version: 66.08
glider: 502
mission: 3
dive: 611
start: 1 12 111 20 34 41
data:
$ID,502
$MISSION,3
$DIVE,611
$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,-30911.613
$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,35
$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
$GPS1,120111,201654,-7629.789,17353.996,50,1.5,51,126.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-60.8
$GPS2,120111,203413,-7629.727,17353.990,16,1.5,33,126.8
$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,156.6,101165,-16.0,-9.091
$D_GRID,476
$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,-146.0,0.0,0.0,0,152,0.00,0.00,-133.20,0.000,2,0.000,0.000,361,2674,3057,0,0,0,0,0,0
$GC,155,-0.71,-146.0,3.0,-2.9,19,191,9.82,2.47,-17.23,0.000,4,0.202,0.059,2825,1252,3559,0,0,0,0,0,0
$GC,311,-0.71,-146.0,22.3,-13.5,46,319,0.00,2.40,0.00,0.000,6,0.000,0.054,2817,2637,3563,0,0,0,0,0,0
$GC,451,-0.71,-146.0,43.4,-15.0,71,457,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2638,3563,0,0,0,0,0,0
$GC,586,-0.71,-146.0,64.4,-15.0,96,595,0.00,1.90,0.00,0.000,4,0.000,0.057,2808,3763,3563,0,0,0,0,0,0
$GC,630,-0.71,-146.0,71.5,-16.6,103,637,0.00,1.77,0.00,0.000,6,0.000,0.039,2808,2651,3563,0,0,0,0,0,0
$GC,768,-0.71,-146.0,93.9,-16.4,128,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2650,3562,0,0,0,0,0,0
$GC,913,-0.71,-146.0,117.1,-15.7,144,917,0.00,1.88,0.00,0.000,4,0.000,0.060,2799,3764,3563,0,0,0,0,0,0
$GC,951,-0.71,-146.0,124.5,-17.1,147,960,0.10,1.77,0.00,0.000,6,0.133,0.039,2832,2664,3563,0,0,0,0,0,0
$GC,1089,-0.71,-146.0,142.8,-13.6,160,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2663,3563,0,0,0,0,0,0
$GC,1225,-0.71,-146.0,161.6,-13.4,173,1228,0.00,1.83,0.00,0.000,4,0.000,0.057,2825,3764,3563,0,0,0,0,0,0
$GC,1262,-0.71,-146.0,167.1,-13.5,176,1271,0.00,1.77,0.00,0.000,6,0.000,0.039,2825,2664,3563,0,0,0,0,0,0
$GC,1399,-0.71,-146.0,184.7,-12.9,189,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2663,3563,0,0,0,0,0,0
$GC,1537,-0.71,-146.0,202.6,-13.2,202,1541,0.00,1.85,0.00,0.000,4,0.000,0.058,2817,3771,3563,0,0,0,0,0,0
$GC,1585,-0.71,-146.0,210.2,-13.9,206,1594,0.00,1.80,0.00,0.000,6,0.000,0.040,2817,2663,3563,0,0,0,0,0,0
$GC,1722,-0.71,-146.0,228.1,-13.6,219,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2662,3563,0,0,0,0,0,0
$GC,1859,-0.71,-146.0,246.9,-13.5,232,1862,0.00,1.85,0.00,0.000,4,0.000,0.058,2808,3769,3563,0,0,0,0,0,0
$GC,1899,-0.71,-146.0,253.5,-14.5,235,1906,0.00,1.77,0.00,0.000,6,0.000,0.038,2807,2676,3563,0,0,0,0,0,0
$GC,2101,-0.71,-146.0,281.2,-13.9,254,2104,0.00,1.83,0.00,0.000,4,0.000,0.059,2799,3767,3563,0,0,0,0,0,0
$GC,2135,-0.71,-146.0,286.8,-15.9,257,2140,0.12,1.73,0.00,0.000,6,0.155,0.039,2833,2676,3563,0,0,0,0,0,0
$GC,2340,-0.71,-146.0,311.8,-12.2,276,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2674,3562,0,0,0,0,0,0
$GC,2532,-0.71,-146.0,335.3,-12.2,294,2535,0.00,1.83,0.00,0.000,4,0.000,0.060,2825,3764,3563,0,0,0,0,0,0
$GC,2592,-0.71,-146.0,343.8,-12.9,299,2599,0.00,1.75,0.00,0.000,6,0.000,0.039,2826,2682,3562,0,0,0,0,0,0
