version: 66.08
glider: 502
mission: 3
dive: 546
start: 1 7 111 12 27 5
data:
$ID,502
$MISSION,3
$DIVE,546
$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,-30828.129
$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,42
$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
$GPS1,070111,121706,-7628.921,17715.869,40,0.8,40,121.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-69.0
$GPS2,070111,122638,-7628.933,17716.078,11,1.3,11,121.9
$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,171.2,188545,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-80.53,0.000,2,0.000,0.000,408,2677,3213,0,0,0,0,0,0
$GC,104,-0.76,-146.0,3.1,-2.0,12,133,8.85,2.35,-10.88,0.000,4,0.189,0.060,2809,1245,3560,0,0,0,0,0,0
$GC,300,-0.76,-146.0,33.6,-14.8,45,307,0.00,2.30,0.00,0.000,6,0.000,0.054,2800,2642,3562,0,0,0,0,0,0
$GC,442,-0.76,-146.0,56.9,-16.6,70,451,0.00,1.85,0.00,0.000,4,0.000,0.058,2792,3769,3562,0,0,0,0,0,0
$GC,480,-0.76,-146.0,63.6,-18.2,76,489,0.00,1.77,0.00,0.000,6,0.000,0.039,2792,2653,3562,0,0,0,0,0,0
$GC,624,-0.76,-146.0,88.1,-16.9,101,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2652,3562,0,0,0,0,0,0
$GC,769,-0.76,-146.0,114.0,-17.5,120,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2652,3564,0,0,0,0,0,0
$GC,897,-0.76,-146.0,136.5,-17.7,132,900,0.00,1.83,0.00,0.000,4,0.000,0.060,2783,3771,3563,0,0,0,0,0,0
$GC,945,-0.76,-146.0,146.1,-18.1,136,955,0.00,1.52,0.00,0.000,6,0.000,0.040,2783,2804,3563,0,0,0,0,0,0
$GC,1081,-0.76,-146.0,170.3,-18.4,149,1083,0.12,0.00,0.00,0.000,6,0.160,0.000,2818,2803,3563,0,0,0,0,0,0
$GC,1209,-0.76,-146.0,190.7,-15.4,161,1213,0.00,2.50,0.00,0.000,4,0.000,0.048,2818,1244,3563,0,0,0,0,0,0
$GC,1251,-0.76,-146.0,197.8,-14.6,164,1260,0.00,2.58,0.00,0.000,6,0.000,0.054,2808,2790,3563,0,0,0,0,0,0
$GC,1387,-0.76,-146.0,218.8,-16.4,177,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2790,3564,0,0,0,0,0,0
$GC,1515,-0.76,-146.0,239.3,-15.8,189,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2790,3564,0,0,0,0,0,0
$GC,1640,-0.76,-146.0,258.7,-15.0,201,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2790,3564,0,0,0,0,0,0
$GC,1832,-0.76,-146.0,288.4,-15.2,219,1836,0.00,2.50,0.00,0.000,4,0.000,0.047,2807,1242,3564,0,0,0,0,0,0
$GC,1862,-0.76,-146.0,293.0,-15.3,221,1866,0.00,2.55,0.00,0.000,6,0.000,0.054,2798,2792,3563,0,0,0,0,0,0
$GC,2062,-0.76,-146.0,323.7,-15.4,239,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2792,3563,0,0,0,0,0,0
$GC,2250,-0.76,-146.0,352.8,-14.8,257,2251,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2792,3564,0,0,0,0,0,0
$STATE,2399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2399,begin apogee
$GC,2405,-0.27,0.0,375.6,15.2,271,2543,0.52,0.00,130.95,1.038,4,0.125,0.000,2968,2491,2961,0,0,0,0,0,0
$STATE,2544,end apogee,CONTROL_FINISHED_OK
$STATE,2544,begin climb
$GC,2547,0.76,146.0,383.2,0.0,283,2706,1.08,0.00,149.12,0.955,6,0.085,0.000,3303,2491,2365,0,0,0,0,0,0
$GC,2899,0.76,146.0,350.2,10.9,315,2903,0.00,2.28,0.00,0.000,4,0.000,0.056,3302,3764,2353,0,0,0,0,0,0
$GC,2999,0.76,146.0,336.8,13.2,323,3006,0.00,2.10,0.00,0.000,6,0.000,0.037,3312,2496,2352,0,0,0,0,0,0
$GC,3199,0.76,146.0,314.1,11.3,342,3203,0.00,2.08,0.00,0.000,4,0.000,0.056,3312,3762,2350,0,0,0,0,0,0
$GC,3250,0.76,146.0,307.5,12.9,346,3253,0.00,1.92,0.00,0.000,6,0.000,0.038,3322,2527,2349,0,0,0,0,0,0
$GC,3455,0.76,146.0,283.5,11.8,365,3458,0.00,2.03,0.00,0.000,4,0.000,0.057,3321,3773,2348,0,0,0,0,0,0
$GC,3505,0.76,146.0,276.7,13.6,369,3511,0.00,1.92,0.00,0.000,6,0.000,0.039,3331,2535,2347,0,0,0,0,0,0
