version: 66.08
glider: 502
mission: 3
dive: 534
start: 1 6 111 13 55 4
data:
$ID,502
$MISSION,3
$DIVE,534
$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,-30813.037
$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,36
$R_STBD_OVSHOOT,30
$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
$GPS1,060111,134506,-7628.102,17740.078,34,0.8,34,121.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-72.8
$GPS2,060111,135438,-7628.071,17740.254,14,1.4,14,121.3
$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,153.3,199018,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-79.93,0.000,2,0.000,0.000,421,2661,3198,0,0,0,0,0,0
$GC,102,-0.76,-146.0,3.0,-1.0,12,132,8.75,1.85,-11.25,0.000,4,0.192,0.078,2801,3757,3560,0,0,0,0,0,0
$GC,269,-0.76,-146.0,31.2,-17.8,40,277,0.00,1.75,0.00,0.000,6,0.000,0.041,2801,2652,3562,0,0,0,0,0,0
$GC,413,-0.76,-146.0,55.8,-17.5,65,420,0.00,2.25,0.00,0.000,4,0.000,0.049,2801,1237,3563,0,0,0,0,0,0
$GC,440,-0.76,-146.0,60.4,-16.9,69,447,0.00,2.30,0.00,0.000,6,0.000,0.054,2790,2645,3563,0,0,0,0,0,0
$GC,583,-0.76,-146.0,85.2,-18.1,94,592,0.00,1.83,0.00,0.000,4,0.000,0.060,2782,3757,3563,0,0,0,0,0,0
$GC,609,-0.76,-146.0,90.1,-18.2,98,619,0.10,1.75,0.00,0.000,6,0.135,0.041,2815,2655,3563,0,0,0,0,0,0
$GC,753,-0.76,-146.0,112.0,-15.0,116,754,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2654,3563,0,0,0,0,0,0
$GC,879,-0.76,-146.0,130.9,-15.3,128,883,0.00,1.83,0.00,0.000,4,0.000,0.060,2808,3770,3564,0,0,0,0,0,0
$GC,917,-0.76,-146.0,137.4,-15.8,131,925,0.00,1.77,0.00,0.000,6,0.000,0.040,2808,2656,3564,0,0,0,0,0,0
$GC,1055,-0.76,-146.0,157.6,-15.1,144,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2655,3564,0,0,0,0,0,0
$GC,1190,-0.76,-146.0,178.6,-14.9,157,1194,0.00,1.83,0.00,0.000,4,0.000,0.061,2800,3770,3564,0,0,0,0,0,0
$GC,1227,-0.76,-146.0,185.2,-16.4,160,1236,0.00,1.77,0.00,0.000,6,0.000,0.041,2800,2653,3564,0,0,0,0,0,0
$GC,1364,-0.76,-146.0,206.2,-15.8,173,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2653,3564,0,0,0,0,0,0
$GC,1492,-0.76,-146.0,226.4,-15.9,185,1495,0.00,1.83,0.00,0.000,4,0.000,0.060,2791,3769,3564,0,0,0,0,0,0
$GC,1518,-0.76,-146.0,231.4,-16.6,187,1527,0.00,1.75,0.00,0.000,6,0.000,0.041,2791,2671,3564,0,0,0,0,0,0
$GC,1653,-0.76,-146.0,252.8,-16.2,200,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2670,3564,0,0,0,0,0,0
$GC,1846,-0.76,-146.0,284.1,-16.7,218,1849,0.00,1.80,0.00,0.000,4,0.000,0.060,2785,3769,3564,0,0,0,0,0,0
$GC,1884,-0.76,-146.0,291.3,-17.2,221,1892,0.08,1.75,0.00,0.000,6,0.139,0.041,2810,2669,3564,0,0,0,0,0,0
$GC,2084,-0.76,-146.0,321.6,-15.0,240,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2668,3564,0,0,0,0,0,0
$GC,2273,-0.76,-146.0,349.3,-13.9,258,2282,0.00,1.80,0.00,0.000,4,0.000,0.060,2803,3766,3564,0,0,0,0,0,0
$GC,2322,-0.76,-146.0,356.6,-14.7,262,2326,0.00,1.70,0.00,0.000,6,0.000,0.041,2803,2674,3564,0,0,0,0,0,0
$STATE,2420,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2420,begin apogee
$GC,2426,-0.27,0.0,371.1,14.6,271,2564,0.52,0.00,130.82,1.037,4,0.124,0.000,2971,2491,2961,0,0,0,0,0,0
$STATE,2564,end apogee,CONTROL_FINISHED_OK
$STATE,2565,begin climb
$GC,2567,0.76,146.0,378.9,0.0,283,2726,1.08,0.00,149.62,0.962,6,0.085,0.000,3306,2491,2365,0,0,0,0,0,0
$GC,2919,0.76,146.0,346.3,11.4,315,2923,0.00,2.28,0.00,0.000,4,0.000,0.056,3306,3757,2353,0,0,0,0,0,0
$GC,3026,0.76,146.0,331.5,14.2,324,3030,0.00,2.05,0.00,0.000,6,0.000,0.038,3315,2514,2352,0,0,0,0,0,0
$GC,3224,0.76,146.0,308.1,11.7,342,3228,0.00,2.05,0.00,0.000,4,0.000,0.057,3315,3767,2349,0,0,0,0,0,0
$GC,3268,0.76,146.0,302.2,13.7,345,3274,0.00,1.95,0.00,0.000,6,0.000,0.039,3324,2518,2349,0,0,0,0,0,0
