version: 66.08
glider: 502
mission: 3
dive: 550
start: 1 7 111 19 56 5
data:
$ID,502
$MISSION,3
$DIVE,550
$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,-30833.166
$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,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
$GPS1,070111,194606,-7628.354,17710.271,29,1.6,29,122.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-72.1
$GPS2,070111,195538,-7628.306,17710.455,15,1.9,15,122.0
$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,130.2,186130,-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,-146.0,0.0,0.0,0,107,0.00,0.00,-87.07,0.000,2,0.000,0.000,404,2665,3374,0,0,0,0,0,0
$GC,110,-0.76,-146.0,3.5,-2.3,13,132,8.98,2.30,-4.85,0.000,4,0.194,0.060,2806,1247,3559,0,0,0,0,0,0
$GC,239,-0.76,-146.0,27.4,-16.0,35,247,0.00,2.30,0.00,0.000,6,0.000,0.055,2798,2646,3563,0,0,0,0,0,0
$GC,379,-0.76,-146.0,51.1,-16.9,60,387,0.00,1.85,0.00,0.000,4,0.000,0.058,2789,3769,3563,0,0,0,0,0,0
$GC,423,-0.76,-146.0,59.0,-18.3,67,431,0.00,1.77,0.00,0.000,6,0.000,0.041,2789,2657,3563,0,0,0,0,0,0
$GC,563,-0.76,-146.0,83.8,-16.6,92,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2656,3563,0,0,0,0,0,0
$GC,702,-0.76,-146.0,107.9,-17.9,113,705,0.00,1.83,0.00,0.000,4,0.000,0.060,2783,3773,3564,0,0,0,0,0,0
$GC,738,-0.76,-146.0,114.3,-18.2,116,742,0.12,1.73,0.00,0.000,6,0.156,0.040,2816,2662,3564,0,0,0,0,0,0
$GC,881,-0.76,-146.0,137.0,-15.4,129,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2661,3564,0,0,0,0,0,0
$GC,1016,-0.76,-146.0,158.4,-15.3,142,1019,0.00,1.80,0.00,0.000,4,0.000,0.058,2809,3768,3564,0,0,0,0,0,0
$GC,1063,-0.76,-146.0,165.9,-16.5,146,1066,0.00,1.73,0.00,0.000,6,0.000,0.040,2809,2659,3564,0,0,0,0,0,0
$GC,1206,-0.76,-146.0,188.2,-15.7,159,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2656,3563,0,0,0,0,0,0
$GC,1342,-0.76,-146.0,209.3,-15.4,172,1345,0.00,1.83,0.00,0.000,4,0.000,0.060,2800,3771,3564,0,0,0,0,0,0
$GC,1390,-0.76,-146.0,217.6,-15.8,176,1399,0.00,1.75,0.00,0.000,6,0.000,0.040,2801,2676,3564,0,0,0,0,0,0
$GC,1528,-0.76,-146.0,238.3,-15.4,189,1536,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2674,3564,0,0,0,0,0,0
$GC,1662,-0.76,-146.0,259.8,-15.2,202,1666,0.00,1.77,0.00,0.000,4,0.000,0.060,2792,3764,3563,0,0,0,0,0,0
$GC,1701,-0.76,-146.0,266.2,-15.9,205,1708,0.00,1.75,0.00,0.000,6,0.000,0.039,2792,2666,3564,0,0,0,0,0,0
$GC,1900,-0.76,-146.0,296.9,-15.7,224,1904,0.00,1.80,0.00,0.000,4,0.000,0.059,2785,3767,3563,0,0,0,0,0,0
$GC,1934,-0.76,-146.0,302.7,-16.7,227,1938,0.08,1.73,0.00,0.000,6,0.135,0.041,2811,2684,3563,0,0,0,0,0,0
$GC,2138,-0.76,-146.0,331.9,-13.9,246,2139,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2683,3563,0,0,0,0,0,0
$GC,2328,-0.76,-146.0,358.5,-14.1,264,2332,0.00,1.83,0.00,0.000,4,0.000,0.060,2803,3764,3563,0,0,0,0,0,0
$GC,2375,-0.76,-146.0,365.4,-14.6,268,2378,0.00,1.67,0.00,0.000,6,0.000,0.041,2803,2684,3563,0,0,0,0,0,0
$STATE,2448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2448,begin apogee
$GC,2455,-0.27,0.0,376.5,14.8,275,2592,0.52,0.00,130.73,1.033,4,0.123,0.000,2972,2484,2961,0,0,0,0,0,0
$STATE,2593,end apogee,CONTROL_FINISHED_OK
$STATE,2593,begin climb
$GC,2596,0.76,146.0,383.9,0.0,287,2755,1.10,2.53,148.95,0.952,4,0.081,0.048,3307,1099,2364,0,0,0,0,0,0
$GC,2836,0.76,146.0,365.8,11.5,308,2841,0.00,2.58,0.00,0.000,6,0.000,0.049,3307,2498,2356,0,0,0,0,0,0
$GC,3037,0.76,146.0,343.0,11.7,326,3041,0.00,2.40,0.00,0.000,4,0.000,0.048,3315,1095,2352,0,0,0,0,0,0
$GC,3195,0.76,146.0,324.2,11.6,339,3203,0.00,2.35,0.00,0.000,6,0.000,0.050,3315,2517,2349,0,0,0,0,0,0
$GC,3393,0.76,146.0,300.5,11.9,358,3396,0.00,2.00,0.00,0.000,4,0.000,0.056,3316,3772,2348,0,0,0,0,0,0