$GC,2792,-0.71,-146.0,369.1,-12.7,318,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2681,3562,0,0,0,0,0,0
$GC,2981,-0.71,-146.0,393.0,-12.5,336,2985,0.00,1.83,0.00,0.000,4,0.000,0.059,2817,3768,3562,0,0,0,0,0,0
$GC,3027,-0.71,-146.0,399.0,-13.7,340,3031,0.00,1.75,0.00,0.000,6,0.000,0.040,2817,2691,3562,0,0,0,0,0,0
$GC,3232,-0.71,-146.0,424.6,-12.6,359,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2690,3562,0,0,0,0,0,0
$GC,3421,-0.71,-146.0,448.6,-12.8,377,3425,0.00,1.80,0.00,0.000,4,0.000,0.059,2808,3767,3562,0,0,0,0,0,0
$GC,3459,-0.71,-146.0,453.9,-13.3,380,3466,0.00,1.75,0.00,0.000,6,0.000,0.039,2809,2689,3561,0,0,0,0,0,0
$STATE,3635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3635,begin apogee
$GC,3642,-0.27,0.0,476.9,13.4,397,3782,0.50,0.00,133.38,1.098,4,0.122,0.000,2968,2493,2961,0,0,0,0,0,0
$STATE,3783,end apogee,CONTROL_FINISHED_OK
$STATE,3783,begin climb
$GC,3786,0.71,146.0,483.8,0.0,409,3948,1.08,2.60,149.27,1.013,4,0.080,0.047,3289,1105,2363,0,0,0,0,0,0
$GC,4032,0.71,146.0,464.9,10.5,431,4038,0.00,2.58,0.00,0.000,6,0.000,0.048,3289,2499,2355,0,0,0,0,0,0
$GC,4230,0.71,146.0,443.0,11.2,450,4234,0.00,2.47,0.00,0.000,4,0.000,0.046,3299,1100,2351,0,0,0,0,0,0
$GC,4374,0.71,146.0,427.2,11.1,462,4378,0.00,2.53,0.00,0.000,6,0.000,0.050,3299,2522,2348,0,0,0,0,0,0
$GC,4571,0.71,146.0,404.6,11.3,480,4575,0.00,2.12,0.00,0.000,4,0.000,0.054,3299,3761,2347,0,0,0,0,0,0
$GC,4679,0.71,146.0,390.4,13.6,489,4683,0.00,2.03,0.00,0.000,6,0.000,0.037,3309,2536,2345,0,0,0,0,0,0
$GC,4882,0.71,146.0,365.7,11.9,508,4886,0.00,2.08,0.00,0.000,4,0.000,0.055,3308,3763,2345,0,0,0,0,0,0
$GC,4925,0.71,146.0,359.8,14.2,511,4932,0.00,2.03,0.00,0.000,6,0.000,0.038,3318,2506,2345,0,0,0,0,0,0
$GC,5124,0.71,146.0,335.5,12.0,530,5128,0.00,2.10,0.00,0.000,4,0.000,0.056,3318,3764,2344,0,0,0,0,0,0
$GC,5176,0.71,146.0,328.4,14.3,534,5181,0.05,1.98,0.00,0.000,6,0.148,0.037,3299,2553,2344,0,0,0,0,0,0
$GC,5381,0.71,146.0,306.2,10.7,553,5384,0.00,2.03,0.00,0.000,4,0.000,0.057,3298,3773,2344,0,0,0,0,0,0
$GC,5430,0.71,146.0,300.0,12.3,557,5438,0.00,1.95,0.00,0.000,6,0.000,0.038,3306,2564,2343,0,0,0,0,0,0
$GC,5629,0.71,146.0,278.1,11.1,576,5632,0.00,2.00,0.00,0.000,4,0.000,0.057,3306,3770,2343,0,0,0,0,0,0
$GC,5688,0.71,146.0,270.7,13.7,581,5692,0.00,1.90,0.00,0.000,6,0.000,0.039,3316,2569,2342,0,0,0,0,0,0
$GC,5893,0.71,146.0,246.4,12.0,600,5897,0.00,2.00,0.00,0.000,4,0.000,0.057,3316,3775,2342,0,0,0,0,0,0
$GC,5920,0.71,146.0,242.4,13.2,602,5929,0.08,1.95,0.00,0.000,6,0.140,0.038,3301,2572,2342,0,0,0,0,0,0
$GC,6057,0.71,146.0,227.5,10.7,615,6064,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,2571,2342,0,0,0,0,0,0
$GC,6193,0.71,146.0,213.2,10.5,628,6196,0.00,1.98,0.00,0.000,4,0.000,0.057,3301,3765,2342,0,0,0,0,0,0
$GC,6262,0.71,146.0,204.9,12.6,634,6265,0.00,1.85,0.00,0.000,6,0.000,0.038,3308,2591,2341,0,0,0,0,0,0
$GC,6405,0.71,146.0,189.1,11.1,647,6413,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,2588,2341,0,0,0,0,0,0
