version: 66.08
glider: 502
mission: 3
dive: 592
start: 1 11 111 3 15 24
data:
$ID,502
$MISSION,3
$DIVE,592
$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,-30885.992
$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,36
$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
$GPS1,110111,030458,-7629.306,17507.014,10,2.6,29,124.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-67.5
$GPS2,110111,031458,-7629.337,17506.863,17,4.2,36,124.9
$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,173.4,132675,-17.5,-10.000
$D_GRID,390
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.76,-146.0,0.0,0.0,0,90,0.00,0.00,-69.00,0.000,2,0.000,0.000,403,2676,3011,0,0,0,0,0,0
$GC,93,-0.76,-146.0,3.0,-1.3,10,130,8.85,2.30,-20.27,0.000,4,0.191,0.058,2808,1247,3556,0,0,0,0,0,0
$GC,295,-0.76,-146.0,31.4,-17.8,44,305,0.00,2.33,0.00,0.000,6,0.000,0.054,2800,2636,3558,0,0,0,0,0,0
$GC,441,-0.76,-146.0,55.2,-17.1,69,448,0.00,1.83,0.00,0.000,4,0.000,0.058,2792,3761,3558,0,0,0,0,0,0
$GC,505,-0.76,-146.0,66.9,-17.6,80,514,0.00,1.77,0.00,0.000,6,0.000,0.039,2791,2654,3558,0,0,0,0,0,0
$GC,651,-0.76,-146.0,92.3,-18.0,105,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2654,3559,0,0,0,0,0,0
$GC,794,-0.76,-146.0,117.3,-16.9,122,797,0.00,1.83,0.00,0.000,4,0.000,0.060,2783,3762,3559,0,0,0,0,0,0
$GC,831,-0.76,-146.0,123.6,-18.2,125,835,0.12,1.75,0.00,0.000,6,0.157,0.039,2816,2643,3559,0,0,0,0,0,0
$GC,973,-0.76,-146.0,146.1,-15.3,138,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2640,3559,0,0,0,0,0,0
$GC,1109,-0.76,-146.0,167.1,-15.2,151,1112,0.00,1.85,0.00,0.000,4,0.000,0.058,2809,3764,3559,0,0,0,0,0,0
$GC,1146,-0.76,-146.0,173.7,-16.6,154,1155,0.00,1.77,0.00,0.000,6,0.000,0.039,2809,2661,3559,0,0,0,0,0,0
$GC,1282,-0.76,-146.0,194.6,-16.0,167,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2660,3559,0,0,0,0,0,0
$GC,1409,-0.76,-146.0,214.4,-15.5,179,1413,0.00,1.83,0.00,0.000,4,0.000,0.059,2800,3764,3559,0,0,0,0,0,0
$GC,1457,-0.76,-146.0,222.2,-16.4,183,1460,0.00,1.73,0.00,0.000,6,0.000,0.039,2800,2665,3559,0,0,0,0,0,0
$GC,1598,-0.76,-146.0,244.8,-15.5,196,1599,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2662,3559,0,0,0,0,0,0
$GC,1724,-0.76,-146.0,264.7,-15.3,208,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2661,3559,0,0,0,0,0,0
$GC,1916,-0.76,-146.0,293.9,-15.0,226,1919,0.00,1.83,0.00,0.000,4,0.000,0.060,2793,3767,3559,0,0,0,0,0,0
$GC,1975,-0.76,-146.0,303.8,-16.3,231,1982,0.00,1.75,0.00,0.000,6,0.000,0.040,2792,2678,3559,0,0,0,0,0,0