$GC,3472,0.76,146.0,289.8,13.6,365,3476,0.00,1.95,0.00,0.000,6,0.000,0.040,3325,2520,2347,0,0,0,0,0,0
$GC,3676,0.76,146.0,264.7,12.1,384,3680,0.00,2.03,0.00,0.000,4,0.000,0.057,3325,3768,2346,0,0,0,0,0,0
$GC,3733,0.76,146.0,256.5,14.7,389,3737,0.00,1.92,0.00,0.000,6,0.000,0.039,3334,2532,2346,0,0,0,0,0,0
$GC,3939,0.76,146.0,230.0,12.6,408,3947,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2529,2345,0,0,0,0,0,0
$GC,4075,0.76,146.0,212.6,12.8,421,4078,0.00,2.00,0.00,0.000,4,0.000,0.056,3335,3766,2345,0,0,0,0,0,0
$GC,4155,0.76,146.0,201.0,15.1,428,4160,0.12,1.92,0.00,0.000,6,0.164,0.038,3311,2531,2345,0,0,0,0,0,0
$GC,4292,0.76,146.0,185.1,11.0,440,4295,0.00,2.03,0.00,0.000,4,0.000,0.057,3310,3774,2345,0,0,0,0,0,0
$GC,4339,0.76,146.0,179.2,12.6,444,4342,0.00,1.92,0.00,0.000,6,0.000,0.039,3319,2541,2344,0,0,0,0,0,0
$GC,4481,0.76,146.0,162.6,11.6,457,4485,0.00,2.00,0.00,0.000,4,0.000,0.056,3319,3770,2344,0,0,0,0,0,0
$GC,4519,0.76,146.0,158.0,13.2,460,4523,0.00,1.90,0.00,0.000,6,0.000,0.039,3328,2553,2344,0,0,0,0,0,0
$GC,4662,0.76,146.0,140.8,11.4,473,4669,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2550,2344,0,0,0,0,0,0
$GC,4797,0.76,146.0,124.7,11.7,486,4801,0.00,1.98,0.00,0.000,4,0.000,0.056,3328,3763,2344,0,0,0,0,0,0
$GC,4867,0.76,146.0,115.7,13.5,492,4871,0.00,1.88,0.00,0.000,6,0.000,0.039,3337,2557,2343,0,0,0,0,0,0
$GC,5005,0.76,146.0,98.4,12.2,505,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2554,2343,0,0,0,0,0,0
$GC,5141,0.76,146.0,81.3,12.4,530,5150,0.00,2.00,0.00,0.000,4,0.000,0.056,3338,3756,2343,0,0,0,0,0,0
$GC,5220,0.76,146.0,70.2,15.2,544,5229,0.10,1.90,0.00,0.000,6,0.132,0.039,3314,2563,2343,0,0,0,0,0,0
$GC,5360,0.76,146.0,54.5,11.0,569,5366,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2563,2343,0,0,0,0,0,0
$GC,5498,0.76,146.0,38.7,11.7,594,5506,0.00,2.00,0.00,0.000,4,0.000,0.057,3313,3760,2342,0,0,0,0,0,0
$GC,5556,0.76,146.0,31.4,12.6,604,5564,0.00,1.88,0.00,0.000,6,0.000,0.039,3321,2581,2342,0,0,0,0,0,0
$GC,5697,0.76,146.0,15.2,11.0,629,5703,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2581,2342,0,0,0,0,0,0
$FREEZE,8.41,0.069,-1.894,2,2,0
$FREEZE,7.74,0.070,-1.894,2,2,0
$FREEZE,7.01,0.076,-1.893,2,2,0
$FREEZE,6.37,0.085,-1.892,2,2,0
$FREEZE,5.64,0.085,-1.892,2,2,0
$FREEZE,4.93,0.087,-1.891,2,2,0
$FREEZE,3.95,0.084,-1.891,2,2,0
$FREEZE,3.24,0.083,-1.890,2,2,0
$FREEZE,2.63,0.089,-1.890,2,2,0
$STATE,5793,end climb,SURFACE_DEPTH_REACHED
$STATE,5794,begin surface coast
$FREEZE,1.77,0.088,-1.889,2,2,0
$FREEZE,1.31,0.077,-1.890,2,2,0
$FREEZE,1.23,0.075,-1.890,2,2,0
$FREEZE,1.21,0.043,-1.765,2,2,0
$FINISH,1.2,1.025865
$STATE,5820,end surface coast,CONTROL_FINISHED_OK
$STATE,5820,begin surface
$SM_CCo,5838,257.35,0.101,0,0,420,623.30
$SM_GC,1.89,0.00,0.00,257.35,0.000,0.000,0.101,411,2660,420,-8.29,0.28,623.30
$IRIDIUM_FIX,-7545.40,17656.34,070111,191939
$TT8_MAMPS,0.027713
$HUMID,51.49
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,14.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.4,18.0
$ALTIM_BOTTOM_PING,351.1,42.6
$24V_AH,20.3,79.740
$10V_AH,9.6,55.047
$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,18.550,70.975,279.675,257.350,0.000,87.329,225.325,0.000,2.000,0.000,16.433,1661.048,2209.230,646.605,1913.351,242.843,0.000,1327.597,0.000,1097.810,0.000,10.596,0.000
$DEVICE_MAMPS,194.310,98.685,1032.750,100.980,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,456.168,840.508,914.662,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258144
$DATA_FILE_SIZE,46936,650
$CAP_FILE_SIZE,88527,0
$CFSIZE,260165632,222695424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.080, 12.4,1
$GPS,070111,213900,-7628.294,17707.598,36,0.9,41,122.1