$GC,3465,0.76,146.0,277.6,12.3,364,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2516,2348,0,0,0,0,0,0
$GC,3657,0.76,146.0,253.9,12.4,382,3661,0.00,2.03,0.00,0.000,4,0.000,0.058,3324,3759,2347,0,0,0,0,0,0
$GC,3738,0.76,146.0,242.8,14.9,389,3741,0.00,1.92,0.00,0.000,6,0.000,0.039,3334,2521,2347,0,0,0,0,0,0
$GC,3880,0.76,146.0,224.7,12.3,402,3889,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2517,2346,0,0,0,0,0,0
$GC,4017,0.76,146.0,207.1,12.7,415,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2518,2346,0,0,0,0,0,0
$GC,4153,0.76,146.0,189.5,13.0,428,4156,0.00,2.03,0.00,0.000,4,0.000,0.058,3334,3761,2345,0,0,0,0,0,0
$GC,4221,0.76,146.0,179.5,15.2,434,4225,0.12,1.90,0.00,0.000,6,0.160,0.039,3310,2538,2346,0,0,0,0,0,0
$GC,4363,0.76,146.0,162.4,11.5,447,4366,0.00,2.00,0.00,0.000,4,0.000,0.057,3310,3763,2345,0,0,0,0,0,0
$GC,4420,0.76,146.0,154.9,12.6,452,4424,0.00,1.90,0.00,0.000,6,0.000,0.039,3318,2543,2345,0,0,0,0,0,0
$GC,4561,0.76,146.0,137.9,11.9,465,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2540,2344,0,0,0,0,0,0
$GC,4688,0.76,146.0,123.0,11.6,477,4692,0.00,2.00,0.00,0.000,4,0.000,0.057,3318,3768,2344,0,0,0,0,0,0
$GC,4745,0.76,146.0,115.6,13.3,482,4749,0.00,1.88,0.00,0.000,6,0.000,0.038,3327,2557,2344,0,0,0,0,0,0
$GC,4882,0.76,146.0,99.0,11.7,495,4888,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2554,2344,0,0,0,0,0,0
$GC,5022,0.76,146.0,82.3,11.6,520,5030,0.00,2.00,0.00,0.000,4,0.000,0.056,3327,3760,2344,0,0,0,0,0,0
$GC,5079,0.76,146.0,75.0,13.4,529,5085,0.00,1.85,0.00,0.000,6,0.000,0.039,3336,2569,2343,0,0,0,0,0,0
$GC,5223,0.76,146.0,57.6,11.9,554,5231,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2567,2344,0,0,0,0,0,0
$GC,5368,0.76,146.0,40.3,12.1,579,5374,0.00,1.98,0.00,0.000,4,0.000,0.057,3336,3771,2343,0,0,0,0,0,0
$GC,5416,0.76,146.0,33.6,14.0,587,5424,0.12,1.88,0.00,0.000,6,0.157,0.040,3311,2568,2344,0,0,0,0,0,0
$GC,5563,0.76,146.0,17.8,10.2,612,5571,0.00,2.38,0.00,0.000,4,0.000,0.048,3316,1095,2343,0,0,0,0,0,0
$GC,5611,0.76,146.0,12.8,10.2,620,5619,0.00,2.42,0.00,0.000,6,0.000,0.050,3316,2570,2343,0,0,0,0,0,0
$FREEZE,8.75,-0.195,-1.892,2,2,0
$FREEZE,8.22,-0.195,-1.891,2,2,0
$FREEZE,7.34,-0.198,-1.891,2,2,0
$FREEZE,6.72,-0.197,-1.891,2,2,0
$FREEZE,6.01,-0.194,-1.890,2,2,0
$FREEZE,5.41,-0.194,-1.890,2,2,0
$FREEZE,4.68,-0.193,-1.889,2,2,0
$FREEZE,4.10,-0.194,-1.889,2,2,0
$FREEZE,3.43,-0.194,-1.888,2,2,0
$FREEZE,3.00,-0.195,-1.888,2,2,0
$STATE,5704,end climb,SURFACE_DEPTH_REACHED
$STATE,5704,begin surface coast
$FREEZE,1.83,-0.196,-1.887,2,2,0
$FREEZE,1.31,-0.195,-1.886,2,2,0
$FREEZE,1.13,-0.302,-1.433,2,2,0
$FREEZE,1.18,-0.279,-0.387,2,2,0
$FREEZE,1.19,-0.226,-1.887,2,2,0
$FINISH,1.2,1.027612
$STATE,5734,end surface coast,CONTROL_FINISHED_OK
$STATE,5734,begin surface
$SM_CCo,5751,258.48,0.099,0,0,420,623.30
$SM_GC,1.83,0.00,0.00,258.48,0.000,0.000,0.099,418,2664,420,-8.27,0.40,623.30
$IRIDIUM_FIX,-7545.40,17751.38,060111,131338
$TT8_MAMPS,0.028462
$HUMID,51.33
$INTERNAL_PRESSURE,8.68197
$TCM_TEMP,14.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,18.5
$ALTIM_BOTTOM_PING,350.1,35.0
$24V_AH,20.2,77.809
$10V_AH,9.6,53.643
$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,18.375,66.400,280.450,258.475,0.000,90.340,225.317,0.000,2.000,0.000,15.170,1622.586,2211.105,655.093,1874.140,224.453,0.000,1314.767,0.000,1048.642,0.000,12.640,0.000
$DEVICE_MAMPS,192.015,100.215,1037.340,99.450,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,449.211,832.996,916.912,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258188
$DATA_FILE_SIZE,43771,640
$CAP_FILE_SIZE,87086,0
$CFSIZE,260165632,223526912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.132, 72.5,1
$GPS,060111,153602,-7627.901,17738.473,9,1.7,9,121.3