version: 66.08
glider: 502
mission: 3
dive: 570
start: 1 9 111 9 44 29
data:
$ID,502
$MISSION,3
$DIVE,570
$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,-30858.326
$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,39
$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
$GPS1,090111,093430,-7628.885,17603.955,40,1.5,40,123.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-71.9
$GPS2,090111,094402,-7628.940,17603.990,15,1.2,15,123.6
$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,165.5,157380,-17.5,-10.000
$D_GRID,376
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,102,0.00,0.00,-82.30,0.000,2,0.000,0.000,397,2637,3276,0,0,0,0,0,0
$GC,105,-0.76,-146.0,3.3,-1.9,12,129,8.90,1.92,-8.07,0.000,4,0.190,0.073,2799,3767,3561,0,0,0,0,0,0
$GC,381,-0.76,-146.0,51.8,-16.9,60,389,0.00,1.80,0.00,0.000,6,0.000,0.040,2799,2643,3563,0,0,0,0,0,0
$GC,525,-0.76,-146.0,75.6,-16.8,85,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2642,3563,0,0,0,0,0,0
$GC,668,-0.76,-146.0,99.4,-16.5,110,677,0.00,1.88,0.00,0.000,4,0.000,0.058,2790,3761,3564,0,0,0,0,0,0
$GC,731,-0.76,-146.0,110.8,-17.5,116,739,0.00,1.75,0.00,0.000,6,0.000,0.039,2790,2661,3564,0,0,0,0,0,0
$GC,867,-0.76,-146.0,133.7,-17.2,129,870,0.00,1.83,0.00,0.000,4,0.000,0.059,2784,3773,3564,0,0,0,0,0,0
$GC,894,-0.76,-146.0,139.2,-18.1,131,904,0.08,1.77,0.00,0.000,6,0.138,0.039,2809,2660,3564,0,0,0,0,0,0
$GC,1029,-0.76,-146.0,161.0,-16.6,144,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2659,3564,0,0,0,0,0,0
$GC,1157,-0.76,-146.0,181.7,-16.0,156,1160,0.00,1.80,0.00,0.000,4,0.000,0.058,2802,3764,3564,0,0,0,0,0,0
$GC,1183,-0.76,-146.0,185.7,-16.4,158,1187,0.00,1.73,0.00,0.000,6,0.000,0.039,2802,2658,3565,0,0,0,0,0,0
$GC,1326,-0.76,-146.0,209.4,-16.0,171,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2656,3564,0,0,0,0,0,0
$GC,1462,-0.76,-146.0,231.7,-16.5,184,1463,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2656,3564,0,0,0,0,0,0
$GC,1588,-0.76,-146.0,252.0,-15.6,196,1592,0.00,1.83,0.00,0.000,4,0.000,0.060,2793,3767,3564,0,0,0,0,0,0
$GC,1626,-0.76,-146.0,258.7,-16.4,199,1634,0.00,1.75,0.00,0.000,6,0.000,0.039,2793,2676,3564,0,0,0,0,0,0
$GC,1826,-0.76,-146.0,290.2,-15.7,218,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2674,3565,0,0,0,0,0,0
$GC,2016,-0.76,-146.0,320.7,-15.8,236,2020,0.00,1.80,0.00,0.000,4,0.000,0.059,2785,3771,3564,0,0,0,0,0,0
$GC,2061,-0.76,-146.0,328.4,-16.9,240,2065,0.12,1.73,0.00,0.000,6,0.156,0.040,2818,2666,3564,0,0,0,0,0,0
$GC,2267,-0.76,-146.0,357.2,-14.1,259,2270,0.00,1.80,0.00,0.000,4,0.000,0.059,2812,3764,3565,0,0,0,0,0,0
$GC,2305,-0.76,-146.0,363.7,-15.3,262,2313,0.00,1.73,0.00,0.000,6,0.000,0.039,2812,2684,3565,0,0,0,0,0,0
$STATE,2395,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2395,begin apogee
$GC,2401,-0.27,0.0,377.1,14.7,271,2540,0.50,0.00,130.15,1.023,4,0.122,0.000,2973,2486,2961,0,0,0,0,0,0
$STATE,2540,end apogee,CONTROL_FINISHED_OK
$STATE,2540,begin climb
$GC,2543,0.76,146.0,385.1,0.0,283,2702,1.10,2.53,147.68,0.949,4,0.079,0.047,3309,1107,2364,0,0,0,0,0,0
$GC,2818,0.76,146.0,364.9,10.2,307,2822,0.00,2.55,0.00,0.000,6,0.000,0.049,3309,2504,2355,0,0,0,0,0,0
$GC,3017,0.76,146.0,342.6,11.0,325,3021,0.00,2.40,0.00,0.000,4,0.000,0.047,3315,1103,2352,0,0,0,0,0,0
$GC,3170,0.76,146.0,325.4,10.7,338,3174,0.00,2.38,0.00,0.000,6,0.000,0.050,3315,2518,2349,0,0,0,0,0,0
$GC,3370,0.76,146.0,302.1,11.7,356,3374,0.00,2.00,0.00,0.000,4,0.000,0.055,3315,3765,2348,0,0,0,0,0,0
$GC,3484,0.76,146.0,286.5,14.2,366,3488,0.00,1.92,0.00,0.000,6,0.000,0.037,3324,2530,2347,0,0,0,0,0,0
