version: 66.08
glider: 502
mission: 3
dive: 525
start: 1 5 111 21 31 58
data:
$ID,502
$MISSION,3
$DIVE,525
$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,-30801.697
$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,37
$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
$GPS1,050111,211631,-7627.312,17807.521,41,1.0,41,120.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-69.2
$GPS2,050111,213131,-7627.195,17806.975,11,1.9,16,120.6
$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,103.0,210603,-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,16,-0.76,-146.0,0.0,0.0,0,165,0.00,0.00,-146.05,0.000,2,0.000,0.000,410,2658,3303,0,0,0,0,0,0
$GC,170,-0.76,-146.0,3.0,-0.9,21,192,8.90,1.90,-7.05,0.000,4,0.193,0.076,2800,3765,3561,0,0,0,0,0,0
$GC,356,-0.76,-146.0,38.3,-17.4,54,364,0.00,1.77,0.00,0.000,6,0.000,0.041,2800,2648,3563,0,0,0,0,0,0
$GC,495,-0.76,-146.0,63.3,-19.4,79,503,0.00,2.22,0.00,0.000,4,0.000,0.048,2800,1246,3563,0,0,0,0,0,0
$GC,558,-0.76,-146.0,74.7,-17.0,90,566,0.00,2.33,0.00,0.000,6,0.000,0.054,2790,2644,3563,0,0,0,0,0,0
$GC,699,-0.76,-146.0,100.4,-18.2,115,702,0.00,1.80,0.00,0.000,4,0.000,0.060,2781,3768,3563,0,0,0,0,0,0
$GC,768,-0.76,-146.0,114.1,-19.7,121,772,0.12,1.73,0.00,0.000,6,0.157,0.041,2814,2656,3563,0,0,0,0,0,0
$GC,909,-0.76,-146.0,137.1,-15.5,134,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2655,3564,0,0,0,0,0,0
$GC,1036,-0.76,-146.0,156.7,-14.9,146,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2655,3564,0,0,0,0,0,0
$GC,1163,-0.76,-146.0,175.4,-14.6,158,1166,0.00,1.83,0.00,0.000,4,0.000,0.060,2807,3767,3565,0,0,0,0,0,0
$GC,1200,-0.76,-146.0,181.7,-15.7,161,1209,0.00,1.75,0.00,0.000,6,0.000,0.040,2807,2669,3565,0,0,0,0,0,0
$GC,1336,-0.76,-146.0,202.2,-15.4,174,1340,0.00,2.28,0.00,0.000,4,0.000,0.047,2807,1244,3564,0,0,0,0,0,0
$GC,1368,-0.76,-146.0,207.8,-15.7,176,1377,0.00,2.35,0.00,0.000,6,0.000,0.054,2797,2657,3564,0,0,0,0,0,0
$GC,1505,-0.76,-146.0,229.2,-16.0,189,1508,0.00,1.77,0.00,0.000,4,0.000,0.059,2788,3764,3564,0,0,0,0,0,0
$GC,1551,-0.76,-146.0,237.2,-17.1,193,1555,0.10,1.70,0.00,0.000,6,0.168,0.040,2814,2667,3565,0,0,0,0,0,0
$GC,1690,-0.76,-146.0,258.3,-14.4,206,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2666,3564,0,0,0,0,0,0
$GC,1884,-0.76,-146.0,285.5,-14.1,224,1887,0.00,1.80,0.00,0.000,4,0.000,0.059,2806,3770,3564,0,0,0,0,0,0
$GC,1922,-0.76,-146.0,292.0,-15.4,227,1930,0.00,1.75,0.00,0.000,6,0.000,0.040,2806,2676,3564,0,0,0,0,0,0
$GC,2122,-0.76,-146.0,321.4,-14.9,246,2126,0.00,1.80,0.00,0.000,4,0.000,0.061,2798,3772,3565,0,0,0,0,0,0
$GC,2157,-0.76,-146.0,327.2,-16.4,249,2160,0.00,1.70,0.00,0.000,6,0.000,0.041,2798,2677,3564,0,0,0,0,0,0
$STATE,2274,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2274,begin apogee
$GC,2280,-0.27,0.0,345.9,15.6,260,2418,0.52,0.00,130.80,1.016,4,0.125,0.000,2968,2491,2961,0,0,0,0,0,0
$STATE,2419,end apogee,CONTROL_FINISHED_OK
$STATE,2419,begin climb
$GC,2421,0.76,146.0,353.5,0.0,272,2581,1.17,2.40,149.57,0.939,4,0.094,0.059,3309,3763,2365,0,0,0,0,0,0
$GC,2810,0.76,146.0,308.0,14.1,306,2817,0.00,2.15,0.00,0.000,6,0.000,0.037,3319,2509,2352,0,0,0,0,0,0
$GC,3009,0.76,146.0,283.7,12.1,325,3013,0.00,2.28,0.00,0.000,4,0.000,0.048,3328,1087,2347,0,0,0,0,0,0
$GC,3223,0.76,146.0,258.0,11.8,344,3227,0.00,2.33,0.00,0.000,6,0.000,0.051,3328,2522,2343,0,0,0,0,0,0
$GC,3428,0.76,146.0,232.1,12.9,363,3432,0.00,1.98,0.00,0.000,4,0.000,0.057,3328,3760,2342,0,0,0,0,0,0
