version: 66.08
glider: 502
mission: 3
dive: 552
start: 1 7 111 23 42 40
data:
$ID,502
$MISSION,3
$DIVE,552
$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,-30835.684
$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,36
$R_STBD_OVSHOOT,34
$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
$GPS1,070111,233244,-7628.277,17704.270,13,1.3,13,122.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-71.2
$GPS2,070111,234214,-7628.247,17704.295,12,1.6,12,122.1
$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,134.2,183469,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.76,-146.0,0.0,0.0,0,104,0.00,0.00,-82.88,0.000,2,0.000,0.000,406,2678,3264,0,0,0,0,0,0
$GC,107,-0.76,-146.0,3.0,-0.7,12,131,8.82,2.38,-8.70,0.000,4,0.193,0.060,2803,1241,3559,0,0,0,0,0,0
$GC,251,-0.76,-146.0,26.8,-16.1,37,259,0.00,2.30,0.00,0.000,6,0.000,0.054,2795,2645,3562,0,0,0,0,0,0
$GC,390,-0.76,-146.0,51.0,-16.5,62,398,0.00,1.83,0.00,0.000,4,0.000,0.058,2786,3757,3562,0,0,0,0,0,0
$GC,448,-0.76,-146.0,61.6,-18.6,72,458,0.08,1.75,0.00,0.000,6,0.139,0.039,2812,2656,3562,0,0,0,0,0,0
$GC,591,-0.76,-146.0,83.1,-15.2,97,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2655,3562,0,0,0,0,0,0
$GC,735,-0.76,-146.0,105.0,-15.4,120,739,0.00,1.83,0.00,0.000,4,0.000,0.060,2804,3771,3563,0,0,0,0,0,0
$GC,760,-0.76,-146.0,109.0,-15.3,122,764,0.00,1.73,0.00,0.000,6,0.000,0.040,2804,2663,3563,0,0,0,0,0,0
$GC,902,-0.76,-146.0,131.2,-15.8,135,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2661,3563,0,0,0,0,0,0
$GC,1029,-0.76,-146.0,151.0,-15.5,147,1032,0.00,1.80,0.00,0.000,4,0.000,0.059,2796,3763,3563,0,0,0,0,0,0
$GC,1087,-0.76,-146.0,160.6,-16.8,152,1091,0.00,1.73,0.00,0.000,6,0.000,0.039,2796,2650,3563,0,0,0,0,0,0
$GC,1230,-0.76,-146.0,183.2,-15.6,165,1233,0.00,1.83,0.00,0.000,4,0.000,0.059,2787,3765,3563,0,0,0,0,0,0
$GC,1265,-0.76,-146.0,189.5,-17.2,168,1270,0.12,1.70,0.00,0.000,6,0.158,0.040,2820,2670,3563,0,0,0,0,0,0
$GC,1408,-0.76,-146.0,209.7,-14.2,181,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2667,3563,0,0,0,0,0,0
$GC,1546,-0.76,-146.0,229.0,-14.2,194,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2667,3563,0,0,0,0,0,0
$GC,1681,-0.76,-146.0,248.5,-14.0,207,1685,0.00,1.80,0.00,0.000,4,0.000,0.058,2814,3768,3563,0,0,0,0,0,0
$GC,1732,-0.76,-146.0,256.2,-13.8,211,1738,0.00,1.73,0.00,0.000,6,0.000,0.041,2814,2674,3564,0,0,0,0,0,0
$GC,1932,-0.76,-146.0,284.0,-14.0,230,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2674,3563,0,0,0,0,0,0
$GC,2121,-0.76,-146.0,310.9,-14.2,248,2124,0.00,1.80,0.00,0.000,4,0.000,0.060,2805,3773,3563,0,0,0,0,0,0
$GC,2182,-0.76,-146.0,320.4,-14.8,253,2189,0.00,1.75,0.00,0.000,6,0.000,0.041,2805,2677,3563,0,0,0,0,0,0
$GC,2380,-0.76,-146.0,348.9,-14.8,272,2381,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2677,3563,0,0,0,0,0,0
$STATE,2558,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2558,begin apogee
$GC,2565,-0.27,0.0,375.2,14.7,289,2702,0.52,0.00,130.65,1.037,4,0.124,0.000,2973,2494,2961,0,0,0,0,0,0
$STATE,2702,end apogee,CONTROL_FINISHED_OK
$STATE,2702,begin climb
$GC,2705,0.76,146.0,382.6,0.0,301,2864,1.10,2.55,148.38,0.952,4,0.079,0.048,3311,1099,2364,0,0,0,0,0,0
$GC,2980,0.76,146.0,360.7,10.9,325,2984,0.00,2.55,0.00,0.000,6,0.000,0.049,3311,2501,2354,0,0,0,0,0,0
$GC,3178,0.76,146.0,337.9,11.4,343,3182,0.00,2.38,0.00,0.000,4,0.000,0.049,3315,1099,2351,0,0,0,0,0,0
$GC,3324,0.76,146.0,322.0,10.4,355,3331,0.00,2.38,0.00,0.000,6,0.000,0.051,3315,2521,2349,0,0,0,0,0,0
$GC,3522,0.76,146.0,299.1,11.3,374,3526,0.00,2.00,0.00,0.000,4,0.000,0.056,3315,3773,2348,0,0,0,0,0,0
$GC,3625,0.76,146.0,285.0,14.4,383,3629,0.00,1.92,0.00,0.000,6,0.000,0.039,3324,2536,2346,0,0,0,0,0,0
