version: 66.08
glider: 502
mission: 3
dive: 588
start: 1 10 111 19 30 41
data:
$ID,502
$MISSION,3
$DIVE,588
$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,-30880.957
$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,38
$R_STBD_OVSHOOT,33
$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
$GPS1,100111,192038,-7628.844,17522.721,11,1.2,11,124.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-71.3
$GPS2,100111,193014,-7628.801,17522.621,14,1.8,14,124.5
$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,142.3,139500,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,108,0.00,0.00,-88.38,0.000,2,0.000,0.000,407,2677,3423,0,0,0,0,0,0
$GC,111,-0.76,-146.0,3.6,-2.7,13,133,8.98,1.83,-3.40,0.000,4,0.194,0.072,2802,3754,3561,0,0,0,0,0,0
$GC,380,-0.76,-146.0,55.6,-16.4,61,387,0.00,1.75,0.00,0.000,6,0.000,0.040,2802,2639,3564,0,0,0,0,0,0
$GC,516,-0.76,-146.0,78.1,-16.1,86,524,0.00,1.88,0.00,0.000,4,0.000,0.057,2793,3749,3564,0,0,0,0,0,0
$GC,608,-0.76,-146.0,93.8,-16.3,102,616,0.00,1.75,0.00,0.000,6,0.000,0.040,2793,2662,3564,0,0,0,0,0,0
$GC,752,-0.76,-146.0,118.4,-17.3,118,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2660,3565,0,0,0,0,0,0
$GC,880,-0.76,-146.0,140.2,-17.2,130,883,0.00,1.80,0.00,0.000,4,0.000,0.058,2785,3753,3565,0,0,0,0,0,0
$GC,916,-0.76,-146.0,146.4,-18.2,133,920,0.12,1.73,0.00,0.000,6,0.158,0.040,2817,2652,3565,0,0,0,0,0,0
$GC,1056,-0.76,-146.0,167.8,-14.9,146,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2651,3565,0,0,0,0,0,0
$GC,1184,-0.76,-146.0,186.0,-14.2,158,1188,0.00,1.83,0.00,0.000,4,0.000,0.060,2810,3756,3565,0,0,0,0,0,0
$GC,1212,-0.76,-146.0,190.6,-15.8,160,1220,0.00,1.75,0.00,0.000,6,0.000,0.040,2810,2672,3565,0,0,0,0,0,0
$GC,1349,-0.76,-146.0,210.5,-14.7,173,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2670,3565,0,0,0,0,0,0
$GC,1484,-0.76,-146.0,230.7,-14.6,186,1488,0.00,1.77,0.00,0.000,4,0.000,0.057,2802,3753,3565,0,0,0,0,0,0
$GC,1512,-0.76,-146.0,235.5,-16.6,188,1520,0.00,1.75,0.00,0.000,6,0.000,0.041,2802,2671,3565,0,0,0,0,0,0
$GC,1646,-0.76,-146.0,255.9,-15.2,201,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2670,3565,0,0,0,0,0,0
$GC,1837,-0.76,-146.0,284.9,-14.9,219,1841,0.00,1.77,0.00,0.000,4,0.000,0.059,2794,3754,3565,0,0,0,0,0,0
$GC,1876,-0.76,-146.0,291.4,-16.4,222,1883,0.00,1.75,0.00,0.000,6,0.000,0.040,2795,2672,3564,0,0,0,0,0,0
$GC,2074,-0.76,-146.0,322.0,-15.3,241,2075,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2671,3565,0,0,0,0,0,0
$GC,2266,-0.76,-146.0,351.7,-15.4,259,2270,0.00,1.80,0.00,0.000,4,0.000,0.059,2786,3762,3565,0,0,0,0,0,0
$GC,2312,-0.76,-146.0,359.2,-16.4,263,2316,0.08,1.75,0.00,0.000,6,0.135,0.040,2811,2677,3564,0,0,0,0,0,0
$STATE,2429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2429,begin apogee
$GC,2435,-0.27,0.0,376.2,14.0,274,2574,0.50,0.00,131.07,1.045,4,0.122,0.000,2972,2491,2960,0,0,0,0,0,0
$STATE,2575,end apogee,CONTROL_FINISHED_OK
$STATE,2575,begin climb
$GC,2577,0.76,146.0,383.5,0.0,286,2738,1.10,2.58,148.18,0.966,4,0.079,0.047,3306,1101,2363,0,0,0,0,0,0
$GC,2834,0.76,146.0,363.7,10.2,308,2841,0.00,2.55,0.00,0.000,6,0.000,0.049,3306,2489,2354,0,0,0,0,0,0
$GC,3032,0.76,146.0,342.0,10.9,327,3036,0.00,2.40,0.00,0.000,4,0.000,0.046,3315,1105,2350,0,0,0,0,0,0
$GC,3178,0.76,146.0,325.7,11.4,339,3186,0.00,2.45,0.00,0.000,6,0.000,0.050,3315,2529,2349,0,0,0,0,0,0
$GC,3377,0.76,146.0,302.1,12.0,358,3380,0.00,2.03,0.00,0.000,4,0.000,0.056,3315,3763,2347,0,0,0,0,0,0
$GC,3479,0.76,146.0,287.8,14.4,367,3483,0.00,1.92,0.00,0.000,6,0.000,0.038,3324,2542,2346,0,0,0,0,0,0
