version: 66.08
glider: 502
mission: 3
dive: 606
start: 1 12 111 8 29 49
data:
$ID,502
$MISSION,3
$DIVE,606
$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,-30905.232
$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,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
$GPS1,120111,081914,-7629.922,17411.367,37,1.1,38,126.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-67.9
$GPS2,120111,082920,-7629.884,17411.340,38,1.1,38,126.4
$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,163.5,108665,-16.0,-9.091
$D_GRID,418
$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,-146.0,0.0,0.0,0,75,0.00,0.00,-57.55,0.000,2,0.000,0.000,357,2666,2981,0,0,0,0,0,0
$GC,79,-0.71,-146.0,3.1,-1.6,8,116,9.35,2.33,-19.95,0.000,4,0.200,0.060,2830,1243,3559,0,0,0,0,0,0
$GC,162,-0.71,-146.0,12.0,-15.2,21,169,0.00,2.33,0.00,0.000,6,0.000,0.054,2821,2644,3561,0,0,0,0,0,0
$GC,301,-0.71,-146.0,33.2,-13.7,46,309,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2644,3562,0,0,0,0,0,0
$GC,442,-0.71,-146.0,53.2,-14.2,71,449,0.00,1.83,0.00,0.000,4,0.000,0.057,2813,3759,3562,0,0,0,0,0,0
$GC,493,-0.71,-146.0,61.0,-14.9,80,502,0.00,1.80,0.00,0.000,6,0.000,0.039,2813,2642,3562,0,0,0,0,0,0
$GC,633,-0.71,-146.0,81.8,-15.0,105,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2641,3562,0,0,0,0,0,0
$GC,771,-0.71,-146.0,102.1,-14.9,129,774,0.00,1.85,0.00,0.000,4,0.000,0.058,2804,3760,3562,0,0,0,0,0,0
$GC,817,-0.71,-146.0,109.5,-15.5,133,822,0.10,1.73,0.00,0.000,6,0.167,0.039,2829,2662,3562,0,0,0,0,0,0
$GC,961,-0.71,-146.0,129.3,-14.3,146,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2659,3563,0,0,0,0,0,0
$GC,1097,-0.71,-146.0,148.5,-13.9,159,1101,0.00,1.83,0.00,0.000,4,0.000,0.059,2822,3760,3563,0,0,0,0,0,0
$GC,1154,-0.71,-146.0,156.7,-14.5,164,1158,0.00,1.73,0.00,0.000,6,0.000,0.038,2822,2663,3563,0,0,0,0,0,0
$GC,1296,-0.71,-146.0,176.7,-13.9,177,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2661,3563,0,0,0,0,0,0
$GC,1424,-0.71,-146.0,194.5,-13.7,189,1427,0.00,1.85,0.00,0.000,4,0.000,0.060,2813,3767,3563,0,0,0,0,0,0
$GC,1483,-0.71,-146.0,203.9,-15.0,194,1492,0.00,1.77,0.00,0.000,6,0.000,0.040,2813,2670,3563,0,0,0,0,0,0
$GC,1619,-0.71,-146.0,223.3,-14.3,207,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2670,3563,0,0,0,0,0,0
$GC,1747,-0.71,-146.0,241.9,-14.8,219,1751,0.00,1.83,0.00,0.000,4,0.000,0.058,2805,3769,3563,0,0,0,0,0,0
$GC,1794,-0.71,-146.0,249.1,-15.2,223,1799,0.00,1.73,0.00,0.000,6,0.000,0.040,2805,2675,3562,0,0,0,0,0,0
$GC,1934,-0.71,-146.0,270.6,-15.3,236,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2673,3562,0,0,0,0,0,0
$GC,2126,-0.71,-146.0,298.5,-14.4,254,2130,0.00,1.83,0.00,0.000,4,0.000,0.060,2797,3768,3562,0,0,0,0,0,0
$GC,2183,-0.71,-146.0,307.2,-15.4,259,2187,0.12,1.73,0.00,0.000,6,0.152,0.040,2830,2674,3563,0,0,0,0,0,0
