version: 66.08
glider: 502
mission: 3
dive: 580
start: 1 10 111 4 30 17
data:
$ID,502
$MISSION,3
$DIVE,580
$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,-30870.896
$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,31
$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
$GPS1,100111,042019,-7628.871,17540.432,8,1.7,8,124.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-72.4
$GPS2,100111,042950,-7628.865,17540.699,15,1.6,15,124.1
$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,156.2,147313,-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,-146.0,0.0,0.0,0,103,0.00,0.00,-83.12,0.000,2,0.000,0.000,397,2661,3286,0,0,0,0,0,0
$GC,106,-0.76,-146.0,3.1,-1.2,12,129,9.00,2.38,-7.82,0.000,4,0.194,0.060,2805,1238,3560,0,0,0,0,0,0
$GC,158,-0.76,-146.0,12.5,-16.2,20,166,0.00,2.35,0.00,0.000,6,0.000,0.054,2798,2642,3563,0,0,0,0,0,0
$GC,297,-0.76,-146.0,35.8,-17.0,45,304,0.00,1.83,0.00,0.000,4,0.000,0.058,2789,3763,3564,0,0,0,0,0,0
$GC,324,-0.76,-146.0,40.5,-17.5,49,331,0.00,1.75,0.00,0.000,6,0.000,0.040,2789,2641,3564,0,0,0,0,0,0
$GC,460,-0.76,-146.0,64.6,-17.0,74,468,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2639,3565,0,0,0,0,0,0
$GC,599,-0.76,-146.0,89.2,-17.7,99,607,0.00,1.88,0.00,0.000,4,0.000,0.059,2780,3770,3565,0,0,0,0,0,0
$GC,652,-0.76,-146.0,99.4,-18.5,108,661,0.10,1.80,0.00,0.000,6,0.132,0.040,2813,2649,3565,0,0,0,0,0,0
$GC,790,-0.76,-146.0,121.2,-15.6,121,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2648,3565,0,0,0,0,0,0
$GC,926,-0.76,-146.0,143.0,-16.0,134,929,0.00,1.85,0.00,0.000,4,0.000,0.059,2805,3772,3566,0,0,0,0,0,0
$GC,964,-0.76,-146.0,150.0,-16.9,137,973,0.00,1.80,0.00,0.000,6,0.000,0.040,2805,2653,3566,0,0,0,0,0,0
$GC,1101,-0.76,-146.0,171.8,-16.3,150,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2652,3566,0,0,0,0,0,0
$GC,1227,-0.76,-146.0,191.9,-15.9,162,1231,0.00,1.85,0.00,0.000,4,0.000,0.061,2797,3770,3566,0,0,0,0,0,0
$GC,1274,-0.76,-146.0,199.8,-17.1,166,1278,0.00,1.75,0.00,0.000,6,0.000,0.041,2797,2657,3566,0,0,0,0,0,0
$GC,1418,-0.76,-146.0,222.8,-15.9,179,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2655,3566,0,0,0,0,0,0
$GC,1553,-0.76,-146.0,244.7,-15.8,192,1557,0.00,1.83,0.00,0.000,4,0.000,0.060,2789,3761,3566,0,0,0,0,0,0
$GC,1599,-0.76,-146.0,252.6,-17.5,196,1603,0.00,1.75,0.00,0.000,6,0.000,0.040,2789,2674,3566,0,0,0,0,0,0
$GC,1803,-0.76,-146.0,286.1,-16.7,215,1807,0.10,1.83,0.00,0.000,4,0.169,0.060,2807,3764,3566,0,0,0,0,0,0
$GC,1841,-0.76,-146.0,292.7,-15.9,218,1848,0.00,1.75,0.00,0.000,6,0.000,0.039,2807,2674,3566,0,0,0,0,0,0
$GC,2040,-0.76,-146.0,322.0,-15.3,237,2043,0.00,1.80,0.00,0.000,4,0.000,0.059,2799,3767,3566,0,0,0,0,0,0
$GC,2067,-0.76,-146.0,326.6,-15.4,239,2075,0.00,1.75,0.00,0.000,6,0.000,0.040,2799,2679,3565,0,0,0,0,0,0
$GC,2265,-0.76,-146.0,356.8,-15.2,258,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2677,3566,0,0,0,0,0,0
$STATE,2390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2390,begin apogee
$GC,2397,-0.27,0.0,376.2,15.2,270,2536,0.55,0.00,131.23,1.047,4,0.126,0.000,2973,2479,2961,0,0,0,0,0,0
$STATE,2536,end apogee,CONTROL_FINISHED_OK
$STATE,2537,begin climb
$GC,2539,0.76,146.0,383.3,0.0,282,2700,1.10,2.55,149.15,0.971,4,0.079,0.047,3307,1101,2364,0,0,0,0,0,0
$GC,2829,0.76,146.0,359.7,11.0,307,2837,0.00,2.55,0.00,0.000,6,0.000,0.048,3307,2501,2354,0,0,0,0,0,0
$GC,3027,0.76,146.0,337.5,11.4,326,3031,0.00,2.40,0.00,0.000,4,0.000,0.047,3315,1108,2351,0,0,0,0,0,0
$GC,3171,0.76,146.0,321.8,11.1,338,3175,0.00,2.40,0.00,0.000,6,0.000,0.050,3315,2517,2349,0,0,0,0,0,0
$GC,3369,0.76,146.0,298.1,11.8,356,3373,0.00,2.03,0.00,0.000,4,0.000,0.055,3315,3765,2348,0,0,0,0,0,0
$GC,3475,0.76,146.0,283.0,14.6,365,3482,0.00,1.98,0.00,0.000,6,0.000,0.037,3324,2532,2347,0,0,0,0,0,0
