version: 66.08
glider: 502
mission: 3
dive: 551
start: 1 7 111 21 52 53
data:
$ID,502
$MISSION,3
$DIVE,551
$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,-30834.426
$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
$GPS1,070111,213900,-7628.294,17707.598,36,0.9,41,122.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-64.9
$GPS2,070111,215226,-7628.236,17707.729,17,1.3,17,122.0
$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,129.6,184953,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,165,0.00,0.00,-146.90,0.000,2,0.000,0.000,404,2663,3370,0,0,0,0,0,0
$GC,170,-0.76,-146.0,3.3,-1.8,21,193,8.95,2.30,-4.88,0.000,4,0.194,0.059,2806,1238,3562,0,0,0,0,0,0
$GC,299,-0.76,-146.0,26.7,-14.5,43,307,0.00,2.30,0.00,0.000,6,0.000,0.054,2798,2642,3565,0,0,0,0,0,0
$GC,438,-0.76,-146.0,50.0,-17.3,68,446,0.00,1.85,0.00,0.000,4,0.000,0.058,2790,3764,3565,0,0,0,0,0,0
$GC,482,-0.76,-146.0,57.8,-17.9,75,490,0.00,1.77,0.00,0.000,6,0.000,0.040,2790,2650,3564,0,0,0,0,0,0
$GC,621,-0.76,-146.0,81.8,-17.1,100,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2649,3565,0,0,0,0,0,0
$GC,759,-0.76,-146.0,105.5,-16.9,122,762,0.00,1.83,0.00,0.000,4,0.000,0.059,2781,3766,3566,0,0,0,0,0,0
$GC,806,-0.76,-146.0,114.1,-18.1,126,810,0.12,1.73,0.00,0.000,6,0.156,0.039,2814,2652,3565,0,0,0,0,0,0
$GC,947,-0.76,-146.0,136.2,-15.3,139,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2652,3566,0,0,0,0,0,0
$GC,1075,-0.76,-146.0,155.7,-15.0,151,1078,0.00,1.83,0.00,0.000,4,0.000,0.058,2807,3768,3565,0,0,0,0,0,0
$GC,1113,-0.76,-146.0,162.1,-16.3,154,1121,0.00,1.75,0.00,0.000,6,0.000,0.041,2807,2673,3565,0,0,0,0,0,0
$GC,1248,-0.76,-146.0,183.1,-15.3,167,1252,0.00,1.80,0.00,0.000,4,0.000,0.058,2798,3771,3566,0,0,0,0,0,0
$GC,1284,-0.76,-146.0,188.9,-16.6,170,1288,0.00,1.70,0.00,0.000,6,0.000,0.040,2798,2677,3565,0,0,0,0,0,0
$GC,1428,-0.76,-146.0,212.0,-16.5,183,1436,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2675,3565,0,0,0,0,0,0
$GC,1563,-0.76,-146.0,233.9,-15.8,196,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2674,3565,0,0,0,0,0,0
$GC,1689,-0.76,-146.0,253.7,-15.3,208,1693,0.00,1.77,0.00,0.000,4,0.000,0.059,2790,3761,3565,0,0,0,0,0,0
$GC,1739,-0.76,-146.0,262.3,-16.3,212,1746,0.00,1.73,0.00,0.000,6,0.000,0.040,2790,2681,3565,0,0,0,0,0,0
$GC,1937,-0.76,-146.0,294.0,-16.4,231,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2680,3565,0,0,0,0,0,0
$GC,2128,-0.76,-146.0,324.6,-15.9,249,2132,0.00,1.77,0.00,0.000,4,0.000,0.060,2782,3762,3565,0,0,0,0,0,0
$GC,2175,-0.76,-146.0,332.3,-16.6,253,2179,0.12,1.67,0.00,0.000,6,0.156,0.040,2815,2680,3565,0,0,0,0,0,0
$GC,2379,-0.76,-146.0,361.1,-13.6,272,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2678,3565,0,0,0,0,0,0
$STATE,2481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2481,begin apogee
$GC,2487,-0.27,0.0,375.6,13.8,282,2626,0.47,0.00,130.85,1.031,4,0.122,0.000,2970,2494,2961,0,0,0,0,0,0
$STATE,2626,end apogee,CONTROL_FINISHED_OK
$STATE,2627,begin climb
$GC,2629,0.76,146.0,382.8,0.0,294,2789,1.10,2.55,148.93,0.951,4,0.080,0.047,3307,1100,2363,0,0,0,0,0,0
$GC,2897,0.76,146.0,361.4,10.8,317,2904,0.00,2.55,0.00,0.000,6,0.000,0.049,3307,2498,2353,0,0,0,0,0,0
$GC,3096,0.76,146.0,339.6,11.1,336,3100,0.00,2.38,0.00,0.000,4,0.000,0.048,3315,1098,2349,0,0,0,0,0,0
$GC,3259,0.76,146.0,320.9,11.3,350,3264,0.00,2.35,0.00,0.000,6,0.000,0.051,3315,2523,2347,0,0,0,0,0,0
$GC,3458,0.76,146.0,297.3,11.6,368,3462,0.00,2.00,0.00,0.000,4,0.000,0.056,3315,3774,2346,0,0,0,0,0,0
$GC,3541,0.76,146.0,285.7,14.3,375,3549,0.00,1.98,0.00,0.000,6,0.000,0.039,3324,2529,2345,0,0,0,0,0,0
