version: 66.08
glider: 502
mission: 3
dive: 521
start: 1 5 111 14 39 51
data:
$ID,502
$MISSION,3
$DIVE,521
$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,300
$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,-30796.574
$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
$GPS1,050111,143015,-7628.306,17817.125,14,1.8,14,120.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-67.2
$GPS2,050111,143924,-7628.284,17817.209,43,1.8,43,120.4
$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,145.1,214987,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,169,0.00,0.00,-149.90,0.000,2,0.000,0.000,405,2661,3402,0,0,0,0,0,0
$GC,174,-0.76,-146.0,3.6,-3.1,22,198,8.90,2.35,-3.90,0.000,4,0.192,0.063,2805,1240,3562,0,0,0,0,0,0
$GC,237,-0.76,-146.0,19.2,-16.6,32,247,0.00,2.33,0.00,0.000,6,0.000,0.056,2797,2637,3564,0,0,0,0,0,0
$GC,384,-0.76,-146.0,43.5,-16.9,57,391,0.00,1.83,0.00,0.000,4,0.000,0.060,2788,3765,3565,0,0,0,0,0,0
$GC,433,-0.76,-146.0,52.4,-17.7,65,441,0.10,1.75,0.00,0.000,6,0.171,0.041,2813,2666,3565,0,0,0,0,0,0
$GC,576,-0.76,-146.0,75.3,-15.5,90,584,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2665,3565,0,0,0,0,0,0
$GC,720,-0.76,-146.0,96.9,-14.8,115,726,0.00,1.80,0.00,0.000,4,0.000,0.060,2806,3765,3566,0,0,0,0,0,0
$GC,758,-0.76,-146.0,103.5,-15.0,120,768,0.00,1.75,0.00,0.000,6,0.000,0.041,2806,2662,3565,0,0,0,0,0,0
$GC,896,-0.76,-146.0,123.0,-14.4,133,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2662,3565,0,0,0,0,0,0
$GC,1032,-0.76,-146.0,142.9,-14.4,146,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2662,3565,0,0,0,0,0,0
$GC,1158,-0.76,-146.0,161.8,-14.7,158,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2662,3566,0,0,0,0,0,0
$GC,1286,-0.76,-146.0,180.3,-14.5,170,1289,0.00,1.80,0.00,0.000,4,0.000,0.061,2798,3764,3565,0,0,0,0,0,0
$GC,1345,-0.76,-146.0,190.0,-15.5,175,1353,0.00,1.75,0.00,0.000,6,0.000,0.040,2798,2667,3565,0,0,0,0,0,0
$GC,1481,-0.76,-146.0,210.2,-15.0,188,1482,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2666,3565,0,0,0,0,0,0
$GC,1608,-0.76,-146.0,229.9,-15.4,200,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2666,3565,0,0,0,0,0,0
$GC,1736,-0.76,-146.0,249.3,-15.3,212,1745,0.00,1.80,0.00,0.000,4,0.000,0.061,2789,3767,3565,0,0,0,0,0,0
$GC,1789,-0.76,-146.0,258.7,-16.3,216,1797,0.00,1.75,0.00,0.000,6,0.000,0.041,2789,2669,3565,0,0,0,0,0,0
$GC,1989,-0.76,-146.0,290.1,-16.3,235,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2669,3565,0,0,0,0,0,0
$STATE,2144,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2144,begin apogee
$GC,2151,-0.27,0.0,315.3,15.4,250,2289,0.57,0.00,130.40,1.000,4,0.131,0.000,2972,2484,2961,0,0,0,0,0,0
$STATE,2290,end apogee,CONTROL_FINISHED_OK
$STATE,2290,begin climb
$GC,2292,0.76,146.0,322.4,0.0,262,2450,1.08,2.50,148.20,0.923,4,0.079,0.047,3305,1099,2364,0,0,0,0,0,0
$GC,2554,0.76,146.0,300.7,11.3,285,2558,0.00,2.55,0.00,0.000,6,0.000,0.049,3306,2499,2354,0,0,0,0,0,0
$GC,2752,0.76,146.0,277.9,11.3,303,2756,0.00,2.35,0.00,0.000,4,0.000,0.048,3315,1105,2350,0,0,0,0,0,0
$GC,2899,0.76,146.0,261.6,11.4,316,2903,0.00,2.33,0.00,0.000,6,0.000,0.052,3315,2526,2347,0,0,0,0,0,0
$GC,3100,0.76,146.0,238.8,11.8,334,3103,0.00,1.98,0.00,0.000,4,0.000,0.058,3315,3761,2346,0,0,0,0,0,0
