version: 66.08
glider: 502
mission: 3
dive: 608
start: 1 12 111 12 56 57
data:
$ID,502
$MISSION,3
$DIVE,608
$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,-30907.844
$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
$GPS1,120111,124626,-7629.894,17404.779,13,1.7,14,126.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-68.7
$GPS2,120111,125628,-7629.897,17404.734,11,2.2,30,126.6
$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,163.3,105809,-16.0,-9.091
$D_GRID,462
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.71,-146.0,0.0,0.0,0,87,0.00,0.00,-69.90,0.000,2,0.000,0.000,359,2674,3221,0,0,0,0,0,0
$GC,91,-0.71,-146.0,3.3,-2.0,10,121,9.27,2.40,-10.40,0.000,4,0.197,0.062,2829,1246,3560,0,0,0,0,0,0
$GC,356,-0.71,-146.0,41.5,-14.4,57,363,0.00,2.33,0.00,0.000,6,0.000,0.055,2820,2642,3563,0,0,0,0,0,0
$GC,493,-0.71,-146.0,62.4,-15.2,82,501,0.00,1.88,0.00,0.000,4,0.000,0.059,2812,3761,3563,0,0,0,0,0,0
$GC,553,-0.71,-146.0,71.8,-15.5,92,561,0.00,1.77,0.00,0.000,6,0.000,0.039,2812,2663,3563,0,0,0,0,0,0
$GC,691,-0.71,-146.0,93.3,-15.3,117,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2663,3563,0,0,0,0,0,0
$GC,834,-0.71,-146.0,115.0,-15.2,134,837,0.00,1.83,0.00,0.000,4,0.000,0.058,2803,3763,3563,0,0,0,0,0,0
$GC,861,-0.71,-146.0,119.9,-15.9,136,870,0.08,1.77,0.00,0.000,6,0.138,0.039,2828,2666,3564,0,0,0,0,0,0
$GC,999,-0.71,-146.0,138.2,-13.4,149,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2665,3564,0,0,0,0,0,0
$GC,1134,-0.71,-146.0,156.9,-13.5,162,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2664,3564,0,0,0,0,0,0
$GC,1262,-0.71,-146.0,173.9,-13.0,174,1265,0.00,1.83,0.00,0.000,4,0.000,0.057,2821,3761,3564,0,0,0,0,0,0
$GC,1308,-0.71,-146.0,180.4,-14.5,178,1312,0.00,1.75,0.00,0.000,6,0.000,0.039,2821,2656,3564,0,0,0,0,0,0
$GC,1451,-0.71,-146.0,199.6,-13.7,191,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2654,3564,0,0,0,0,0,0
$GC,1588,-0.71,-146.0,218.3,-13.6,204,1591,0.00,1.85,0.00,0.000,4,0.000,0.060,2812,3761,3564,0,0,0,0,0,0
$GC,1614,-0.71,-146.0,222.4,-13.5,206,1622,0.00,1.75,0.00,0.000,6,0.000,0.039,2812,2680,3564,0,0,0,0,0,0
$GC,1750,-0.71,-146.0,240.9,-14.2,219,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2680,3564,0,0,0,0,0,0
$GC,1876,-0.71,-146.0,258.4,-13.9,231,1877,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2680,3564,0,0,0,0,0,0
$GC,2067,-0.71,-146.0,284.5,-13.3,249,2070,0.00,1.83,0.00,0.000,4,0.000,0.060,2804,3767,3563,0,0,0,0,0,0
$GC,2112,-0.71,-146.0,291.1,-14.4,253,2117,0.10,1.73,0.00,0.000,6,0.163,0.040,2830,2679,3564,0,0,0,0,0,0
$GC,2319,-0.71,-146.0,315.5,-12.0,272,2322,0.00,1.83,0.00,0.000,4,0.000,0.060,2823,3764,3564,0,0,0,0,0,0
$GC,2346,-0.71,-146.0,319.5,-13.0,274,2353,0.00,1.75,0.00,0.000,6,0.000,0.039,2823,2687,3564,0,0,0,0,0,0
$GC,2545,-0.71,-146.0,344.1,-12.1,293,2546,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2686,3564,0,0,0,0,0,0
$GC,2735,-0.71,-146.0,368.0,-12.7,311,2739,0.00,1.80,0.00,0.000,4,0.000,0.060,2814,3760,3564,0,0,0,0,0,0
