version: 66.08
glider: 502
mission: 3
dive: 547
start: 1 7 111 14 17 46
data:
$ID,502
$MISSION,3
$DIVE,547
$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,-30829.389
$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,24
$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
$GPS1,070111,140858,-7628.835,17714.793,15,2.5,34,121.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-62.1
$GPS2,070111,141720,-7628.829,17714.992,16,1.7,16,121.9
$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,158.7,188077,-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,16,-0.76,-146.0,0.0,0.0,0,168,0.00,0.00,-148.48,0.000,2,0.000,0.000,399,2640,3409,0,0,0,0,0,0
$GC,173,-0.76,-146.0,3.4,-1.9,21,196,8.93,2.28,-3.70,0.000,4,0.191,0.061,2809,1251,3562,0,0,0,0,0,0
$GC,359,-0.76,-146.0,36.0,-14.8,54,367,0.00,2.33,0.00,0.000,6,0.000,0.054,2800,2649,3566,0,0,0,0,0,0
$GC,500,-0.76,-146.0,58.2,-16.9,79,508,0.00,1.83,0.00,0.000,4,0.000,0.058,2793,3761,3565,0,0,0,0,0,0
$GC,538,-0.76,-146.0,64.8,-17.3,85,545,0.00,1.75,0.00,0.000,6,0.000,0.040,2792,2658,3565,0,0,0,0,0,0
$GC,678,-0.76,-146.0,87.7,-16.3,110,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2656,3565,0,0,0,0,0,0
$GC,817,-0.76,-146.0,110.8,-17.2,129,820,0.00,1.80,0.00,0.000,4,0.000,0.059,2784,3763,3565,0,0,0,0,0,0
$GC,855,-0.76,-146.0,118.1,-18.1,132,864,0.08,1.77,0.00,0.000,6,0.138,0.039,2810,2644,3566,0,0,0,0,0,0
$GC,992,-0.76,-146.0,138.4,-14.9,145,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2643,3566,0,0,0,0,0,0
$GC,1128,-0.76,-146.0,159.0,-14.8,158,1131,0.00,1.83,0.00,0.000,4,0.000,0.058,2801,3763,3565,0,0,0,0,0,0
$GC,1163,-0.76,-146.0,164.5,-15.5,161,1167,0.00,1.70,0.00,0.000,6,0.000,0.039,2802,2666,3566,0,0,0,0,0,0
$GC,1304,-0.76,-146.0,185.5,-15.1,174,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2664,3566,0,0,0,0,0,0
$GC,1430,-0.76,-146.0,204.6,-14.9,186,1434,0.00,1.80,0.00,0.000,4,0.000,0.058,2793,3766,3566,0,0,0,0,0,0
$GC,1457,-0.76,-146.0,209.3,-15.7,188,1465,0.00,1.75,0.00,0.000,6,0.000,0.040,2793,2670,3566,0,0,0,0,0,0
$GC,1594,-0.76,-146.0,229.7,-14.9,201,1595,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2670,3565,0,0,0,0,0,0
$GC,1720,-0.76,-146.0,248.9,-14.8,213,1727,0.00,1.80,0.00,0.000,4,0.000,0.059,2785,3770,3566,0,0,0,0,0,0
$GC,1749,-0.76,-146.0,254.0,-15.9,215,1757,0.12,1.75,0.00,0.000,6,0.155,0.040,2818,2674,3566,0,0,0,0,0,0
$GC,1947,-0.76,-146.0,280.4,-13.2,234,1951,0.00,1.83,0.00,0.000,4,0.000,0.059,2811,3762,3566,0,0,0,0,0,0
$GC,1981,-0.76,-146.0,285.3,-14.5,237,1985,0.00,1.73,0.00,0.000,6,0.000,0.040,2811,2679,3566,0,0,0,0,0,0
$GC,2185,-0.76,-146.0,313.6,-13.7,256,2186,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2677,3566,0,0,0,0,0,0
$GC,2377,-0.76,-146.0,340.0,-13.9,274,2378,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2677,3566,0,0,0,0,0,0
$GC,2567,-0.76,-146.0,366.0,-13.5,292,2571,0.00,1.77,0.00,0.000,4,0.000,0.060,2803,3762,3566,0,0,0,0,0,0
$STATE,2615,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2615,begin apogee
$GC,2623,-0.27,0.0,373.6,14.9,296,2759,0.52,0.00,130.00,1.034,4,0.125,0.000,2971,2487,2961,0,0,0,0,0,0
$STATE,2760,end apogee,CONTROL_FINISHED_OK
$STATE,2760,begin climb
$GC,2762,0.76,146.0,381.0,0.0,308,2921,1.10,2.53,149.10,0.953,4,0.081,0.048,3306,1098,2364,0,0,0,0,0,0
$GC,3017,0.76,146.0,360.2,11.4,330,3024,0.00,2.58,0.00,0.000,6,0.000,0.049,3305,2498,2354,0,0,0,0,0,0
$GC,3215,0.76,146.0,337.2,11.5,349,3219,0.00,2.40,0.00,0.000,4,0.000,0.047,3315,1087,2350,0,0,0,0,0,0
$GC,3369,0.76,146.0,319.4,11.2,362,3373,0.00,2.38,0.00,0.000,6,0.000,0.051,3315,2525,2348,0,0,0,0,0,0
$GC,3568,0.76,146.0,294.9,12.4,380,3572,0.00,2.03,0.00,0.000,4,0.000,0.056,3315,3761,2347,0,0,0,0,0,0
