version: 66.08
glider: 502
mission: 3
dive: 594
start: 1 11 111 7 17 34
data:
$ID,502
$MISSION,3
$DIVE,594
$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,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,-30888.51
$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,27
$R_STBD_OVSHOOT,23
$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
$GPS1,110111,070658,-7629.623,17459.686,13,4.1,32,125.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-69.5
$GPS2,110111,071706,-7629.628,17459.553,15,0.8,31,125.1
$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,184.0,129510,-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,-146.0,0.0,0.0,0,88,0.00,0.00,-69.97,0.000,2,0.000,0.000,372,2652,3242,0,0,0,0,0,0
$GC,91,-0.71,-146.0,3.2,-1.9,10,115,9.12,2.38,-9.25,0.000,4,0.194,0.060,2823,1225,3560,0,0,0,0,0,0
$GC,368,-0.71,-146.0,43.6,-14.3,58,376,0.00,2.40,0.00,0.000,6,0.000,0.055,2813,2649,3564,0,0,0,0,0,0
$GC,513,-0.71,-146.0,65.9,-16.1,83,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2649,3564,0,0,0,0,0,0
$GC,653,-0.71,-146.0,88.3,-16.4,108,662,0.00,1.85,0.00,0.000,4,0.000,0.058,2805,3763,3564,0,0,0,0,0,0
$GC,691,-0.71,-146.0,94.7,-16.8,114,700,0.00,1.80,0.00,0.000,6,0.000,0.039,2805,2642,3564,0,0,0,0,0,0
$GC,832,-0.71,-146.0,117.5,-16.6,129,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2641,3565,0,0,0,0,0,0
$GC,959,-0.71,-146.0,138.1,-16.1,141,963,0.00,1.85,0.00,0.000,4,0.000,0.059,2797,3764,3565,0,0,0,0,0,0
$GC,1006,-0.71,-146.0,146.0,-17.1,145,1010,0.12,1.73,0.00,0.000,6,0.155,0.039,2830,2663,3565,0,0,0,0,0,0
$GC,1148,-0.71,-146.0,166.3,-13.6,158,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2662,3565,0,0,0,0,0,0
$GC,1284,-0.71,-146.0,184.9,-13.6,171,1288,0.00,1.83,0.00,0.000,4,0.000,0.058,2823,3771,3565,0,0,0,0,0,0
$GC,1333,-0.71,-146.0,192.7,-14.9,175,1341,0.00,1.77,0.00,0.000,6,0.000,0.040,2823,2670,3565,0,0,0,0,0,0
$GC,1470,-0.71,-146.0,211.2,-14.2,188,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2669,3565,0,0,0,0,0,0
$GC,1607,-0.71,-146.0,230.3,-13.9,201,1611,0.00,1.80,0.00,0.000,4,0.000,0.059,2814,3763,3565,0,0,0,0,0,0
$GC,1664,-0.71,-146.0,238.8,-15.0,206,1668,0.00,1.70,0.00,0.000,6,0.000,0.039,2814,2677,3565,0,0,0,0,0,0
$GC,1804,-0.71,-146.0,259.2,-14.7,219,1808,0.00,1.83,0.00,0.000,4,0.000,0.059,2806,3757,3565,0,0,0,0,0,0
$GC,1829,-0.71,-146.0,262.6,-14.9,221,1832,0.00,1.67,0.00,0.000,6,0.000,0.040,2806,2689,3565,0,0,0,0,0,0
$GC,2032,-0.71,-146.0,293.4,-15.0,240,2033,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2686,3565,0,0,0,0,0,0