$GC,3682,0.76,146.0,262.7,11.7,386,3686,0.00,2.00,0.00,0.000,4,0.000,0.056,3324,3764,2346,0,0,0,0,0,0
$GC,3740,0.76,146.0,254.8,14.1,391,3744,0.00,1.92,0.00,0.000,6,0.000,0.038,3334,2538,2345,0,0,0,0,0,0
$GC,3945,0.76,146.0,228.0,13.0,410,3949,0.00,2.00,0.00,0.000,4,0.000,0.056,3333,3764,2345,0,0,0,0,0,0
$GC,3994,0.76,146.0,220.5,14.9,414,4003,0.08,1.95,0.00,0.000,6,0.142,0.038,3319,2553,2345,0,0,0,0,0,0
$GC,4131,0.76,146.0,204.2,11.9,427,4139,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2551,2344,0,0,0,0,0,0
$GC,4267,0.76,146.0,188.0,11.7,440,4271,0.00,1.98,0.00,0.000,4,0.000,0.057,3319,3764,2345,0,0,0,0,0,0
$GC,4336,0.76,146.0,178.8,14.5,446,4340,0.00,1.88,0.00,0.000,6,0.000,0.038,3326,2559,2344,0,0,0,0,0,0
$GC,4479,0.76,146.0,161.2,12.4,459,4487,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2557,2344,0,0,0,0,0,0
$GC,4615,0.76,146.0,144.7,11.9,472,4618,0.00,1.98,0.00,0.000,4,0.000,0.056,3326,3765,2343,0,0,0,0,0,0
$GC,4675,0.76,146.0,136.0,15.0,477,4683,0.00,1.92,0.00,0.000,6,0.000,0.037,3336,2563,2343,0,0,0,0,0,0
$GC,4810,0.76,146.0,118.7,12.6,490,4811,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2562,2343,0,0,0,0,0,0
$GC,4937,0.76,146.0,102.3,12.7,502,4941,0.00,1.98,0.00,0.000,4,0.000,0.057,3336,3768,2343,0,0,0,0,0,0
$GC,4989,0.76,146.0,95.0,14.2,509,4997,0.10,1.90,0.00,0.000,6,0.135,0.039,3312,2582,2343,0,0,0,0,0,0
$GC,5130,0.76,146.0,78.7,11.1,534,5137,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2581,2343,0,0,0,0,0,0
$GC,5270,0.76,146.0,63.8,11.4,559,5278,0.00,1.95,0.00,0.000,4,0.000,0.057,3312,3765,2343,0,0,0,0,0,0
$GC,5308,0.76,146.0,59.1,12.2,565,5315,0.00,1.88,0.00,0.000,6,0.000,0.038,3320,2572,2342,0,0,0,0,0,0
$GC,5446,0.76,146.0,43.5,11.2,590,5453,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2572,2342,0,0,0,0,0,0
$GC,5587,0.76,146.0,27.7,11.7,615,5595,0.00,1.98,0.00,0.000,4,0.000,0.057,3320,3767,2342,0,0,0,0,0,0
$GC,5619,0.76,146.0,23.4,13.5,620,5627,0.00,1.90,0.00,0.000,6,0.000,0.038,3329,2583,2342,0,0,0,0,0,0
$FREEZE,8.87,0.508,-1.891,2,2,0
$FREEZE,8.07,0.510,-1.890,2,2,0
$FREEZE,7.47,0.510,-1.890,2,2,0
$FREEZE,6.61,0.514,-1.889,2,2,0
$FREEZE,5.96,0.514,-1.888,2,2,0
$GC,5764,0.76,146.0,6.0,11.5,645,5770,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2581,2342,0,0,0,0,0,0
$FREEZE,4.37,0.515,-1.887,2,2,0
$FREEZE,3.67,0.513,-1.887,2,2,0
$FREEZE,3.01,0.515,-1.886,2,2,0
$FREEZE,2.18,0.517,-1.886,2,2,0
$STATE,5794,end climb,SURFACE_DEPTH_REACHED
$STATE,5794,begin surface coast
$FREEZE,1.70,0.520,-1.885,2,2,0
$FREEZE,1.23,0.514,-1.885,2,2,0
$FREEZE,1.10,0.345,-1.176,2,2,0
$FREEZE,1.12,0.280,-0.288,2,2,0
$FINISH,1.1,1.004129
$STATE,5819,end surface coast,CONTROL_FINISHED_OK
$STATE,5819,begin surface
$SM_CCo,5837,299.42,0.720,7,0,420,623.30
$SM_GC,1.86,0.00,0.00,299.42,0.000,0.000,0.720,411,2667,420,-8.27,0.48,623.30
$IRIDIUM_FIX,-7545.40,17532.54,100111,191915
$TT8_MAMPS,0.028462
$HUMID,51.73
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.4,17.3
$24V_AH,20.5,84.363
$10V_AH,9.5,58.384
$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,18.600,66.400,279.250,299.425,0.000,89.284,225.326,0.000,1.750,0.000,15.109,1658.066,2213.501,729.637,1914.391,238.569,0.000,1403.683,0.000,1090.793,0.000,10.780,0.000
$DEVICE_MAMPS,193.545,96.390,1044.990,719.865,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,458.812,846.413,918.980,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258180
$DATA_FILE_SIZE,47092,654
$CAP_FILE_SIZE,87695,0
$CFSIZE,260165632,220737536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$CURRENT,0.017,333.6,1
$GPS,100111,211455,-7628.735,17519.539,43,1.4,43,124.6