version: 66.08
glider: 502
mission: 3
dive: 523
start: 1 5 111 18 2 47
data:
$ID,502
$MISSION,3
$DIVE,523
$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,-30799.088
$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,40
$R_STBD_OVSHOOT,31
$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
$GPS1,050111,174707,-7627.850,17813.797,34,1.2,34,120.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-66.7
$GPS2,050111,180219,-7627.738,17813.969,11,2.0,16,120.5
$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,112.3,213604,-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,13,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,163,0.00,0.00,-144.65,0.000,2,0.000,0.000,428,2666,3272,0,0,0,0,0,0
$GC,168,-0.76,-146.0,3.1,-1.3,21,191,8.77,1.88,-7.93,0.000,4,0.192,0.078,2801,3760,3559,0,0,0,0,0,0
$GC,242,-0.76,-146.0,17.4,-16.8,33,249,0.00,1.77,0.00,0.000,6,0.000,0.041,2801,2627,3562,0,0,0,0,0,0
$GC,380,-0.76,-146.0,40.7,-16.8,58,388,0.00,1.88,0.00,0.000,4,0.000,0.060,2792,3749,3563,0,0,0,0,0,0
$GC,406,-0.76,-146.0,45.5,-17.9,62,414,0.00,1.73,0.00,0.000,6,0.000,0.041,2793,2664,3563,0,0,0,0,0,0
$GC,546,-0.76,-146.0,70.2,-17.5,87,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2663,3563,0,0,0,0,0,0
$GC,683,-0.76,-146.0,94.9,-17.5,112,691,0.00,1.83,0.00,0.000,4,0.000,0.060,2785,3756,3563,0,0,0,0,0,0
$GC,715,-0.76,-146.0,100.8,-18.9,117,724,0.08,1.73,0.00,0.000,6,0.139,0.041,2810,2665,3563,0,0,0,0,0,0
$GC,851,-0.76,-146.0,122.5,-15.9,130,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2664,3563,0,0,0,0,0,0
$GC,986,-0.76,-146.0,143.0,-14.6,143,990,0.00,1.77,0.00,0.000,4,0.000,0.060,2803,3760,3563,0,0,0,0,0,0
$GC,1013,-0.76,-146.0,147.6,-15.5,145,1021,0.00,1.73,0.00,0.000,6,0.000,0.040,2803,2671,3563,0,0,0,0,0,0
$GC,1149,-0.76,-146.0,168.2,-15.9,158,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2670,3563,0,0,0,0,0,0
$GC,1275,-0.76,-146.0,187.9,-15.4,170,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2670,3563,0,0,0,0,0,0
$GC,1403,-0.76,-146.0,208.0,-15.6,182,1406,0.00,1.77,0.00,0.000,4,0.000,0.060,2795,3763,3564,0,0,0,0,0,0
$GC,1431,-0.76,-146.0,213.2,-17.5,184,1439,0.00,1.75,0.00,0.000,6,0.000,0.040,2795,2661,3563,0,0,0,0,0,0
$GC,1567,-0.76,-146.0,235.4,-16.9,197,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2661,3563,0,0,0,0,0,0
$GC,1692,-0.76,-146.0,256.5,-16.2,209,1696,0.00,1.80,0.00,0.000,4,0.000,0.061,2786,3761,3563,0,0,0,0,0,0
$GC,1727,-0.76,-146.0,262.4,-17.2,212,1732,0.12,1.67,0.00,0.000,6,0.161,0.040,2819,2679,3563,0,0,0,0,0,0
$GC,1931,-0.76,-146.0,292.1,-14.3,231,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2677,3563,0,0,0,0,0,0
$GC,2124,-0.76,-146.0,319.1,-13.6,249,2125,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2677,3563,0,0,0,0,0,0
$STATE,2195,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2195,begin apogee
$GC,2201,-0.27,0.0,330.3,15.4,256,2338,0.45,0.00,130.45,1.006,4,0.122,0.000,2969,2497,2960,0,0,0,0,0,0
$STATE,2339,end apogee,CONTROL_FINISHED_OK
$STATE,2339,begin climb
$GC,2341,0.76,146.0,338.3,0.0,268,2501,1.17,2.38,149.52,0.931,4,0.096,0.060,3308,3752,2364,0,0,0,0,0,0
$GC,2727,0.76,146.0,293.1,14.5,302,2731,0.00,2.10,0.00,0.000,6,0.000,0.038,3317,2500,2352,0,0,0,0,0,0
$GC,2925,0.76,146.0,269.3,11.7,320,2929,0.00,2.25,0.00,0.000,4,0.000,0.048,3327,1084,2347,0,0,0,0,0,0
$GC,3136,0.76,146.0,243.7,11.9,338,3145,0.00,2.33,0.00,0.000,6,0.000,0.051,3327,2503,2342,0,0,0,0,0,0
