version: 66.08
glider: 502
mission: 3
dive: 540
start: 1 7 111 1 12 28
data:
$ID,502
$MISSION,3
$DIVE,540
$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,-30820.58
$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,40
$R_STBD_OVSHOOT,25
$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
$GPS1,070111,010237,-7627.885,17724.785,39,0.8,39,121.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-71.0
$GPS2,070111,011202,-7627.905,17724.725,11,1.4,11,121.6
$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,146.9,192312,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.76,-146.0,0.0,0.0,0,108,0.00,0.00,-87.65,0.000,2,0.000,0.000,408,2646,3376,0,0,0,0,0,0
$GC,111,-0.76,-146.0,3.4,-2.0,13,133,8.90,2.25,-4.80,0.000,4,0.191,0.060,2806,1249,3560,0,0,0,0,0,0
$GC,381,-0.76,-146.0,47.9,-15.2,61,388,0.00,2.30,0.00,0.000,6,0.000,0.054,2798,2650,3564,0,0,0,0,0,0
$GC,518,-0.76,-146.0,71.3,-18.1,86,526,0.00,1.83,0.00,0.000,4,0.000,0.058,2789,3759,3564,0,0,0,0,0,0
$GC,567,-0.76,-146.0,80.2,-18.1,94,575,0.00,1.75,0.00,0.000,6,0.000,0.040,2789,2660,3564,0,0,0,0,0,0
$GC,713,-0.76,-146.0,106.5,-18.3,117,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2659,3564,0,0,0,0,0,0
$GC,848,-0.76,-146.0,131.8,-18.7,130,852,0.00,1.80,0.00,0.000,4,0.000,0.060,2782,3760,3565,0,0,0,0,0,0
$GC,884,-0.76,-146.0,138.5,-19.4,133,889,0.12,1.73,0.00,0.000,6,0.155,0.040,2815,2645,3565,0,0,0,0,0,0
$GC,1025,-0.76,-146.0,162.2,-16.3,146,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2644,3565,0,0,0,0,0,0
$GC,1153,-0.76,-146.0,182.1,-15.3,158,1156,0.00,1.83,0.00,0.000,4,0.000,0.060,2808,3762,3564,0,0,0,0,0,0
$GC,1190,-0.76,-146.0,188.6,-16.3,161,1199,0.00,1.73,0.00,0.000,6,0.000,0.040,2808,2677,3564,0,0,0,0,0,0
$GC,1326,-0.76,-146.0,209.6,-15.6,174,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2677,3564,0,0,0,0,0,0
$GC,1453,-0.76,-146.0,229.3,-15.2,186,1457,0.00,1.77,0.00,0.000,4,0.000,0.061,2799,3760,3564,0,0,0,0,0,0
$GC,1500,-0.76,-146.0,237.1,-16.5,190,1504,0.00,1.70,0.00,0.000,6,0.000,0.040,2800,2667,3564,0,0,0,0,0,0
$GC,1640,-0.76,-146.0,259.0,-15.5,203,1641,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2665,3564,0,0,0,0,0,0
$GC,1833,-0.76,-146.0,288.3,-15.1,221,1834,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2665,3565,0,0,0,0,0,0
$GC,2023,-0.76,-146.0,317.6,-15.1,239,2026,0.00,1.80,0.00,0.000,4,0.000,0.060,2791,3769,3564,0,0,0,0,0,0
$GC,2091,-0.76,-146.0,329.1,-16.5,245,2095,0.00,1.70,0.00,0.000,6,0.000,0.041,2791,2676,3564,0,0,0,0,0,0
$GC,2297,-0.76,-146.0,361.0,-15.4,264,2301,0.00,1.80,0.00,0.000,4,0.000,0.061,2784,3769,3564,0,0,0,0,0,0
$GC,2346,-0.76,-146.0,369.9,-17.0,268,2354,0.08,1.73,0.00,0.000,6,0.135,0.041,2809,2683,3564,0,0,0,0,0,0
$STATE,2384,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2384,begin apogee
$GC,2390,-0.27,0.0,375.4,15.2,272,2528,0.50,0.00,131.88,1.040,4,0.122,0.000,2973,2486,2961,0,0,0,0,0,0
$STATE,2529,end apogee,CONTROL_FINISHED_OK
$STATE,2529,begin climb
$GC,2531,0.76,146.0,382.5,0.0,284,2690,1.10,2.55,149.93,0.961,4,0.077,0.047,3311,1098,2365,0,0,0,0,0,0
$GC,2783,0.76,146.0,362.9,10.6,306,2787,0.00,2.55,0.00,0.000,6,0.000,0.048,3311,2495,2356,0,0,0,0,0,0
$GC,2982,0.76,146.0,339.9,11.6,324,2986,0.00,2.35,0.00,0.000,4,0.000,0.047,3321,1103,2352,0,0,0,0,0,0
$GC,3156,0.76,146.0,319.9,11.2,339,3160,0.00,2.33,0.00,0.000,6,0.000,0.052,3321,2521,2349,0,0,0,0,0,0
$GC,3356,0.76,146.0,296.5,11.7,357,3359,0.00,2.00,0.00,0.000,4,0.000,0.056,3321,3773,2348,0,0,0,0,0,0
$GC,3450,0.76,146.0,282.6,14.3,365,3457,0.00,1.98,0.00,0.000,6,0.000,0.040,3331,2527,2347,0,0,0,0,0,0