$GC,3639,0.76,146.0,284.3,14.4,386,3647,0.00,1.95,0.00,0.000,6,0.000,0.039,3324,2527,2346,0,0,0,0,0,0
$GC,3840,0.76,146.0,258.7,12.9,405,3844,0.00,2.00,0.00,0.000,4,0.000,0.057,3325,3765,2345,0,0,0,0,0,0
$GC,3896,0.76,146.0,250.2,14.9,410,3900,0.00,1.92,0.00,0.000,6,0.000,0.038,3334,2524,2345,0,0,0,0,0,0
$GC,4102,0.76,146.0,222.5,13.4,429,4105,0.00,2.03,0.00,0.000,4,0.000,0.057,3334,3771,2344,0,0,0,0,0,0
$GC,4151,0.76,146.0,214.7,15.6,433,4159,0.08,1.95,0.00,0.000,6,0.142,0.038,3318,2550,2344,0,0,0,0,0,0
$GC,4286,0.76,146.0,197.8,11.8,446,4287,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2549,2344,0,0,0,0,0,0
$GC,4413,0.76,146.0,182.5,11.9,458,4416,0.00,1.98,0.00,0.000,4,0.000,0.057,3318,3767,2344,0,0,0,0,0,0
$GC,4471,0.76,146.0,174.6,14.4,463,4475,0.00,1.90,0.00,0.000,6,0.000,0.037,3326,2543,2343,0,0,0,0,0,0
$GC,4612,0.76,146.0,156.2,12.1,476,4614,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2540,2343,0,0,0,0,0,0
$GC,4739,0.76,146.0,140.3,12.3,488,4743,0.00,2.00,0.00,0.000,4,0.000,0.057,3326,3771,2343,0,0,0,0,0,0
$GC,4775,0.76,146.0,135.4,14.1,491,4778,0.00,1.90,0.00,0.000,6,0.000,0.039,3335,2550,2343,0,0,0,0,0,0
$GC,4916,0.76,146.0,117.2,12.8,504,4920,0.00,1.98,0.00,0.000,4,0.000,0.057,3335,3765,2343,0,0,0,0,0,0
$GC,4952,0.76,146.0,112.1,14.5,507,4956,0.12,1.88,0.00,0.000,6,0.162,0.038,3312,2555,2342,0,0,0,0,0,0
$GC,5088,0.76,146.0,96.0,11.5,522,5095,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2553,2342,0,0,0,0,0,0
$GC,5229,0.76,146.0,80.3,10.8,547,5236,0.00,1.98,0.00,0.000,4,0.000,0.057,3311,3763,2342,0,0,0,0,0,0
$GC,5282,0.76,146.0,73.9,12.3,556,5290,0.00,1.90,0.00,0.000,6,0.000,0.039,3319,2565,2342,0,0,0,0,0,0
$GC,5423,0.76,146.0,57.8,11.4,581,5429,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2564,2342,0,0,0,0,0,0
$GC,5560,0.76,146.0,42.2,11.4,606,5569,0.00,2.00,0.00,0.000,4,0.000,0.057,3319,3762,2342,0,0,0,0,0,0
$GC,5608,0.76,146.0,36.2,13.5,614,5616,0.00,1.88,0.00,0.000,6,0.000,0.039,3328,2582,2341,0,0,0,0,0,0
$GC,5749,0.76,146.0,19.4,12.8,639,5756,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2581,2341,0,0,0,0,0,0
$FREEZE,8.36,0.062,-1.893,2,1,0
$FREEZE,7.64,0.062,-1.893,2,1,0
$FREEZE,6.70,0.063,-1.892,2,1,0
$FREEZE,6.00,0.063,-1.892,2,1,0
$FREEZE,5.32,0.065,-1.891,2,1,0
$FREEZE,4.73,0.063,-1.891,2,1,0
$FREEZE,4.09,0.063,-1.890,2,1,0
$FREEZE,3.45,0.064,-1.890,2,1,0
$FREEZE,2.69,0.064,-1.889,2,1,0
$STATE,5880,end climb,SURFACE_DEPTH_REACHED
$STATE,5880,begin surface coast
$FREEZE,1.85,0.065,-1.888,2,1,0
$FREEZE,1.20,0.065,-1.888,2,1,0
$FREEZE,1.07,0.012,-0.962,2,1,0
$FREEZE,1.23,-0.027,-1.131,2,1,0
$FINISH,1.2,1.016711
$STATE,5905,end surface coast,CONTROL_FINISHED_OK
$STATE,5905,begin surface
$SM_CCo,5922,73.00,0.098,0,0,1736,300.24
$SM_GC,2.04,0.00,0.00,73.00,0.000,0.000,0.098,411,2666,1736,-8.29,0.45,300.24
$IRIDIUM_FIX,-7545.40,17723.85,070111,121231
$TT8_MAMPS,0.027713
$HUMID,54.44
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.4,17.8
$ALTIM_BOTTOM_PING,350.2,37.7
$24V_AH,20.3,79.432
$10V_AH,9.5,54.783
$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,18.450,71.000,279.100,73.000,0.000,29.381,36.329,279.187,2.000,0.000,17.123,1673.063,2092.873,502.038,1958.537,277.068,0.000,1199.847,0.000,1109.798,0.000,10.576,0.000
$DEVICE_MAMPS,191.250,94.095,1034.280,97.920,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,466.821,864.999,935.066,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258148
$DATA_FILE_SIZE,47194,666
$CAP_FILE_SIZE,94696,0
$CFSIZE,260165632,222851072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.140, 91.6,1
$GPS,070111,155832,-7628.717,17713.742,11,1.6,11,121.9