$GC,3272,0.76,146.0,227.3,12.3,351,3275,0.00,2.03,0.00,0.000,4,0.000,0.058,3327,3768,2342,0,0,0,0,0,0
$GC,3352,0.76,146.0,215.7,15.4,358,3356,0.00,1.92,0.00,0.000,6,0.000,0.039,3337,2524,2341,0,0,0,0,0,0
$GC,3493,0.76,146.0,196.2,13.2,371,3494,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2520,2341,0,0,0,0,0,0
$GC,3620,0.76,146.0,180.2,12.5,383,3623,0.00,2.03,0.00,0.000,4,0.000,0.057,3337,3768,2341,0,0,0,0,0,0
$GC,3655,0.76,146.0,175.2,14.3,386,3659,0.12,1.92,0.00,0.000,6,0.164,0.039,3313,2528,2340,0,0,0,0,0,0
$GC,3793,0.76,146.0,159.9,10.6,398,3796,0.00,2.03,0.00,0.000,4,0.000,0.058,3313,3770,2340,0,0,0,0,0,0
$GC,3819,0.76,146.0,156.1,12.8,400,3828,0.00,1.95,0.00,0.000,6,0.000,0.040,3321,2542,2340,0,0,0,0,0,0
$GC,3956,0.76,146.0,141.3,11.0,413,3959,0.00,2.00,0.00,0.000,4,0.000,0.059,3321,3766,2340,0,0,0,0,0,0
$GC,3993,0.76,146.0,136.1,13.4,416,4002,0.00,1.92,0.00,0.000,6,0.000,0.039,3330,2548,2340,0,0,0,0,0,0
$GC,4131,0.76,146.0,120.5,11.6,429,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2546,2339,0,0,0,0,0,0
$GC,4267,0.76,146.0,105.3,10.7,442,4270,0.00,1.98,0.00,0.000,4,0.000,0.057,3330,3763,2339,0,0,0,0,0,0
$GC,4330,0.76,146.0,97.2,13.7,449,4337,0.00,1.88,0.00,0.000,6,0.000,0.039,3340,2558,2339,0,0,0,0,0,0
$GC,4465,0.76,146.0,80.5,11.9,474,4473,0.00,2.00,0.00,0.000,4,0.000,0.057,3340,3760,2338,0,0,0,0,0,0
$GC,4512,0.76,146.0,73.9,13.9,482,4521,0.10,1.90,0.00,0.000,6,0.133,0.040,3316,2563,2339,0,0,0,0,0,0
$GC,4653,0.76,146.0,58.6,10.6,507,4660,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2563,2338,0,0,0,0,0,0
$GC,4791,0.76,146.0,43.9,10.3,532,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2563,2338,0,0,0,0,0,0
$GC,4931,0.76,146.0,28.8,11.1,557,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2562,2338,0,0,0,0,0,0
$GC,5065,0.76,146.0,13.6,11.1,582,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2562,2337,0,0,0,0,0,0
$FREEZE,8.87,-0.684,-1.896,2,1,0
$FREEZE,8.17,-0.685,-1.895,2,1,0
$FREEZE,7.53,-0.685,-1.895,2,1,0
$FREEZE,6.87,-0.684,-1.894,2,1,0
$FREEZE,6.22,-0.684,-1.894,2,1,0
$FREEZE,5.50,-0.684,-1.893,2,1,0
$FREEZE,4.90,-0.685,-1.893,2,1,0
$FREEZE,4.06,-0.684,-1.892,2,1,0
$FREEZE,3.46,-0.683,-1.891,2,1,0
$FREEZE,2.68,-0.682,-1.891,2,1,0
$STATE,5159,end climb,SURFACE_DEPTH_REACHED
$STATE,5160,begin surface coast
$FREEZE,1.86,-0.675,-1.890,2,1,0
$FREEZE,1.17,-0.674,-1.889,2,1,0
$FREEZE,1.14,-0.701,-0.999,2,1,0
$FREEZE,1.15,-0.697,-1.151,2,1,0
$FINISH,1.1,1.016999
$STATE,5185,end surface coast,CONTROL_FINISHED_OK
$STATE,5185,begin surface
$SM_CCo,5202,72.97,0.099,0,0,1736,300.24
$SM_GC,2.06,0.00,0.00,72.97,0.000,0.000,0.099,425,2668,1736,-8.25,0.51,300.24
$IRIDIUM_FIX,-7545.40,17818.92,050111,171701
$TT8_MAMPS,0.027713
$HUMID,53.30
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,18.3
$ALTIM_BOTTOM_PING,251.2,93.2
$24V_AH,20.2,76.627
$10V_AH,9.6,52.689
$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,18.375,54.325,279.975,72.975,0.000,87.031,149.284,388.106,1.250,0.000,17.580,1504.656,1788.907,497.532,2142.871,263.629,0.000,1145.293,0.000,1011.204,0.000,7.301,0.000
$DEVICE_MAMPS,192.015,82.620,1005.975,98.685,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,421.382,819.097,947.197,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267084
$DATA_FILE_SIZE,40382,602
$CAP_FILE_SIZE,90954,0
$CFSIZE,260165632,224088064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.195,350.7,1
$GPS,050111,193138,-7627.524,17811.338,16,1.2,16,120.5