version: 66.08
glider: 502
mission: 3
dive: 526
start: 1 5 111 23 14 16
data:
$ID,502
$MISSION,3
$DIVE,526
$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,-30802.955
$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,43
$R_STBD_OVSHOOT,25
$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
$GPS1,050111,230430,-7627.183,17802.729,39,1.0,39,120.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-73.8
$GPS2,050111,231350,-7627.133,17802.398,14,1.3,14,120.7
$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,112.0,208628,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.76,-146.0,0.0,0.0,0,101,0.00,0.00,-81.00,0.000,2,0.000,0.000,414,2641,3211,0,0,0,0,0,0
$GC,104,-0.76,-146.0,3.0,-1.1,12,129,8.77,1.92,-10.65,0.000,4,0.192,0.076,2798,3763,3559,0,0,0,0,0,0
$GC,347,-0.76,-146.0,46.1,-18.7,55,353,0.00,1.75,0.00,0.000,6,0.000,0.041,2798,2637,3563,0,0,0,0,0,0
$GC,484,-0.76,-146.0,70.5,-17.6,80,491,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2635,3563,0,0,0,0,0,0
$GC,623,-0.76,-146.0,93.3,-16.6,105,630,0.00,1.88,0.00,0.000,4,0.000,0.060,2790,3770,3563,0,0,0,0,0,0
$GC,664,-0.76,-146.0,100.5,-16.5,112,672,0.00,1.77,0.00,0.000,6,0.000,0.041,2790,2655,3564,0,0,0,0,0,0
$GC,799,-0.76,-146.0,123.1,-16.9,125,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2653,3563,0,0,0,0,0,0
$GC,926,-0.76,-146.0,145.7,-18.3,137,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2654,3564,0,0,0,0,0,0
$GC,1053,-0.76,-146.0,168.4,-17.9,149,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2654,3564,0,0,0,0,0,0
$GC,1180,-0.76,-146.0,190.9,-17.6,161,1184,0.00,1.83,0.00,0.000,4,0.000,0.062,2782,3765,3564,0,0,0,0,0,0
$GC,1207,-0.76,-146.0,195.3,-17.7,163,1211,0.12,1.73,0.00,0.000,6,0.156,0.041,2816,2654,3564,0,0,0,0,0,0
$GC,1349,-0.76,-146.0,218.3,-15.3,176,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2652,3564,0,0,0,0,0,0
$GC,1484,-0.76,-146.0,239.6,-15.5,189,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2652,3564,0,0,0,0,0,0
$GC,1611,-0.76,-146.0,259.1,-14.9,201,1615,0.00,1.83,0.00,0.000,4,0.000,0.061,2808,3763,3564,0,0,0,0,0,0
$GC,1649,-0.76,-146.0,265.8,-16.6,204,1657,0.00,1.75,0.00,0.000,6,0.000,0.040,2808,2667,3564,0,0,0,0,0,0
$GC,1848,-0.76,-146.0,296.2,-15.2,223,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2667,3564,0,0,0,0,0,0
$GC,2039,-0.76,-146.0,325.9,-14.9,241,2043,0.00,1.80,0.00,0.000,4,0.000,0.060,2800,3767,3564,0,0,0,0,0,0
$GC,2098,-0.76,-146.0,334.8,-14.8,246,2102,0.00,1.73,0.00,0.000,6,0.000,0.041,2800,2662,3564,0,0,0,0,0,0
$STATE,2195,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2195,begin apogee
$GC,2202,-0.27,0.0,350.5,15.1,255,2340,0.52,0.00,130.50,1.017,4,0.123,0.000,2970,2494,2960,0,0,0,0,0,0
$STATE,2340,end apogee,CONTROL_FINISHED_OK
$STATE,2340,begin climb
$GC,2343,0.76,146.0,359.3,0.0,267,2502,1.12,2.40,149.82,0.942,4,0.086,0.061,3306,3758,2364,0,0,0,0,0,0
$GC,2727,0.76,146.0,315.3,14.0,301,2732,0.00,2.15,0.00,0.000,6,0.000,0.038,3316,2501,2352,0,0,0,0,0,0
$GC,2925,0.76,146.0,290.1,12.7,319,2929,0.00,2.28,0.00,0.000,4,0.000,0.050,3316,1082,2346,0,0,0,0,0,0
$GC,3132,0.76,146.0,265.2,12.3,337,3136,0.00,2.30,0.00,0.000,6,0.000,0.051,3316,2512,2343,0,0,0,0,0,0
$GC,3332,0.76,146.0,240.0,12.6,355,3335,0.00,2.00,0.00,0.000,4,0.000,0.057,3316,3761,2342,0,0,0,0,0,0
$GC,3436,0.76,146.0,223.6,15.7,364,3444,0.00,1.98,0.00,0.000,6,0.000,0.040,3325,2517,2342,0,0,0,0,0,0
