version: 66.08
glider: 502
mission: 3
dive: 560
start: 1 8 111 14 57 51
data:
$ID,502
$MISSION,3
$DIVE,560
$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,-30845.752
$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
$GPS1,080111,144755,-7628.661,17638.814,40,1.1,40,122.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-73.6
$GPS2,080111,145725,-7628.637,17638.836,11,1.2,16,122.7
$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,151.0,172451,-17.5,-10.000
$D_GRID,378
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.76,-146.0,0.0,0.0,0,99,0.00,0.00,-78.47,0.000,2,0.000,0.000,420,2669,3177,0,0,0,0,0,0
$GC,102,-0.76,-146.0,3.0,-1.2,12,131,8.80,2.35,-12.05,0.000,4,0.193,0.063,2809,1241,3561,0,0,0,0,0,0
$GC,186,-0.76,-146.0,15.7,-15.6,26,195,0.00,2.33,0.00,0.000,6,0.000,0.055,2801,2642,3562,0,0,0,0,0,0
$GC,326,-0.76,-146.0,38.5,-16.6,51,333,0.00,1.83,0.00,0.000,4,0.000,0.059,2792,3774,3563,0,0,0,0,0,0
$GC,364,-0.76,-146.0,45.3,-17.8,57,371,0.00,1.77,0.00,0.000,6,0.000,0.041,2792,2635,3563,0,0,0,0,0,0
$GC,503,-0.76,-146.0,69.6,-17.5,82,510,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2634,3563,0,0,0,0,0,0
$GC,644,-0.76,-146.0,93.9,-16.7,107,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2634,3564,0,0,0,0,0,0
$GC,781,-0.76,-146.0,117.0,-16.9,123,785,0.00,1.85,0.00,0.000,4,0.000,0.060,2785,3770,3564,0,0,0,0,0,0
$GC,829,-0.76,-146.0,126.4,-18.2,127,839,0.08,1.75,0.00,0.000,6,0.139,0.040,2810,2669,3564,0,0,0,0,0,0
$GC,967,-0.76,-146.0,147.5,-15.5,140,971,0.00,1.77,0.00,0.000,4,0.000,0.058,2802,3766,3564,0,0,0,0,0,0
$GC,994,-0.76,-146.0,152.6,-17.1,142,1003,0.00,1.75,0.00,0.000,6,0.000,0.039,2803,2665,3564,0,0,0,0,0,0
$GC,1131,-0.76,-146.0,173.8,-15.9,155,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2664,3564,0,0,0,0,0,0
$GC,1266,-0.76,-146.0,195.8,-16.4,168,1270,0.00,1.80,0.00,0.000,4,0.000,0.058,2794,3771,3564,0,0,0,0,0,0
$GC,1302,-0.76,-146.0,201.8,-17.3,171,1305,0.00,1.70,0.00,0.000,6,0.000,0.040,2794,2677,3564,0,0,0,0,0,0
$GC,1443,-0.76,-146.0,224.8,-16.2,184,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2676,3564,0,0,0,0,0,0
$GC,1570,-0.76,-146.0,245.4,-15.9,196,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2676,3564,0,0,0,0,0,0
$GC,1696,-0.76,-146.0,265.7,-16.1,208,1699,0.00,1.77,0.00,0.000,4,0.000,0.060,2786,3764,3564,0,0,0,0,0,0
$GC,1723,-0.76,-146.0,270.4,-16.9,210,1731,0.05,1.73,0.00,0.000,6,0.122,0.041,2813,2683,3564,0,0,0,0,0,0
$GC,1923,-0.76,-146.0,298.3,-13.9,229,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2681,3564,0,0,0,0,0,0
