version: 66.08
glider: 502
mission: 3
dive: 571
start: 1 9 111 11 38 34
data:
$ID,502
$MISSION,3
$DIVE,571
$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,300
$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,-30859.584
$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,42
$R_STBD_OVSHOOT,21
$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
$GPS1,090111,112858,-7628.933,17601.988,13,3.9,32,123.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-65.2
$GPS2,090111,113807,-7628.943,17601.965,44,0.8,44,123.6
$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,162.9,156504,-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,-146.0,0.0,0.0,0,159,0.00,0.00,-139.62,0.000,2,0.000,0.000,407,2637,3239,0,0,0,0,0,0
$GC,164,-0.76,-146.0,3.1,-1.4,20,188,8.88,1.92,-9.15,0.000,4,0.190,0.075,2803,3766,3560,0,0,0,0,0,0
$GC,440,-0.76,-146.0,50.1,-16.4,68,448,0.00,1.77,0.00,0.000,6,0.000,0.041,2803,2655,3564,0,0,0,0,0,0
$GC,585,-0.76,-146.0,72.7,-15.9,93,592,0.00,1.85,0.00,0.000,4,0.000,0.060,2794,3762,3564,0,0,0,0,0,0
$GC,612,-0.76,-146.0,77.4,-16.7,97,619,0.00,1.77,0.00,0.000,6,0.000,0.039,2794,2628,3564,0,0,0,0,0,0
$GC,763,-0.76,-146.0,102.2,-16.3,122,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2627,3564,0,0,0,0,0,0
$GC,901,-0.76,-146.0,125.7,-16.7,135,904,0.00,1.88,0.00,0.000,4,0.000,0.060,2786,3773,3565,0,0,0,0,0,0
$GC,948,-0.76,-146.0,134.4,-18.1,139,952,0.12,1.73,0.00,0.000,6,0.158,0.040,2819,2664,3565,0,0,0,0,0,0
$GC,1089,-0.76,-146.0,155.9,-14.9,152,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2662,3565,0,0,0,0,0,0
$GC,1215,-0.76,-146.0,174.3,-14.5,164,1219,0.00,1.80,0.00,0.000,4,0.000,0.059,2811,3766,3565,0,0,0,0,0,0
$GC,1264,-0.76,-146.0,182.2,-14.8,168,1272,0.00,1.75,0.00,0.000,6,0.000,0.040,2811,2668,3565,0,0,0,0,0,0
$GC,1402,-0.76,-146.0,201.2,-14.4,181,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2667,3565,0,0,0,0,0,0
$GC,1537,-0.76,-146.0,221.9,-15.1,194,1539,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2667,3565,0,0,0,0,0,0
$GC,1665,-0.76,-146.0,241.6,-15.6,206,1669,0.00,1.80,0.00,0.000,4,0.000,0.060,2803,3766,3565,0,0,0,0,0,0
$GC,1723,-0.76,-146.0,251.0,-15.8,211,1727,0.00,1.75,0.00,0.000,6,0.000,0.041,2802,2673,3565,0,0,0,0,0,0
$GC,1927,-0.76,-146.0,283.2,-15.8,230,1928,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2671,3565,0,0,0,0,0,0
$GC,2119,-0.76,-146.0,311.8,-14.9,248,2122,0.00,1.80,0.00,0.000,4,0.000,0.060,2795,3768,3565,0,0,0,0,0,0
$GC,2187,-0.76,-146.0,322.7,-15.8,254,2191,0.00,1.73,0.00,0.000,6,0.000,0.041,2794,2669,3565,0,0,0,0,0,0
$GC,2392,-0.76,-146.0,354.6,-16.5,273,2395,0.00,1.80,0.00,0.000,4,0.000,0.060,2786,3767,3565,0,0,0,0,0,0
$GC,2430,-0.76,-146.0,361.6,-17.5,276,2438,0.12,1.75,0.00,0.000,6,0.155,0.041,2820,2677,3565,0,0,0,0,0,0
$STATE,2530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2530,begin apogee
$GC,2536,-0.27,0.0,376.0,13.7,286,2675,0.45,0.00,130.80,1.031,4,0.118,0.000,2970,2495,2961,0,0,0,0,0,0
$STATE,2675,end apogee,CONTROL_FINISHED_OK
$STATE,2676,begin climb
$GC,2678,0.76,146.0,382.8,0.0,298,2837,1.10,2.58,148.65,0.959,4,0.079,0.047,3306,1101,2364,0,0,0,0,0,0
$GC,2922,0.77,154.2,364.7,9.6,319,2940,0.00,2.60,8.20,0.867,6,0.000,0.049,3306,2500,2332,0,0,0,0,0,0
$GC,3132,0.77,154.2,341.7,11.4,339,3136,0.00,2.45,0.00,0.000,4,0.000,0.048,3315,1104,2325,0,0,0,0,0,0
$GC,3262,0.77,154.2,326.4,12.1,350,3267,0.00,2.42,0.00,0.000,6,0.000,0.050,3315,2520,2323,0,0,0,0,0,0
$GC,3462,0.77,154.2,302.3,12.4,368,3465,0.00,2.03,0.00,0.000,4,0.000,0.056,3315,3767,2323,0,0,0,0,0,0
$GC,3563,0.77,154.2,287.7,14.5,377,3566,0.00,1.92,0.00,0.000,6,0.000,0.039,3325,2537,2321,0,0,0,0,0,0