$GC,3530,0.76,146.0,216.6,15.7,372,3534,0.00,1.92,0.00,0.000,6,0.000,0.039,3337,2519,2341,0,0,0,0,0,0
$GC,3671,0.76,146.0,197.5,12.8,385,3673,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2516,2341,0,0,0,0,0,0
$GC,3797,0.76,146.0,181.8,12.2,397,3799,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2516,2341,0,0,0,0,0,0
$GC,3925,0.76,146.0,166.8,11.6,409,3928,0.00,2.03,0.00,0.000,4,0.000,0.057,3337,3760,2340,0,0,0,0,0,0
$GC,3983,0.76,146.0,159.2,13.7,414,3987,0.12,1.92,0.00,0.000,6,0.163,0.039,3314,2524,2340,0,0,0,0,0,0
$GC,4120,0.76,146.0,144.0,11.1,426,4124,0.00,2.25,0.00,0.000,4,0.000,0.048,3316,1094,2340,0,0,0,0,0,0
$GC,4150,0.76,146.0,140.6,10.6,428,4154,0.00,2.30,0.00,0.000,6,0.000,0.050,3316,2521,2339,0,0,0,0,0,0
$GC,4288,0.76,146.0,125.3,11.6,440,4291,0.00,2.00,0.00,0.000,4,0.000,0.057,3316,3767,2339,0,0,0,0,0,0
$GC,4346,0.76,146.0,117.6,13.5,445,4349,0.00,1.92,0.00,0.000,6,0.000,0.038,3325,2525,2339,0,0,0,0,0,0
$GC,4488,0.76,146.0,100.5,11.5,458,4492,0.00,2.03,0.00,0.000,4,0.000,0.057,3325,3768,2339,0,0,0,0,0,0
$GC,4529,0.76,146.0,95.0,13.7,464,4537,0.00,1.95,0.00,0.000,6,0.000,0.039,3335,2543,2339,0,0,0,0,0,0
$GC,4670,0.76,146.0,78.1,11.5,489,4676,0.00,2.00,0.00,0.000,4,0.000,0.057,3335,3768,2339,0,0,0,0,0,0
$GC,4711,0.76,146.0,72.5,13.0,496,4720,0.10,1.95,0.00,0.000,6,0.135,0.039,3311,2547,2339,0,0,0,0,0,0
$GC,4855,0.77,151.9,58.2,9.7,521,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2546,2339,0,0,0,0,0,0
$GC,4992,0.77,151.9,44.5,10.2,546,5000,0.00,2.03,0.00,0.000,4,0.000,0.058,3311,3761,2339,0,0,0,0,0,0
$GC,5025,0.77,151.9,41.0,11.8,551,5033,0.00,1.92,0.00,0.000,6,0.000,0.039,3319,2533,2338,0,0,0,0,0,0
$GC,5168,0.77,151.9,24.6,10.4,576,5175,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2532,2338,0,0,0,0,0,0
$FREEZE,8.54,-0.626,-1.894,2,1,0
$GC,5308,0.77,151.9,8.5,12.0,601,5314,0.00,2.00,0.00,0.000,4,0.000,0.057,3319,3763,2338,0,0,0,0,0,0
$FREEZE,6.54,-0.614,-1.892,2,1,0
$FREEZE,5.76,-0.613,-1.891,2,1,0
$FREEZE,5.05,-0.609,-1.891,2,1,0
$FREEZE,4.22,-0.602,-1.890,2,1,0
$FREEZE,3.52,-0.586,-1.889,2,1,0
$FREEZE,2.72,-0.579,-1.889,2,1,0
$STATE,5351,end climb,SURFACE_DEPTH_REACHED
$STATE,5352,begin surface coast
$FREEZE,1.63,-0.576,-1.888,2,1,0
$FREEZE,1.06,-0.573,-1.888,2,1,0
$FREEZE,1.18,-0.664,-1.841,2,1,0
$FINISH,1.2,1.026982
$STATE,5372,end surface coast,CONTROL_FINISHED_OK
$STATE,5372,begin surface
$SM_CCo,5391,77.57,0.730,1,0,1736,300.24
$SM_GC,2.00,0.00,0.00,77.57,0.000,0.000,0.730,416,2640,1736,-8.28,-0.25,300.24
$IRIDIUM_FIX,-7536.68,17517.21,050111,212149
$TT8_MAMPS,0.028462
$HUMID,53.81
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.40
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,18.1
$ALTIM_BOTTOM_PING,300.7,59.2
$24V_AH,20.2,76.854
$10V_AH,9.6,52.861
$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,18.600,71.850,280.375,77.575,0.000,60.222,72.540,521.284,1.750,0.000,17.145,1547.899,1837.309,499.107,2224.310,274.581,0.000,1156.894,0.000,1054.317,0.000,8.928,0.000
$DEVICE_MAMPS,192.780,75.735,1015.920,729.810,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,428.191,817.167,924.763,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43808,611
$CAP_FILE_SIZE,95324,0
$CFSIZE,260165632,223977472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.235,309.0,1
$GPS,050111,230430,-7627.183,17802.729,39,1.0,39,120.7