$GC,2224,-0.71,-146.0,321.4,-14.5,258,2228,0.00,1.77,0.00,0.000,4,0.000,0.059,2798,3763,3565,0,0,0,0,0,0
$GC,2281,-0.71,-146.0,330.5,-16.2,263,2286,0.12,1.67,0.00,0.000,6,0.154,0.039,2831,2691,3565,0,0,0,0,0,0
$GC,2488,-0.71,-146.0,356.5,-12.6,282,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2690,3565,0,0,0,0,0,0
$GC,2687,-0.71,-146.0,380.9,-11.9,301,2691,0.00,1.77,0.00,0.000,4,0.000,0.059,2825,3765,3565,0,0,0,0,0,0
$STATE,2732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2732,begin apogee
$GC,2739,-0.27,0.0,387.2,13.4,305,2878,0.45,0.00,131.55,1.056,4,0.119,0.000,2971,2499,2961,0,0,0,0,0,0
$STATE,2878,end apogee,CONTROL_FINISHED_OK
$STATE,2879,begin climb
$GC,2881,0.71,146.0,393.7,0.0,317,3041,1.08,2.60,147.52,0.975,4,0.080,0.047,3295,1096,2364,0,0,0,0,0,0
$GC,3138,0.71,146.0,374.0,10.3,339,3144,0.00,2.58,0.00,0.000,6,0.000,0.049,3295,2498,2356,0,0,0,0,0,0
$GC,3335,0.71,146.0,351.8,11.5,358,3340,0.00,2.45,0.00,0.000,4,0.000,0.047,3300,1098,2353,0,0,0,0,0,0
$GC,3480,0.71,146.0,336.7,10.7,370,3484,0.00,2.47,0.00,0.000,6,0.000,0.050,3300,2522,2350,0,0,0,0,0,0
$GC,3678,0.71,146.0,313.8,11.4,388,3682,0.00,2.08,0.00,0.000,4,0.000,0.056,3300,3768,2349,0,0,0,0,0,0
$GC,3808,0.71,146.0,297.2,13.1,399,3812,0.00,1.98,0.00,0.000,6,0.000,0.038,3308,2525,2348,0,0,0,0,0,0
$GC,4011,0.71,146.0,274.1,11.6,418,4015,0.00,2.05,0.00,0.000,4,0.000,0.057,3309,3770,2347,0,0,0,0,0,0
$GC,4092,0.71,146.0,263.8,12.5,425,4096,0.00,1.95,0.00,0.000,6,0.000,0.038,3318,2530,2347,0,0,0,0,0,0
$GC,4297,0.71,146.0,239.5,11.6,444,4300,0.00,2.03,0.00,0.000,4,0.000,0.055,3318,3767,2346,0,0,0,0,0,0
$GC,4366,0.71,146.0,230.2,13.7,450,4370,0.12,1.90,0.00,0.000,6,0.157,0.037,3295,2551,2346,0,0,0,0,0,0
$GC,4508,0.71,146.0,215.0,10.0,463,4509,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,2549,2346,0,0,0,0,0,0
$GC,4634,0.71,146.0,202.0,10.1,475,4638,0.00,2.00,0.00,0.000,4,0.000,0.056,3295,3770,2346,0,0,0,0,0,0
$GC,4715,0.71,146.0,192.4,12.3,482,4718,0.00,1.90,0.00,0.000,6,0.000,0.038,3303,2558,2345,0,0,0,0,0,0
$GC,4856,0.71,146.0,177.0,10.5,495,4857,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,2555,2345,0,0,0,0,0,0
$GC,4983,0.71,146.0,163.6,10.6,507,4986,0.00,1.98,0.00,0.000,4,0.000,0.055,3303,3765,2345,0,0,0,0,0,0
$GC,5032,0.71,146.0,157.4,12.7,511,5040,0.00,1.92,0.00,0.000,6,0.000,0.037,3312,2563,2345,0,0,0,0,0,0
$GC,5169,0.71,146.0,143.1,10.6,524,5177,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2562,2345,0,0,0,0,0,0
$GC,5305,0.71,146.0,128.8,10.4,537,5309,0.00,1.98,0.00,0.000,4,0.000,0.057,3312,3766,2345,0,0,0,0,0,0