$GC,3676,0.76,146.0,257.9,12.8,384,3679,0.00,2.03,0.00,0.000,4,0.000,0.057,3324,3774,2346,0,0,0,0,0,0
$GC,3757,0.76,146.0,246.4,14.2,391,3760,0.00,1.95,0.00,0.000,6,0.000,0.039,3334,2534,2346,0,0,0,0,0,0
$GC,3899,0.76,146.0,227.6,13.0,404,3907,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2531,2346,0,0,0,0,0,0
$GC,4035,0.76,146.0,209.6,13.4,417,4038,0.00,2.03,0.00,0.000,4,0.000,0.055,3334,3777,2345,0,0,0,0,0,0
$GC,4106,0.76,146.0,198.5,16.3,423,4116,0.08,1.98,0.00,0.000,6,0.139,0.038,3318,2547,2345,0,0,0,0,0,0
$GC,4243,0.76,146.0,182.1,11.6,436,4246,0.00,2.00,0.00,0.000,4,0.000,0.057,3318,3773,2345,0,0,0,0,0,0
$GC,4279,0.76,146.0,176.8,13.1,439,4289,0.00,1.95,0.00,0.000,6,0.000,0.039,3326,2550,2345,0,0,0,0,0,0
$GC,4416,0.76,146.0,160.6,11.9,452,4417,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2550,2345,0,0,0,0,0,0
$GC,4543,0.76,146.0,145.8,11.4,464,4547,0.00,2.00,0.00,0.000,4,0.000,0.057,3326,3773,2345,0,0,0,0,0,0
$GC,4592,0.76,146.0,138.8,13.8,468,4600,0.00,1.92,0.00,0.000,6,0.000,0.038,3335,2566,2344,0,0,0,0,0,0
$GC,4728,0.76,146.0,122.4,11.8,481,4731,0.00,1.98,0.00,0.000,4,0.000,0.057,3335,3774,2344,0,0,0,0,0,0
$GC,4766,0.76,146.0,116.8,14.2,484,4775,0.10,1.92,0.00,0.000,6,0.132,0.038,3311,2574,2343,0,0,0,0,0,0
$GC,4904,0.76,146.0,101.9,10.4,497,4911,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2573,2344,0,0,0,0,0,0
$GC,5042,0.76,146.0,87.0,10.6,521,5049,0.00,1.98,0.00,0.000,4,0.000,0.057,3311,3773,2343,0,0,0,0,0,0
$GC,5089,0.76,146.0,81.4,12.7,529,5096,0.00,1.88,0.00,0.000,6,0.000,0.038,3319,2579,2343,0,0,0,0,0,0
$GC,5227,0.76,146.0,65.6,11.3,554,5235,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2579,2343,0,0,0,0,0,0
$GC,5367,0.76,146.0,50.3,11.1,579,5375,0.00,1.95,0.00,0.000,4,0.000,0.054,3319,3767,2344,0,0,0,0,0,0
$GC,5409,0.76,146.0,45.0,13.2,586,5417,0.00,1.88,0.00,0.000,6,0.000,0.037,3328,2594,2343,0,0,0,0,0,0
$GC,5550,0.76,146.0,28.5,12.4,611,5557,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2594,2343,0,0,0,0,0,0
$GC,5686,0.76,146.0,12.3,11.5,636,5694,0.00,1.95,0.00,0.000,4,0.000,0.056,3328,3758,2343,0,0,0,0,0,0
$GC,5713,0.76,146.0,9.0,12.7,640,5721,0.00,1.85,0.00,0.000,6,0.000,0.039,3337,2603,2343,0,0,0,0,0,0
$FREEZE,6.90,0.225,-1.891,2,2,0
$FREEZE,6.18,0.214,-1.891,2,2,0
$FREEZE,5.39,0.194,-1.891,2,2,0
$FREEZE,4.51,0.210,-1.890,2,2,0
$FREEZE,3.72,0.223,-1.889,2,2,0
$FREEZE,3.06,0.221,-1.889,2,2,0
$FREEZE,2.24,0.232,-1.888,2,2,0
$STATE,5762,end climb,SURFACE_DEPTH_REACHED
$STATE,5762,begin surface coast
$FREEZE,1.31,0.235,-1.888,2,2,0
$FREEZE,1.18,0.066,-1.893,2,2,0
$FREEZE,1.18,0.190,-1.876,2,2,0
$FREEZE,1.22,0.189,-1.080,2,2,0
$FINISH,1.2,1.015946
$STATE,5789,end surface coast,CONTROL_FINISHED_OK
$STATE,5789,begin surface
$SM_CCo,5806,258.77,0.099,0,0,420,623.30
$SM_GC,1.82,0.00,0.00,258.77,0.000,0.000,0.099,420,2665,420,-8.25,0.42,623.30
$IRIDIUM_FIX,-7545.40,17533.26,100111,040451
$TT8_MAMPS,0.028462
$HUMID,51.77
$INTERNAL_PRESSURE,8.68197
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,18.2
$ALTIM_BOTTOM_PING,350.4,75.9
$24V_AH,20.4,83.378
$10V_AH,9.6,57.681
$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,18.675,75.425,280.375,258.775,0.000,83.987,225.321,0.000,1.750,0.000,15.851,1649.601,2158.455,679.171,1919.057,236.384,0.000,1367.568,0.000,1096.285,0.000,10.686,0.000
$DEVICE_MAMPS,194.310,107.865,1047.285,98.685,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,456.971,844.902,916.896,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258164
$DATA_FILE_SIZE,47135,652
$CAP_FILE_SIZE,90199,0
$CFSIZE,260165632,221143040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,128.3,1
$GPS,100111,061237,-7628.897,17538.498,34,1.4,34,124.2