version: 66.08
glider: 502
mission: 3
dive: 545
start: 1 7 111 10 33 47
data:
$ID,502
$MISSION,3
$DIVE,545
$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,-30826.871
$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,37
$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
$GPS1,070111,102406,-7628.960,17716.234,28,0.9,29,121.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-65.6
$GPS2,070111,103320,-7628.977,17716.412,15,1.8,15,121.9
$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,182.2,188688,-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,-146.0,0.0,0.0,0,165,0.00,0.00,-145.00,0.000,2,0.000,0.000,405,2669,3338,0,0,0,0,0,0
$GC,170,-0.76,-146.0,3.3,-1.8,21,192,8.80,2.30,-5.82,0.000,4,0.190,0.060,2806,1238,3560,0,0,0,0,0,0
$GC,377,-0.76,-146.0,37.6,-14.5,58,385,0.00,2.33,0.00,0.000,6,0.000,0.055,2797,2637,3563,0,0,0,0,0,0
$GC,518,-0.76,-146.0,59.4,-16.5,83,526,0.00,1.83,0.00,0.000,4,0.000,0.058,2789,3773,3563,0,0,0,0,0,0
$GC,568,-0.76,-146.0,68.1,-17.1,91,575,0.00,1.77,0.00,0.000,6,0.000,0.041,2788,2634,3564,0,0,0,0,0,0
$GC,705,-0.76,-146.0,91.5,-17.4,116,713,0.10,0.00,0.00,0.000,6,0.169,0.000,2814,2631,3564,0,0,0,0,0,0
$GC,851,-0.76,-146.0,112.9,-14.2,134,854,0.00,1.85,0.00,0.000,4,0.000,0.060,2807,3766,3564,0,0,0,0,0,0
$GC,889,-0.76,-146.0,119.6,-15.7,137,898,0.00,1.75,0.00,0.000,6,0.000,0.040,2807,2663,3564,0,0,0,0,0,0
$GC,1028,-0.76,-146.0,140.0,-15.0,150,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2662,3564,0,0,0,0,0,0
$GC,1163,-0.76,-146.0,160.6,-14.7,163,1167,0.00,1.80,0.00,0.000,4,0.000,0.059,2798,3768,3564,0,0,0,0,0,0
$GC,1190,-0.76,-146.0,165.1,-14.6,165,1198,0.00,1.75,0.00,0.000,6,0.000,0.041,2798,2668,3564,0,0,0,0,0,0
$GC,1326,-0.76,-146.0,185.4,-15.1,178,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2667,3564,0,0,0,0,0,0
$GC,1452,-0.76,-146.0,204.5,-15.2,190,1456,0.00,1.80,0.00,0.000,4,0.000,0.058,2790,3773,3564,0,0,0,0,0,0
$GC,1479,-0.76,-146.0,209.2,-16.1,192,1487,0.00,1.75,0.00,0.000,6,0.000,0.040,2790,2673,3564,0,0,0,0,0,0
$GC,1615,-0.76,-146.0,229.8,-15.5,205,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2671,3563,0,0,0,0,0,0
$GC,1741,-0.76,-146.0,249.2,-15.5,217,1748,0.00,1.77,0.00,0.000,4,0.000,0.060,2782,3767,3564,0,0,0,0,0,0
$GC,1778,-0.76,-146.0,255.0,-16.2,220,1782,0.12,1.70,0.00,0.000,6,0.156,0.040,2816,2672,3564,0,0,0,0,0,0
$GC,1983,-0.76,-146.0,282.5,-13.5,239,1984,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2670,3563,0,0,0,0,0,0
$GC,2171,-0.76,-146.0,309.2,-14.4,257,2172,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2670,3564,0,0,0,0,0,0
$GC,2363,-0.76,-146.0,335.9,-13.7,275,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2670,3564,0,0,0,0,0,0
$GC,2555,-0.76,-146.0,361.7,-13.0,293,2559,0.00,1.80,0.00,0.000,4,0.000,0.060,2809,3772,3563,0,0,0,0,0,0
$STATE,2610,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2610,begin apogee
$GC,2617,-0.27,0.0,369.8,14.2,298,2757,0.50,0.00,130.65,1.028,4,0.120,0.000,2971,2497,2960,0,0,0,0,0,0
$STATE,2758,end apogee,CONTROL_FINISHED_OK
$STATE,2758,begin climb
$GC,2760,0.76,146.0,377.1,0.0,310,2921,1.10,2.55,148.55,0.949,4,0.081,0.048,3306,1099,2363,0,0,0,0,0,0
$GC,3017,0.76,146.0,357.0,10.9,332,3024,0.00,2.58,0.00,0.000,6,0.000,0.049,3306,2501,2353,0,0,0,0,0,0
$GC,3216,0.76,146.0,335.2,10.7,351,3220,0.00,2.38,0.00,0.000,4,0.000,0.047,3315,1094,2349,0,0,0,0,0,0
$GC,3370,0.76,146.0,318.8,10.9,364,3374,0.00,2.33,0.00,0.000,6,0.000,0.050,3315,2513,2346,0,0,0,0,0,0
$GC,3568,0.76,146.0,295.7,11.3,382,3572,0.00,2.00,0.00,0.000,4,0.000,0.057,3315,3762,2345,0,0,0,0,0,0
$GC,3651,0.76,146.0,284.3,13.5,389,3658,0.00,1.92,0.00,0.000,6,0.000,0.039,3325,2519,2345,0,0,0,0,0,0