$GC,2174,-0.76,-146.0,334.6,-15.6,250,2177,0.00,1.80,0.00,0.000,4,0.000,0.060,2784,3764,3559,0,0,0,0,0,0
$GC,2201,-0.76,-146.0,339.3,-16.1,252,2210,0.12,1.75,0.00,0.000,6,0.155,0.040,2817,2679,3559,0,0,0,0,0,0
$GC,2401,-0.76,-146.0,366.9,-13.5,271,2402,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2678,3559,0,0,0,0,0,0
$STATE,2577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2577,begin apogee
$GC,2584,-0.27,0.0,391.0,13.0,288,2720,0.47,0.00,130.12,1.056,4,0.121,0.000,2972,2493,2961,0,0,0,0,0,0
$STATE,2721,end apogee,CONTROL_FINISHED_OK
$STATE,2721,begin climb
$GC,2724,0.76,146.0,397.5,0.0,300,2883,1.10,2.58,148.12,0.980,4,0.080,0.047,3305,1097,2364,0,0,0,0,0,0
$GC,3012,0.76,146.0,372.9,11.1,325,3020,0.00,2.55,0.00,0.000,6,0.000,0.048,3305,2498,2354,0,0,0,0,0,0
$GC,3210,0.76,146.0,350.0,11.3,344,3214,0.00,2.42,0.00,0.000,4,0.000,0.047,3315,1096,2351,0,0,0,0,0,0
$GC,3369,0.76,146.0,332.3,11.7,357,3376,0.00,2.42,0.00,0.000,6,0.000,0.050,3315,2515,2349,0,0,0,0,0,0
$GC,3567,0.76,146.0,308.4,12.1,376,3570,0.00,2.05,0.00,0.000,4,0.000,0.055,3315,3762,2348,0,0,0,0,0,0
$GC,3658,0.76,146.0,295.6,14.7,384,3661,0.00,1.95,0.00,0.000,6,0.000,0.038,3324,2523,2347,0,0,0,0,0,0
$GC,3864,0.76,146.0,269.8,12.4,403,3867,0.00,2.03,0.00,0.000,4,0.000,0.057,3325,3763,2346,0,0,0,0,0,0
$GC,3933,0.76,146.0,259.6,15.0,409,3937,0.00,1.98,0.00,0.000,6,0.000,0.038,3334,2536,2345,0,0,0,0,0,0
$GC,4138,0.76,146.0,233.4,12.6,428,4142,0.00,2.00,0.00,0.000,4,0.000,0.055,3334,3764,2345,0,0,0,0,0,0
$GC,4185,0.76,146.0,226.6,14.5,432,4189,0.12,1.92,0.00,0.000,6,0.161,0.037,3310,2539,2345,0,0,0,0,0,0
$GC,4322,0.76,146.0,210.9,11.3,444,4330,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2536,2345,0,0,0,0,0,0
$GC,4459,0.76,146.0,195.7,10.9,457,4462,0.00,2.03,0.00,0.000,4,0.000,0.056,3310,3772,2345,0,0,0,0,0,0
$GC,4507,0.76,146.0,189.1,12.8,461,4516,0.00,1.98,0.00,0.000,6,0.000,0.040,3318,2548,2344,0,0,0,0,0,0
$GC,4645,0.76,146.0,173.5,11.5,474,4652,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2546,2344,0,0,0,0,0,0
$GC,4781,0.76,146.0,158.1,11.2,487,4784,0.00,2.00,0.00,0.000,4,0.000,0.057,3318,3766,2344,0,0,0,0,0,0
$GC,4840,0.76,146.0,150.0,13.3,492,4850,0.00,1.95,0.00,0.000,6,0.000,0.037,3328,2550,2343,0,0,0,0,0,0
$GC,4976,0.76,146.0,134.1,11.7,505,4978,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2550,2344,0,0,0,0,0,0
$GC,5104,0.76,146.0,119.5,11.4,517,5107,0.00,2.00,0.00,0.000,4,0.000,0.056,3328,3768,2343,0,0,0,0,0,0
$GC,5152,0.76,146.0,112.6,13.2,521,5161,0.00,1.92,0.00,0.000,6,0.000,0.037,3336,2565,2343,0,0,0,0,0,0
