version: 66.08
glider: 502
mission: 3
dive: 542
start: 1 7 111 4 56 35
data:
$ID,502
$MISSION,3
$DIVE,542
$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,-30823.092
$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,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
$GPS1,070111,044636,-7628.483,17718.818,10,0.9,26,121.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-73.1
$GPS2,070111,045608,-7628.537,17718.812,11,1.5,11,121.8
$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,182.0,189736,-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,-146.0,0.0,0.0,0,108,0.00,0.00,-88.57,0.000,2,0.000,0.000,416,2641,3402,0,0,0,0,0,0
$GC,111,-0.76,-146.0,3.4,-1.8,13,133,8.77,2.25,-4.10,0.000,4,0.192,0.061,2806,1238,3560,0,0,0,0,0,0
$GC,379,-0.76,-146.0,48.0,-15.0,61,386,0.00,2.33,0.00,0.000,6,0.000,0.054,2797,2659,3565,0,0,0,0,0,0
$GC,516,-0.76,-146.0,70.2,-16.7,86,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2659,3564,0,0,0,0,0,0
$GC,657,-0.76,-146.0,93.1,-16.5,111,664,0.00,1.77,0.00,0.000,4,0.000,0.057,2788,3764,3565,0,0,0,0,0,0
$GC,688,-0.76,-146.0,98.9,-17.8,116,696,0.00,1.75,0.00,0.000,6,0.000,0.040,2789,2662,3565,0,0,0,0,0,0
$GC,823,-0.76,-146.0,122.3,-17.4,129,825,0.10,0.00,0.00,0.000,6,0.169,0.000,2814,2660,3565,0,0,0,0,0,0
$GC,951,-0.76,-146.0,141.1,-14.5,141,955,0.00,1.80,0.00,0.000,4,0.000,0.059,2807,3767,3565,0,0,0,0,0,0
$GC,998,-0.76,-146.0,148.1,-14.7,145,1001,0.00,1.73,0.00,0.000,6,0.000,0.040,2807,2655,3565,0,0,0,0,0,0
$GC,1140,-0.76,-146.0,169.3,-15.1,158,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2653,3565,0,0,0,0,0,0
$GC,1276,-0.76,-146.0,189.5,-14.5,171,1280,0.00,1.83,0.00,0.000,4,0.000,0.061,2799,3768,3566,0,0,0,0,0,0
$GC,1325,-0.76,-146.0,197.7,-15.8,175,1334,0.00,1.75,0.00,0.000,6,0.000,0.041,2799,2669,3566,0,0,0,0,0,0
$GC,1463,-0.76,-146.0,217.8,-14.9,188,1466,0.00,1.80,0.00,0.000,4,0.000,0.059,2790,3773,3566,0,0,0,0,0,0
$GC,1489,-0.76,-146.0,222.7,-15.6,190,1498,0.00,1.75,0.00,0.000,6,0.000,0.041,2790,2677,3566,0,0,0,0,0,0
$GC,1625,-0.76,-146.0,243.7,-15.5,203,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2676,3565,0,0,0,0,0,0
$GC,1750,-0.76,-146.0,263.4,-15.7,215,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2676,3565,0,0,0,0,0,0
$GC,1942,-0.76,-146.0,293.6,-15.8,233,1945,0.00,1.83,0.00,0.000,4,0.000,0.060,2782,3761,3565,0,0,0,0,0,0
$GC,2002,-0.76,-146.0,304.1,-16.6,238,2010,0.10,1.73,0.00,0.000,6,0.136,0.040,2815,2674,3565,0,0,0,0,0,0
$GC,2203,-0.76,-146.0,331.6,-13.9,257,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2674,3565,0,0,0,0,0,0
$GC,2401,-0.76,-146.0,359.5,-13.9,276,2405,0.00,1.83,0.00,0.000,4,0.000,0.059,2807,3762,3566,0,0,0,0,0,0
$GC,2450,-0.76,-146.0,367.1,-15.4,280,2457,0.00,1.73,0.00,0.000,6,0.000,0.040,2807,2677,3565,0,0,0,0,0,0
$STATE,2498,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2498,begin apogee
$GC,2504,-0.27,0.0,374.0,14.3,285,2642,0.50,0.00,131.80,1.037,4,0.125,0.000,2969,2494,2960,0,0,0,0,0,0
$STATE,2643,end apogee,CONTROL_FINISHED_OK
$STATE,2643,begin climb
$GC,2645,0.76,146.0,380.9,0.0,297,2804,1.08,0.00,150.20,0.956,6,0.083,0.000,3304,2494,2364,0,0,0,0,0,0
$GC,2995,0.76,146.0,349.0,11.1,329,2999,0.00,2.28,0.00,0.000,4,0.000,0.057,3304,3764,2353,0,0,0,0,0,0
$GC,3106,0.76,146.0,334.1,13.1,338,3114,0.00,2.08,0.00,0.000,6,0.000,0.037,3314,2513,2351,0,0,0,0,0,0
$GC,3304,0.76,146.0,311.3,11.8,357,3308,0.00,2.05,0.00,0.000,4,0.000,0.057,3314,3767,2349,0,0,0,0,0,0
$GC,3362,0.76,146.0,303.7,13.6,362,3366,0.00,1.98,0.00,0.000,6,0.000,0.038,3323,2527,2348,0,0,0,0,0,0
$GC,3565,0.76,146.0,277.5,12.6,381,3569,0.00,2.03,0.00,0.000,4,0.000,0.057,3323,3772,2347,0,0,0,0,0,0
