version: 66.08
glider: 502
mission: 3
dive: 578
start: 1 10 111 0 47 10
data:
$ID,502
$MISSION,3
$DIVE,578
$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,-30868.387
$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,37
$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
$GPS1,100111,003720,-7628.724,17545.744,15,1.7,15,124.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-73.9
$GPS2,100111,004644,-7628.724,17545.736,12,2.0,12,124.0
$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,145.8,149494,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.76,-146.0,0.0,0.0,0,100,0.00,0.00,-80.00,0.000,2,0.000,0.000,406,2662,3218,0,0,0,0,0,0
$GC,103,-0.76,-146.0,3.1,-1.5,12,128,8.93,1.88,-10.43,0.000,4,0.197,0.076,2802,3757,3560,0,0,0,0,0,0
$GC,317,-0.76,-146.0,40.0,-17.6,50,325,0.00,1.77,0.00,0.000,6,0.000,0.041,2802,2649,3563,0,0,0,0,0,0
$GC,456,-0.76,-146.0,63.4,-17.1,75,463,0.00,1.83,0.00,0.000,4,0.000,0.058,2793,3756,3563,0,0,0,0,0,0
$GC,482,-0.76,-146.0,68.0,-17.6,79,489,0.00,1.77,0.00,0.000,6,0.000,0.040,2793,2628,3563,0,0,0,0,0,0
$GC,618,-0.76,-146.0,92.2,-17.3,104,626,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2627,3564,0,0,0,0,0,0
$GC,763,-0.76,-146.0,117.1,-17.0,121,766,0.00,1.85,0.00,0.000,4,0.000,0.060,2784,3754,3564,0,0,0,0,0,0
$GC,812,-0.76,-146.0,126.8,-18.2,125,821,0.08,1.75,0.00,0.000,6,0.138,0.040,2810,2663,3564,0,0,0,0,0,0
$GC,949,-0.76,-146.0,148.3,-15.8,138,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2662,3565,0,0,0,0,0,0
$GC,1084,-0.76,-146.0,169.6,-15.6,151,1088,0.00,1.80,0.00,0.000,4,0.000,0.058,2803,3761,3565,0,0,0,0,0,0
$GC,1131,-0.76,-146.0,176.9,-15.8,155,1135,0.00,1.70,0.00,0.000,6,0.000,0.039,2802,2673,3565,0,0,0,0,0,0
$GC,1274,-0.76,-146.0,199.5,-16.0,168,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2670,3565,0,0,0,0,0,0
$GC,1410,-0.76,-146.0,221.6,-15.9,181,1413,0.00,1.77,0.00,0.000,4,0.000,0.059,2795,3754,3565,0,0,0,0,0,0
$GC,1460,-0.76,-146.0,230.5,-16.4,185,1469,0.00,1.75,0.00,0.000,6,0.000,0.040,2794,2667,3564,0,0,0,0,0,0
$GC,1594,-0.76,-146.0,251.9,-15.8,198,1595,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2666,3565,0,0,0,0,0,0
$GC,1787,-0.76,-146.0,282.4,-16.1,216,1790,0.00,1.80,0.00,0.000,4,0.000,0.059,2786,3762,3565,0,0,0,0,0,0
$GC,1837,-0.76,-146.0,291.5,-17.0,220,1844,0.05,1.73,0.00,0.000,6,0.119,0.039,2814,2684,3565,0,0,0,0,0,0
$GC,2036,-0.76,-146.0,320.0,-14.0,239,2040,0.00,1.77,0.00,0.000,4,0.000,0.059,2807,3762,3565,0,0,0,0,0,0
$GC,2075,-0.76,-146.0,326.4,-15.6,242,2082,0.00,1.73,0.00,0.000,6,0.000,0.040,2807,2689,3565,0,0,0,0,0,0
$GC,2275,-0.76,-146.0,355.3,-14.7,261,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2687,3564,0,0,0,0,0,0
$STATE,2409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2409,begin apogee
$GC,2415,-0.27,0.0,375.5,15.0,274,2553,0.52,0.00,130.68,1.039,4,0.123,0.000,2974,2491,2961,0,0,0,0,0,0
$STATE,2554,end apogee,CONTROL_FINISHED_OK
$STATE,2554,begin climb
$GC,2556,0.76,146.0,382.7,0.0,286,2715,1.10,2.55,148.15,0.968,4,0.080,0.047,3308,1107,2364,0,0,0,0,0,0
$GC,2840,0.76,146.0,360.5,10.2,311,2845,0.00,2.53,0.00,0.000,6,0.000,0.049,3309,2490,2354,0,0,0,0,0,0
$GC,3039,0.76,146.0,338.1,11.5,329,3043,0.00,2.40,0.00,0.000,4,0.000,0.048,3318,1098,2351,0,0,0,0,0,0
$GC,3194,0.76,146.0,320.5,11.2,342,3198,0.00,2.42,0.00,0.000,6,0.000,0.050,3318,2527,2349,0,0,0,0,0,0
$GC,3394,0.76,146.0,296.8,11.9,360,3397,0.00,2.00,0.00,0.000,4,0.000,0.056,3318,3763,2348,0,0,0,0,0,0
$GC,3511,0.76,146.0,279.6,15.1,370,3518,0.00,1.92,0.00,0.000,6,0.000,0.038,3328,2536,2347,0,0,0,0,0,0
