version: 66.08
glider: 502
mission: 3
dive: 610
start: 1 12 111 18 0 31
data:
$ID,502
$MISSION,3
$DIVE,610
$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,275
$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,-30910.359
$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,38
$R_STBD_OVSHOOT,23
$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
$GPS1,120111,175007,-7629.888,17357.693,42,1.0,43,126.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-67.3
$GPS2,120111,180002,-7629.866,17357.691,12,1.0,12,126.7
$SPEED_LIMITS,0.157,0.251
$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,160.6,102764,-16.0,-9.091
$D_GRID,470
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.71,-146.0,0.0,0.0,0,80,0.00,0.00,-61.83,0.000,2,0.000,0.000,351,2660,3052,0,0,0,0,0,0
$GC,83,-0.71,-146.0,3.0,-2.1,9,121,9.40,2.30,-18.62,0.000,4,0.203,0.057,2822,1246,3560,0,0,0,0,0,0
$GC,206,-0.71,-146.0,17.2,-15.2,29,214,0.00,2.35,0.00,0.000,6,0.000,0.055,2812,2654,3562,0,0,0,0,0,0
$GC,345,-0.71,-146.0,39.7,-16.4,54,354,0.00,1.85,0.00,0.000,4,0.000,0.057,2804,3767,3562,0,0,0,0,0,0
$GC,394,-0.71,-146.0,48.4,-17.6,62,403,0.00,1.77,0.00,0.000,6,0.000,0.039,2804,2669,3563,0,0,0,0,0,0
$GC,534,-0.71,-146.0,70.4,-16.2,87,540,0.10,0.00,0.00,0.000,6,0.175,0.000,2829,2666,3563,0,0,0,0,0,0
$GC,671,-0.71,-146.0,90.1,-13.6,112,679,0.00,1.85,0.00,0.000,4,0.000,0.059,2823,3754,3563,0,0,0,0,0,0
$GC,727,-0.71,-146.0,97.6,-14.4,121,735,0.00,1.75,0.00,0.000,6,0.000,0.039,2823,2675,3563,0,0,0,0,0,0
$GC,872,-0.71,-146.0,118.4,-14.3,135,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2674,3563,0,0,0,0,0,0
$GC,1008,-0.71,-146.0,138.2,-14.4,148,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2674,3563,0,0,0,0,0,0
$GC,1135,-0.71,-146.0,156.7,-14.7,160,1139,0.00,1.83,0.00,0.000,4,0.000,0.060,2814,3767,3563,0,0,0,0,0,0
$GC,1182,-0.71,-146.0,164.0,-16.1,164,1185,0.00,1.73,0.00,0.000,6,0.000,0.040,2814,2674,3564,0,0,0,0,0,0
$GC,1325,-0.71,-146.0,184.5,-14.2,177,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2671,3563,0,0,0,0,0,0
$GC,1461,-0.71,-146.0,203.8,-13.8,190,1465,0.00,1.83,0.00,0.000,4,0.000,0.059,2805,3764,3564,0,0,0,0,0,0
$GC,1498,-0.71,-146.0,210.0,-15.6,193,1508,0.00,1.77,0.00,0.000,6,0.000,0.039,2805,2672,3564,0,0,0,0,0,0
$GC,1635,-0.71,-146.0,229.6,-15.2,206,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2671,3564,0,0,0,0,0,0
$GC,1771,-0.71,-146.0,249.6,-14.7,219,1778,0.00,1.83,0.00,0.000,4,0.000,0.059,2798,3764,3564,0,0,0,0,0,0
$GC,1810,-0.71,-146.0,256.4,-15.8,222,1818,0.10,1.75,0.00,0.000,6,0.131,0.039,2830,2681,3564,0,0,0,0,0,0
$GC,2011,-0.71,-146.0,281.2,-12.2,241,2012,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2680,3564,0,0,0,0,0,0
$GC,2200,-0.71,-146.0,304.7,-12.3,259,2204,0.00,1.83,0.00,0.000,4,0.000,0.060,2824,3770,3564,0,0,0,0,0,0
$GC,2257,-0.71,-146.0,312.5,-13.5,264,2261,0.00,1.75,0.00,0.000,6,0.000,0.039,2823,2693,3564,0,0,0,0,0,0
$GC,2460,-0.71,-146.0,338.7,-12.4,283,2464,0.00,1.80,0.00,0.000,4,0.000,0.058,2815,3770,3564,0,0,0,0,0,0
