version: 66.08
glider: 502
mission: 3
dive: 548
start: 1 7 111 16 8 52
data:
$ID,502
$MISSION,3
$DIVE,548
$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,-30830.648
$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,37
$R_STBD_OVSHOOT,37
$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
$GPS1,070111,155832,-7628.717,17713.742,11,1.6,11,121.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-68.5
$GPS2,070111,160825,-7628.687,17714.049,41,1.6,41,121.9
$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,148.6,187673,-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,17,-0.76,-146.0,0.0,0.0,0,106,0.00,0.00,-87.03,0.000,2,0.000,0.000,402,2668,3367,0,0,0,0,0,0
$GC,109,-0.76,-146.0,3.3,-1.5,13,132,8.98,2.30,-5.05,0.000,4,0.193,0.060,2810,1247,3558,0,0,0,0,0,0
$GC,286,-0.76,-146.0,33.7,-14.5,44,294,0.00,2.33,0.00,0.000,6,0.000,0.055,2801,2641,3563,0,0,0,0,0,0
$GC,427,-0.76,-146.0,56.1,-16.4,69,434,0.00,1.83,0.00,0.000,4,0.000,0.058,2792,3769,3563,0,0,0,0,0,0
$GC,464,-0.76,-146.0,62.7,-16.9,75,472,0.00,1.77,0.00,0.000,6,0.000,0.041,2792,2632,3563,0,0,0,0,0,0
$GC,604,-0.76,-146.0,86.7,-16.7,100,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2631,3563,0,0,0,0,0,0
$GC,749,-0.76,-146.0,111.3,-16.6,120,753,0.00,1.85,0.00,0.000,4,0.000,0.060,2784,3764,3563,0,0,0,0,0,0
$GC,807,-0.76,-146.0,121.8,-18.4,125,812,0.12,1.73,0.00,0.000,6,0.158,0.040,2818,2652,3563,0,0,0,0,0,0
$GC,948,-0.76,-146.0,144.4,-15.8,138,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2650,3563,0,0,0,0,0,0
$GC,1076,-0.76,-146.0,164.0,-15.3,150,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2650,3563,0,0,0,0,0,0
$GC,1203,-0.76,-146.0,183.4,-15.1,162,1207,0.00,1.85,0.00,0.000,4,0.000,0.060,2811,3767,3564,0,0,0,0,0,0
$GC,1240,-0.76,-146.0,189.9,-16.2,165,1249,0.00,1.75,0.00,0.000,6,0.000,0.040,2810,2670,3564,0,0,0,0,0,0
$GC,1377,-0.76,-146.0,210.5,-15.6,178,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2670,3563,0,0,0,0,0,0
$GC,1505,-0.76,-146.0,230.1,-15.2,190,1508,0.00,1.77,0.00,0.000,4,0.000,0.058,2802,3764,3564,0,0,0,0,0,0
$GC,1551,-0.76,-146.0,237.9,-16.8,194,1555,0.00,1.70,0.00,0.000,6,0.000,0.041,2801,2672,3564,0,0,0,0,0,0
$GC,1691,-0.76,-146.0,260.3,-15.6,207,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2669,3563,0,0,0,0,0,0
$GC,1884,-0.76,-146.0,289.9,-15.7,225,1888,0.00,1.80,0.00,0.000,4,0.000,0.060,2794,3767,3564,0,0,0,0,0,0
$GC,1942,-0.76,-146.0,299.6,-16.1,230,1949,0.00,1.70,0.00,0.000,6,0.000,0.041,2794,2677,3564,0,0,0,0,0,0
$GC,2148,-0.76,-146.0,331.9,-15.3,249,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2676,3563,0,0,0,0,0,0
$GC,2339,-0.76,-146.0,360.9,-14.8,267,2342,0.00,1.80,0.00,0.000,4,0.000,0.061,2785,3773,3563,0,0,0,0,0,0
$GC,2388,-0.76,-146.0,369.2,-16.1,271,2397,0.08,1.75,0.00,0.000,6,0.135,0.041,2811,2676,3563,0,0,0,0,0,0
$STATE,2414,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2414,begin apogee
$GC,2421,-0.27,0.0,373.2,15.6,274,2558,0.50,0.00,130.32,1.033,4,0.119,0.000,2975,2493,2961,0,0,0,0,0,0
$STATE,2558,end apogee,CONTROL_FINISHED_OK
$STATE,2559,begin climb
$GC,2561,0.76,146.0,380.4,0.0,286,2722,1.08,2.55,148.93,0.951,4,0.078,0.047,3305,1098,2364,0,0,0,0,0,0
$GC,2813,0.76,146.0,361.0,10.3,308,2818,0.00,2.58,0.00,0.000,6,0.000,0.049,3305,2498,2355,0,0,0,0,0,0
$GC,3011,0.76,146.0,338.4,11.6,326,3015,0.00,2.38,0.00,0.000,4,0.000,0.048,3315,1102,2351,0,0,0,0,0,0
$GC,3165,0.76,146.0,321.1,11.0,339,3170,0.00,2.35,0.00,0.000,6,0.000,0.051,3315,2522,2349,0,0,0,0,0,0
$GC,3364,0.76,146.0,297.5,11.4,357,3368,0.00,2.00,0.00,0.000,4,0.000,0.056,3315,3777,2348,0,0,0,0,0,0
$GC,3443,0.76,146.0,286.7,14.7,364,3447,0.00,1.95,0.00,0.000,6,0.000,0.039,3324,2522,2347,0,0,0,0,0,0
