version: 66.08
glider: 502
mission: 3
dive: 524
start: 1 5 111 19 41 30
data:
$ID,502
$MISSION,3
$DIVE,524
$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,-30800.346
$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,39
$R_STBD_OVSHOOT,28
$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
$GPS1,050111,193138,-7627.524,17811.338,16,1.2,16,120.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-74.5
$GPS2,050111,194102,-7627.426,17811.168,16,1.2,16,120.5
$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,103.2,212405,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,104,0.00,0.00,-86.60,0.000,2,0.000,0.000,423,2669,3332,0,0,0,0,0,0
$GC,107,-0.76,-146.0,3.2,-1.4,13,130,8.90,1.88,-6.20,0.000,4,0.194,0.076,2800,3769,3560,0,0,0,0,0,0
$GC,251,-0.76,-146.0,30.3,-16.7,38,259,0.00,1.77,0.00,0.000,6,0.000,0.041,2800,2652,3562,0,0,0,0,0,0
$GC,390,-0.76,-146.0,53.0,-15.9,63,398,0.00,2.25,0.00,0.000,4,0.000,0.049,2800,1234,3563,0,0,0,0,0,0
$GC,440,-0.76,-146.0,61.3,-16.6,71,448,0.00,2.33,0.00,0.000,6,0.000,0.054,2789,2654,3563,0,0,0,0,0,0
$GC,580,-0.76,-146.0,85.7,-17.9,96,588,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2653,3564,0,0,0,0,0,0
$GC,720,-0.76,-146.0,109.7,-17.1,116,724,0.00,1.77,0.00,0.000,4,0.000,0.060,2781,3764,3564,0,0,0,0,0,0
$GC,789,-0.76,-146.0,122.0,-17.3,122,794,0.12,1.73,0.00,0.000,6,0.158,0.040,2815,2649,3564,0,0,0,0,0,0
$GC,930,-0.76,-146.0,143.2,-14.4,135,933,0.00,1.83,0.00,0.000,4,0.000,0.060,2807,3766,3564,0,0,0,0,0,0
$GC,956,-0.76,-146.0,147.1,-15.0,137,960,0.00,1.73,0.00,0.000,6,0.000,0.041,2807,2655,3564,0,0,0,0,0,0
$GC,1098,-0.76,-146.0,167.5,-14.5,150,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2652,3564,0,0,0,0,0,0
$GC,1224,-0.76,-146.0,186.0,-14.7,162,1228,0.00,1.83,0.00,0.000,4,0.000,0.062,2799,3766,3564,0,0,0,0,0,0
$GC,1261,-0.76,-146.0,192.5,-16.8,165,1270,0.00,1.75,0.00,0.000,6,0.000,0.041,2799,2670,3564,0,0,0,0,0,0
$GC,1398,-0.76,-146.0,212.5,-14.6,178,1402,0.00,2.28,0.00,0.000,4,0.000,0.048,2799,1245,3564,0,0,0,0,0,0
$GC,1428,-0.76,-146.0,217.1,-14.6,180,1433,0.10,2.33,0.00,0.000,6,0.159,0.054,2813,2669,3564,0,0,0,0,0,0
$GC,1566,-0.76,-146.0,236.1,-14.2,192,1570,0.00,1.77,0.00,0.000,4,0.000,0.060,2807,3773,3564,0,0,0,0,0,0
$GC,1613,-0.76,-146.0,243.2,-15.4,196,1616,0.00,1.73,0.00,0.000,6,0.000,0.041,2806,2665,3564,0,0,0,0,0,0
$GC,1754,-0.76,-146.0,264.2,-14.7,209,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2663,3564,0,0,0,0,0,0
$GC,1943,-0.76,-146.0,292.1,-14.1,227,1946,0.00,1.80,0.00,0.000,4,0.000,0.060,2798,3763,3564,0,0,0,0,0,0
$GC,1990,-0.76,-146.0,298.9,-15.0,231,1999,0.00,1.70,0.00,0.000,6,0.000,0.041,2798,2669,3564,0,0,0,0,0,0
$GC,2197,-0.76,-146.0,331.9,-15.7,250,2198,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2667,3564,0,0,0,0,0,0
$STATE,2216,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2217,begin apogee
$GC,2223,-0.27,0.0,335.1,15.8,252,2360,0.55,0.00,130.45,1.011,4,0.127,0.000,2974,2485,2961,0,0,0,0,0,0
$STATE,2361,end apogee,CONTROL_FINISHED_OK
$STATE,2361,begin climb
$GC,2363,0.76,146.0,343.4,0.0,264,2522,1.08,2.53,148.75,0.936,4,0.079,0.048,3307,1102,2364,0,0,0,0,0,0
$GC,2662,0.76,146.0,318.4,11.7,290,2670,0.00,2.53,0.00,0.000,6,0.000,0.050,3307,2500,2353,0,0,0,0,0,0
$GC,2861,0.76,146.0,295.7,10.5,309,2865,0.00,2.30,0.00,0.000,4,0.000,0.047,3315,1105,2349,0,0,0,0,0,0
$GC,3010,0.77,148.5,279.9,9.9,322,3014,0.00,2.30,0.00,0.000,6,0.000,0.052,3315,2520,2348,0,0,0,0,0,0
$GC,3210,0.77,148.5,257.8,10.7,340,3214,0.00,2.00,0.00,0.000,4,0.000,0.057,3315,3771,2347,0,0,0,0,0,0
$GC,3313,0.77,148.5,244.2,13.6,349,3317,0.00,1.92,0.00,0.000,6,0.000,0.040,3324,2530,2346,0,0,0,0,0,0
