version: 66.08
glider: 502
mission: 3
dive: 522
start: 1 5 111 16 16 53
data:
$ID,502
$MISSION,3
$DIVE,522
$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,-30797.832
$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,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
$GPS1,050111,160658,-7628.070,17815.826,7,2.2,26,120.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-74.1
$GPS2,050111,161626,-7628.026,17815.951,14,1.1,14,120.4
$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,127.8,214451,-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,-146.0,0.0,0.0,0,103,0.00,0.00,-83.95,0.000,2,0.000,0.000,411,2661,3272,0,0,0,0,0,0
$GC,106,-0.76,-146.0,3.2,-1.9,12,129,8.90,0.00,-8.27,0.000,6,0.192,0.000,2807,2661,3559,0,0,0,0,0,0
$GC,260,-0.76,-146.0,29.4,-16.3,39,266,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2661,3563,0,0,0,0,0,0
$GC,394,-0.76,-146.0,51.8,-16.0,64,402,0.00,1.83,0.00,0.000,4,0.000,0.062,2801,3751,3562,0,0,0,0,0,0
$GC,426,-0.76,-146.0,57.1,-16.8,69,434,0.00,1.75,0.00,0.000,6,0.000,0.041,2801,2657,3563,0,0,0,0,0,0
$GC,567,-0.76,-146.0,80.8,-17.0,94,575,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2656,3562,0,0,0,0,0,0
$GC,707,-0.76,-146.0,104.3,-16.4,117,711,0.00,1.83,0.00,0.000,4,0.000,0.061,2793,3769,3562,0,0,0,0,0,0
$GC,745,-0.76,-146.0,111.2,-17.6,120,754,0.00,1.77,0.00,0.000,6,0.000,0.041,2793,2657,3563,0,0,0,0,0,0
$GC,883,-0.76,-146.0,133.3,-16.2,133,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2656,3563,0,0,0,0,0,0
$GC,1019,-0.76,-146.0,155.6,-16.3,146,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2656,3562,0,0,0,0,0,0
$GC,1146,-0.76,-146.0,176.0,-16.0,158,1150,0.00,1.80,0.00,0.000,4,0.000,0.061,2784,3759,3563,0,0,0,0,0,0
$GC,1193,-0.76,-146.0,183.8,-16.8,162,1197,0.12,1.70,0.00,0.000,6,0.160,0.041,2818,2662,3563,0,0,0,0,0,0
$GC,1335,-0.76,-146.0,204.7,-14.5,175,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2660,3563,0,0,0,0,0,0
$GC,1471,-0.76,-146.0,224.6,-14.4,188,1475,0.00,1.80,0.00,0.000,4,0.000,0.060,2811,3760,3563,0,0,0,0,0,0
$GC,1518,-0.76,-146.0,231.8,-15.4,192,1522,0.00,1.67,0.00,0.000,6,0.000,0.041,2811,2679,3563,0,0,0,0,0,0
$GC,1658,-0.76,-146.0,253.0,-15.2,205,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2677,3563,0,0,0,0,0,0
$GC,1850,-0.76,-146.0,281.5,-15.2,223,1853,0.00,1.77,0.00,0.000,4,0.000,0.063,2803,3760,3562,0,0,0,0,0,0
$GC,1877,-0.76,-146.0,286.2,-16.0,225,1885,0.00,1.73,0.00,0.000,6,0.000,0.041,2802,2680,3562,0,0,0,0,0,0
$GC,2075,-0.76,-146.0,317.5,-16.4,244,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2679,3563,0,0,0,0,0,0
$STATE,2084,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2084,begin apogee
$GC,2090,-0.27,0.0,319.2,16.4,245,2228,0.52,0.00,130.02,1.009,4,0.126,0.000,2970,2494,2960,0,0,0,0,0,0
$STATE,2229,end apogee,CONTROL_FINISHED_OK
$STATE,2229,begin climb
$GC,2231,0.76,146.0,327.5,0.0,257,2390,1.05,0.00,148.57,0.929,6,0.082,0.000,3302,2494,2363,0,0,0,0,0,0
$GC,2582,0.76,146.0,297.0,10.6,289,2586,0.00,2.25,0.00,0.000,4,0.000,0.057,3302,3760,2352,0,0,0,0,0,0
$GC,2645,0.76,146.0,289.2,12.7,294,2649,0.00,2.05,0.00,0.000,6,0.000,0.037,3312,2522,2351,0,0,0,0,0,0
$GC,2844,0.76,146.0,266.3,11.4,312,2848,0.00,2.03,0.00,0.000,4,0.000,0.058,3312,3758,2349,0,0,0,0,0,0
$GC,2889,0.76,146.0,260.2,13.5,316,2893,0.00,1.95,0.00,0.000,6,0.000,0.039,3321,2506,2348,0,0,0,0,0,0
$GC,3095,0.76,146.0,235.1,12.0,335,3098,0.00,2.03,0.00,0.000,4,0.000,0.057,3321,3758,2347,0,0,0,0,0,0
