version: 66.08
glider: 502
mission: 3
dive: 532
start: 1 6 111 10 13 53
data:
$ID,502
$MISSION,3
$DIVE,532
$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,-30810.518
$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,29
$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
$GPS1,060111,100354,-7628.333,17741.699,38,1.3,38,121.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-74.9
$GPS2,060111,101326,-7628.337,17741.980,17,1.4,17,121.3
$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,178.2,199757,-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,-146.0,0.0,0.0,0,105,0.00,0.00,-85.53,0.000,2,0.000,0.000,424,2668,3327,0,0,0,0,0,0
$GC,108,-0.76,-146.0,3.3,-1.9,13,131,8.73,2.38,-6.35,0.000,4,0.190,0.062,2808,1234,3560,0,0,0,0,0,0
$GC,295,-0.76,-146.0,33.9,-14.8,46,304,0.00,2.35,0.00,0.000,6,0.000,0.055,2800,2646,3564,0,0,0,0,0,0
$GC,434,-0.76,-146.0,56.2,-17.2,71,442,0.00,1.83,0.00,0.000,4,0.000,0.060,2791,3756,3564,0,0,0,0,0,0
$GC,472,-0.76,-146.0,62.7,-17.6,77,479,0.00,1.75,0.00,0.000,6,0.000,0.040,2791,2654,3564,0,0,0,0,0,0
$GC,610,-0.76,-146.0,86.2,-16.7,102,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2653,3565,0,0,0,0,0,0
$GC,749,-0.76,-146.0,109.3,-16.6,122,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2653,3565,0,0,0,0,0,0
$GC,877,-0.76,-146.0,130.0,-16.1,134,880,0.00,1.83,0.00,0.000,4,0.000,0.062,2784,3763,3564,0,0,0,0,0,0
$GC,924,-0.76,-146.0,138.2,-17.1,138,929,0.12,1.73,0.00,0.000,6,0.160,0.040,2818,2649,3564,0,0,0,0,0,0
$GC,1065,-0.76,-146.0,158.7,-14.2,151,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2648,3565,0,0,0,0,0,0
$GC,1193,-0.76,-146.0,176.7,-14.0,163,1196,0.00,1.83,0.00,0.000,4,0.000,0.060,2811,3764,3565,0,0,0,0,0,0
$GC,1219,-0.76,-146.0,181.3,-15.6,165,1228,0.00,1.75,0.00,0.000,6,0.000,0.040,2811,2664,3565,0,0,0,0,0,0
$GC,1355,-0.76,-146.0,201.3,-15.0,178,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2663,3565,0,0,0,0,0,0
$GC,1482,-0.76,-146.0,220.1,-14.5,190,1486,0.00,1.80,0.00,0.000,4,0.000,0.060,2802,3763,3565,0,0,0,0,0,0
$GC,1518,-0.76,-146.0,225.7,-16.4,193,1522,0.00,1.70,0.00,0.000,6,0.000,0.040,2803,2666,3565,0,0,0,0,0,0
$GC,1659,-0.76,-146.0,247.2,-15.1,206,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2664,3565,0,0,0,0,0,0
$GC,1785,-0.76,-146.0,266.0,-14.4,218,1788,0.00,1.80,0.00,0.000,4,0.000,0.060,2795,3763,3565,0,0,0,0,0,0
$GC,1819,-0.76,-146.0,271.5,-15.5,221,1823,0.00,1.67,0.00,0.000,6,0.000,0.040,2795,2684,3565,0,0,0,0,0,0
$GC,2024,-0.76,-146.0,302.4,-15.1,240,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2682,3565,0,0,0,0,0,0
$GC,2214,-0.76,-146.0,331.4,-15.4,258,2217,0.00,1.77,0.00,0.000,4,0.000,0.060,2787,3763,3565,0,0,0,0,0,0
$GC,2248,-0.76,-146.0,336.9,-16.5,261,2253,0.12,1.67,0.00,0.000,6,0.161,0.040,2820,2683,3564,0,0,0,0,0,0
$STATE,2454,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2454,begin apogee
$GC,2460,-0.27,0.0,364.5,13.3,280,2596,0.45,0.00,130.62,1.030,4,0.122,0.000,2969,2499,2961,0,0,0,0,0,0
$STATE,2597,end apogee,CONTROL_FINISHED_OK
$STATE,2597,begin climb
$GC,2600,0.76,146.0,371.9,0.0,292,2759,1.10,2.55,148.80,0.954,4,0.083,0.047,3305,1093,2364,0,0,0,0,0,0
$GC,2842,0.76,146.0,353.0,10.6,313,2849,0.00,2.58,0.00,0.000,6,0.000,0.049,3305,2497,2355,0,0,0,0,0,0
$GC,3041,0.76,146.0,330.8,11.6,332,3045,0.00,2.35,0.00,0.000,4,0.000,0.047,3315,1099,2352,0,0,0,0,0,0
$GC,3188,0.76,146.0,313.6,11.2,344,3195,0.00,2.35,0.00,0.000,6,0.000,0.052,3315,2519,2349,0,0,0,0,0,0
$GC,3387,0.76,146.0,289.5,12.2,363,3390,0.00,2.00,0.00,0.000,4,0.000,0.057,3315,3771,2348,0,0,0,0,0,0
$GC,3492,0.76,146.0,274.5,14.3,372,3499,0.00,1.98,0.00,0.000,6,0.000,0.040,3324,2523,2347,0,0,0,0,0,0
