version: 66.08
glider: 502
mission: 3
dive: 584
start: 1 10 111 11 58 35
data:
$ID,502
$MISSION,3
$DIVE,584
$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,-30875.928
$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,32
$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
$GPS1,100111,114836,-7628.915,17532.594,31,0.8,32,124.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-70.7
$GPS2,100111,115808,-7628.916,17532.566,12,1.9,12,124.3
$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,156.5,143796,-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,14,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,101,0.00,0.00,-81.80,0.000,2,0.000,0.000,410,2667,3262,0,0,0,0,0,0
$GC,104,-0.76,-146.0,3.1,-1.5,12,127,8.82,2.38,-8.57,0.000,4,0.190,0.063,2810,1240,3560,0,0,0,0,0,0
$GC,370,-0.76,-146.0,44.8,-14.8,60,378,0.00,2.35,0.00,0.000,6,0.000,0.054,2801,2644,3563,0,0,0,0,0,0
$GC,511,-0.76,-146.0,68.0,-16.8,85,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2644,3564,0,0,0,0,0,0
$GC,648,-0.76,-146.0,91.0,-16.9,110,656,0.00,1.85,0.00,0.000,4,0.000,0.057,2792,3761,3565,0,0,0,0,0,0
$GC,674,-0.76,-146.0,95.5,-17.3,114,682,0.00,1.77,0.00,0.000,6,0.000,0.039,2792,2651,3565,0,0,0,0,0,0
$GC,819,-0.76,-146.0,120.4,-17.1,129,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2650,3565,0,0,0,0,0,0
$GC,956,-0.76,-146.0,144.3,-17.7,142,959,0.00,1.83,0.00,0.000,4,0.000,0.058,2784,3762,3564,0,0,0,0,0,0
$GC,1002,-0.76,-146.0,152.6,-18.4,146,1006,0.12,1.73,0.00,0.000,6,0.158,0.039,2817,2658,3564,0,0,0,0,0,0
$GC,1144,-0.76,-146.0,174.6,-15.0,159,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2656,3565,0,0,0,0,0,0
$GC,1281,-0.76,-146.0,195.1,-14.8,172,1284,0.00,1.83,0.00,0.000,4,0.000,0.059,2810,3766,3565,0,0,0,0,0,0
$GC,1316,-0.76,-146.0,200.7,-15.9,175,1319,0.00,1.73,0.00,0.000,6,0.000,0.040,2810,2666,3565,0,0,0,0,0,0
$GC,1457,-0.76,-146.0,222.7,-15.7,188,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2663,3564,0,0,0,0,0,0
$GC,1585,-0.76,-146.0,242.0,-14.9,200,1589,0.00,1.83,0.00,0.000,4,0.000,0.059,2802,3773,3565,0,0,0,0,0,0
$GC,1611,-0.76,-146.0,247.0,-17.1,202,1619,0.00,1.77,0.00,0.000,6,0.000,0.040,2802,2674,3564,0,0,0,0,0,0
$GC,1746,-0.76,-146.0,268.2,-15.8,215,1747,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2673,3565,0,0,0,0,0,0
$GC,1938,-0.76,-146.0,298.4,-16.2,233,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2673,3564,0,0,0,0,0,0
$GC,2129,-0.76,-146.0,328.1,-15.2,251,2133,0.00,1.80,0.00,0.000,4,0.000,0.059,2793,3766,3564,0,0,0,0,0,0
$GC,2175,-0.76,-146.0,335.9,-16.6,255,2179,0.00,1.70,0.00,0.000,6,0.000,0.040,2793,2680,3564,0,0,0,0,0,0
$GC,2380,-0.76,-146.0,368.2,-15.7,274,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2679,3565,0,0,0,0,0,0
$STATE,2429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2429,begin apogee
$GC,2435,-0.27,0.0,376.2,15.3,279,2574,0.55,0.00,131.18,1.041,4,0.128,0.000,2967,2479,2960,0,0,0,0,0,0
$STATE,2574,end apogee,CONTROL_FINISHED_OK
$STATE,2575,begin climb
$GC,2577,0.76,146.0,383.6,0.0,291,2737,1.12,2.53,147.55,0.962,4,0.080,0.047,3308,1108,2365,0,0,0,0,0,0
$GC,2854,0.76,146.0,360.9,10.8,315,2862,0.00,2.55,0.00,0.000,6,0.000,0.049,3308,2499,2355,0,0,0,0,0,0
$GC,3054,0.76,146.0,339.1,10.9,334,3059,0.00,2.42,0.00,0.000,4,0.000,0.047,3315,1103,2353,0,0,0,0,0,0
$GC,3212,0.76,146.0,322.1,10.3,347,3219,0.00,2.42,0.00,0.000,6,0.000,0.050,3315,2523,2349,0,0,0,0,0,0
$GC,3410,0.76,146.0,299.8,11.2,366,3413,0.00,2.03,0.00,0.000,4,0.000,0.056,3315,3767,2349,0,0,0,0,0,0
$GC,3501,0.76,146.0,287.4,14.0,374,3504,0.00,1.95,0.00,0.000,6,0.000,0.038,3324,2528,2348,0,0,0,0,0,0
