version: 66.08
glider: 502
mission: 3
dive: 541
start: 1 7 111 3 4 3
data:
$ID,502
$MISSION,3
$DIVE,541
$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,300
$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,-30821.834
$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,35
$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
$GPS1,070111,025419,-7628.191,17721.578,7,1.7,12,121.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-66.0
$GPS2,070111,030337,-7628.223,17721.543,36,1.0,36,121.7
$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,164.2,190926,-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,17,-0.76,-146.0,0.0,0.0,0,165,0.00,0.00,-144.52,0.000,2,0.000,0.000,406,2668,3321,0,0,0,0,0,0
$GC,170,-0.76,-146.0,3.1,-1.3,21,193,8.85,1.85,-6.40,0.000,4,0.191,0.074,2806,3753,3561,0,0,0,0,0,0
$GC,429,-0.76,-146.0,48.3,-15.8,67,437,0.00,1.75,0.00,0.000,6,0.000,0.041,2806,2651,3563,0,0,0,0,0,0
$GC,567,-0.76,-146.0,70.6,-15.8,92,575,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2650,3564,0,0,0,0,0,0
$GC,707,-0.76,-146.0,92.8,-15.5,117,714,0.00,1.83,0.00,0.000,4,0.000,0.060,2798,3756,3564,0,0,0,0,0,0
$GC,737,-0.76,-146.0,98.1,-17.2,122,745,0.00,1.75,0.00,0.000,6,0.000,0.040,2798,2656,3565,0,0,0,0,0,0
$GC,882,-0.76,-146.0,121.8,-16.4,136,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2655,3565,0,0,0,0,0,0
$GC,1009,-0.76,-146.0,142.9,-16.4,148,1013,0.00,1.80,0.00,0.000,4,0.000,0.060,2789,3755,3565,0,0,0,0,0,0
$GC,1047,-0.76,-146.0,150.1,-17.0,151,1056,0.08,1.75,0.00,0.000,6,0.140,0.040,2814,2659,3565,0,0,0,0,0,0
$GC,1183,-0.76,-146.0,170.9,-15.4,164,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2658,3565,0,0,0,0,0,0
$GC,1319,-0.76,-146.0,192.2,-15.0,177,1323,0.00,1.80,0.00,0.000,4,0.000,0.060,2806,3756,3565,0,0,0,0,0,0
$GC,1366,-0.76,-146.0,199.7,-16.6,181,1370,0.00,1.70,0.00,0.000,6,0.000,0.040,2806,2662,3565,0,0,0,0,0,0
$GC,1509,-0.76,-146.0,222.0,-16.0,194,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2659,3565,0,0,0,0,0,0
$GC,1645,-0.76,-146.0,243.1,-15.3,207,1648,0.00,1.80,0.00,0.000,4,0.000,0.060,2798,3753,3565,0,0,0,0,0,0
$GC,1682,-0.76,-146.0,249.7,-16.2,210,1692,0.00,1.73,0.00,0.000,6,0.000,0.040,2798,2672,3565,0,0,0,0,0,0
$GC,1816,-0.76,-146.0,270.9,-15.9,223,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2672,3565,0,0,0,0,0,0
$GC,2009,-0.76,-146.0,301.6,-16.1,241,2012,0.00,1.77,0.00,0.000,4,0.000,0.060,2789,3753,3565,0,0,0,0,0,0
$GC,2066,-0.76,-146.0,311.3,-16.5,246,2069,0.00,1.67,0.00,0.000,6,0.000,0.041,2790,2677,3564,0,0,0,0,0,0
$GC,2269,-0.76,-146.0,344.4,-16.1,265,2271,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2674,3565,0,0,0,0,0,0
$STATE,2448,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2448,begin apogee
$GC,2454,-0.27,0.0,372.8,15.6,282,2592,0.57,0.00,131.75,1.032,4,0.129,0.000,2973,2492,2961,0,0,0,0,0,0
$STATE,2593,end apogee,CONTROL_FINISHED_OK
$STATE,2593,begin climb
$GC,2596,0.76,146.0,380.1,0.0,294,2757,1.10,2.55,150.12,0.959,4,0.080,0.048,3310,1106,2364,0,0,0,0,0,0
$GC,2872,0.76,146.0,358.5,11.1,318,2877,0.00,2.53,0.00,0.000,6,0.000,0.049,3310,2493,2354,0,0,0,0,0,0
$GC,3070,0.76,146.0,336.6,11.3,336,3075,0.00,2.33,0.00,0.000,4,0.000,0.046,3315,1102,2350,0,0,0,0,0,0
$GC,3225,0.76,146.0,320.0,11.2,349,3229,0.00,2.33,0.00,0.000,6,0.000,0.051,3316,2515,2347,0,0,0,0,0,0
$GC,3428,0.76,146.0,297.1,11.1,368,3432,0.00,2.00,0.00,0.000,4,0.000,0.057,3315,3764,2347,0,0,0,0,0,0
$GC,3531,0.76,146.0,283.3,14.1,377,3534,0.00,1.92,0.00,0.000,6,0.000,0.039,3324,2517,2345,0,0,0,0,0,0