$GC,3850,0.76,146.0,260.0,12.0,408,3853,0.00,2.03,0.00,0.000,4,0.000,0.057,3325,3770,2344,0,0,0,0,0,0
$GC,3897,0.76,146.0,253.8,13.7,412,3900,0.00,1.92,0.00,0.000,6,0.000,0.039,3334,2532,2343,0,0,0,0,0,0
$GC,4101,0.76,146.0,227.8,12.6,431,4105,0.00,2.00,0.00,0.000,4,0.000,0.056,3334,3768,2343,0,0,0,0,0,0
$GC,4150,0.76,146.0,220.4,14.7,435,4160,0.00,1.95,0.00,0.000,6,0.000,0.038,3344,2541,2343,0,0,0,0,0,0
$GC,4287,0.76,146.0,203.1,12.6,448,4292,0.12,2.00,0.00,0.000,4,0.160,0.056,3310,3773,2342,0,0,0,0,0,0
$GC,4318,0.76,146.0,198.5,12.2,450,4327,0.00,1.98,0.00,0.000,6,0.000,0.040,3316,2533,2342,0,0,0,0,0,0
$GC,4457,0.76,146.0,183.8,10.9,463,4465,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2532,2342,0,0,0,0,0,0
$GC,4592,0.76,146.0,169.1,10.7,476,4596,0.00,2.00,0.00,0.000,4,0.000,0.056,3316,3769,2342,0,0,0,0,0,0
$GC,4650,0.76,146.0,162.0,12.8,481,4654,0.00,1.90,0.00,0.000,6,0.000,0.038,3325,2546,2341,0,0,0,0,0,0
$GC,4791,0.76,146.0,145.9,10.9,494,4793,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2545,2341,0,0,0,0,0,0
$GC,4918,0.76,146.0,131.7,11.3,506,4921,0.00,1.98,0.00,0.000,4,0.000,0.057,3325,3761,2341,0,0,0,0,0,0
$GC,4975,0.76,146.0,124.2,13.2,511,4979,0.00,1.88,0.00,0.000,6,0.000,0.038,3335,2555,2341,0,0,0,0,0,0
$GC,5117,0.76,146.0,106.8,12.2,524,5121,0.00,1.98,0.00,0.000,4,0.000,0.057,3334,3768,2341,0,0,0,0,0,0
$GC,5144,0.76,146.0,102.9,14.1,526,5152,0.10,1.90,0.00,0.000,6,0.131,0.038,3311,2569,2341,0,0,0,0,0,0
$GC,5281,0.76,146.0,88.0,11.4,549,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2569,2340,0,0,0,0,0,0
$GC,5420,0.76,146.0,72.7,11.3,574,5428,0.00,1.98,0.00,0.000,4,0.000,0.057,3311,3756,2340,0,0,0,0,0,0
$GC,5467,0.76,146.0,67.0,11.9,582,5475,0.00,1.88,0.00,0.000,6,0.000,0.039,3318,2576,2340,0,0,0,0,0,0
$GC,5606,0.76,146.0,51.5,11.3,607,5614,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2575,2340,0,0,0,0,0,0
$GC,5744,0.76,146.0,35.6,11.3,632,5752,0.00,1.98,0.00,0.000,4,0.000,0.057,3318,3760,2340,0,0,0,0,0,0
$GC,5793,0.76,146.0,29.6,12.9,640,5801,0.00,1.88,0.00,0.000,6,0.000,0.038,3327,2579,2339,0,0,0,0,0,0
$GC,5935,0.76,146.0,12.6,12.1,665,5942,0.00,1.95,0.00,0.000,4,0.000,0.056,3327,3772,2339,0,0,0,0,0,0
$FREEZE,8.99,-0.059,-1.896,2,1,0
$FREEZE,8.09,-0.055,-1.895,2,1,0
$FREEZE,7.27,-0.053,-1.895,2,1,0
$FREEZE,6.33,-0.053,-1.894,2,1,0
$FREEZE,5.56,-0.053,-1.893,2,1,0
$GC,5985,0.76,146.0,5.6,15.0,673,5991,0.00,1.85,0.00,0.000,6,0.000,0.040,3336,2590,2339,0,0,0,0,0,0
$FREEZE,3.23,-0.051,-1.892,2,1,0
$FREEZE,2.46,-0.050,-1.891,2,1,0
$STATE,6004,end climb,SURFACE_DEPTH_REACHED
$STATE,6004,begin surface coast
$FREEZE,1.62,-0.049,-1.890,2,1,0
$FREEZE,1.19,-0.069,-1.891,2,1,0
$FREEZE,1.23,-0.149,-1.882,2,1,0
$FREEZE,1.19,-0.185,-1.233,2,1,0
$FINISH,1.2,1.018197
$STATE,6029,end surface coast,CONTROL_FINISHED_OK
$STATE,6029,begin surface
$SM_CCo,6047,73.30,0.100,0,0,1736,300.24
$SM_GC,2.14,0.00,0.00,73.30,0.000,0.000,0.100,414,2676,1736,-8.28,0.74,300.24
$IRIDIUM_FIX,-7545.40,17714.68,070111,080815
$TT8_MAMPS,0.028462
$HUMID,54.25
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,17.5
$ALTIM_BOTTOM_PING,350.5,34.0
$24V_AH,20.3,79.233
$10V_AH,9.7,54.611
$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,18.500,75.125,279.200,73.300,0.000,28.033,48.361,321.979,1.500,0.000,16.433,1706.557,2131.404,520.472,2046.041,277.453,0.000,1235.127,0.000,1129.907,0.000,10.563,0.000
$DEVICE_MAMPS,190.485,93.330,1028.160,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,476.479,886.454,964.989,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47120,680
$CAP_FILE_SIZE,97267,0
$CFSIZE,260165632,222953472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.181,124.6,1
$GPS,070111,121706,-7628.921,17715.869,40,0.8,40,121.9