$GC,3691,0.76,146.0,249.8,12.4,391,3695,0.00,2.05,0.00,0.000,4,0.000,0.058,3324,3769,2346,0,0,0,0,0,0
$GC,3738,0.76,146.0,243.5,14.4,395,3742,0.00,1.90,0.00,0.000,6,0.000,0.038,3334,2543,2346,0,0,0,0,0,0
$GC,3881,0.76,146.0,225.4,12.6,408,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2541,2346,0,0,0,0,0,0
$GC,4017,0.76,146.0,208.4,12.2,421,4020,0.00,2.00,0.00,0.000,4,0.000,0.058,3334,3768,2345,0,0,0,0,0,0
$GC,4065,0.76,146.0,201.1,14.9,425,4074,0.08,1.92,0.00,0.000,6,0.140,0.039,3318,2553,2345,0,0,0,0,0,0
$GC,4203,0.76,146.0,185.5,11.5,438,4210,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2552,2345,0,0,0,0,0,0
$GC,4339,0.76,146.0,169.5,11.7,451,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2552,2345,0,0,0,0,0,0
$GC,4466,0.76,146.0,154.8,11.3,463,4469,0.00,1.98,0.00,0.000,4,0.000,0.058,3318,3764,2344,0,0,0,0,0,0
$GC,4535,0.76,146.0,145.9,13.5,469,4539,0.00,1.88,0.00,0.000,6,0.000,0.038,3325,2549,2344,0,0,0,0,0,0
$GC,4678,0.76,146.0,129.6,11.3,482,4682,0.00,1.98,0.00,0.000,4,0.000,0.058,3325,3761,2344,0,0,0,0,0,0
$GC,4705,0.76,146.0,125.7,12.9,484,4714,0.00,1.90,0.00,0.000,6,0.000,0.039,3334,2562,2344,0,0,0,0,0,0
$GC,4841,0.76,146.0,109.7,12.0,497,4842,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2561,2344,0,0,0,0,0,0
$GC,4968,0.76,146.0,94.5,12.1,513,4975,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2561,2344,0,0,0,0,0,0
$GC,5104,0.76,146.0,77.8,12.2,538,5112,0.00,2.00,0.00,0.000,4,0.000,0.057,3334,3756,2344,0,0,0,0,0,0
$GC,5149,0.76,146.0,72.1,13.7,545,5156,0.12,1.88,0.00,0.000,6,0.158,0.040,3310,2558,2343,0,0,0,0,0,0
$GC,5287,0.76,146.0,56.1,11.7,570,5295,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2555,2342,0,0,0,0,0,0
$GC,5427,0.76,146.0,40.5,10.6,595,5435,0.00,2.00,0.00,0.000,4,0.000,0.057,3310,3772,2343,0,0,0,0,0,0
$GC,5476,0.76,146.0,34.5,12.8,603,5483,0.00,1.90,0.00,0.000,6,0.000,0.040,3318,2556,2343,0,0,0,0,0,0
$GC,5615,0.76,146.0,18.4,11.8,628,5623,0.00,2.35,0.00,0.000,4,0.000,0.047,3328,1091,2343,0,0,0,0,0,0
$GC,5652,0.76,146.0,14.2,11.3,634,5659,0.00,2.42,0.00,0.000,6,0.000,0.050,3329,2564,2342,0,0,0,0,0,0
$FREEZE,8.90,-0.100,-1.893,2,2,0
$FREEZE,8.21,-0.120,-1.892,2,2,0
$FREEZE,7.55,-0.111,-1.892,2,2,0
$FREEZE,6.88,-0.112,-1.891,2,2,0
$FREEZE,6.28,-0.114,-1.891,2,2,0
$FREEZE,5.60,-0.123,-1.890,2,2,0
$FREEZE,4.71,-0.123,-1.890,2,2,0
$FREEZE,4.11,-0.112,-1.889,2,2,0
$FREEZE,3.17,-0.117,-1.888,2,2,0
$FREEZE,2.64,-0.123,-1.888,2,2,0
$STATE,5750,end climb,SURFACE_DEPTH_REACHED
$STATE,5750,begin surface coast
$FREEZE,1.49,-0.122,-1.887,2,2,0
$FREEZE,1.13,-0.128,-1.887,2,2,0
$FREEZE,1.14,-0.195,-1.107,2,2,0
$FREEZE,1.20,-0.224,-1.891,2,2,0
$FINISH,1.2,1.027670
$STATE,5775,end surface coast,CONTROL_FINISHED_OK
$STATE,5775,begin surface
$SM_CCo,5793,259.48,0.101,0,0,420,623.30
$SM_GC,1.75,0.00,0.00,259.48,0.000,0.000,0.101,416,2663,420,-8.27,0.37,623.30
$IRIDIUM_FIX,-7545.40,17742.56,060111,101028
$TT8_MAMPS,0.028462
$HUMID,51.57
$INTERNAL_PRESSURE,8.68197
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,18.4
$ALTIM_BOTTOM_PING,300.8,77.9
$24V_AH,20.2,77.594
$10V_AH,9.6,53.470
$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,18.325,68.200,279.425,259.475,0.000,86.869,225.323,0.000,1.250,0.000,18.499,1667.100,2164.710,647.792,1935.283,215.840,0.000,1317.023,0.000,1083.384,0.000,8.973,0.000
$DEVICE_MAMPS,190.485,97.920,1029.690,100.980,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,460.030,859.321,951.055,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258172
$DATA_FILE_SIZE,47168,655
$CAP_FILE_SIZE,88223,0
$CFSIZE,260165632,223625216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.154,123.3,1
$GPS,060111,115538,-7628.259,17741.004,12,1.4,13,121.3