$GC,2388,-0.71,-146.0,332.0,-11.7,278,2393,0.00,1.85,0.00,0.000,4,0.000,0.058,2823,3756,3563,0,0,0,0,0,0
$GC,2416,-0.71,-146.0,336.1,-13.1,280,2423,0.00,1.73,0.00,0.000,6,0.000,0.040,2824,2691,3563,0,0,0,0,0,0
$GC,2614,-0.71,-146.0,360.8,-12.5,299,2615,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2691,3562,0,0,0,0,0,0
$GC,2806,-0.71,-146.0,384.8,-12.5,317,2809,0.00,1.80,0.00,0.000,4,0.000,0.060,2815,3767,3562,0,0,0,0,0,0
$GC,2855,-0.71,-146.0,392.0,-13.9,321,2863,0.00,1.75,0.00,0.000,6,0.000,0.040,2815,2688,3562,0,0,0,0,0,0
$GC,3054,-0.71,-146.0,417.9,-13.2,340,3057,0.00,1.80,0.00,0.000,4,0.000,0.059,2807,3764,3562,0,0,0,0,0,0
$STATE,3064,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3064,begin apogee
$GC,3072,-0.27,0.0,419.4,12.9,341,3212,0.52,0.00,132.65,1.085,4,0.126,0.000,2971,2495,2960,0,0,0,0,0,0
$STATE,3212,end apogee,CONTROL_FINISHED_OK
$STATE,3212,begin climb
$GC,3215,0.71,146.0,426.9,0.0,353,3372,1.08,2.60,148.50,1.004,4,0.080,0.047,3292,1101,2364,0,0,0,0,0,0
$GC,3467,0.71,146.0,408.5,10.6,375,3471,0.00,2.58,0.00,0.000,6,0.000,0.049,3292,2494,2355,0,0,0,0,0,0
$GC,3665,0.71,146.0,386.7,10.7,393,3669,0.00,2.47,0.00,0.000,4,0.000,0.047,3300,1089,2351,0,0,0,0,0,0
$GC,3788,0.71,146.0,373.0,11.3,403,3794,0.00,2.53,0.00,0.000,6,0.000,0.050,3300,2521,2349,0,0,0,0,0,0
$GC,3988,0.71,146.0,351.1,11.5,422,3991,0.00,2.12,0.00,0.000,4,0.000,0.054,3300,3771,2348,0,0,0,0,0,0
$GC,4088,0.71,146.0,337.2,13.6,430,4095,0.00,2.08,0.00,0.000,6,0.000,0.038,3309,2534,2347,0,0,0,0,0,0
$GC,4288,0.71,146.0,313.5,11.7,449,4292,0.00,2.05,0.00,0.000,4,0.000,0.055,3309,3766,2346,0,0,0,0,0,0
$GC,4334,0.71,146.0,307.3,13.9,453,4337,0.00,1.98,0.00,0.000,6,0.000,0.038,3318,2531,2346,0,0,0,0,0,0
$GC,4540,0.71,146.0,282.4,11.9,472,4543,0.00,2.05,0.00,0.000,4,0.000,0.057,3318,3768,2345,0,0,0,0,0,0
$GC,4602,0.71,146.0,273.5,14.2,477,4606,0.12,1.92,0.00,0.000,6,0.158,0.037,3295,2552,2345,0,0,0,0,0,0
$GC,4801,0.71,146.0,251.5,10.9,495,4805,0.00,2.00,0.00,0.000,4,0.000,0.056,3295,3767,2345,0,0,0,0,0,0
$GC,4849,0.71,146.0,245.5,13.0,499,4853,0.00,1.90,0.00,0.000,6,0.000,0.038,3303,2557,2344,0,0,0,0,0,0
$GC,4992,0.71,146.0,228.4,11.8,512,4996,0.00,2.00,0.00,0.000,4,0.000,0.057,3303,3771,2344,0,0,0,0,0,0
$GC,5019,0.71,146.0,224.5,12.8,514,5027,0.00,1.92,0.00,0.000,6,0.000,0.039,3312,2569,2344,0,0,0,0,0,0
$GC,5155,0.71,146.0,208.4,11.8,527,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2568,2344,0,0,0,0,0,0
$GC,5291,0.71,146.0,191.7,12.0,540,5294,0.00,1.98,0.00,0.000,4,0.000,0.057,3312,3770,2344,0,0,0,0,0,0
$GC,5350,0.71,146.0,183.2,14.3,545,5359,0.00,1.90,0.00,0.000,6,0.000,0.038,3321,2585,2343,0,0,0,0,0,0
$GC,5487,0.71,146.0,166.5,12.4,558,5495,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2584,2343,0,0,0,0,0,0