$GC,3735,0.76,146.0,258.5,11.6,396,3739,0.00,2.03,0.00,0.000,4,0.000,0.057,3324,3763,2345,0,0,0,0,0,0
$GC,3773,0.76,146.0,253.3,13.6,399,3781,0.00,1.95,0.00,0.000,6,0.000,0.038,3334,2533,2344,0,0,0,0,0,0
$GC,3973,0.76,146.0,229.5,11.8,418,3977,0.00,2.00,0.00,0.000,4,0.000,0.057,3334,3772,2344,0,0,0,0,0,0
$GC,4022,0.76,146.0,222.4,13.6,422,4032,0.08,1.95,0.00,0.000,6,0.143,0.039,3319,2549,2344,0,0,0,0,0,0
$GC,4158,0.76,146.0,207.6,10.6,435,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2548,2344,0,0,0,0,0,0
$GC,4286,0.76,146.0,194.4,10.3,447,4290,0.00,1.98,0.00,0.000,4,0.000,0.057,3319,3764,2343,0,0,0,0,0,0
$GC,4333,0.76,146.0,189.0,13.1,451,4336,0.00,1.90,0.00,0.000,6,0.000,0.038,3327,2541,2343,0,0,0,0,0,0
$GC,4476,0.76,146.0,173.3,10.8,464,4483,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2539,2343,0,0,0,0,0,0
$GC,4611,0.76,146.0,158.2,10.9,477,4615,0.00,2.00,0.00,0.000,4,0.000,0.056,3327,3771,2343,0,0,0,0,0,0
$GC,4682,0.76,146.0,148.6,12.9,483,4691,0.00,1.95,0.00,0.000,6,0.000,0.038,3336,2546,2342,0,0,0,0,0,0
$GC,4819,0.76,146.0,132.8,11.6,496,4826,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2546,2342,0,0,0,0,0,0
$GC,4955,0.76,146.0,116.9,11.6,509,4958,0.00,1.98,0.00,0.000,4,0.000,0.057,3336,3763,2342,0,0,0,0,0,0
$GC,5014,0.76,146.0,108.7,13.4,514,5024,0.10,1.92,0.00,0.000,6,0.137,0.038,3313,2551,2341,0,0,0,0,0,0
$GC,5151,0.77,147.9,95.3,9.9,531,5158,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2550,2341,0,0,0,0,0,0
$GC,5286,0.78,159.6,82.0,9.5,556,5301,0.00,2.03,8.77,0.819,4,0.000,0.056,3312,3768,2312,0,0,0,0,0,0
$GC,5353,0.78,159.6,74.7,12.3,567,5360,0.00,1.88,0.00,0.000,6,0.000,0.039,3320,2560,2311,0,0,0,0,0,0
$GC,5492,0.78,159.6,59.8,10.5,592,5500,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2559,2310,0,0,0,0,0,0
$GC,5631,0.78,159.6,45.0,10.3,617,5638,0.00,1.98,0.00,0.000,4,0.000,0.057,3320,3772,2309,0,0,0,0,0,0
$GC,5682,0.78,159.6,38.7,13.0,626,5690,0.00,1.90,0.00,0.000,6,0.000,0.039,3329,2573,2309,0,0,0,0,0,0
$GC,5823,0.78,159.6,22.2,11.5,651,5830,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2573,2309,0,0,0,0,0,0
$FREEZE,8.62,0.081,-1.895,2,1,0
$FREEZE,7.82,0.067,-1.894,2,1,0
$FREEZE,7.04,0.082,-1.893,2,1,0
$FREEZE,6.40,0.083,-1.893,2,1,0
$FREEZE,5.53,0.092,-1.892,2,1,0
$FREEZE,4.97,0.096,-1.891,2,1,0
$FREEZE,3.98,0.102,-1.891,2,1,0
$GC,5969,0.78,159.6,4.0,12.9,676,5977,0.00,1.98,0.00,0.000,4,0.000,0.059,3329,3757,2308,0,0,0,0,0,0
$FREEZE,2.12,0.115,-1.889,2,1,0
$STATE,5983,end climb,SURFACE_DEPTH_REACHED
$STATE,5983,begin surface coast
$FREEZE,1.41,0.112,-1.889,2,1,0
$FINISH,1.4,1.027619
$STATE,5991,end surface coast,CONTROL_FINISHED_OK
$STATE,5991,begin surface
$SM_CCo,6010,73.65,0.736,1,0,1737,300.24
$SM_GC,1.99,0.00,0.00,73.65,0.000,0.000,0.736,429,2643,1737,-8.23,-0.17,300.24
$IRIDIUM_FIX,-7545.40,17724.26,070111,010100
$TT8_MAMPS,0.027713
$HUMID,54.29
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,18.3
$ALTIM_BOTTOM_PING,351.2,36.4
$24V_AH,20.2,78.724
$10V_AH,9.7,54.259
$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,18.350,66.275,290.650,73.650,0.000,24.913,50.188,306.476,1.750,0.000,37.163,1693.059,2108.606,527.284,2065.028,258.520,0.000,1238.786,0.000,1131.052,0.000,10.572,0.000
$DEVICE_MAMPS,191.250,74.205,1031.985,735.930,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,475.753,887.179,975.134,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47212,679
$CAP_FILE_SIZE,94594,0
$CFSIZE,260165632,223158272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.148,173.6,1
$GPS,070111,044636,-7628.483,17718.818,10,0.9,26,121.8