$GC,3741,0.76,146.0,261.3,12.6,394,3745,0.00,2.00,0.00,0.000,4,0.000,0.057,3324,3766,2345,0,0,0,0,0,0
$GC,3798,0.76,146.0,252.9,14.4,399,3802,0.00,1.92,0.00,0.000,6,0.000,0.038,3334,2527,2344,0,0,0,0,0,0
$GC,4004,0.76,146.0,226.6,12.7,418,4007,0.00,2.03,0.00,0.000,4,0.000,0.057,3334,3771,2343,0,0,0,0,0,0
$GC,4042,0.76,146.0,220.7,14.6,421,4052,0.08,1.95,0.00,0.000,6,0.142,0.038,3318,2545,2343,0,0,0,0,0,0
$GC,4178,0.76,146.0,204.8,11.2,434,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2544,2343,0,0,0,0,0,0
$GC,4306,0.76,146.0,190.6,11.0,446,4309,0.00,2.00,0.00,0.000,4,0.000,0.057,3318,3775,2342,0,0,0,0,0,0
$GC,4352,0.76,146.0,184.7,13.2,450,4356,0.00,1.92,0.00,0.000,6,0.000,0.038,3326,2541,2343,0,0,0,0,0,0
$GC,4493,0.76,146.0,167.7,11.8,463,4495,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2537,2342,0,0,0,0,0,0
$GC,4621,0.76,146.0,152.8,11.8,475,4625,0.00,2.00,0.00,0.000,4,0.000,0.057,3326,3767,2342,0,0,0,0,0,0
$GC,4701,0.76,146.0,141.7,14.0,482,4704,0.00,1.88,0.00,0.000,6,0.000,0.037,3335,2554,2342,0,0,0,0,0,0
$GC,4842,0.76,146.0,123.0,13.2,495,4843,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2552,2342,0,0,0,0,0,0
$GC,4969,0.76,146.0,106.5,12.9,507,4973,0.00,1.98,0.00,0.000,4,0.000,0.056,3335,3769,2342,0,0,0,0,0,0
$GC,5027,0.76,146.0,97.9,15.1,513,5035,0.10,1.92,0.00,0.000,6,0.132,0.039,3312,2561,2341,0,0,0,0,0,0
$GC,5167,0.76,146.0,81.1,11.3,538,5175,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2560,2341,0,0,0,0,0,0
$GC,5309,0.76,146.0,65.1,11.9,563,5316,0.00,1.98,0.00,0.000,4,0.000,0.057,3312,3765,2340,0,0,0,0,0,0
$GC,5361,0.76,146.0,58.3,13.4,572,5369,0.00,1.90,0.00,0.000,6,0.000,0.038,3319,2567,2341,0,0,0,0,0,0
$GC,5503,0.76,146.0,41.8,11.7,597,5510,0.00,1.98,0.00,0.000,4,0.000,0.057,3319,3771,2340,0,0,0,0,0,0
$GC,5561,0.76,146.0,33.7,14.3,607,5569,0.00,1.88,0.00,0.000,6,0.000,0.039,3328,2595,2340,0,0,0,0,0,0
$GC,5702,0.76,146.0,16.8,11.5,632,5710,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2594,2340,0,0,0,0,0,0
$FREEZE,8.29,-0.090,-1.896,2,1,0
$FREEZE,7.52,-0.093,-1.895,2,1,0
$FREEZE,6.91,-0.093,-1.894,2,1,0
$FREEZE,6.18,-0.089,-1.894,2,1,0
$FREEZE,5.63,-0.088,-1.893,2,1,0
$FREEZE,4.81,-0.093,-1.893,2,1,0
$FREEZE,4.06,-0.094,-1.892,2,1,0
$FREEZE,3.23,-0.092,-1.891,2,1,0
$FREEZE,2.61,-0.089,-1.890,2,1,0
$STATE,5812,end climb,SURFACE_DEPTH_REACHED
$STATE,5814,begin surface coast
$FREEZE,1.33,-0.087,-1.889,2,1,0
$FREEZE,0.97,-0.093,-1.168,2,1,0
$FREEZE,1.36,-0.079,-1.889,2,1,0
$FREEZE,1.16,-0.087,-1.179,2,1,0
$FINISH,1.2,1.017415
$STATE,5839,end surface coast,CONTROL_FINISHED_OK
$STATE,5839,begin surface
$SM_CCo,5856,77.15,0.730,1,0,1737,300.24
$SM_GC,1.99,0.00,0.00,77.15,0.000,0.000,0.730,410,2677,1737,-8.30,0.76,300.24
$IRIDIUM_FIX,-7545.40,17714.23,070111,212124
$TT8_MAMPS,0.028462
$HUMID,54.84
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,18.4
$ALTIM_BOTTOM_PING,350.9,46.9
$24V_AH,20.3,79.866
$10V_AH,9.6,55.136
$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,18.575,67.300,279.775,77.150,0.000,59.112,74.068,432.949,2.250,0.000,18.143,1650.385,2133.304,508.370,2173.221,286.874,0.000,1192.689,0.000,1100.331,0.000,13.555,0.000
$DEVICE_MAMPS,193.545,97.155,1031.220,729.810,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,459.032,849.799,923.003,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258120
$DATA_FILE_SIZE,47174,655
$CAP_FILE_SIZE,99250,0
$CFSIZE,260165632,222638080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.063,333.3,1
$GPS,070111,233244,-7628.277,17704.270,13,1.3,13,122.1