$GC,5623,0.71,146.0,150.2,11.6,571,5626,0.00,1.95,0.00,0.000,4,0.000,0.057,3321,3768,2343,0,0,0,0,0,0
$GC,5671,0.71,146.0,143.2,14.1,575,5680,0.10,1.90,0.00,0.000,6,0.134,0.039,3299,2587,2343,0,0,0,0,0,0
$GC,5808,0.71,146.0,129.0,10.1,588,5809,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,2586,2343,0,0,0,0,0,0
$GC,5934,0.71,146.0,116.1,10.2,600,5938,0.00,1.95,0.00,0.000,4,0.000,0.057,3299,3767,2343,0,0,0,0,0,0
$GC,5971,0.71,146.0,111.4,12.3,603,5980,0.00,1.90,0.00,0.000,6,0.000,0.038,3306,2589,2343,0,0,0,0,0,0
$GC,6108,0.71,146.0,96.9,10.5,618,6115,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,2587,2343,0,0,0,0,0,0
$GC,6247,0.71,146.0,81.8,10.7,643,6254,0.00,1.98,0.00,0.000,4,0.000,0.057,3306,3773,2343,0,0,0,0,0,0
$GC,6315,0.71,146.0,73.5,13.3,655,6321,0.00,1.88,0.00,0.000,6,0.000,0.038,3315,2591,2342,0,0,0,0,0,0
$GC,6455,0.71,146.0,57.9,10.7,680,6462,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2590,2342,0,0,0,0,0,0
$GC,6595,0.71,146.0,42.9,10.1,705,6603,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2590,2342,0,0,0,0,0,0
$GC,6735,0.71,146.0,27.8,10.9,730,6744,0.00,1.98,0.00,0.000,4,0.000,0.056,3315,3760,2342,0,0,0,0,0,0
$GC,6779,0.71,146.0,22.1,13.4,737,6787,0.00,1.85,0.00,0.000,6,0.000,0.038,3324,2611,2342,0,0,0,0,0,0
$FREEZE,8.63,0.083,-1.896,2,2,0
$FREEZE,7.96,0.085,-1.895,2,2,0
$FREEZE,7.14,0.085,-1.895,2,2,0
$FREEZE,6.48,0.083,-1.894,2,2,0
$FREEZE,5.59,0.081,-1.893,2,2,0
$FREEZE,5.14,0.080,-1.893,2,2,0
$FREEZE,4.65,0.071,-1.893,2,2,0
$GC,6923,0.71,146.0,4.7,10.4,762,6932,0.00,1.95,0.00,0.000,4,0.000,0.056,3323,3766,2341,0,0,0,0,0,0
$FREEZE,2.34,0.071,-1.891,2,2,0
$STATE,6937,end climb,SURFACE_DEPTH_REACHED
$STATE,6937,begin surface coast
$FREEZE,1.48,0.064,-1.890,2,2,0
$FREEZE,1.27,0.022,-1.893,2,2,0
$FREEZE,1.19,-0.037,-1.084,2,2,0
$FREEZE,1.11,0.007,-0.972,2,2,0
$FREEZE,1.12,-0.034,-1.879,2,2,0
$FINISH,1.1,1.027490
$STATE,6968,end surface coast,CONTROL_FINISHED_OK
$STATE,6968,begin surface
$SM_CCo,6988,301.92,0.734,6,0,419,623.30
$SM_GC,1.78,0.00,0.00,301.92,0.000,0.000,0.734,395,2650,419,-8.30,-0.03,623.30
$IRIDIUM_FIX,-7545.40,17359.94,120111,080852
$TT8_MAMPS,0.028462
$HUMID,51.14
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,18.2
$24V_AH,20.6,86.506
$10V_AH,9.6,60.090
$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,19.150,90.350,281.150,301.925,0.000,79.789,225.327,0.000,1.250,0.000,39.703,1974.811,2753.635,745.483,2177.907,279.397,0.000,1531.680,0.000,1290.149,0.000,9.485,0.000
$DEVICE_MAMPS,200.430,60.435,1084.770,733.635,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,541.063,963.701,997.202,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53725,769
$CAP_FILE_SIZE,104739,0
$CFSIZE,260165632,219652096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$CURRENT,0.086,162.9,1
$GPS,120111,103307,-7629.874,17408.115,37,0.8,38,126.5