$GC,2500,-0.71,-146.0,344.3,-13.4,286,2506,0.00,1.75,0.00,0.000,6,0.000,0.040,2815,2695,3564,0,0,0,0,0,0
$GC,2698,-0.71,-146.0,370.3,-13.2,305,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2694,3564,0,0,0,0,0,0
$GC,2889,-0.71,-146.0,394.9,-13.3,323,2893,0.00,1.77,0.00,0.000,4,0.000,0.059,2806,3763,3564,0,0,0,0,0,0
$GC,2950,-0.71,-146.0,403.9,-14.5,328,2957,0.00,1.73,0.00,0.000,6,0.000,0.039,2807,2698,3563,0,0,0,0,0,0
$GC,3149,-0.71,-146.0,431.0,-13.7,347,3150,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2698,3563,0,0,0,0,0,0
$GC,3340,-0.71,-146.0,456.7,-13.9,365,3344,0.00,1.80,0.00,0.000,4,0.000,0.060,2798,3770,3563,0,0,0,0,0,0
$GC,3389,-0.71,-146.0,464.4,-15.1,369,3398,0.10,1.73,0.00,0.000,6,0.131,0.040,2831,2707,3563,0,0,0,0,0,0
$STATE,3437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3437,begin apogee
$GC,3444,-0.27,0.0,470.6,12.9,374,3585,0.43,0.00,133.45,1.102,4,0.120,0.000,2970,2495,2962,0,0,0,0,0,0
$STATE,3586,end apogee,CONTROL_FINISHED_OK
$STATE,3586,begin climb
$GC,3588,0.71,146.0,477.4,0.0,386,3754,1.08,2.62,151.73,1.013,4,0.079,0.047,3290,1101,2363,0,0,0,0,1,0
$GC,3834,0.71,146.0,459.9,10.0,408,3841,0.00,2.60,0.00,0.000,6,0.000,0.049,3290,2498,2355,0,0,0,0,0,0
$GC,4032,0.71,146.0,438.6,10.8,427,4037,0.00,2.47,0.00,0.000,4,0.000,0.047,3300,1101,2350,0,0,0,0,0,0
$GC,4161,0.71,146.0,424.3,11.2,438,4166,0.00,2.53,0.00,0.000,6,0.000,0.050,3300,2525,2349,0,0,0,0,0,0
$GC,4362,0.71,146.0,402.2,11.3,456,4365,0.00,2.12,0.00,0.000,4,0.000,0.055,3300,3763,2347,0,0,0,0,0,0
$GC,4457,0.71,146.0,389.3,13.8,464,4461,0.00,2.03,0.00,0.000,6,0.000,0.037,3309,2536,2346,0,0,0,0,0,0
$GC,4663,0.71,146.0,365.4,11.2,483,4667,0.00,2.10,0.00,0.000,4,0.000,0.055,3309,3768,2346,0,0,0,0,0,0
$GC,4714,0.71,146.0,358.3,14.1,487,4718,0.00,2.00,0.00,0.000,6,0.000,0.039,3318,2534,2345,0,0,0,0,0,0
$GC,4920,0.71,146.0,333.4,12.3,506,4923,0.00,2.05,0.00,0.000,4,0.000,0.056,3318,3765,2344,0,0,0,0,0,0
$GC,4967,0.71,146.0,326.9,14.5,510,4971,0.12,1.95,0.00,0.000,6,0.158,0.037,3296,2540,2345,0,0,0,0,0,0
$GC,5166,0.71,146.0,304.4,11.0,528,5170,0.00,2.08,0.00,0.000,4,0.000,0.057,3296,3775,2344,0,0,0,0,0,0
$GC,5211,0.71,146.0,298.7,13.1,532,5215,0.00,1.95,0.00,0.000,6,0.000,0.039,3303,2549,2343,0,0,0,0,0,0
$GC,5416,0.71,146.0,275.9,11.0,551,5419,0.00,2.03,0.00,0.000,4,0.000,0.057,3303,3770,2343,0,0,0,0,0,0
$GC,5476,0.71,146.0,267.9,13.2,556,5483,0.00,1.95,0.00,0.000,6,0.000,0.038,3313,2563,2343,0,0,0,0,0,0
$GC,5677,0.71,146.0,244.9,11.8,575,5681,0.00,2.00,0.00,0.000,4,0.000,0.057,3312,3767,2343,0,0,0,0,0,0
$GC,5724,0.71,146.0,238.6,13.9,579,5727,0.00,1.90,0.00,0.000,6,0.000,0.038,3321,2563,2343,0,0,0,0,0,0
$GC,5865,0.71,146.0,220.8,12.5,592,5866,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2562,2343,0,0,0,0,0,0
$GC,5992,0.71,146.0,205.4,12.3,604,5996,0.00,2.00,0.00,0.000,4,0.000,0.057,3321,3770,2343,0,0,0,0,0,0
$GC,6051,0.71,146.0,196.6,14.4,609,6061,0.10,1.92,0.00,0.000,6,0.135,0.039,3299,2578,2342,0,0,0,0,0,0
$GC,6187,0.71,146.0,182.0,10.7,622,6188,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2578,2342,0,0,0,0,0,0
