version: 66.08
glider: 502
mission: 3
dive: 514
start: 1 5 111 3 29 28
data:
$ID,502
$MISSION,3
$DIVE,514
$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,-5
$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,-30787.773
$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,35
$R_STBD_OVSHOOT,27
$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
$GPS1,050111,031934,-7627.559,17830.418,12,2.2,31,120.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-70.0
$GPS2,050111,032902,-7627.611,17830.088,12,1.2,12,120.1
$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,181.1,220576,-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,-146.0,0.0,0.0,0,108,0.00,0.00,-88.15,0.000,2,0.000,0.000,407,2661,3356,0,0,0,0,0,0
$GC,111,-0.76,-146.0,3.3,-1.7,13,133,8.90,2.30,-5.57,0.000,4,0.192,0.058,2808,1237,3560,0,0,0,0,0,0
$GC,320,-0.76,-146.0,38.2,-14.8,50,328,0.00,2.35,0.00,0.000,6,0.000,0.056,2799,2648,3563,0,0,0,0,0,0
$GC,460,-0.76,-146.0,60.4,-15.9,75,468,0.00,1.83,0.00,0.000,4,0.000,0.062,2790,3774,3563,0,0,0,0,0,0
$GC,514,-0.76,-146.0,70.0,-16.6,84,522,0.00,1.80,0.00,0.000,6,0.000,0.042,2790,2651,3563,0,0,0,0,0,0
$GC,652,-0.76,-146.0,93.3,-16.9,109,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2650,3563,0,0,0,0,0,0
$GC,789,-0.76,-146.0,116.7,-16.7,125,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2650,3563,0,0,0,0,0,0
$GC,917,-0.76,-146.0,138.2,-17.2,137,920,0.00,1.85,0.00,0.000,4,0.000,0.063,2782,3766,3563,0,0,0,0,0,0
$GC,953,-0.76,-146.0,144.6,-18.2,140,957,0.12,1.73,0.00,0.000,6,0.158,0.041,2815,2663,3563,0,0,0,0,0,0
$GC,1095,-0.76,-146.0,165.4,-13.9,153,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2661,3564,0,0,0,0,0,0
$GC,1230,-0.76,-146.0,184.6,-13.7,166,1234,0.00,1.83,0.00,0.000,4,0.000,0.063,2808,3772,3563,0,0,0,0,0,0
$GC,1279,-0.76,-146.0,192.3,-14.6,170,1287,0.00,1.75,0.00,0.000,6,0.000,0.042,2808,2678,3563,0,0,0,0,0,0
$GC,1416,-0.76,-146.0,211.9,-14.5,183,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2678,3564,0,0,0,0,0,0
$GC,1553,-0.76,-146.0,231.9,-15.2,196,1556,0.00,1.80,0.00,0.000,4,0.000,0.064,2800,3771,3563,0,0,0,0,0,0
$GC,1588,-0.76,-146.0,237.5,-16.1,199,1591,0.00,1.73,0.00,0.000,6,0.000,0.041,2800,2667,3563,0,0,0,0,0,0
$GC,1728,-0.76,-146.0,259.3,-15.7,212,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2664,3563,0,0,0,0,0,0
$GC,1921,-0.76,-146.0,288.8,-15.2,230,1924,0.00,1.80,0.00,0.000,4,0.000,0.063,2791,3764,3563,0,0,0,0,0,0
$GC,1969,-0.76,-146.0,297.2,-16.3,234,1977,0.00,1.73,0.00,0.000,6,0.000,0.041,2792,2680,3563,0,0,0,0,0,0
$STATE,1999,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1999,begin apogee
$GC,2004,-0.27,0.0,301.4,15.6,237,2142,0.55,0.00,129.30,0.992,4,0.129,0.000,2968,2483,2961,0,0,0,0,0,0
$STATE,2143,end apogee,CONTROL_FINISHED_OK
$STATE,2143,begin climb
$GC,2145,0.76,146.0,310.2,0.0,249,2305,1.10,2.47,147.30,0.910,4,0.079,0.047,3310,1096,2363,0,0,0,0,0,0
$GC,2419,0.76,146.0,288.6,11.3,273,2424,0.00,2.55,0.00,0.000,6,0.000,0.050,3310,2505,2353,0,0,0,0,0,0
$GC,2619,0.76,146.0,264.2,12.5,291,2623,0.00,2.33,0.00,0.000,4,0.000,0.047,3315,1095,2350,0,0,0,0,0,0
$GC,2795,0.76,146.0,243.1,12.1,306,2799,0.00,2.30,0.00,0.000,6,0.000,0.052,3315,2513,2348,0,0,0,0,0,0
$GC,2932,0.76,146.0,226.7,12.1,318,2935,0.00,2.03,0.00,0.000,4,0.000,0.060,3315,3767,2347,0,0,0,0,0,0