$GC,3766,0.77,154.2,263.0,11.6,396,3770,0.00,2.00,0.00,0.000,4,0.000,0.057,3325,3765,2321,0,0,0,0,0,0
$GC,3812,0.77,154.2,257.2,13.0,400,3816,0.00,1.92,0.00,0.000,6,0.000,0.038,3334,2531,2320,0,0,0,0,0,0
$GC,4018,0.77,154.2,232.4,12.4,419,4026,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2527,2319,0,0,0,0,0,0
$GC,4154,0.77,154.2,215.7,12.3,432,4157,0.00,2.03,0.00,0.000,4,0.000,0.057,3334,3774,2319,0,0,0,0,0,0
$GC,4225,0.77,154.2,204.9,15.3,438,4234,0.00,1.98,0.00,0.000,6,0.000,0.039,3343,2545,2319,0,0,0,0,0,0
$GC,4362,0.77,154.2,186.9,13.2,451,4369,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,2545,2318,0,0,0,0,0,0
$GC,4497,0.77,154.2,168.4,13.7,464,4501,0.00,2.00,0.00,0.000,4,0.000,0.057,3343,3773,2318,0,0,0,0,0,0
$GC,4555,0.77,154.2,159.7,15.3,469,4560,0.15,1.92,0.00,0.000,6,0.158,0.038,3313,2545,2318,0,0,0,0,0,0
$GC,4693,0.77,154.2,143.4,11.0,481,4700,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2543,2318,0,0,0,0,0,0
$GC,4828,0.77,154.2,128.5,10.7,494,4832,0.00,2.00,0.00,0.000,4,0.000,0.057,3312,3769,2317,0,0,0,0,0,0
$GC,4898,0.77,154.2,119.8,13.0,500,4901,0.00,1.90,0.00,0.000,6,0.000,0.039,3320,2553,2317,0,0,0,0,0,0
$GC,5040,0.77,154.2,102.8,11.9,513,5048,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2550,2317,0,0,0,0,0,0
$GC,5179,0.77,154.2,86.5,11.3,536,5187,0.00,2.03,0.00,0.000,4,0.000,0.056,3320,3764,2316,0,0,0,0,0,0
$GC,5216,0.77,154.2,81.7,13.1,542,5226,0.00,1.92,0.00,0.000,6,0.000,0.038,3329,2560,2316,0,0,0,0,0,0
$GC,5363,0.77,154.2,64.1,12.2,567,5369,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2560,2316,0,0,0,0,0,0
$GC,5504,0.77,154.2,46.8,12.2,592,5512,0.00,2.00,0.00,0.000,4,0.000,0.056,3329,3758,2316,0,0,0,0,0,0
$GC,5538,0.77,154.2,42.4,13.6,597,5544,0.00,1.88,0.00,0.000,6,0.000,0.039,3338,2562,2316,0,0,0,0,0,0
$GC,5682,0.77,154.2,23.6,12.8,622,5692,0.00,2.00,0.00,0.000,4,0.000,0.057,3339,3758,2316,0,0,0,0,0,0
$GC,5716,0.77,154.2,18.6,14.7,627,5724,0.12,1.88,0.00,0.000,6,0.157,0.039,3314,2565,2316,0,0,0,0,0,0
$FREEZE,8.54,-0.128,-1.891,2,1,0
$FREEZE,7.83,-0.127,-1.890,2,1,0
$FREEZE,7.25,-0.126,-1.890,2,1,0
$FREEZE,6.48,-0.126,-1.889,2,1,0
$FREEZE,5.88,-0.126,-1.889,2,1,0
$FREEZE,5.14,-0.124,-1.888,2,1,0
$FREEZE,4.49,-0.125,-1.888,2,1,0
$FREEZE,3.55,-0.127,-1.887,2,1,0
$FREEZE,2.99,-0.125,-1.887,2,1,0
$STATE,5846,end climb,SURFACE_DEPTH_REACHED
$STATE,5846,begin surface coast
$FREEZE,2.29,-0.129,-1.886,2,1,0
$FREEZE,1.73,-0.126,-1.886,2,1,0
$FREEZE,1.21,-0.155,-1.887,2,1,0
$FREEZE,1.23,-0.178,-1.861,2,1,0
$FREEZE,1.13,-0.180,-0.963,2,1,0
$FINISH,1.1,1.014221
$STATE,5877,end surface coast,CONTROL_FINISHED_OK
$STATE,5877,begin surface
$SM_CCo,5895,71.05,0.098,0,0,1737,300.24
$SM_GC,2.19,0.00,0.00,71.05,0.000,0.000,0.098,432,2676,1737,-8.22,0.74,300.24
$IRIDIUM_FIX,-7545.40,17601.40,090111,090955
$TT8_MAMPS,0.027713
$HUMID,54.96
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,18.0
$ALTIM_BOTTOM_PING,351.2,64.4
$24V_AH,20.4,82.282
$10V_AH,9.7,56.895
$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,18.575,66.975,287.650,71.050,0.000,28.856,36.918,297.757,1.500,0.000,45.407,1643.758,2113.528,507.771,1985.915,271.648,0.000,1196.935,0.000,1097.486,0.000,10.656,0.000
$DEVICE_MAMPS,189.720,78.030,1031.220,97.920,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,458.234,846.601,924.138,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43813,654
$CAP_FILE_SIZE,93022,0
$CFSIZE,260165632,221609984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.082,131.3,1
$GPS,090111,131856,-7628.860,17559.859,16,1.7,16,123.7