$GC,3573,0.76,146.0,205.0,13.4,377,3576,0.00,2.03,0.00,0.000,4,0.000,0.057,3325,3764,2342,0,0,0,0,0,0
$GC,3610,0.76,146.0,198.8,14.7,380,3618,0.00,1.95,0.00,0.000,6,0.000,0.039,3335,2534,2342,0,0,0,0,0,0
$GC,3746,0.76,146.0,181.5,12.5,393,3747,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2533,2341,0,0,0,0,0,0
$GC,3873,0.76,146.0,166.4,11.8,405,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2533,2341,0,0,0,0,0,0
$GC,4000,0.76,146.0,151.0,11.8,417,4003,0.00,2.00,0.00,0.000,4,0.000,0.057,3335,3766,2341,0,0,0,0,0,0
$GC,4028,0.76,146.0,146.8,13.5,419,4037,0.10,1.95,0.00,0.000,6,0.137,0.039,3311,2539,2341,0,0,0,0,0,0
$GC,4166,0.76,146.0,132.2,10.6,432,4173,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2538,2341,0,0,0,0,0,0
$GC,4301,0.76,146.0,117.7,10.5,445,4304,0.00,2.00,0.00,0.000,4,0.000,0.058,3311,3767,2341,0,0,0,0,0,0
$GC,4361,0.76,146.0,109.9,12.8,450,4369,0.00,1.95,0.00,0.000,6,0.000,0.038,3318,2536,2341,0,0,0,0,0,0
$GC,4498,0.76,146.0,94.0,11.3,467,4505,0.00,2.00,0.00,0.000,4,0.000,0.057,3319,3760,2340,0,0,0,0,0,0
$GC,4545,0.76,146.0,87.5,14.5,475,4552,0.00,1.88,0.00,0.000,6,0.000,0.040,3327,2561,2340,0,0,0,0,0,0
$GC,4682,0.76,146.0,69.7,13.1,500,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2560,2340,0,0,0,0,0,0
$GC,4821,0.76,146.0,53.3,11.8,525,4829,0.00,1.98,0.00,0.000,4,0.000,0.057,3328,3767,2340,0,0,0,0,0,0
$GC,4874,0.76,146.0,46.2,14.2,534,4882,0.00,1.90,0.00,0.000,6,0.000,0.038,3338,2565,2340,0,0,0,0,0,0
$GC,5015,0.76,146.0,28.8,12.4,559,5022,0.00,2.35,0.00,0.000,4,0.000,0.047,3347,1083,2339,0,0,0,0,0,0
$GC,5083,0.76,146.0,20.1,11.6,571,5094,0.12,2.40,0.00,0.000,6,0.155,0.051,3315,2562,2338,0,0,0,0,0,0
$FREEZE,8.90,-0.625,-1.893,2,2,0
$FREEZE,8.30,-0.620,-1.892,2,2,0
$FREEZE,7.54,-0.617,-1.892,2,2,0
$FREEZE,6.61,-0.599,-1.891,2,2,0
$FREEZE,5.92,-0.569,-1.891,2,2,0
$FREEZE,5.37,-0.537,-1.890,2,2,0
$FREEZE,4.65,-0.520,-1.889,2,2,0
$FREEZE,4.03,-0.516,-1.889,2,2,0
$FREEZE,3.36,-0.513,-1.889,2,2,0
$GC,5229,0.76,146.0,3.4,11.3,596,5237,0.00,1.98,0.00,0.000,4,0.000,0.059,3315,3759,2338,0,0,0,0,0,0
$FREEZE,1.36,-0.506,-1.887,2,2,0
$STATE,5244,end climb,SURFACE_DEPTH_REACHED
$STATE,5245,begin surface coast
$FREEZE,1.03,-0.525,-1.888,2,2,0
$FREEZE,1.09,-0.556,-1.877,2,2,0
$FREEZE,1.11,-0.562,-1.736,2,2,0
$FREEZE,1.12,-0.513,-1.742,2,2,0
$FREEZE,1.18,-0.589,-1.893,2,2,0
$FINISH,1.2,1.027713
$STATE,5275,end surface coast,CONTROL_FINISHED_OK
$STATE,5275,begin surface
$SM_CCo,5294,258.83,0.099,0,0,419,623.30
$SM_GC,1.84,0.00,0.00,258.83,0.000,0.000,0.099,409,2632,419,-8.30,-0.51,623.30
$IRIDIUM_FIX,-7545.40,17800.87,050111,232357
$TT8_MAMPS,0.027713
$HUMID,51.77
$INTERNAL_PRESSURE,8.68197
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.3,17.8
$ALTIM_BOTTOM_PING,301.2,63.0
$24V_AH,20.2,76.952
$10V_AH,9.6,52.943
$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,18.425,59.450,280.325,258.825,0.000,80.236,225.315,0.000,1.500,0.000,15.512,1532.329,1908.774,642.378,1836.015,200.259,0.000,1268.578,0.000,1017.072,0.000,8.926,0.000
$DEVICE_MAMPS,192.015,75.735,1016.685,99.450,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,423.314,802.650,906.995,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43592,603
$CAP_FILE_SIZE,80568,0
$CFSIZE,260165632,223940608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.202,295.3,1
$GPS,060111,004807,-7627.205,17757.768,39,0.8,39,120.8