$GC,3455,0.77,148.5,227.0,12.0,362,3456,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2527,2346,0,0,0,0,0,0
$GC,3582,0.77,148.5,211.5,11.8,374,3585,0.00,2.00,0.00,0.000,4,0.000,0.058,3324,3764,2345,0,0,0,0,0,0
$GC,3630,0.77,148.5,204.5,14.3,378,3639,0.00,1.92,0.00,0.000,6,0.000,0.038,3333,2547,2345,0,0,0,0,0,0
$GC,3768,0.77,148.5,188.2,11.7,391,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2546,2345,0,0,0,0,0,0
$GC,3904,0.77,148.5,172.2,11.8,404,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2546,2345,0,0,0,0,0,0
$GC,4031,0.77,148.5,157.3,11.9,416,4035,0.00,2.00,0.00,0.000,4,0.000,0.057,3334,3773,2344,0,0,0,0,0,0
$GC,4078,0.77,148.5,150.9,14.6,420,4083,0.12,1.92,0.00,0.000,6,0.163,0.039,3310,2536,2344,0,0,0,0,0,0
$GC,4215,0.77,148.5,135.4,10.7,432,4218,0.00,2.00,0.00,0.000,4,0.000,0.057,3310,3765,2344,0,0,0,0,0,0
$GC,4250,0.77,148.5,131.2,12.2,435,4253,0.00,1.90,0.00,0.000,6,0.000,0.039,3318,2542,2343,0,0,0,0,0,0
$GC,4392,0.77,148.5,115.3,11.2,448,4399,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2539,2343,0,0,0,0,0,0
$GC,4527,0.77,148.5,100.2,10.9,461,4531,0.00,2.00,0.00,0.000,4,0.000,0.057,3318,3768,2343,0,0,0,0,0,0
$GC,4557,0.77,148.5,96.7,12.8,465,4563,0.00,1.90,0.00,0.000,6,0.000,0.039,3327,2552,2343,0,0,0,0,0,0
$GC,4694,0.77,148.5,80.0,11.7,490,4703,0.00,2.03,0.00,0.000,4,0.000,0.058,3327,3764,2343,0,0,0,0,0,0
$GC,4741,0.77,148.5,73.4,15.0,498,4750,0.00,1.90,0.00,0.000,6,0.000,0.039,3336,2565,2343,0,0,0,0,0,0
$GC,4884,0.77,148.5,55.1,12.9,523,4891,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2564,2343,0,0,0,0,0,0
$GC,5021,0.77,148.5,37.1,13.2,548,5029,0.00,2.38,0.00,0.000,4,0.000,0.048,3347,1090,2343,0,0,0,0,0,0
$GC,5047,0.77,148.5,33.6,13.4,552,5056,0.10,2.45,0.00,0.000,6,0.128,0.052,3314,2575,2342,0,0,0,0,0,0
$GC,5188,0.77,148.5,17.9,10.5,577,5194,0.00,1.92,0.00,0.000,4,0.000,0.058,3315,3762,2342,0,0,0,0,0,0
$FREEZE,8.67,-0.616,-1.894,2,2,0
$GC,5260,0.77,148.5,8.7,13.3,590,5268,0.00,1.88,0.00,0.000,6,0.000,0.039,3322,2580,2342,0,0,0,0,0,0
$FREEZE,6.53,-0.602,-1.892,2,2,0
$FREEZE,5.95,-0.599,-1.892,2,2,0
$FREEZE,5.09,-0.569,-1.891,2,2,0
$FREEZE,4.52,-0.569,-1.891,2,2,0
$FREEZE,3.72,-0.576,-1.890,2,2,0
$FREEZE,3.19,-0.590,-1.890,2,2,0
$FREEZE,2.35,-0.575,-1.889,2,2,0
$STATE,5310,end climb,SURFACE_DEPTH_REACHED
$STATE,5310,begin surface coast
$FREEZE,1.42,-0.572,-1.889,2,2,0
$FREEZE,1.17,-0.602,-1.791,2,2,0
$FREEZE,1.10,-0.594,-1.843,2,2,0
$FREEZE,1.18,-0.614,-1.227,2,2,0
$FREEZE,1.10,-0.622,-0.590,2,2,0
$FINISH,1.1,1.008641
$STATE,5344,end surface coast,FINISH_DEPTH_REACHED
$STATE,5344,begin surface
$SM_CCo,5361,259.67,0.101,0,0,419,623.30
$SM_GC,1.84,0.00,0.00,259.67,0.000,0.000,0.101,417,2658,419,-8.27,0.20,623.30
$IRIDIUM_FIX,-7545.40,17818.92,050111,191910
$TT8_MAMPS,0.028462
$HUMID,51.33
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,14.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,19.4
$ALTIM_BOTTOM_PING,300.1,49.3
$24V_AH,20.2,76.724
$10V_AH,9.5,52.773
$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,18.525,72.600,279.200,259.675,0.000,80.853,225.315,0.000,1.750,0.000,17.047,1544.581,1941.791,643.242,1845.459,218.188,0.000,1288.807,0.000,1021.520,0.000,8.892,0.000
$DEVICE_MAMPS,194.310,104.040,1011.330,100.980,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,423.254,807.739,935.641,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43565,603
$CAP_FILE_SIZE,85504,0
$CFSIZE,260165632,224038912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.232,327.0,1
$GPS,050111,211631,-7627.312,17807.521,41,1.0,41,120.6