$GC,2784,-0.71,-146.0,374.8,-13.6,315,2792,0.00,1.73,0.00,0.000,6,0.000,0.039,2815,2696,3563,0,0,0,0,0,0
$GC,2985,-0.71,-146.0,400.8,-13.0,334,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2695,3564,0,0,0,0,0,0
$GC,3174,-0.71,-146.0,425.9,-13.2,352,3177,0.00,1.77,0.00,0.000,4,0.000,0.060,2806,3762,3564,0,0,0,0,0,0
$GC,3232,-0.71,-146.0,433.9,-13.8,357,3236,0.00,1.67,0.00,0.000,6,0.000,0.040,2806,2698,3563,0,0,0,0,0,0
$STATE,3434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3436,begin apogee
$GC,3442,-0.27,0.0,462.5,13.9,376,3584,0.52,0.00,133.68,1.101,4,0.125,0.000,2971,2487,2960,0,0,0,0,0,0
$STATE,3584,end apogee,CONTROL_FINISHED_OK
$STATE,3585,begin climb
$GC,3587,0.71,146.0,469.6,0.0,388,3753,1.08,2.60,151.85,1.012,4,0.080,0.047,3292,1105,2364,0,0,0,0,1,0
$GC,3852,0.71,146.0,450.7,9.8,412,3857,0.00,2.58,0.00,0.000,6,0.000,0.049,3292,2499,2354,0,0,0,0,0,0
$GC,4050,0.71,146.0,429.5,10.9,430,4054,0.00,2.47,0.00,0.000,4,0.000,0.047,3300,1095,2349,0,0,0,0,0,0
$GC,4161,0.71,146.0,417.6,10.9,439,4168,0.00,2.53,0.00,0.000,6,0.000,0.049,3300,2525,2348,0,0,0,0,0,0
$GC,4359,0.71,146.0,395.8,11.0,458,4363,0.00,2.12,0.00,0.000,4,0.000,0.054,3300,3764,2347,0,0,0,0,0,0
$GC,4465,0.71,146.0,381.7,12.8,467,4473,0.00,2.00,0.00,0.000,6,0.000,0.037,3308,2540,2346,0,0,0,0,0,0
$GC,4663,0.71,146.0,358.8,11.6,486,4666,0.00,2.05,0.00,0.000,4,0.000,0.055,3308,3766,2345,0,0,0,0,0,0
$GC,4698,0.71,146.0,354.3,13.7,489,4701,0.00,1.98,0.00,0.000,6,0.000,0.037,3317,2535,2345,0,0,0,0,0,0
$GC,4902,0.71,146.0,329.7,11.9,508,4906,0.00,2.05,0.00,0.000,4,0.000,0.055,3317,3771,2344,0,0,0,0,0,0
$GC,4937,0.71,146.0,325.0,14.1,511,4941,0.12,1.95,0.00,0.000,6,0.156,0.039,3295,2545,2344,0,0,0,0,0,0
$GC,5135,0.71,146.0,303.7,10.2,529,5139,0.00,2.03,0.00,0.000,4,0.000,0.057,3295,3770,2343,0,0,0,0,0,0
$GC,5181,0.71,146.0,298.2,12.3,533,5185,0.00,1.92,0.00,0.000,6,0.000,0.039,3302,2552,2344,0,0,0,0,0,0
$GC,5387,0.71,146.0,276.0,10.4,552,5391,0.00,2.00,0.00,0.000,4,0.000,0.057,3303,3766,2343,0,0,0,0,0,0
$GC,5426,0.71,146.0,271.0,12.8,555,5434,0.00,1.90,0.00,0.000,6,0.000,0.037,3311,2557,2343,0,0,0,0,0,0
$GC,5625,0.71,146.0,248.2,11.2,574,5626,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2555,2343,0,0,0,0,0,0
$GC,5752,0.71,146.0,234.5,10.7,586,5756,0.00,2.00,0.00,0.000,4,0.000,0.056,3311,3768,2343,0,0,0,0,0,0
$GC,5810,0.71,146.0,227.2,14.1,591,5814,0.00,1.90,0.00,0.000,6,0.000,0.038,3320,2561,2342,0,0,0,0,0,0
$GC,5954,0.71,146.0,210.2,11.5,604,5961,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2560,2342,0,0,0,0,0,0
$GC,6089,0.71,146.0,194.2,11.7,617,6093,0.00,2.00,0.00,0.000,4,0.000,0.056,3320,3773,2342,0,0,0,0,0,0
$GC,6117,0.71,146.0,190.3,13.2,619,6127,0.10,1.92,0.00,0.000,6,0.135,0.039,3298,2584,2342,0,0,0,0,0,0
$GC,6254,0.71,146.0,176.3,10.0,632,6258,0.00,1.98,0.00,0.000,4,0.000,0.057,3298,3775,2342,0,0,0,0,0,0