$GC,3829,0.76,146.0,258.5,12.6,402,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2533,2346,0,0,0,0,0,0
$GC,4021,0.76,146.0,234.7,12.2,420,4024,0.00,2.00,0.00,0.000,4,0.000,0.056,3324,3767,2345,0,0,0,0,0,0
$GC,4105,0.76,146.0,222.7,14.6,427,4113,0.00,1.95,0.00,0.000,6,0.000,0.039,3334,2545,2345,0,0,0,0,0,0
$GC,4242,0.76,146.0,205.6,12.4,440,4245,0.00,1.98,0.00,0.000,4,0.000,0.057,3334,3763,2344,0,0,0,0,0,0
$GC,4279,0.76,146.0,200.4,14.3,443,4283,0.12,1.90,0.00,0.000,6,0.161,0.038,3310,2543,2345,0,0,0,0,0,0
$GC,4422,0.76,146.0,184.1,11.1,456,4429,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2541,2344,0,0,0,0,0,0
$GC,4557,0.76,146.0,168.4,11.8,469,4561,0.00,2.00,0.00,0.000,4,0.000,0.057,3310,3770,2344,0,0,0,0,0,0
$GC,4594,0.76,146.0,163.8,13.1,472,4597,0.00,1.90,0.00,0.000,6,0.000,0.039,3318,2547,2343,0,0,0,0,0,0
$GC,4735,0.76,146.0,146.9,11.3,485,4739,0.00,2.00,0.00,0.000,4,0.000,0.057,3318,3775,2343,0,0,0,0,0,0
$GC,4793,0.76,146.0,139.5,13.2,490,4797,0.00,1.88,0.00,0.000,6,0.000,0.038,3328,2565,2344,0,0,0,0,0,0
$GC,4934,0.76,146.0,122.3,11.7,503,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2563,2343,0,0,0,0,0,0
$GC,5062,0.76,146.0,107.2,12.0,515,5066,0.00,1.95,0.00,0.000,4,0.000,0.057,3327,3764,2343,0,0,0,0,0,0
$GC,5111,0.76,146.0,100.1,14.0,519,5120,0.00,1.88,0.00,0.000,6,0.000,0.037,3336,2577,2343,0,0,0,0,0,0
$GC,5252,0.76,146.0,82.7,12.5,544,5259,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2576,2342,0,0,0,0,0,0
$GC,5391,0.76,146.0,65.8,12.0,569,5398,0.00,1.95,0.00,0.000,4,0.000,0.057,3337,3770,2343,0,0,0,0,0,0
$GC,5439,0.76,146.0,59.5,13.9,577,5447,0.12,1.88,0.00,0.000,6,0.161,0.039,3312,2565,2342,0,0,0,0,0,0
$GC,5581,0.76,146.9,44.8,10.0,602,5589,0.00,2.00,0.00,0.000,4,0.000,0.057,3312,3765,2342,0,0,0,0,0,0
$GC,5619,0.76,146.9,40.1,11.2,608,5627,0.00,1.88,0.00,0.000,6,0.000,0.038,3320,2584,2342,0,0,0,0,0,0
$GC,5760,0.76,146.9,25.1,10.0,633,5768,0.00,1.92,0.00,0.000,4,0.000,0.057,3320,3763,2342,0,0,0,0,0,0
$GC,5824,0.76,146.9,16.1,14.4,644,5833,0.00,1.83,0.00,0.000,6,0.000,0.038,3329,2611,2342,0,0,0,0,0,0
$FREEZE,8.46,-0.073,-1.895,2,2,0
$FREEZE,7.70,-0.070,-1.895,2,2,0
$FREEZE,7.03,-0.064,-1.894,2,2,0
$FREEZE,6.28,-0.050,-1.893,2,2,0
$FREEZE,5.63,-0.049,-1.893,2,2,0
$FREEZE,4.74,-0.039,-1.892,2,2,0
$FREEZE,4.15,-0.039,-1.892,2,2,0
$FREEZE,3.38,-0.048,-1.891,2,2,0
$FREEZE,2.69,-0.042,-1.891,2,2,0
$STATE,5933,end climb,SURFACE_DEPTH_REACHED
$STATE,5933,begin surface coast
$FREEZE,1.69,-0.005,-1.889,2,2,0
$FREEZE,1.17,-0.031,-1.891,2,2,0
$FREEZE,1.17,-0.021,-0.915,2,2,0
$FREEZE,1.25,-0.079,-1.892,2,2,0
$FINISH,1.2,1.027669
$STATE,5958,end surface coast,CONTROL_FINISHED_OK
$STATE,5958,begin surface
$SM_CCo,5976,258.42,0.101,0,0,419,623.30
$SM_GC,1.88,0.00,0.00,258.42,0.000,0.000,0.101,408,2654,419,-8.30,0.08,623.30
$IRIDIUM_FIX,-7545.40,17655.85,070111,232316
$TT8_MAMPS,0.028462
$HUMID,51.61
$INTERNAL_PRESSURE,8.68197
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,18.2
$ALTIM_BOTTOM_PING,350.6,49.5
$24V_AH,20.3,79.964
$10V_AH,9.6,55.224
$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,18.600,70.900,279.025,258.425,0.000,88.586,225.325,0.000,1.500,0.000,12.912,1709.894,2268.005,647.080,1948.366,236.033,0.000,1331.948,0.000,1120.579,0.000,10.614,0.000
$DEVICE_MAMPS,192.780,120.870,1037.340,100.980,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,468.540,865.135,939.459,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47114,667
$CAP_FILE_SIZE,89722,0
$CFSIZE,260165632,222597120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.051,287.2,1
$GPS,080111,012800,-7628.367,17700.381,47,0.9,47,122.2