version: 66.08
glider: 502
mission: 3
dive: 568
start: 1 9 111 5 59 10
data:
$ID,502
$MISSION,3
$DIVE,568
$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,-30855.809
$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,40
$R_STBD_OVSHOOT,26
$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
$GPS1,090111,054907,-7628.441,17609.734,29,1.0,29,123.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-72.2
$GPS2,090111,055844,-7628.443,17609.572,16,1.5,16,123.4
$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,150.1,159807,-17.5,-10.000
$D_GRID,377
$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,16,begin dive
$GC,18,-0.76,-146.0,0.0,0.0,0,105,0.00,0.00,-83.90,0.000,2,0.000,0.000,403,2662,3315,0,0,0,0,0,0
$GC,108,-0.76,-146.0,3.3,-1.2,12,132,8.88,2.30,-6.72,0.000,4,0.193,0.060,2806,1240,3560,0,0,0,0,0,0
$GC,384,-0.76,-146.0,48.9,-14.3,60,392,0.00,2.35,0.00,0.000,6,0.000,0.054,2798,2648,3563,0,0,0,0,0,0
$GC,529,-0.76,-146.0,72.4,-17.4,85,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2648,3563,0,0,0,0,0,0
$GC,671,-0.76,-146.0,96.1,-16.3,110,680,0.00,1.83,0.00,0.000,4,0.000,0.057,2789,3757,3563,0,0,0,0,0,0
$GC,713,-0.76,-146.0,104.0,-17.7,115,721,0.00,1.75,0.00,0.000,6,0.000,0.039,2789,2657,3564,0,0,0,0,0,0
$GC,849,-0.76,-146.0,126.5,-16.9,128,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2656,3563,0,0,0,0,0,0
$GC,976,-0.76,-146.0,147.7,-16.7,140,981,0.10,1.83,0.00,0.000,4,0.172,0.060,2808,3762,3564,0,0,0,0,0,0
$GC,1003,-0.76,-146.0,152.7,-16.7,142,1012,0.00,1.75,0.00,0.000,6,0.000,0.039,2808,2662,3563,0,0,0,0,0,0
$GC,1140,-0.76,-146.0,173.1,-15.4,155,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2662,3563,0,0,0,0,0,0
$GC,1276,-0.76,-146.0,194.3,-15.6,168,1279,0.00,1.80,0.00,0.000,4,0.000,0.060,2799,3766,3563,0,0,0,0,0,0
$GC,1313,-0.76,-146.0,201.2,-16.8,171,1322,0.00,1.75,0.00,0.000,6,0.000,0.039,2799,2669,3563,0,0,0,0,0,0
$GC,1450,-0.76,-146.0,222.5,-16.3,184,1454,0.00,1.80,0.00,0.000,4,0.000,0.059,2790,3770,3563,0,0,0,0,0,0
$GC,1498,-0.76,-146.0,230.5,-17.5,188,1501,0.00,1.70,0.00,0.000,6,0.000,0.040,2791,2675,3563,0,0,0,0,0,0
$GC,1637,-0.76,-146.0,253.2,-15.6,201,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2672,3563,0,0,0,0,0,0
$GC,1829,-0.76,-146.0,283.8,-16.4,219,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2672,3563,0,0,0,0,0,0
$GC,2020,-0.76,-146.0,315.4,-16.4,237,2024,0.00,1.83,0.00,0.000,4,0.000,0.059,2783,3760,3564,0,0,0,0,0,0
$GC,2047,-0.76,-146.0,320.4,-17.0,239,2055,0.10,1.73,0.00,0.000,6,0.134,0.039,2816,2681,3563,0,0,0,0,0,0
$GC,2248,-0.76,-146.0,348.9,-14.0,258,2258,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2680,3563,0,0,0,0,0,0
$GC,2447,-0.76,-146.0,377.0,-14.0,277,2448,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2680,3563,0,0,0,0,0,0
$STATE,2453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2453,begin apogee
$GC,2459,-0.27,0.0,378.2,14.0,278,2596,0.47,0.00,130.38,1.042,4,0.122,0.000,2970,2494,2961,0,0,0,0,0,0
$STATE,2597,end apogee,CONTROL_FINISHED_OK
$STATE,2597,begin climb
$GC,2600,0.76,146.0,385.2,0.0,290,2764,1.10,2.55,150.48,0.961,4,0.080,0.047,3306,1100,2365,0,0,0,0,1,0
$GC,2857,0.76,146.0,365.4,10.3,312,2862,0.00,2.58,0.00,0.000,6,0.000,0.049,3306,2502,2356,0,0,0,0,0,0
$GC,3055,0.76,146.0,342.8,11.4,330,3059,0.00,2.40,0.00,0.000,4,0.000,0.047,3315,1108,2352,0,0,0,0,0,0
$GC,3209,0.76,146.0,325.4,11.6,343,3213,0.00,2.38,0.00,0.000,6,0.000,0.050,3315,2520,2349,0,0,0,0,0,0
$GC,3408,0.76,146.0,301.4,12.0,361,3411,0.00,2.00,0.00,0.000,4,0.000,0.056,3315,3768,2348,0,0,0,0,0,0
