,3326,3772,2343,0,0,0,0,0,0
$GC,5041,0.76,146.0,92.0,13.8,516,5049,0.00,1.95,0.00,0.000,6,0.000,0.039,3336,2550,2343,0,0,0,0,0,0
$GC,5187,0.76,146.0,74.5,11.9,541,5194,0.00,2.00,0.00,0.000,4,0.000,0.057,3336,3773,2343,0,0,0,0,0,0
$GC,5229,0.76,146.0,68.6,13.8,548,5238,0.10,1.95,0.00,0.000,6,0.135,0.039,3312,2550,2343,0,0,0,0,0,0
$GC,5376,0.76,146.0,52.6,10.6,573,5383,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2550,2343,0,0,0,0,0,0
$GC,5518,0.76,146.1,37.6,10.0,598,5527,0.00,2.00,0.00,0.000,4,0.000,0.056,3312,3756,2343,0,0,0,0,0,0
$GC,5557,0.76,146.1,32.9,12.2,604,5565,0.00,1.90,0.00,0.000,6,0.000,0.039,3320,2558,2343,0,0,0,0,0,0
$GC,5702,0.76,146.1,16.5,11.6,629,5708,0.00,1.98,0.00,0.000,4,0.000,0.055,3320,3770,2343,0,0,0,0,0,0
$GC,5740,0.76,146.1,11.5,13.5,635,5747,0.00,1.88,0.00,0.000,6,0.000,0.038,3329,2566,2342,0,0,0,0,0,0
$FREEZE,8.62,-0.075,-1.892,2,2,0
$FREEZE,8.01,-0.071,-1.891,2,2,0
$FREEZE,7.17,-0.067,-1.891,2,2,0
$FREEZE,6.50,-0.060,-1.890,2,2,0
$FREEZE,5.74,-0.050,-1.889,2,2,0
$FREEZE,5.11,-0.047,-1.889,2,2,0
$FREEZE,4.23,-0.039,-1.888,2,2,0
$FREEZE,3.54,-0.028,-1.888,2,2,0
$FREEZE,2.76,0.001,-1.887,2,2,0
$STATE,5805,end climb,SURFACE_DEPTH_REACHED
$STATE,5806,begin surface coast
$FREEZE,2.14,0.053,-1.886,2,2,0
$FREEZE,1.24,0.349,-1.882,2,2,0
$FREEZE,1.26,-0.049,-0.964,2,2,0
$FREEZE,1.27,0.334,-0.994,2,2,0
$FINISH,1.3,1.014681
$STATE,5832,end surface coast,CONTROL_FINISHED_OK
$STATE,5832,begin surface
$SM_CCo,5849,298.65,0.719,6,0,419,623.30
$SM_GC,1.87,0.00,0.00,298.65,0.000,0.000,0.719,417,2661,419,-8.26,0.31,623.30
$IRIDIUM_FIX,-7545.40,17638.01,080111,181829
$TT8_MAMPS,0.028462
$HUMID,51.45
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.9
$ALTIM_BOTTOM_PING,351.0,60.9
$24V_AH,20.3,81.171
$10V_AH,9.6,56.110
$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,18.625,67.650,278.875,298.650,0.000,90.034,225.327,0.000,1.250,0.000,14.385,1647.727,2242.928,729.559,1912.240,227.222,0.000,1399.823,0.000,1074.708,0.000,10.643,0.000
$DEVICE_MAMPS,195.840,89.505,1035.810,719.100,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,455.967,843.380,928.747,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47129,650
$CAP_FILE_SIZE,88327,0
$CFSIZE,260165632,222060544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$CURRENT,0.089,333.6,1
$GPS,080111,202907,-7628.228,17628.596,36,1.0,36,123.0