$GC,6315,0.71,146.0,168.8,10.2,634,6318,0.00,1.98,0.00,0.000,4,0.000,0.056,3299,3771,2342,0,0,0,0,0,0
$GC,6372,0.71,146.0,161.8,12.4,639,6376,0.00,1.90,0.00,0.000,6,0.000,0.040,3306,2574,2341,0,0,0,0,0,0
$GC,6513,0.71,146.0,145.6,11.9,652,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,2572,2342,0,0,0,0,0,0
$GC,6640,0.71,146.0,130.7,11.7,664,6644,0.00,1.98,0.00,0.000,4,0.000,0.057,3307,3764,2342,0,0,0,0,0,0
$GC,6699,0.71,146.0,122.9,14.1,669,6702,0.00,1.85,0.00,0.000,6,0.000,0.038,3316,2589,2342,0,0,0,0,0,0
$GC,6841,0.71,146.0,105.6,12.0,682,6842,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2587,2342,0,0,0,0,0,0
$GC,6969,0.71,146.0,90.4,11.5,701,6977,0.00,2.00,0.00,0.000,4,0.000,0.056,3315,3767,2342,0,0,0,0,0,0
$GC,7000,0.71,146.0,86.3,12.5,706,7009,0.00,1.90,0.00,0.000,6,0.000,0.038,3325,2593,2341,0,0,0,0,0,0
$GC,7143,0.71,146.0,69.4,12.0,731,7149,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2592,2342,0,0,0,0,0,0
$GC,7281,0.71,146.0,53.4,11.4,756,7289,0.00,1.98,0.00,0.000,4,0.000,0.057,3324,3756,2341,0,0,0,0,0,0
$GC,7318,0.71,146.0,48.7,13.1,762,7326,0.10,1.88,0.00,0.000,6,0.132,0.038,3301,2598,2341,0,0,0,0,0,0
$GC,7462,0.71,146.3,34.5,9.1,787,7468,0.00,1.95,0.00,0.000,4,0.000,0.057,3301,3766,2342,0,0,0,0,0,0
$GC,7502,0.71,146.3,29.5,11.8,794,7511,0.00,1.88,0.00,0.000,6,0.000,0.038,3308,2608,2342,0,0,0,0,0,0
$GC,7646,0.71,146.3,12.2,11.3,819,7653,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,2606,2341,0,0,0,0,0,0
$FREEZE,8.84,0.115,-1.895,2,2,0
$FREEZE,8.06,0.116,-1.895,2,2,0
$FREEZE,7.21,0.116,-1.894,2,2,0
$FREEZE,6.60,0.109,-1.894,2,2,0
$FREEZE,5.91,0.110,-1.893,2,2,0
$FREEZE,5.09,0.112,-1.892,2,2,0
$FREEZE,4.60,0.112,-1.892,2,2,0
$FREEZE,3.58,0.109,-1.891,2,2,0
$FREEZE,3.10,0.107,-1.891,2,2,0
$FREEZE,2.49,0.104,-1.891,2,2,0
$STATE,7722,end climb,SURFACE_DEPTH_REACHED
$STATE,7722,begin surface coast
$FREEZE,1.75,0.101,-1.890,2,2,0
$FREEZE,1.19,-0.008,-1.896,2,2,0
$FREEZE,1.21,0.009,-1.800,2,2,0
$FREEZE,1.14,-0.021,-1.896,2,2,0
$FINISH,1.1,1.027723
$STATE,7748,end surface coast,CONTROL_FINISHED_OK
$STATE,7748,begin surface
$SM_CCo,7766,299.62,0.723,5,0,420,623.30
$SM_GC,1.88,0.00,0.00,299.62,0.000,0.000,0.723,402,2673,420,-8.29,0.65,623.30
$IRIDIUM_FIX,-7545.40,17400.90,120111,171700
$TT8_MAMPS,0.028462
$HUMID,51.77
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,14.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,18.2
$24V_AH,20.5,87.090
$10V_AH,9.6,60.502
$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,19.225,94.725,285.175,299.625,0.000,92.472,225.316,0.000,2.250,0.000,13.394,2147.596,3235.467,748.379,2267.247,289.727,0.000,1591.195,0.000,1395.103,0.000,11.201,0.000
$DEVICE_MAMPS,202.725,107.100,1102.365,722.925,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,588.124,1006.663,977.463,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258124
$DATA_FILE_SIZE,57232,836
$CAP_FILE_SIZE,112989,0
$CFSIZE,260165632,219377664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$CURRENT,0.065,156.9,1
$GPS,120111,201654,-7629.789,17353.996,50,1.5,51,126.8