$GC,3704,0.76,146.0,262.6,12.4,393,3708,0.00,2.03,0.00,0.000,4,0.000,0.057,3324,3765,2347,0,0,0,0,0,0
$GC,3751,0.76,146.0,256.2,14.9,397,3754,0.00,1.92,0.00,0.000,6,0.000,0.037,3334,2536,2347,0,0,0,0,0,0
$GC,3956,0.76,146.0,229.8,12.8,416,3960,0.00,2.03,0.00,0.000,4,0.000,0.056,3334,3777,2346,0,0,0,0,0,0
$GC,3993,0.76,146.0,224.1,14.4,419,4003,0.08,1.98,0.00,0.000,6,0.142,0.039,3319,2549,2346,0,0,0,0,0,0
$GC,4130,0.76,146.0,208.1,11.7,432,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2549,2346,0,0,0,0,0,0
$GC,4265,0.76,146.0,192.2,11.8,445,4269,0.00,2.00,0.00,0.000,4,0.000,0.057,3319,3771,2346,0,0,0,0,0,0
$GC,4336,0.76,146.0,182.3,13.9,451,4345,0.00,1.98,0.00,0.000,6,0.000,0.038,3327,2541,2345,0,0,0,0,0,0
$GC,4474,0.76,146.0,166.6,11.7,464,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2540,2345,0,0,0,0,0,0
$GC,4609,0.76,146.0,150.4,12.0,477,4613,0.00,2.00,0.00,0.000,4,0.000,0.057,3327,3765,2345,0,0,0,0,0,0
$GC,4680,0.76,146.0,140.6,13.9,483,4689,0.00,1.92,0.00,0.000,6,0.000,0.037,3336,2559,2345,0,0,0,0,0,0
$GC,4817,0.76,146.0,124.2,12.0,496,4825,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2557,2345,0,0,0,0,0,0
$GC,4953,0.76,146.0,107.8,11.6,509,4956,0.00,1.98,0.00,0.000,4,0.000,0.055,3336,3768,2345,0,0,0,0,0,0
$GC,5011,0.76,146.0,100.0,14.2,514,5019,0.10,1.92,0.00,0.000,6,0.132,0.039,3313,2563,2344,0,0,0,0,0,0
$GC,5151,0.76,146.0,84.8,10.5,539,5158,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2562,2344,0,0,0,0,0,0
$GC,5288,0.76,146.0,70.1,10.5,564,5296,0.00,2.03,0.00,0.000,4,0.000,0.057,3312,3769,2344,0,0,0,0,0,0
$GC,5343,0.76,146.0,63.6,12.6,573,5349,0.00,1.90,0.00,0.000,6,0.000,0.039,3320,2560,2344,0,0,0,0,0,0
$GC,5481,0.76,146.0,48.3,10.7,598,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2559,2344,0,0,0,0,0,0
$GC,5620,0.76,146.0,33.4,11.0,623,5628,0.00,2.00,0.00,0.000,4,0.000,0.057,3320,3770,2344,0,0,0,0,0,0
$GC,5669,0.76,146.0,27.6,12.4,631,5677,0.00,1.90,0.00,0.000,6,0.000,0.039,3329,2565,2343,0,0,0,0,0,0
$GC,5810,0.76,146.0,11.3,11.9,656,5818,0.00,2.00,0.00,0.000,4,0.000,0.057,3329,3755,2343,0,0,0,0,0,0
$FREEZE,8.20,0.377,-1.891,2,2,0
$FREEZE,7.29,0.379,-1.890,2,2,0
$FREEZE,6.54,0.380,-1.889,2,2,0
$FREEZE,5.62,0.380,-1.889,2,2,0
$FREEZE,4.84,0.381,-1.888,2,2,0
$FREEZE,3.86,0.380,-1.887,2,2,0
$FREEZE,3.12,0.380,-1.887,2,2,0
$FREEZE,2.20,0.379,-1.886,2,2,0
$STATE,5872,end climb,SURFACE_DEPTH_REACHED
$STATE,5872,begin surface coast
$FREEZE,1.29,0.370,-1.886,2,2,0
$FINISH,1.3,1.027562
$STATE,5882,end surface coast,CONTROL_FINISHED_OK
$STATE,5882,begin surface
$SM_CCo,5901,301.67,0.725,6,0,420,623.30
$SM_GC,1.91,0.00,0.00,301.67,0.000,0.000,0.725,405,2641,420,-8.31,-0.25,623.30
$IRIDIUM_FIX,-7545.40,17515.70,100111,111120
$TT8_MAMPS,0.028462
$HUMID,51.57
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,14.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,17.9
$ALTIM_BOTTOM_PING,351.5,85.8
$24V_AH,20.4,83.855
$10V_AH,9.6,58.033
$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,18.425,68.100,278.725,301.675,0.000,85.924,225.323,0.000,2.000,0.000,13.509,1682.450,2215.252,734.787,1946.691,231.581,0.000,1422.965,0.000,1112.591,0.000,10.713,0.000
$DEVICE_MAMPS,190.485,62.730,1041.165,725.220,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,468.065,865.025,939.060,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47046,667
$CAP_FILE_SIZE,87678,0
$CFSIZE,260165632,220942336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,1
$CURRENT,0.077,115.9,1
$GPS,100111,134337,-7628.942,17530.559,29,0.8,30,124.4