$GC,5374,0.71,146.0,120.5,12.2,543,5378,0.00,1.88,0.00,0.000,6,0.000,0.037,3320,2563,2344,0,0,0,0,0,0
$GC,5517,0.71,146.0,104.3,11.2,556,5525,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2562,2344,0,0,0,0,0,0
$GC,5656,0.71,146.0,88.7,10.7,578,5664,0.00,2.03,0.00,0.000,4,0.000,0.057,3321,3763,2344,0,0,0,0,0,0
$GC,5705,0.71,146.0,82.4,13.4,586,5714,0.10,1.90,0.00,0.000,6,0.135,0.037,3299,2578,2344,0,0,0,0,0,0
$GC,5852,0.71,146.0,67.7,9.9,611,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2577,2344,0,0,0,0,0,0
$GC,5993,0.71,146.0,54.1,9.5,636,6002,0.00,2.00,0.00,0.000,4,0.000,0.057,3298,3765,2344,0,0,0,0,0,0
$GC,6054,0.71,146.0,47.1,12.1,646,6062,0.00,1.88,0.00,0.000,6,0.000,0.037,3306,2594,2344,0,0,0,0,0,0
$GC,6200,0.71,146.0,32.2,11.1,671,6207,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,2594,2344,0,0,0,0,0,0
$GC,6343,0.71,146.0,16.4,11.4,696,6351,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,2594,2343,0,0,0,0,0,0
$FREEZE,8.78,-0.045,-1.891,2,2,0
$FREEZE,8.20,-0.048,-1.891,2,2,0
$FREEZE,7.71,-0.047,-1.890,2,2,0
$FREEZE,7.06,-0.046,-1.890,2,2,0
$FREEZE,6.61,-0.047,-1.889,2,2,0
$FREEZE,5.94,-0.046,-1.889,2,2,0
$FREEZE,5.35,-0.046,-1.889,2,2,0
$FREEZE,4.76,-0.048,-1.888,2,2,0
$FREEZE,4.10,-0.049,-1.888,2,2,0
$FREEZE,3.29,-0.048,-1.887,2,2,0
$FREEZE,2.50,-0.052,-1.886,2,2,0
$STATE,6479,end climb,SURFACE_DEPTH_REACHED
$STATE,6479,begin surface coast
$FREEZE,1.77,-0.048,-1.886,2,2,0
$FREEZE,1.25,-0.059,-1.886,2,2,0
$FREEZE,1.19,-0.166,-1.892,2,2,0
$FREEZE,1.18,-0.108,-1.594,2,2,0
$FREEZE,1.19,-0.137,-1.774,2,2,0
$FINISH,1.2,1.026002
$STATE,6509,end surface coast,CONTROL_FINISHED_OK
$STATE,6509,begin surface
$SM_CCo,6527,261.95,0.101,0,0,420,623.30
$SM_GC,1.83,0.00,0.00,261.95,0.000,0.000,0.101,402,2680,420,-8.30,0.85,623.30
$IRIDIUM_FIX,-7545.40,17456.65,110111,070745
$TT8_MAMPS,0.028462
$HUMID,52.00
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,14.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,17.8
$24V_AH,20.5,85.062
$10V_AH,9.6,58.932
$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,18.775,71.525,279.075,261.950,0.000,91.648,225.324,0.000,1.500,0.000,32.682,1852.743,2527.179,645.696,2111.411,265.061,0.000,1380.134,0.000,1220.397,0.000,7.775,0.000
$DEVICE_MAMPS,194.310,91.800,1056.465,100.980,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,509.252,933.886,1011.887,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258172
$DATA_FILE_SIZE,50350,724
$CAP_FILE_SIZE,94113,0
$CFSIZE,260165632,220401664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.159,189.1,1
$GPS,110111,091138,-7629.730,17456.432,14,1.9,15,125.2