$GC,3647,0.76,146.0,261.9,12.1,383,3651,0.00,2.03,0.00,0.000,4,0.000,0.057,3324,3771,2346,0,0,0,0,0,0
$GC,3708,0.76,146.0,253.3,14.5,388,3715,0.00,1.95,0.00,0.000,6,0.000,0.039,3333,2543,2346,0,0,0,0,0,0
$GC,3907,0.76,146.0,228.7,12.5,407,3911,0.00,2.00,0.00,0.000,4,0.000,0.057,3334,3777,2346,0,0,0,0,0,0
$GC,3956,0.76,146.0,221.4,14.6,411,3966,0.08,1.98,0.00,0.000,6,0.143,0.039,3318,2541,2345,0,0,0,0,0,0
$GC,4093,0.76,146.0,205.7,11.2,424,4097,0.00,2.00,0.00,0.000,4,0.000,0.057,3318,3771,2345,0,0,0,0,0,0
$GC,4130,0.76,146.0,200.6,12.7,427,4140,0.00,1.92,0.00,0.000,6,0.000,0.039,3324,2556,2345,0,0,0,0,0,0
$GC,4269,0.76,146.0,184.8,11.7,440,4276,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2555,2345,0,0,0,0,0,0
$GC,4404,0.76,146.0,168.6,11.9,453,4408,0.00,1.98,0.00,0.000,4,0.000,0.056,3325,3773,2344,0,0,0,0,0,0
$GC,4430,0.76,146.0,164.9,13.0,455,4440,0.00,1.92,0.00,0.000,6,0.000,0.040,3334,2560,2344,0,0,0,0,0,0
$GC,4569,0.76,146.0,148.5,12.2,468,4576,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2560,2344,0,0,0,0,0,0
$GC,4704,0.76,146.0,131.3,12.8,481,4708,0.00,1.98,0.00,0.000,4,0.000,0.057,3334,3774,2344,0,0,0,0,0,0
$GC,4784,0.76,146.0,120.1,14.5,488,4788,0.12,1.88,0.00,0.000,6,0.161,0.039,3310,2567,2343,0,0,0,0,0,0
$GC,4925,0.76,146.0,104.0,10.6,501,4926,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2566,2343,0,0,0,0,0,0
$GC,5053,0.76,146.0,90.3,11.0,521,5060,0.00,2.00,0.00,0.000,4,0.000,0.058,3310,3763,2343,0,0,0,0,0,0
$GC,5101,0.76,146.0,84.6,12.2,529,5109,0.00,1.88,0.00,0.000,6,0.000,0.039,3317,2582,2343,0,0,0,0,0,0
$GC,5241,0.76,146.0,68.6,11.3,554,5248,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2581,2343,0,0,0,0,0,0
$GC,5381,0.76,146.0,53.3,11.4,579,5389,0.00,1.95,0.00,0.000,4,0.000,0.057,3317,3774,2343,0,0,0,0,0,0
$GC,5419,0.76,146.0,48.1,13.5,585,5426,0.00,1.88,0.00,0.000,6,0.000,0.039,3327,2577,2343,0,0,0,0,0,0
$GC,5559,0.76,146.0,31.4,12.4,610,5567,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2576,2343,0,0,0,0,0,0
$GC,5700,0.76,146.0,14.6,11.6,635,5707,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2576,2342,0,0,0,0,0,0
$FREEZE,8.85,0.058,-1.894,2,2,0
$FREEZE,8.13,0.058,-1.893,2,2,0
$FREEZE,7.50,0.059,-1.893,2,2,0
$FREEZE,6.78,0.064,-1.892,2,2,0
$FREEZE,6.00,0.064,-1.891,2,2,0
$FREEZE,5.43,0.065,-1.891,2,2,0
$FREEZE,4.64,0.068,-1.890,2,2,0
$FREEZE,3.88,0.068,-1.890,2,2,0
$FREEZE,3.12,0.070,-1.889,2,2,0
$FREEZE,2.31,0.072,-1.888,2,2,0
$STATE,5799,end climb,SURFACE_DEPTH_REACHED
$STATE,5799,begin surface coast
$FREEZE,1.25,0.070,-1.888,2,2,0
$FREEZE,1.11,0.037,-0.323,2,2,0
$FREEZE,1.06,-0.078,-1.336,2,2,0
$FREEZE,1.41,0.068,-1.888,2,2,0
$FINISH,1.4,1.027600
$STATE,5826,end surface coast,CONTROL_FINISHED_OK
$STATE,5826,begin surface
$SM_CCo,5844,257.60,0.100,0,0,419,623.30
$SM_GC,1.82,0.00,0.00,257.60,0.000,0.000,0.100,404,2672,419,-8.30,0.62,623.30
$IRIDIUM_FIX,-7545.40,17723.43,070111,161600
$TT8_MAMPS,0.027713
$HUMID,51.49
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,18.0
$ALTIM_BOTTOM_PING,351.4,35.5
$24V_AH,20.3,79.530
$10V_AH,9.6,54.871
$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,18.525,67.450,279.250,257.600,0.000,83.209,225.327,0.000,1.750,0.000,42.730,1673.788,2182.637,651.915,1961.317,230.996,0.000,1328.772,0.000,1101.301,0.000,13.570,0.000
$DEVICE_MAMPS,192.780,89.505,1032.750,100.215,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,460.504,855.745,934.968,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47103,656
$CAP_FILE_SIZE,88771,0
$CFSIZE,260165632,222806016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.113, 65.2,1
$GPS,070111,175146,-7628.516,17712.289,14,6.1,33,122.0