$GC,3634,0.76,146.0,267.5,15.4,387,3637,0.00,1.92,0.00,0.000,6,0.000,0.038,3333,2531,2346,0,0,0,0,0,0
$GC,3839,0.76,146.0,240.1,13.1,406,3843,0.00,2.00,0.00,0.000,4,0.000,0.056,3333,3764,2345,0,0,0,0,0,0
$GC,3888,0.76,146.0,232.2,15.7,410,3897,0.10,1.92,0.00,0.000,6,0.136,0.038,3309,2553,2345,0,0,0,0,0,0
$GC,4024,0.76,146.0,216.1,12.0,423,4027,0.00,1.98,0.00,0.000,4,0.000,0.057,3310,3766,2345,0,0,0,0,0,0
$GC,4061,0.76,146.0,210.8,13.9,426,4070,0.00,1.92,0.00,0.000,6,0.000,0.038,3316,2555,2344,0,0,0,0,0,0
$GC,4197,0.76,146.0,194.5,12.0,439,4201,0.00,1.98,0.00,0.000,4,0.000,0.057,3316,3765,2344,0,0,0,0,0,0
$GC,4233,0.76,146.0,189.6,13.9,442,4237,0.00,1.85,0.00,0.000,6,0.000,0.037,3324,2566,2344,0,0,0,0,0,0
$GC,4376,0.76,146.0,171.7,12.4,455,4384,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2565,2344,0,0,0,0,0,0
$GC,4513,0.76,146.0,154.5,12.6,468,4516,0.00,1.95,0.00,0.000,4,0.000,0.056,3324,3767,2343,0,0,0,0,0,0
$GC,4572,0.76,146.0,145.5,14.9,473,4580,0.00,1.88,0.00,0.000,6,0.000,0.038,3333,2580,2343,0,0,0,0,0,0
$GC,4708,0.76,146.0,128.0,12.9,486,4709,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2579,2343,0,0,0,0,0,0
$GC,4835,0.76,146.0,111.7,12.7,498,4838,0.00,1.92,0.00,0.000,4,0.000,0.057,3333,3765,2343,0,0,0,0,0,0
$GC,4893,0.76,146.0,103.4,14.9,503,4897,0.12,1.83,0.00,0.000,6,0.160,0.038,3309,2582,2343,0,0,0,0,0,0
$GC,5030,0.76,146.0,87.7,10.7,525,5036,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2579,2343,0,0,0,0,0,0
$GC,5167,0.76,146.0,72.3,10.8,550,5175,0.00,1.98,0.00,0.000,4,0.000,0.057,3309,3765,2342,0,0,0,0,0,0
$GC,5223,0.76,146.0,65.5,13.4,559,5231,0.00,1.85,0.00,0.000,6,0.000,0.038,3316,2578,2343,0,0,0,0,0,0
$GC,5361,0.76,146.0,49.8,10.9,584,5368,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2577,2343,0,0,0,0,0,0
$GC,5501,0.76,146.0,33.8,11.3,609,5507,0.00,1.95,0.00,0.000,4,0.000,0.057,3316,3768,2342,0,0,0,0,0,0
$GC,5542,0.76,146.0,28.2,13.5,616,5550,0.00,1.88,0.00,0.000,6,0.000,0.038,3324,2588,2342,0,0,0,0,0,0
$GC,5685,0.76,146.0,11.5,11.6,641,5691,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2588,2342,0,0,0,0,0,0
$FREEZE,8.92,-0.079,-1.895,2,2,0
$FREEZE,8.23,-0.031,-1.894,2,2,0
$FREEZE,7.36,-0.002,-1.893,2,2,0
$FREEZE,6.67,0.091,-1.892,2,2,0
$FREEZE,5.98,0.103,-1.891,2,2,0
$FREEZE,5.38,0.113,-1.891,2,2,0
$FREEZE,4.55,0.122,-1.891,2,2,0
$FREEZE,3.95,0.116,-1.891,2,2,0
$FREEZE,3.22,0.124,-1.890,2,2,0
$FREEZE,2.60,0.132,-1.890,2,2,0
$STATE,5756,end climb,SURFACE_DEPTH_REACHED
$STATE,5756,begin surface coast
$FREEZE,1.74,0.132,-1.889,2,2,0
$FREEZE,1.19,0.129,-1.889,2,2,0
$FREEZE,1.09,0.016,-1.459,2,2,0
$FREEZE,1.09,0.048,-1.817,2,2,0
$FREEZE,1.12,0.054,-0.947,2,2,0
$FINISH,1.1,1.013987
$STATE,5787,end surface coast,CONTROL_FINISHED_OK
$STATE,5787,begin surface
$SM_CCo,5804,296.85,0.722,6,0,420,623.30
$SM_GC,1.89,0.00,0.00,296.85,0.000,0.000,0.722,423,2669,420,-8.23,0.54,623.30
$IRIDIUM_FIX,-7545.40,17714.68,070111,040410
$TT8_MAMPS,0.028462
$HUMID,51.41
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,19.0
$ALTIM_BOTTOM_PING,350.8,37.1
$24V_AH,20.2,78.876
$10V_AH,9.6,54.347
$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,18.450,65.425,282.000,296.850,0.000,91.703,225.322,0.000,1.500,0.000,12.474,1669.678,2165.141,726.352,1926.957,221.630,0.000,1402.672,0.000,1088.299,0.000,10.582,0.000
$DEVICE_MAMPS,192.015,98.685,1037.340,722.160,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,461.702,855.821,931.465,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47090,658
$CAP_FILE_SIZE,88369,0
$CFSIZE,260165632,223113216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$CURRENT,0.201,158.8,1
$GPS,070111,064006,-7628.767,17716.914,40,1.3,40,121.9