$GC,3710,0.76,146.0,253.8,12.8,389,3713,0.00,2.00,0.00,0.000,4,0.000,0.055,3327,3769,2346,0,0,0,0,0,0
$GC,3768,0.76,146.0,245.2,15.7,394,3772,0.00,1.92,0.00,0.000,6,0.000,0.038,3337,2541,2346,0,0,0,0,0,0
$GC,3909,0.76,146.0,225.1,13.7,407,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2538,2345,0,0,0,0,0,0
$GC,4037,0.76,146.0,207.9,13.6,419,4041,0.00,2.00,0.00,0.000,4,0.000,0.057,3337,3767,2345,0,0,0,0,0,0
$GC,4107,0.76,146.0,197.5,15.4,425,4111,0.12,1.90,0.00,0.000,6,0.161,0.038,3313,2552,2345,0,0,0,0,0,0
$GC,4249,0.76,146.0,180.6,11.2,438,4257,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2549,2345,0,0,0,0,0,0
$GC,4385,0.76,146.0,165.2,11.3,451,4389,0.00,2.00,0.00,0.000,4,0.000,0.057,3313,3773,2344,0,0,0,0,0,0
$GC,4432,0.76,146.0,159.3,13.2,455,4436,0.00,1.90,0.00,0.000,6,0.000,0.039,3321,2556,2344,0,0,0,0,0,0
$GC,4575,0.76,146.0,142.3,11.9,468,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2554,2344,0,0,0,0,0,0
$GC,4711,0.76,146.0,126.2,11.3,481,4715,0.00,1.98,0.00,0.000,4,0.000,0.056,3321,3767,2344,0,0,0,0,0,0
$GC,4771,0.76,146.0,117.8,13.8,486,4779,0.00,1.92,0.00,0.000,6,0.000,0.038,3330,2560,2344,0,0,0,0,0,0
$GC,4907,0.76,146.0,101.4,12.1,499,4908,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2559,2344,0,0,0,0,0,0
$GC,5036,0.76,146.0,86.0,12.1,521,5043,0.00,1.98,0.00,0.000,4,0.000,0.055,3330,3764,2344,0,0,0,0,0,0
$GC,5084,0.76,146.0,79.3,14.6,529,5091,0.00,1.88,0.00,0.000,6,0.000,0.037,3340,2566,2343,0,0,0,0,0,0
$GC,5223,0.76,146.0,61.8,12.1,554,5231,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2565,2343,0,0,0,0,0,0
$GC,5364,0.76,146.0,44.0,12.5,579,5370,0.00,1.98,0.00,0.000,4,0.000,0.056,3340,3766,2343,0,0,0,0,0,0
$GC,5399,0.76,146.0,39.0,14.4,585,5408,0.12,1.88,0.00,0.000,6,0.159,0.037,3316,2566,2343,0,0,0,0,0,0
$GC,5542,0.76,146.0,22.9,10.7,610,5550,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2565,2342,0,0,0,0,0,0
$FREEZE,8.38,0.085,-1.892,2,2,0
$FREEZE,7.64,0.108,-1.892,2,2,0
$FREEZE,7.10,0.118,-1.891,2,2,0
$GC,5685,0.76,146.0,7.1,11.0,635,5692,0.00,1.98,0.00,0.000,4,0.000,0.056,3316,3765,2342,0,0,0,0,0,0
$FREEZE,5.02,0.205,-1.889,2,2,0
$FREEZE,4.37,0.218,-1.888,2,2,0
$FREEZE,3.57,0.234,-1.888,2,2,0
$FREEZE,2.76,0.491,-1.887,2,2,0
$STATE,5716,end climb,SURFACE_DEPTH_REACHED
$STATE,5716,begin surface coast
$FREEZE,2.02,0.695,-1.883,2,2,0
$FREEZE,1.25,0.751,-1.884,2,2,0
$FREEZE,1.27,0.735,-1.885,2,2,0
$FREEZE,1.10,0.777,-1.885,2,2,0
$FINISH,1.1,1.027528
$STATE,5740,end surface coast,CONTROL_FINISHED_OK
$STATE,5743,begin surface
$SM_CCo,5761,260.12,0.101,0,0,420,623.30
$SM_GC,1.91,0.00,0.00,260.12,0.000,0.000,0.101,422,2633,420,-8.26,-0.48,623.30
$IRIDIUM_FIX,-7545.40,17551.59,100111,000045
$TT8_MAMPS,0.028462
$HUMID,52.28
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,18.1
$ALTIM_BOTTOM_PING,300.4,124.1
$24V_AH,20.4,83.175
$10V_AH,9.6,57.506
$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,18.575,66.125,278.825,260.125,0.000,79.386,225.320,0.000,1.500,0.000,13.519,1637.795,2180.917,651.722,1889.677,230.918,0.000,1319.670,0.000,1087.059,0.000,9.101,0.000
$DEVICE_MAMPS,196.605,76.500,1038.870,100.980,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,451.982,832.156,900.436,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258148
$DATA_FILE_SIZE,43769,644
$CAP_FILE_SIZE,86414,0
$CFSIZE,260165632,221253632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.038,131.8,1
$GPS,100111,022837,-7628.773,17542.980,25,2.0,25,124.1