$GC,6541,0.71,146.0,173.9,11.1,660,6544,0.00,1.95,0.00,0.000,4,0.000,0.057,3308,3766,2341,0,0,0,0,0,0
$GC,6587,0.71,146.0,167.9,13.6,664,6591,0.00,1.85,0.00,0.000,6,0.000,0.037,3317,2595,2341,0,0,0,0,0,0
$GC,6731,0.71,146.0,150.8,11.3,677,6739,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2592,2341,0,0,0,0,0,0
$GC,6867,0.71,146.0,135.4,11.0,690,6870,0.00,1.95,0.00,0.000,4,0.000,0.057,3317,3769,2341,0,0,0,0,0,0
$GC,6915,0.71,146.0,128.9,12.6,694,6924,0.08,1.88,0.00,0.000,6,0.142,0.037,3302,2607,2340,0,0,0,0,0,0
$GC,7053,0.71,146.0,114.8,10.4,707,7061,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2606,2340,0,0,0,0,0,0
$GC,7189,0.71,146.0,100.1,10.8,720,7192,0.00,1.92,0.00,0.000,4,0.000,0.057,3302,3770,2340,0,0,0,0,0,0
$GC,7229,0.71,146.0,95.3,12.0,726,7237,0.00,1.88,0.00,0.000,6,0.000,0.038,3309,2613,2340,0,0,0,0,0,0
$GC,7370,0.71,146.0,79.5,11.1,751,7376,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2613,2340,0,0,0,0,0,0
$GC,7507,0.71,146.0,63.8,10.9,776,7515,0.00,1.95,0.00,0.000,4,0.000,0.056,3309,3761,2340,0,0,0,0,0,0
$GC,7552,0.71,146.0,58.6,12.9,783,7559,0.00,1.83,0.00,0.000,6,0.000,0.038,3319,2614,2340,0,0,0,0,0,0
$GC,7690,0.71,146.0,41.0,12.1,808,7698,0.00,1.95,0.00,0.000,4,0.000,0.055,3318,3767,2340,0,0,0,0,0,0
$GC,7727,0.71,146.0,36.0,13.6,814,7736,0.08,1.85,0.00,0.000,6,0.142,0.037,3302,2622,2339,0,0,0,0,0,0
$GC,7871,0.71,146.0,20.1,10.7,839,7879,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2621,2339,0,0,0,0,0,0
$FREEZE,8.61,0.133,-1.896,2,3,0
$FREEZE,8.21,0.133,-1.896,2,3,0
$FREEZE,7.52,0.130,-1.895,2,3,0
$FREEZE,7.05,0.130,-1.895,2,3,0
$FREEZE,6.41,0.125,-1.895,2,3,0
$FREEZE,5.69,0.126,-1.894,2,3,0
$FREEZE,4.56,0.117,-1.893,2,3,0
$GC,8014,0.71,146.0,4.6,11.6,864,8022,0.00,2.50,0.00,0.000,4,0.000,0.047,3312,1102,2338,0,0,0,0,0,0
$FREEZE,2.84,0.124,-1.892,2,3,0
$STATE,8028,end climb,SURFACE_DEPTH_REACHED
$STATE,8028,begin surface coast
$FREEZE,2.23,0.127,-1.891,2,3,0
$FINISH,2.2,1.027637
$STATE,8036,end surface coast,CONTROL_FINISHED_OK
$STATE,8036,begin surface
$SM_CCo,8056,292.38,0.715,3,0,419,623.30
$SM_GC,1.87,0.00,0.00,292.38,0.000,0.000,0.715,397,2656,419,-8.29,0.17,623.30
$IRIDIUM_FIX,-7612.11,-17736.84,120111,202038
$TT8_MAMPS,0.028462
$HUMID,52.16
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.1,17.3
$24V_AH,20.6,87.268
$10V_AH,9.6,60.613
$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,19.650,99.900,282.650,292.375,0.000,81.466,122.374,438.678,1.750,0.000,34.290,2188.864,3340.956,794.909,2710.008,370.412,0.000,1687.343,0.000,1441.042,0.000,12.839,0.000
$DEVICE_MAMPS,201.960,60.435,1097.775,715.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,608.325,1043.704,1017.115,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258080
$DATA_FILE_SIZE,60402,867
$CAP_FILE_SIZE,123686,0
$CFSIZE,260165632,219258880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.071,156.7,1
$GPS,120111,225525,-7629.782,17350.188,39,2.0,40,126.9