$GC,3130,0.76,146.0,230.2,14.5,338,3134,0.00,1.90,0.00,0.000,6,0.000,0.040,3331,2531,2347,0,0,0,0,0,0
$GC,3271,0.76,146.0,211.8,12.9,351,3275,0.00,2.00,0.00,0.000,4,0.000,0.057,3331,3766,2346,0,0,0,0,0,0
$GC,3320,0.76,146.0,204.1,14.7,355,3328,0.00,1.92,0.00,0.000,6,0.000,0.038,3341,2549,2346,0,0,0,0,0,0
$GC,3455,0.76,146.0,185.7,13.9,368,3456,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2547,2345,0,0,0,0,0,0
$GC,3583,0.76,146.0,168.3,13.6,380,3586,0.00,1.98,0.00,0.000,4,0.000,0.057,3341,3764,2345,0,0,0,0,0,0
$GC,3631,0.76,146.0,161.1,15.8,384,3635,0.15,1.88,0.00,0.000,6,0.155,0.038,3308,2550,2345,0,0,0,0,0,0
$GC,3773,0.76,146.0,144.1,11.4,397,3781,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2549,2344,0,0,0,0,0,0
$GC,3909,0.76,146.0,129.0,10.7,410,3913,0.00,1.98,0.00,0.000,4,0.000,0.058,3309,3761,2344,0,0,0,0,0,0
$GC,3955,0.76,146.0,123.2,12.7,414,3959,0.00,1.85,0.00,0.000,6,0.000,0.039,3317,2565,2344,0,0,0,0,0,0
$GC,4098,0.76,146.0,107.4,10.9,427,4102,0.00,1.95,0.00,0.000,4,0.000,0.059,3316,3760,2343,0,0,0,0,0,0
$GC,4136,0.76,146.0,102.0,13.0,430,4145,0.00,1.88,0.00,0.000,6,0.000,0.040,3325,2575,2344,0,0,0,0,0,0
$GC,4273,0.76,146.0,86.0,11.5,454,4280,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2574,2343,0,0,0,0,0,0
$GC,4411,0.76,146.0,69.8,11.7,479,4418,0.00,1.95,0.00,0.000,4,0.000,0.059,3325,3763,2343,0,0,0,0,0,0
$GC,4448,0.76,146.0,65.0,13.3,485,4456,0.00,1.85,0.00,0.000,6,0.000,0.038,3334,2573,2343,0,0,0,0,0,0
$GC,4585,0.76,146.0,48.0,12.1,510,4593,0.00,1.98,0.00,0.000,4,0.000,0.058,3334,3757,2343,0,0,0,0,0,0
$GC,4622,0.76,146.0,42.7,14.6,516,4630,0.08,1.85,0.00,0.000,6,0.138,0.039,3317,2594,2343,0,0,0,0,0,0
$GC,4763,0.76,146.0,26.7,11.0,541,4770,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2594,2343,0,0,0,0,0,0
$GC,4901,0.76,146.0,11.4,10.9,566,4909,0.00,1.92,0.00,0.000,4,0.000,0.059,3317,3751,2343,0,0,0,0,0,0
$FREEZE,8.72,-0.757,-1.895,2,2,0
$FREEZE,7.92,-0.754,-1.894,2,2,0
$FREEZE,7.16,-0.756,-1.894,2,2,0
$FREEZE,6.43,-0.753,-1.893,2,2,0
$FREEZE,5.78,-0.752,-1.893,2,2,0
$FREEZE,4.92,-0.753,-1.892,2,2,0
$GC,4952,0.76,146.0,4.9,12.6,574,4960,0.00,1.83,0.00,0.000,6,0.000,0.041,3324,2606,2343,0,0,0,0,0,0
$FREEZE,2.76,-0.755,-1.891,2,2,0
$STATE,4966,end climb,SURFACE_DEPTH_REACHED
$STATE,4966,begin surface coast
$FREEZE,1.96,-0.754,-1.890,2,2,0
$FREEZE,1.30,-0.765,-1.891,2,2,0
$FREEZE,1.16,-0.821,-1.312,2,2,0
$FREEZE,1.04,-0.781,-1.364,2,2,0
$FINISH,1.0,1.020131
$STATE,4990,end surface coast,CONTROL_FINISHED_OK
$STATE,4990,begin surface
$SM_CCo,5008,303.62,0.721,6,0,420,623.30
$SM_GC,1.79,0.00,0.00,303.62,0.000,0.000,0.721,434,2664,420,-8.22,0.40,623.30
$IRIDIUM_FIX,-7545.40,17819.19,050111,161629
$TT8_MAMPS,0.028462
$HUMID,50.15
$INTERNAL_PRESSURE,8.68197
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,19.0
$ALTIM_BOTTOM_PING,251.5,81.3
$24V_AH,20.2,76.515
$10V_AH,9.6,52.602
$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,18.375,57.000,278.600,303.625,0.000,88.987,225.328,0.000,1.250,0.000,15.759,1471.123,1760.289,721.433,1763.567,201.494,0.000,1328.313,0.000,949.003,0.000,7.267,0.000
$DEVICE_MAMPS,192.015,108.630,1009.035,720.630,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,407.115,792.590,919.901,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40402,580
$CAP_FILE_SIZE,80251,0
$CFSIZE,260165632,224145408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$CURRENT,0.165, 21.0,1
$GPS,050111,174707,-7627.850,17813.797,34,1.2,34,120.5