$GC,5288,0.76,146.0,96.3,11.6,536,5296,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2564,2343,0,0,0,0,0,0
$GC,5433,0.76,146.0,79.7,12.0,561,5440,0.00,2.00,0.00,0.000,4,0.000,0.057,3336,3773,2343,0,0,0,0,0,0
$GC,5474,0.76,146.0,73.9,13.3,568,5484,0.10,1.92,0.00,0.000,6,0.132,0.040,3312,2573,2343,0,0,0,0,0,0
$GC,5622,0.76,146.0,58.8,10.1,593,5628,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2573,2343,0,0,0,0,0,0
$GC,5762,0.77,151.7,44.0,9.7,618,5770,0.00,2.00,0.00,0.000,4,0.000,0.057,3312,3762,2343,0,0,0,0,0,0
$GC,5822,0.77,151.7,37.0,11.9,628,5831,0.00,1.90,0.00,0.000,6,0.000,0.039,3320,2576,2343,0,0,0,0,0,0
$GC,5968,0.77,151.7,21.5,11.2,653,5975,0.00,1.98,0.00,0.000,4,0.000,0.057,3320,3770,2342,0,0,0,0,0,0
$GC,6040,0.77,151.7,11.9,13.6,665,6047,0.00,1.90,0.00,0.000,6,0.000,0.037,3329,2589,2342,0,0,0,0,0,0
$FREEZE,8.46,0.167,-1.891,2,2,0
$FREEZE,7.64,0.169,-1.890,2,2,0
$FREEZE,7.22,0.168,-1.890,2,2,0
$FREEZE,6.53,0.168,-1.889,2,2,0
$FREEZE,6.13,0.164,-1.889,2,2,0
$FREEZE,5.51,0.162,-1.889,2,2,0
$FREEZE,5.21,0.162,-1.888,2,2,0
$FREEZE,4.57,0.160,-1.888,2,2,0
$FREEZE,4.00,0.161,-1.887,2,2,0
$FREEZE,3.28,0.147,-1.887,2,2,0
$FREEZE,2.77,0.151,-1.886,2,2,0
$STATE,6126,end climb,SURFACE_DEPTH_REACHED
$STATE,6126,begin surface coast
$FREEZE,1.58,0.149,-1.885,2,2,0
$FREEZE,1.31,0.149,-1.885,2,2,0
$FREEZE,1.22,0.070,-1.873,2,2,0
$FREEZE,1.14,0.096,-1.883,2,2,0
$FREEZE,1.14,0.009,-1.274,2,2,0
$FINISH,1.1,1.018798
$STATE,6156,end surface coast,CONTROL_FINISHED_OK
$STATE,6156,begin surface
$SM_CCo,6173,300.65,0.728,6,0,419,623.30
$SM_GC,1.82,0.00,0.00,300.65,0.000,0.000,0.728,414,2669,419,-8.25,0.54,623.30
$IRIDIUM_FIX,-7545.40,17514.94,110111,030345
$TT8_MAMPS,0.027713
$HUMID,51.96
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,17.7
$ALTIM_BOTTOM_PING,350.9,104.1
$24V_AH,20.5,84.848
$10V_AH,9.6,58.743
$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,18.650,71.950,278.250,300.650,0.000,88.581,225.326,0.000,1.500,0.000,38.547,1736.242,2392.456,733.402,2006.240,240.921,0.000,1436.065,0.000,1144.647,0.000,10.768,0.000
$DEVICE_MAMPS,191.250,98.685,1055.700,727.515,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,479.970,877.562,942.256,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258108
$DATA_FILE_SIZE,46972,684
$CAP_FILE_SIZE,91772,0
$CFSIZE,260165632,220524544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$CURRENT,0.155,195.6,1
$GPS,110111,050506,-7629.499,17503.301,38,0.8,38,125.0