$GC,3688,0.76,146.0,261.0,13.0,385,3691,0.00,2.00,0.00,0.000,4,0.000,0.057,3324,3766,2346,0,0,0,0,0,0
$GC,3722,0.76,146.0,256.1,14.6,388,3726,0.00,1.92,0.00,0.000,6,0.000,0.037,3333,2529,2346,0,0,0,0,0,0
$GC,3929,0.76,146.0,229.5,12.4,407,3933,0.00,2.03,0.00,0.000,4,0.000,0.056,3334,3774,2346,0,0,0,0,0,0
$GC,3976,0.76,146.0,222.7,15.3,411,3981,0.12,1.92,0.00,0.000,6,0.162,0.038,3310,2543,2345,0,0,0,0,0,0
$GC,4114,0.76,146.0,206.4,11.4,423,4121,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2540,2345,0,0,0,0,0,0
$GC,4249,0.76,146.0,191.0,11.2,436,4253,0.00,2.00,0.00,0.000,4,0.000,0.057,3310,3772,2345,0,0,0,0,0,0
$GC,4297,0.76,146.0,185.0,13.8,440,4300,0.00,1.92,0.00,0.000,6,0.000,0.039,3318,2543,2345,0,0,0,0,0,0
$GC,4439,0.76,146.0,168.1,11.5,453,4447,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2541,2345,0,0,0,0,0,0
$GC,4575,0.76,146.0,152.4,11.2,466,4578,0.00,2.00,0.00,0.000,4,0.000,0.057,3318,3768,2345,0,0,0,0,0,0
$GC,4646,0.76,146.0,142.7,13.7,472,4654,0.00,1.95,0.00,0.000,6,0.000,0.038,3327,2550,2345,0,0,0,0,0,0
$GC,4783,0.76,146.0,126.8,11.8,485,4791,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2548,2344,0,0,0,0,0,0
$GC,4919,0.76,146.0,110.5,11.9,498,4923,0.00,2.00,0.00,0.000,4,0.000,0.057,3327,3777,2344,0,0,0,0,0,0
$GC,4989,0.76,146.0,101.5,13.3,504,4992,0.00,1.90,0.00,0.000,6,0.000,0.039,3337,2557,2343,0,0,0,0,0,0
$GC,5130,0.76,146.0,83.9,12.4,528,5138,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2555,2343,0,0,0,0,0,0
$GC,5275,0.76,146.0,65.9,12.5,553,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2556,2343,0,0,0,0,0,0
$GC,5416,0.76,146.0,48.3,11.9,578,5426,0.00,2.03,0.00,0.000,4,0.000,0.055,3337,3771,2343,0,0,0,0,0,0
$GC,5499,0.76,146.0,37.0,13.6,592,5508,0.10,1.92,0.00,0.000,6,0.130,0.039,3313,2566,2343,0,0,0,0,0,0
$GC,5646,0.76,146.0,21.0,10.7,617,5656,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2566,2343,0,0,0,0,0,0
$FREEZE,8.70,-0.003,-1.893,2,2,0
$FREEZE,8.09,-0.002,-1.892,2,2,0
$FREEZE,7.51,-0.003,-1.892,2,2,0
$FREEZE,7.01,-0.005,-1.892,2,2,0
$FREEZE,6.27,-0.006,-1.891,2,2,0
$FREEZE,5.75,-0.003,-1.891,2,2,0
$FREEZE,4.73,-0.005,-1.890,2,2,0
$GC,5796,0.76,146.0,4.7,10.8,642,5805,0.00,2.00,0.00,0.000,4,0.000,0.057,3313,3764,2343,0,0,0,0,0,0
$FREEZE,2.64,0.002,-1.888,2,2,0
$STATE,5811,end climb,SURFACE_DEPTH_REACHED
$STATE,5811,begin surface coast
$FREEZE,1.94,0.002,-1.888,2,2,0
$FREEZE,1.18,-0.015,-1.888,2,2,0
$FREEZE,1.21,-0.088,-1.497,2,2,0
$FREEZE,1.16,-0.038,-1.882,2,2,0
$FREEZE,1.19,-0.066,-1.890,2,2,0
$FINISH,1.2,1.027643
$STATE,5842,end surface coast,CONTROL_FINISHED_OK
$STATE,5842,begin surface
$SM_CCo,5861,300.00,0.710,7,0,420,623.30
$SM_GC,1.92,0.00,0.00,300.00,0.000,0.000,0.710,410,2636,420,-8.28,-0.40,623.30
$IRIDIUM_FIX,-7545.40,17610.55,090111,090903
$TT8_MAMPS,0.028462
$HUMID,51.89
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,18.6
$ALTIM_BOTTOM_PING,351.1,66.3
$24V_AH,20.4,82.179
$10V_AH,9.6,56.808
$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,18.600,66.550,277.825,300.000,0.000,84.592,225.324,0.000,1.750,0.000,16.690,1659.633,2242.010,722.542,1916.757,234.203,0.000,1401.672,0.000,1098.875,0.000,10.656,0.000
$DEVICE_MAMPS,189.720,73.440,1022.805,709.920,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,455.761,837.806,909.343,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258212
$DATA_FILE_SIZE,46962,649
$CAP_FILE_SIZE,87328,0
$CFSIZE,260165632,221659136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$CURRENT,0.099,139.9,1
$GPS,090111,112858,-7628.933,17601.988,13,3.9,32,123.6