$GC,2112,-0.76,-146.0,325.1,-14.8,247,2116,0.00,1.83,0.00,0.000,4,0.000,0.060,2806,3767,3564,0,0,0,0,0,0
$GC,2162,-0.76,-146.0,333.0,-15.5,251,2169,0.00,1.73,0.00,0.000,6,0.000,0.040,2806,2685,3564,0,0,0,0,0,0
$GC,2361,-0.76,-146.0,361.5,-14.3,270,2364,0.00,1.77,0.00,0.000,4,0.000,0.060,2798,3766,3564,0,0,0,0,0,0
$GC,2396,-0.76,-146.0,366.8,-15.3,273,2399,0.00,1.67,0.00,0.000,6,0.000,0.041,2798,2688,3564,0,0,0,0,0,0
$STATE,2469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2469,begin apogee
$GC,2476,-0.27,0.0,378.1,14.8,280,2614,0.55,0.00,130.40,1.037,4,0.129,0.000,2972,2489,2961,0,0,0,0,0,0
$STATE,2615,end apogee,CONTROL_FINISHED_OK
$STATE,2615,begin climb
$GC,2617,0.76,146.0,385.4,0.0,292,2778,1.10,2.53,148.32,0.957,4,0.080,0.047,3309,1105,2364,0,0,0,0,0,0
$GC,2882,0.76,146.0,364.1,11.3,315,2887,0.00,2.55,0.00,0.000,6,0.000,0.048,3308,2504,2355,0,0,0,0,0,0
$GC,3080,0.76,146.0,340.8,11.2,333,3084,0.00,2.40,0.00,0.000,4,0.000,0.047,3315,1106,2351,0,0,0,0,0,0
$GC,3231,0.76,146.0,323.1,11.3,346,3238,0.00,2.38,0.00,0.000,6,0.000,0.050,3315,2526,2349,0,0,0,0,0,0
$GC,3431,0.76,146.0,299.6,11.8,365,3435,0.00,1.98,0.00,0.000,4,0.000,0.056,3316,3766,2348,0,0,0,0,0,0
$GC,3536,0.76,146.0,284.6,13.5,374,3544,0.00,1.95,0.00,0.000,6,0.000,0.037,3324,2534,2347,0,0,0,0,0,0
$GC,3735,0.76,146.0,261.1,11.5,393,3738,0.00,1.98,0.00,0.000,4,0.000,0.056,3323,3765,2346,0,0,0,0,0,0
$GC,3784,0.76,146.0,254.4,13.4,397,3792,0.00,1.95,0.00,0.000,6,0.000,0.038,3333,2535,2345,0,0,0,0,0,0
$GC,3984,0.76,146.0,230.0,12.4,416,3988,0.00,2.00,0.00,0.000,4,0.000,0.056,3333,3776,2345,0,0,0,0,0,0
$GC,4020,0.76,146.0,225.0,14.3,419,4025,0.12,1.92,0.00,0.000,6,0.161,0.039,3310,2541,2345,0,0,0,0,0,0
$GC,4158,0.76,146.0,209.6,10.9,431,4165,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2538,2344,0,0,0,0,0,0
$GC,4293,0.76,146.0,194.6,11.1,444,4296,0.00,1.98,0.00,0.000,4,0.000,0.057,3310,3765,2344,0,0,0,0,0,0
$GC,4330,0.76,146.0,189.6,12.4,447,4339,0.00,1.92,0.00,0.000,6,0.000,0.037,3317,2549,2344,0,0,0,0,0,0
$GC,4467,0.76,146.0,174.0,11.9,460,4471,0.00,1.98,0.00,0.000,4,0.000,0.057,3318,3769,2344,0,0,0,0,0,0
$GC,4513,0.76,146.0,167.8,13.1,464,4517,0.00,1.88,0.00,0.000,6,0.000,0.038,3327,2556,2344,0,0,0,0,0,0
$GC,4654,0.76,146.0,150.8,11.8,477,4656,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2554,2343,0,0,0,0,0,0
$GC,4782,0.76,146.0,135.8,11.8,489,4786,0.00,1.95,0.00,0.000,4,0.000,0.056,3327,3766,2343,0,0,0,0,0,0
$GC,4840,0.76,146.0,128.0,13.7,494,4844,0.00,1.85,0.00,0.000,6,0.000,0.037,3336,2565,2343,0,0,0,0,0,0