$GC,3503,0.76,146.0,288.0,13.9,369,3509,0.00,1.92,0.00,0.000,6,0.000,0.038,3324,2533,2347,0,0,0,0,0,0
$GC,3700,0.76,146.0,263.1,12.6,388,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2532,2346,0,0,0,0,0,0
$GC,3894,0.76,146.0,238.9,12.6,406,3897,0.00,2.00,0.00,0.000,4,0.000,0.055,3324,3772,2346,0,0,0,0,0,0
$GC,3953,0.76,146.0,229.8,14.3,411,3962,0.00,2.00,0.00,0.000,6,0.000,0.039,3334,2522,2345,0,0,0,0,0,0
$GC,4090,0.76,146.0,211.6,13.4,424,4093,0.00,2.03,0.00,0.000,4,0.000,0.057,3334,3768,2345,0,0,0,0,0,0
$GC,4137,0.76,146.0,204.7,15.1,428,4141,0.12,1.92,0.00,0.000,6,0.161,0.038,3310,2540,2345,0,0,0,0,0,0
$GC,4272,0.76,146.0,188.3,11.4,440,4276,0.00,2.00,0.00,0.000,4,0.000,0.056,3310,3770,2345,0,0,0,0,0,0
$GC,4311,0.76,146.0,183.2,12.5,443,4319,0.00,1.98,0.00,0.000,6,0.000,0.040,3318,2537,2344,0,0,0,0,0,0
$GC,4448,0.76,146.0,167.3,11.9,456,4452,0.00,2.00,0.00,0.000,4,0.000,0.057,3318,3765,2345,0,0,0,0,0,0
$GC,4486,0.76,146.0,161.6,13.6,459,4494,0.00,1.92,0.00,0.000,6,0.000,0.038,3327,2557,2344,0,0,0,0,0,0
$GC,4622,0.76,146.0,144.9,12.4,472,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2555,2344,0,0,0,0,0,0
$GC,4748,0.76,146.0,129.1,12.6,484,4752,0.00,1.98,0.00,0.000,4,0.000,0.056,3327,3773,2344,0,0,0,0,0,0
$GC,4807,0.76,146.0,120.3,14.5,489,4816,0.00,1.92,0.00,0.000,6,0.000,0.040,3336,2565,2344,0,0,0,0,0,0
$GC,4944,0.76,146.0,103.3,12.7,502,4945,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2565,2344,0,0,0,0,0,0
$GC,5076,0.76,146.0,87.0,12.6,523,5083,0.00,1.98,0.00,0.000,4,0.000,0.057,3336,3770,2343,0,0,0,0,0,0
$GC,5129,0.76,146.0,79.5,13.8,532,5137,0.10,1.92,0.00,0.000,6,0.132,0.039,3313,2565,2343,0,0,0,0,0,0
$GC,5277,0.76,146.0,62.9,11.2,557,5283,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2565,2343,0,0,0,0,0,0
$GC,5418,0.76,146.0,47.3,10.7,582,5426,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2565,2344,0,0,0,0,0,0
$GC,5564,0.76,146.0,32.3,11.2,607,5571,0.00,1.98,0.00,0.000,4,0.000,0.057,3312,3768,2343,0,0,0,0,0,0
$GC,5628,0.76,146.0,23.6,12.9,618,5637,0.00,1.90,0.00,0.000,6,0.000,0.037,3320,2572,2343,0,0,0,0,0,0
$FREEZE,8.98,-0.065,-1.892,2,2,0
$FREEZE,8.25,-0.066,-1.891,2,2,0
$FREEZE,7.70,-0.066,-1.891,2,2,0
$FREEZE,6.58,-0.069,-1.890,2,2,0
$FREEZE,6.05,-0.069,-1.890,2,2,0
$GC,5780,0.76,146.0,6.0,11.7,643,5787,0.00,1.98,0.00,0.000,4,0.000,0.059,3320,3769,2342,0,0,0,0,0,0
$FREEZE,4.26,-0.046,-1.888,2,2,0
$FREEZE,3.41,-0.048,-1.888,2,2,0
$FREEZE,2.82,-0.046,-1.887,2,2,0
$STATE,5806,end climb,SURFACE_DEPTH_REACHED
$STATE,5806,begin surface coast
$FREEZE,1.93,-0.047,-1.886,2,2,0
$FREEZE,1.30,-0.045,-1.886,2,2,0
$FINISH,1.3,1.027584
$STATE,5820,end surface coast,CONTROL_FINISHED_OK
$STATE,5820,begin surface
$SM_CCo,5839,302.35,0.728,6,0,419,623.30
$SM_GC,1.81,0.00,0.00,302.35,0.000,0.000,0.728,409,2652,419,-8.28,0.06,623.30
$IRIDIUM_FIX,-7545.40,17601.40,090111,050544
$TT8_MAMPS,0.028462
$HUMID,51.14
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.9
$ALTIM_BOTTOM_PING,350.1,69.5
$24V_AH,20.2,81.924
$10V_AH,9.6,56.634
$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,18.500,67.775,280.850,302.350,0.000,89.954,225.323,0.000,1.250,0.000,17.093,1645.415,2242.760,730.932,1897.848,237.185,0.000,1404.359,0.000,1080.241,0.000,10.660,0.000
$DEVICE_MAMPS,192.780,60.435,1041.930,727.515,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,455.572,838.569,905.141,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43763,649
$CAP_FILE_SIZE,87635,0
$CFSIZE,260165632,221761536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$CURRENT,0.067,169.4,1
$GPS,090111,074306,-7628.665,17606.586,9,1.4,25,123.5