version: 66.08
glider: 502
mission: 3
dive: 574
start: 1 9 111 17 14 19
data:
$ID,502
$MISSION,3
$DIVE,574
$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,-30863.357
$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,33
$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
$GPS1,090111,170358,-7628.827,17555.961,12,3.4,31,123.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-73.7
$GPS2,090111,171352,-7628.813,17555.975,15,3.3,34,123.8
$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,148.0,153918,-17.5,-10.000
$D_GRID,375
$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,-146.0,0.0,0.0,0,105,0.00,0.00,-85.25,0.000,2,0.000,0.000,397,2635,3343,0,0,0,0,0,0
$GC,108,-0.76,-146.0,3.4,-1.9,13,130,8.88,2.25,-5.80,0.000,4,0.191,0.060,2809,1240,3560,0,0,0,0,0,0
$GC,367,-0.76,-146.0,45.7,-14.3,58,376,0.00,2.35,0.00,0.000,6,0.000,0.054,2800,2646,3563,0,0,0,0,0,0
$GC,513,-0.76,-146.0,69.5,-17.2,83,520,0.00,1.85,0.00,0.000,4,0.000,0.058,2791,3766,3564,0,0,0,0,0,0
$GC,574,-0.76,-146.0,80.2,-17.8,93,580,0.00,1.77,0.00,0.000,6,0.000,0.039,2792,2634,3564,0,0,0,0,0,0
$GC,722,-0.76,-146.0,105.8,-17.0,116,726,0.00,1.85,0.00,0.000,4,0.000,0.060,2784,3762,3564,0,0,0,0,0,0
$GC,746,-0.76,-146.0,110.3,-17.4,118,751,0.12,1.70,0.00,0.000,6,0.160,0.039,2817,2667,3564,0,0,0,0,0,0
$GC,889,-0.76,-146.0,132.2,-15.2,131,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2666,3565,0,0,0,0,0,0
$GC,1024,-0.76,-146.0,152.5,-14.8,144,1028,0.00,1.80,0.00,0.000,4,0.000,0.059,2809,3769,3564,0,0,0,0,0,0
$GC,1062,-0.76,-146.0,158.8,-16.1,147,1071,0.00,1.75,0.00,0.000,6,0.000,0.040,2809,2676,3565,0,0,0,0,0,0
$GC,1199,-0.76,-146.0,178.9,-14.9,160,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2676,3565,0,0,0,0,0,0
$GC,1334,-0.76,-146.0,199.6,-15.3,173,1338,0.00,1.77,0.00,0.000,4,0.000,0.058,2801,3762,3565,0,0,0,0,0,0
$GC,1372,-0.76,-146.0,206.0,-16.2,176,1381,0.00,1.73,0.00,0.000,6,0.000,0.039,2801,2681,3565,0,0,0,0,0,0
$GC,1509,-0.76,-146.0,226.8,-15.4,189,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2680,3565,0,0,0,0,0,0
$GC,1644,-0.76,-146.0,248.4,-16.0,202,1648,0.00,1.77,0.00,0.000,4,0.000,0.060,2792,3763,3565,0,0,0,0,0,0
$GC,1691,-0.76,-146.0,256.5,-16.8,206,1695,0.00,1.70,0.00,0.000,6,0.000,0.039,2793,2675,3565,0,0,0,0,0,0
$GC,1897,-0.76,-146.0,289.1,-15.9,225,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2671,3564,0,0,0,0,0,0
$GC,2095,-0.76,-146.0,321.6,-16.7,244,2098,0.00,1.80,0.00,0.000,4,0.000,0.060,2784,3769,3565,0,0,0,0,0,0
$GC,2152,-0.76,-146.0,331.7,-17.6,249,2156,0.12,1.70,0.00,0.000,6,0.158,0.041,2818,2680,3564,0,0,0,0,0,0
$GC,2356,-0.76,-146.0,360.7,-13.7,268,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2678,3564,0,0,0,0,0,0
$STATE,2459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2459,begin apogee
$GC,2465,-0.27,0.0,375.6,14.0,278,2602,0.47,0.00,131.05,1.037,4,0.121,0.000,2974,2495,2961,0,0,0,0,0,0
$STATE,2603,end apogee,CONTROL_FINISHED_OK
$STATE,2603,begin climb
$GC,2606,0.76,146.0,382.8,0.0,290,2765,1.10,2.55,148.30,0.965,4,0.080,0.047,3308,1106,2364,0,0,0,0,0,0
$GC,2872,0.76,146.0,361.4,10.9,313,2879,0.00,2.55,0.00,0.000,6,0.000,0.049,3307,2499,2354,0,0,0,0,0,0
$GC,3071,0.76,146.0,339.7,10.7,332,3075,0.00,2.40,0.00,0.000,4,0.000,0.047,3315,1105,2351,0,0,0,0,0,0
$GC,3234,0.77,149.5,322.5,9.8,346,3238,0.00,2.38,0.00,0.000,6,0.000,0.050,3315,2511,2348,0,0,0,0,0,0
$GC,3432,0.77,149.5,300.0,11.5,364,3436,0.00,2.03,0.00,0.000,4,0.000,0.057,3315,3762,2347,0,0,0,0,0,0
$GC,3523,0.77,149.5,287.5,13.7,372,3527,0.00,1.92,0.00,0.000,6,0.000,0.039,3324,2524,2346,0,0,0,0,0,0