$GC,4981,0.76,146.0,109.9,12.6,507,4983,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2563,2343,0,0,0,0,0,0
$GC,5110,0.76,146.0,94.0,12.0,523,5117,0.00,1.98,0.00,0.000,4,0.000,0.056,3336,3777,2343,0,0,0,0,0,0
$GC,5161,0.76,146.0,86.6,13.7,532,5170,0.10,1.90,0.00,0.000,6,0.131,0.039,3313,2577,2343,0,0,0,0,0,0
$GC,5303,0.76,146.0,71.0,11.2,557,5310,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2577,2343,0,0,0,0,0,0
$GC,5441,0.76,146.0,55.5,11.0,582,5449,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2577,2342,0,0,0,0,0,0
$GC,5582,0.76,146.0,40.0,11.5,607,5588,0.00,1.92,0.00,0.000,4,0.000,0.055,3312,3767,2342,0,0,0,0,0,0
$GC,5618,0.76,146.0,35.5,12.8,613,5626,0.00,1.85,0.00,0.000,6,0.000,0.037,3320,2573,2343,0,0,0,0,0,0
$GC,5759,0.76,146.0,18.9,10.9,638,5767,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2573,2342,0,0,0,0,0,0
$FREEZE,8.44,-0.062,-1.893,2,2,0
$FREEZE,7.80,-0.060,-1.893,2,2,0
$FREEZE,7.03,-0.054,-1.892,2,2,0
$FREEZE,6.38,-0.051,-1.891,2,2,0
$FREEZE,5.68,-0.036,-1.891,2,2,0
$FREEZE,5.12,-0.032,-1.890,2,2,0
$FREEZE,4.39,-0.027,-1.890,2,2,0
$FREEZE,3.77,-0.023,-1.889,2,2,0
$FREEZE,3.05,-0.016,-1.889,2,2,0
$FREEZE,2.16,-0.011,-1.888,2,2,0
$STATE,5902,end climb,SURFACE_DEPTH_REACHED
$STATE,5902,begin surface coast
$FREEZE,1.30,-0.013,-1.887,2,2,0
$FREEZE,1.14,-0.095,-0.268,2,2,0
$FREEZE,1.17,-0.129,-1.885,2,2,0
$FREEZE,1.28,-0.048,-1.887,2,2,0
$FREEZE,1.09,-0.117,-0.329,2,2,0
$FINISH,1.1,1.004729
$STATE,5932,end surface coast,CONTROL_FINISHED_OK
$STATE,5932,begin surface
$SM_CCo,5949,298.62,0.717,6,0,419,623.30
$SM_GC,1.87,0.00,0.00,298.62,0.000,0.000,0.717,425,2670,419,-8.24,0.57,623.30
$IRIDIUM_FIX,-7545.40,17646.66,080111,141430
$TT8_MAMPS,0.027713
$HUMID,51.41
$INTERNAL_PRESSURE,8.68197
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,17.6
$ALTIM_BOTTOM_PING,301.0,105.3
$24V_AH,20.3,80.919
$10V_AH,9.6,55.934
$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,18.400,70.650,278.725,298.625,0.000,83.158,225.321,0.000,1.250,0.000,17.084,1703.172,2249.511,729.718,1941.184,230.415,0.000,1418.301,0.000,1116.511,0.000,9.050,0.000
$DEVICE_MAMPS,192.780,86.445,1037.340,716.805,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,468.871,864.202,930.569,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258144
$DATA_FILE_SIZE,46954,668
$CAP_FILE_SIZE,91115,0
$CFSIZE,260165632,222171136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$CURRENT,0.029, 33.9,1
$GPS,080111,164336,-7628.511,17635.803,10,1.5,27,122.8