$GC,3201,0.76,146.0,224.7,13.7,343,3205,0.00,1.90,0.00,0.000,6,0.000,0.040,3324,2536,2346,0,0,0,0,0,0
$GC,3344,0.76,146.0,207.2,12.3,356,3348,0.00,2.00,0.00,0.000,4,0.000,0.057,3324,3768,2345,0,0,0,0,0,0
$GC,3382,0.76,146.0,201.7,13.6,359,3390,0.00,1.95,0.00,0.000,6,0.000,0.039,3333,2544,2345,0,0,0,0,0,0
$GC,3520,0.76,146.0,184.8,12.8,372,3528,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2543,2345,0,0,0,0,0,0
$GC,3655,0.76,146.0,167.1,12.6,385,3659,0.00,1.98,0.00,0.000,4,0.000,0.058,3333,3763,2345,0,0,0,0,0,0
$GC,3725,0.76,146.0,156.5,14.3,391,3735,0.08,1.95,0.00,0.000,6,0.139,0.040,3318,2539,2344,0,0,0,0,0,0
$GC,3863,0.76,146.0,140.6,11.6,404,3872,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2538,2344,0,0,0,0,0,0
$GC,3999,0.76,146.0,124.8,11.5,417,4003,0.00,2.00,0.00,0.000,4,0.000,0.057,3318,3773,2344,0,0,0,0,0,0
$GC,4056,0.76,146.0,117.5,12.9,422,4060,0.00,1.92,0.00,0.000,6,0.000,0.041,3326,2536,2343,0,0,0,0,0,0
$GC,4198,0.76,146.0,101.0,11.5,435,4199,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2533,2343,0,0,0,0,0,0
$GC,4328,0.76,146.0,86.2,11.2,458,4336,0.00,2.03,0.00,0.000,4,0.000,0.057,3326,3754,2343,0,0,0,0,0,0
$GC,4417,0.76,146.0,75.0,13.3,473,4424,0.00,1.88,0.00,0.000,6,0.000,0.040,3335,2552,2343,0,0,0,0,0,0
$GC,4562,0.76,146.0,57.6,12.1,498,4570,0.00,2.03,0.00,0.000,4,0.000,0.058,3335,3767,2342,0,0,0,0,0,0
$GC,4595,0.76,146.0,53.2,13.0,503,4602,0.12,1.88,0.00,0.000,6,0.157,0.038,3310,2563,2342,0,0,0,0,0,0
$GC,4739,0.76,146.0,37.5,10.4,528,4747,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2561,2342,0,0,0,0,0,0
$GC,4884,0.76,146.0,22.3,11.0,553,4890,0.00,1.98,0.00,0.000,4,0.000,0.059,3310,3764,2342,0,0,0,0,0,0
$GC,4945,0.76,146.0,15.2,12.3,563,4951,0.00,1.88,0.00,0.000,6,0.000,0.040,3317,2559,2342,0,0,0,0,0,0
$FREEZE,8.76,-0.916,-1.896,2,1,0
$FREEZE,8.30,-0.915,-1.895,2,1,0
$FREEZE,7.53,-0.922,-1.895,2,1,0
$FREEZE,7.05,-0.922,-1.895,2,1,0
$FREEZE,6.35,-0.925,-1.894,2,1,0
$FREEZE,5.80,-0.922,-1.894,2,1,0
$FREEZE,5.03,-0.924,-1.893,2,1,0
$FREEZE,4.38,-0.925,-1.893,2,1,0
$FREEZE,3.57,-0.927,-1.892,2,1,0
$FREEZE,3.04,-0.921,-1.892,2,1,0
$FREEZE,2.01,-0.923,-1.891,2,1,0
$STATE,5055,end climb,SURFACE_DEPTH_REACHED
$STATE,5055,begin surface coast
$FREEZE,1.35,-0.924,-1.890,2,1,0
$FREEZE,1.10,-0.940,-0.292,2,1,0
$FINISH,1.1,1.004128
$STATE,5069,end surface coast,FINISH_DEPTH_REACHED
$STATE,5069,begin surface
$SM_CCo,5086,73.75,0.100,0,0,1737,300.24
$SM_GC,2.12,0.00,0.00,73.75,0.000,0.000,0.100,413,2659,1737,-8.29,0.28,300.24
$IRIDIUM_FIX,-7545.40,17837.29,050111,121217
$TT8_MAMPS,0.028462
$HUMID,53.11
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.3,17.9
$ALTIM_BOTTOM_PING,300.2,29.2
$24V_AH,20.2,76.365
$10V_AH,9.7,52.521
$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,18.400,56.375,278.600,73.750,0.000,22.470,45.121,298.898,1.750,0.000,43.900,1451.725,1648.342,507.336,1876.523,233.643,0.000,1133.116,0.000,971.689,0.000,11.756,0.000
$DEVICE_MAMPS,192.015,83.385,999.855,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,408.729,803.513,948.251,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267164
$DATA_FILE_SIZE,40367,584
$CAP_FILE_SIZE,83570,0
$CFSIZE,260165632,224190464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.141, 47.9,1
$GPS,050111,160658,-7628.070,17815.826,7,2.2,26,120.4