$GC,3728,0.77,149.5,261.9,12.5,391,3731,0.00,2.03,0.00,0.000,4,0.000,0.057,3324,3770,2345,0,0,0,0,0,0
$GC,3775,0.77,149.5,255.4,14.0,395,3778,0.00,1.95,0.00,0.000,6,0.000,0.039,3334,2522,2345,0,0,0,0,0,0
$GC,3980,0.77,149.5,229.1,12.8,414,3983,0.00,2.03,0.00,0.000,4,0.000,0.056,3334,3767,2344,0,0,0,0,0,0
$GC,4040,0.77,149.5,220.2,14.3,419,4049,0.08,1.95,0.00,0.000,6,0.141,0.037,3318,2549,2345,0,0,0,0,0,0
$GC,4177,0.77,149.5,204.5,11.4,432,4185,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2547,2344,0,0,0,0,0,0
$GC,4313,0.77,149.5,189.0,11.1,445,4316,0.00,1.98,0.00,0.000,4,0.000,0.057,3317,3763,2344,0,0,0,0,0,0
$GC,4372,0.77,149.5,181.0,13.0,450,4382,0.00,1.95,0.00,0.000,6,0.000,0.038,3326,2543,2344,0,0,0,0,0,0
$GC,4508,0.77,149.5,164.9,11.9,463,4510,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2543,2343,0,0,0,0,0,0
$GC,4635,0.77,149.5,149.7,11.9,475,4639,0.00,2.00,0.00,0.000,4,0.000,0.056,3326,3771,2344,0,0,0,0,0,0
$GC,4671,0.77,149.5,145.0,14.1,478,4674,0.00,1.90,0.00,0.000,6,0.000,0.038,3335,2553,2343,0,0,0,0,0,0
$GC,4812,0.77,149.5,126.9,12.6,491,4813,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2550,2343,0,0,0,0,0,0
$GC,4939,0.77,149.5,110.7,13.2,503,4943,0.00,1.98,0.00,0.000,4,0.000,0.056,3335,3763,2343,0,0,0,0,0,0
$GC,4988,0.77,149.5,103.4,14.1,507,4997,0.08,1.92,0.00,0.000,6,0.140,0.039,3319,2560,2342,0,0,0,0,0,0
$GC,5129,0.77,149.5,87.1,11.5,530,5138,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2559,2342,0,0,0,0,0,0
$GC,5275,0.77,149.5,71.0,11.0,555,5282,0.00,1.98,0.00,0.000,4,0.000,0.056,3319,3763,2343,0,0,0,0,0,0
$GC,5336,0.77,149.5,63.1,12.6,565,5343,0.00,1.90,0.00,0.000,6,0.000,0.038,3327,2570,2342,0,0,0,0,0,0
$GC,5479,0.77,149.5,45.9,12.0,590,5487,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2569,2342,0,0,0,0,0,0
$GC,5623,0.77,149.5,29.0,11.9,615,5630,0.00,1.98,0.00,0.000,4,0.000,0.057,3327,3771,2342,0,0,0,0,0,0
$GC,5676,0.77,149.5,21.8,13.3,624,5684,0.00,1.90,0.00,0.000,6,0.000,0.038,3336,2577,2342,0,0,0,0,0,0
$FREEZE,8.78,-0.039,-1.892,2,2,0
$FREEZE,8.16,-0.039,-1.891,2,2,0
$FREEZE,7.25,-0.038,-1.891,2,2,0
$FREEZE,6.66,-0.037,-1.890,2,2,0
$FREEZE,5.66,-0.034,-1.890,2,2,0
$FREEZE,4.86,-0.033,-1.889,2,2,0
$FREEZE,4.12,-0.032,-1.888,2,2,0
$FREEZE,3.48,-0.033,-1.888,2,2,0
$GC,5825,0.77,149.5,3.5,12.3,649,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2576,2342,0,0,0,0,0,0
$FREEZE,1.47,-0.031,-1.886,2,2,0
$STATE,5839,end climb,SURFACE_DEPTH_REACHED
$STATE,5839,begin surface coast
$FREEZE,1.18,-0.050,-0.946,2,2,0
$FREEZE,1.19,-0.161,-1.492,2,2,0
$FREEZE,1.17,-0.082,-1.194,2,2,0
$FREEZE,1.20,-0.168,-0.848,2,2,0
$FINISH,1.2,1.012517
$STATE,5864,end surface coast,CONTROL_FINISHED_OK
$STATE,5864,begin surface
$SM_CCo,5882,303.30,0.727,6,0,419,623.30
$SM_GC,1.90,0.00,0.00,303.30,0.000,0.000,0.727,417,2667,419,-8.26,0.48,623.30
$IRIDIUM_FIX,-7545.40,17601.40,090111,171735
$TT8_MAMPS,0.028462
$HUMID,51.45
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.5
$ALTIM_BOTTOM_PING,350.5,64.4
$24V_AH,20.4,82.704
$10V_AH,9.6,57.157
$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,18.575,67.450,279.350,303.300,0.000,87.659,225.321,0.000,1.250,0.000,36.340,1659.942,2240.102,724.258,1961.813,229.786,0.000,1404.155,0.000,1098.562,0.000,10.655,0.000
$DEVICE_MAMPS,191.250,89.505,1037.340,726.750,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,459.714,848.158,927.773,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258140
$DATA_FILE_SIZE,47124,655
$CAP_FILE_SIZE,88231,0
$CFSIZE,260165632,221454336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$CURRENT,0.053, 85.1,1
$GPS,090111,185907,-7628.770,17553.602,33,1.0,33,123.8