$GC,3704,0.76,146.0,252.6,11.9,388,3708,0.00,2.00,0.00,0.000,4,0.000,0.055,3331,3773,2347,0,0,0,0,0,0
$GC,3764,0.76,146.0,243.7,14.9,393,3772,0.00,1.95,0.00,0.000,6,0.000,0.039,3340,2551,2346,0,0,0,0,0,0
$GC,3901,0.76,146.0,226.0,13.1,406,3909,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2549,2346,0,0,0,0,0,0
$GC,4037,0.76,146.0,208.6,13.1,419,4040,0.00,1.98,0.00,0.000,4,0.000,0.056,3340,3771,2346,0,0,0,0,0,0
$GC,4097,0.76,146.0,199.2,15.5,424,4106,0.10,1.92,0.00,0.000,6,0.136,0.039,3316,2556,2346,0,0,0,0,0,0
$GC,4233,0.76,146.0,183.9,10.9,437,4235,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2555,2345,0,0,0,0,0,0
$GC,4360,0.76,146.0,170.3,10.4,449,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2554,2345,0,0,0,0,0,0
$GC,4487,0.76,146.0,156.2,11.4,461,4491,0.00,1.95,0.00,0.000,4,0.000,0.055,3316,3764,2345,0,0,0,0,0,0
$GC,4547,0.76,146.0,148.3,13.1,466,4556,0.00,1.92,0.00,0.000,6,0.000,0.038,3324,2550,2345,0,0,0,0,0,0
$GC,4682,0.76,146.0,132.5,12.0,479,4686,0.00,1.98,0.00,0.000,4,0.000,0.056,3324,3765,2344,0,0,0,0,0,0
$GC,4719,0.76,146.0,127.2,13.8,482,4729,0.00,1.90,0.00,0.000,6,0.000,0.038,3333,2564,2344,0,0,0,0,0,0
$GC,4856,0.76,146.0,110.7,12.1,495,4864,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2564,2343,0,0,0,0,0,0
$GC,4992,0.76,146.0,93.6,11.9,512,5000,0.00,2.00,0.00,0.000,4,0.000,0.057,3333,3768,2343,0,0,0,0,0,0
$GC,5051,0.76,146.0,85.3,14.0,522,5061,0.08,1.90,0.00,0.000,6,0.139,0.038,3317,2571,2344,0,0,0,0,0,0
$GC,5200,0.76,146.0,69.0,10.6,547,5206,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2570,2343,0,0,0,0,0,0
$GC,5341,0.76,146.0,53.3,11.4,572,5349,0.00,1.98,0.00,0.000,4,0.000,0.057,3317,3757,2343,0,0,0,0,0,0
$GC,5379,0.76,146.0,48.6,13.1,578,5388,0.00,1.85,0.00,0.000,6,0.000,0.039,3324,2591,2343,0,0,0,0,0,0
$GC,5526,0.76,146.0,31.1,11.2,603,5533,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2590,2343,0,0,0,0,0,0
$GC,5669,0.76,146.0,13.6,12.5,628,5677,0.00,1.95,0.00,0.000,4,0.000,0.056,3324,3765,2343,0,0,0,0,0,0
$FREEZE,8.69,0.009,-1.895,2,2,0
$FREEZE,8.07,0.010,-1.895,2,2,0
$FREEZE,6.99,0.012,-1.894,2,2,0
$FREEZE,6.18,0.012,-1.893,2,2,0
$FREEZE,5.28,0.015,-1.893,2,2,0
$FREEZE,4.48,0.016,-1.892,2,2,0
$FREEZE,3.52,0.021,-1.891,2,2,0
$FREEZE,2.83,0.017,-1.891,2,2,0
$STATE,5747,end climb,SURFACE_DEPTH_REACHED
$STATE,5747,begin surface coast
$FREEZE,1.66,0.019,-1.890,2,2,0
$FREEZE,1.12,0.007,-1.890,2,2,0
$FINISH,1.1,1.027635
$STATE,5762,end surface coast,CONTROL_FINISHED_OK
$STATE,5762,begin surface
$SM_CCo,5781,257.98,0.101,0,0,420,623.30
$SM_GC,1.83,0.00,0.00,257.98,0.000,0.000,0.101,409,2639,420,-8.28,-0.31,623.30
$IRIDIUM_FIX,-7545.40,17723.43,070111,121240
$TT8_MAMPS,0.027713
$HUMID,51.77
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,14.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,18.3
$ALTIM_BOTTOM_PING,300.5,90.0
$24V_AH,20.3,79.332
$10V_AH,9.6,54.696
$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,18.325,61.600,280.075,257.975,0.000,89.870,225.319,0.000,1.500,0.000,12.661,1615.802,2242.881,656.036,1874.979,226.863,0.000,1309.527,0.000,1044.187,0.000,9.006,0.000
$DEVICE_MAMPS,188.955,59.670,1038.105,100.980,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,451.026,831.725,909.391,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43805,643
$CAP_FILE_SIZE,84014,0
$CFSIZE,260165632,222916608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.159,108.0,1
$GPS,070111,140858,-7628.835,17714.793,15,2.5,34,121.9