$GC,3649,0.76,146.0,257.1,12.5,384,3651,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2526,2347,0,0,0,0,0,0
$GC,3841,0.76,146.0,233.2,12.7,402,3845,0.00,2.00,0.00,0.000,4,0.000,0.057,3331,3764,2346,0,0,0,0,0,0
$GC,3900,0.76,146.0,223.9,15.4,407,3911,0.08,1.98,0.00,0.000,6,0.144,0.038,3315,2521,2345,0,0,0,0,0,0
$GC,4040,0.76,146.0,207.3,12.2,420,4043,0.00,2.03,0.00,0.000,4,0.000,0.057,3316,3767,2345,0,0,0,0,0,0
$GC,4088,0.76,146.0,199.8,13.9,424,4097,0.00,1.95,0.00,0.000,6,0.000,0.038,3324,2540,2345,0,0,0,0,0,0
$GC,4224,0.76,146.0,182.9,12.3,437,4228,0.00,2.00,0.00,0.000,4,0.000,0.057,3324,3770,2345,0,0,0,0,0,0
$GC,4273,0.76,146.0,175.1,15.8,441,4282,0.00,1.95,0.00,0.000,6,0.000,0.039,3333,2548,2344,0,0,0,0,0,0
$GC,4409,0.76,146.0,156.9,13.1,454,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2546,2344,0,0,0,0,0,0
$GC,4536,0.76,146.0,140.3,12.8,466,4540,0.00,1.98,0.00,0.000,4,0.000,0.057,3332,3763,2344,0,0,0,0,0,0
$GC,4606,0.76,146.0,130.1,15.1,472,4610,0.12,1.88,0.00,0.000,6,0.161,0.038,3309,2554,2344,0,0,0,0,0,0
$GC,4748,0.76,146.0,112.9,11.5,485,4755,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2552,2344,0,0,0,0,0,0
$GC,4883,0.76,146.0,97.6,10.3,500,4891,0.00,2.00,0.00,0.000,4,0.000,0.058,3309,3753,2343,0,0,0,0,0,0
$GC,4966,0.76,146.0,87.5,12.6,514,4974,0.00,1.88,0.00,0.000,6,0.000,0.040,3317,2570,2343,0,0,0,0,0,0
$GC,5108,0.76,146.0,71.2,11.5,539,5115,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2569,2343,0,0,0,0,0,0
$GC,5245,0.76,146.0,55.8,11.2,564,5253,0.00,2.00,0.00,0.000,4,0.000,0.058,3317,3768,2343,0,0,0,0,0,0
$GC,5310,0.76,146.0,47.6,13.5,575,5317,0.00,1.88,0.00,0.000,6,0.000,0.038,3326,2563,2343,0,0,0,0,0,0
$GC,5450,0.76,146.0,31.1,12.0,600,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2561,2343,0,0,0,0,0,0
$GC,5590,0.76,146.0,14.7,11.1,625,5597,0.00,1.98,0.00,0.000,4,0.000,0.057,3326,3768,2343,0,0,0,0,0,0
$FREEZE,8.58,0.050,-1.893,2,2,0
$FREEZE,7.73,0.069,-1.893,2,2,0
$FREEZE,7.01,0.066,-1.892,2,2,0
$FREEZE,6.15,0.067,-1.892,2,2,0
$GC,5656,0.76,146.0,6.1,13.9,636,5664,0.00,1.88,0.00,0.000,6,0.000,0.038,3336,2585,2342,0,0,0,0,0,0
$FREEZE,3.86,0.095,-1.890,2,2,0
$FREEZE,3.11,0.090,-1.890,2,2,0
$FREEZE,2.46,0.093,-1.889,2,2,0
$STATE,5682,end climb,SURFACE_DEPTH_REACHED
$STATE,5682,begin surface coast
$FREEZE,1.71,0.093,-1.889,2,2,0
$FREEZE,1.28,-0.056,-1.893,2,2,0
$FREEZE,1.18,-0.014,-0.108,2,2,0
$FREEZE,1.22,-0.033,-1.238,2,2,0
$FINISH,1.2,1.018277
$STATE,5708,end surface coast,CONTROL_FINISHED_OK
$STATE,5708,begin surface
$SM_CCo,5725,298.52,0.724,7,0,418,623.79
$SM_GC,1.81,0.00,0.00,298.52,0.000,0.000,0.724,410,2669,418,-8.27,0.54,623.79
$IRIDIUM_FIX,-7545.40,17714.68,070111,010108
$TT8_MAMPS,0.029211
$HUMID,51.41
$INTERNAL_PRESSURE,8.68197
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,18.7
$ALTIM_BOTTOM_PING,351.2,37.8
$24V_AH,20.2,78.606
$10V_AH,9.6,54.169
$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,18.550,67.200,281.800,298.525,0.000,84.604,225.323,0.000,2.250,0.000,12.271,1642.205,2154.303,721.261,1896.051,216.352,0.000,1389.084,0.000,1083.257,0.000,13.522,0.000
$DEVICE_MAMPS,191.250,97.155,1039.635,723.690,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,452.336,833.951,899.342,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258140
$DATA_FILE_SIZE,43737,644
$CAP_FILE_SIZE,87003,0
$CFSIZE,260165632,223219712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$CURRENT,0.076,183.9,1
$GPS,070111,025419,-7628.191,17721.578,7,1.7,12,121.7