$GC,6291,0.71,146.0,172.1,12.1,635,6294,0.00,1.88,0.00,0.000,6,0.000,0.039,3305,2589,2342,0,0,0,0,0,0
$GC,6435,0.71,146.0,156.5,11.1,648,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,2587,2342,0,0,0,0,0,0
$GC,6570,0.71,146.0,141.4,10.9,661,6574,0.00,1.95,0.00,0.000,4,0.000,0.057,3306,3766,2342,0,0,0,0,0,0
$GC,6628,0.71,146.0,134.1,13.8,666,6632,0.00,1.85,0.00,0.000,6,0.000,0.037,3315,2590,2341,0,0,0,0,0,0
$GC,6770,0.71,146.0,117.4,11.6,679,6771,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2588,2341,0,0,0,0,0,0
$GC,6896,0.71,146.0,102.9,11.7,691,6898,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2588,2341,0,0,0,0,0,0
$GC,7025,0.71,146.0,88.3,11.7,712,7033,0.00,2.00,0.00,0.000,4,0.000,0.056,3315,3768,2341,0,0,0,0,0,0
$GC,7074,0.71,146.0,82.1,12.9,720,7082,0.00,1.88,0.00,0.000,6,0.000,0.038,3323,2608,2341,0,0,0,0,0,0
$GC,7213,0.71,146.0,65.3,12.1,745,7220,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2608,2342,0,0,0,0,0,0
$GC,7349,0.71,146.0,48.9,11.9,770,7357,0.00,1.95,0.00,0.000,4,0.000,0.057,3323,3762,2341,0,0,0,0,0,0
$GC,7382,0.71,146.0,44.9,13.0,775,7390,0.12,1.83,0.00,0.000,6,0.158,0.038,3300,2607,2342,0,0,0,0,0,0
$GC,7525,0.71,146.0,27.2,12.0,800,7533,0.00,1.98,0.00,0.000,4,0.000,0.057,3299,3768,2341,0,0,0,0,0,0
$GC,7562,0.71,146.0,23.0,10.6,806,7570,0.00,1.85,0.00,0.000,6,0.000,0.038,3306,2624,2341,0,0,0,0,0,0
$FREEZE,8.63,-0.041,-1.896,2,2,0
$FREEZE,8.08,-0.039,-1.895,2,2,0
$GC,7706,0.71,146.0,8.1,12.3,831,7713,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,2622,2341,0,0,0,0,0,0
$FREEZE,5.88,-0.047,-1.894,2,2,0
$FREEZE,5.04,-0.044,-1.893,2,2,0
$FREEZE,4.48,-0.050,-1.893,2,2,0
$FREEZE,3.78,-0.051,-1.892,2,2,0
$FREEZE,3.32,-0.049,-1.892,2,2,0
$FREEZE,2.25,-0.050,-1.891,2,2,0
$STATE,7748,end climb,SURFACE_DEPTH_REACHED
$STATE,7748,begin surface coast
$FREEZE,1.72,-0.050,-1.891,2,2,0
$FREEZE,1.16,-0.054,-1.890,2,2,0
$FREEZE,1.11,-0.242,-1.049,2,2,0
$FREEZE,1.25,-0.234,-1.897,2,2,0
$FREEZE,1.15,-0.095,-1.889,2,2,0
$FINISH,1.2,1.027633
$STATE,7782,end surface coast,CONTROL_FINISHED_OK
$STATE,7782,begin surface
$SM_CCo,7799,300.42,0.721,7,0,420,623.30
$SM_GC,1.82,0.00,0.00,300.42,0.000,0.000,0.721,387,2617,420,-8.32,-0.93,623.30
$IRIDIUM_FIX,-7545.40,17410.05,120111,121208
$TT8_MAMPS,0.028462
$HUMID,51.65
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,20.0,20.7
$24V_AH,20.6,86.782
$10V_AH,9.6,60.291
$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,19.100,90.675,285.525,300.425,0.000,83.547,225.321,0.000,2.000,0.000,32.563,2157.985,3260.294,753.894,2285.255,283.825,0.000,1586.072,0.000,1385.279,0.000,11.214,0.000
$DEVICE_MAMPS,197.370,61.965,1100.835,720.630,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,593.390,1020.798,1008.154,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,60355,843
$CAP_FILE_SIZE,111107,0
$CFSIZE,260165632,219512832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,0
$CURRENT,0.082,160.4,1
$GPS,120111,151401,-7629.904,17401.213,48,1.2,49,126.7