$GC,3014,0.76,146.0,214.7,14.2,325,3022,0.00,1.98,0.00,0.000,6,0.000,0.041,3324,2523,2346,0,0,0,0,0,0
$GC,3151,0.76,146.0,198.0,12.4,338,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2523,2346,0,0,0,0,0,0
$GC,3287,0.76,146.0,181.6,12.0,351,3291,0.00,2.03,0.00,0.000,4,0.000,0.060,3324,3770,2346,0,0,0,0,0,0
$GC,3335,0.76,146.0,174.8,13.3,355,3345,0.00,2.00,0.00,0.000,6,0.000,0.041,3333,2516,2345,0,0,0,0,0,0
$GC,3473,0.76,146.0,158.6,11.9,368,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2515,2345,0,0,0,0,0,0
$GC,3609,0.76,146.0,141.6,12.3,381,3612,0.00,2.03,0.00,0.000,4,0.000,0.058,3333,3763,2345,0,0,0,0,0,0
$GC,3677,0.76,146.0,132.2,14.4,387,3682,0.12,1.92,0.00,0.000,6,0.161,0.041,3310,2532,2344,0,0,0,0,0,0
$GC,3813,0.76,146.0,117.4,10.8,399,3814,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2529,2344,0,0,0,0,0,0
$GC,3940,0.76,146.0,104.3,10.6,411,3944,0.00,2.03,0.00,0.000,4,0.000,0.060,3309,3763,2344,0,0,0,0,0,0
$GC,4008,0.76,146.0,96.2,12.1,419,4016,0.00,1.92,0.00,0.000,6,0.000,0.041,3318,2538,2343,0,0,0,0,0,0
$GC,4150,0.76,146.0,81.2,10.1,444,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2537,2344,0,0,0,0,0,0
$GC,4291,0.76,146.0,66.1,10.5,469,4298,0.00,2.05,0.00,0.000,4,0.000,0.059,3318,3764,2343,0,0,0,0,0,0
$GC,4342,0.76,146.0,59.5,12.7,478,4350,0.00,1.92,0.00,0.000,6,0.000,0.041,3327,2557,2343,0,0,0,0,0,0
$GC,4482,0.76,146.0,43.7,11.2,503,4489,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2556,2343,0,0,0,0,0,0
$GC,4620,0.76,146.0,26.8,11.9,528,4628,0.00,2.00,0.00,0.000,4,0.000,0.060,3327,3754,2343,0,0,0,0,0,0
$GC,4700,0.76,146.0,16.2,13.0,542,4708,0.00,1.90,0.00,0.000,6,0.000,0.041,3336,2563,2343,0,0,0,0,0,0
$FREEZE,8.58,-0.767,-1.895,2,2,0
$FREEZE,7.97,-0.767,-1.894,2,2,0
$FREEZE,7.11,-0.767,-1.894,2,2,0
$FREEZE,6.55,-0.767,-1.893,2,2,0
$FREEZE,5.88,-0.767,-1.893,2,2,0
$FREEZE,5.26,-0.768,-1.892,2,2,0
$FREEZE,4.51,-0.767,-1.892,2,2,0
$FREEZE,3.78,-0.768,-1.891,2,2,0
$FREEZE,3.06,-0.768,-1.891,2,2,0
$FREEZE,2.45,-0.766,-1.890,2,2,0
$STATE,4810,end climb,SURFACE_DEPTH_REACHED
$STATE,4811,begin surface coast
$FREEZE,1.33,-0.766,-1.889,2,2,0
$FREEZE,1.10,-0.852,-1.895,2,2,0
$FREEZE,1.10,-0.863,-1.861,2,2,0
$FREEZE,1.07,-0.807,-1.070,2,2,0
$FINISH,1.1,1.015805
$STATE,4835,end surface coast,CONTROL_FINISHED_OK
$STATE,4835,begin surface
$SM_CCo,4853,257.90,0.099,0,0,419,623.30
$SM_GC,1.84,0.00,0.00,257.90,0.000,0.000,0.099,410,2660,419,-8.29,0.28,623.30
$IRIDIUM_FIX,-7545.40,17828.35,050111,030303
$TT8_MAMPS,0.028462
$HUMID,51.22
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,20.0,18.5
$ALTIM_BOTTOM_PING,301.4,10.5
$24V_AH,20.2,75.680
$10V_AH,9.6,51.950
$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,18.325,56.375,276.600,257.900,0.000,92.299,225.327,0.000,1.250,0.000,12.903,1435.886,1619.644,643.627,1786.367,201.880,0.000,1245.900,0.000,953.560,0.000,8.793,0.000
$DEVICE_MAMPS,192.015,89.505,992.205,99.450,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,396.218,789.425,947.081,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267104
$DATA_FILE_SIZE,40554,565
$CAP_FILE_SIZE,76522,0
$CFSIZE,260165632,224542720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.277,214.1,1
$GPS,050111,045531,-7627.956,17826.143,7,1.2,12,120.2