version: 66.08
glider: 502
mission: 3
dive: 527
start: 1 6 111 1 1 23
data:
$ID,502
$MISSION,3
$DIVE,527
$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,-30804.217
$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,41
$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
$GPS1,060111,004807,-7627.205,17757.768,39,0.8,39,120.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-68.1
$GPS2,060111,010056,-7627.180,17757.311,16,0.9,16,120.8
$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,127.4,206427,-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,-146.0,0.0,0.0,0,166,0.00,0.00,-147.23,0.000,2,0.000,0.000,408,2631,3342,0,0,0,0,0,0
$GC,171,-0.76,-146.0,3.2,-1.8,21,194,8.90,1.88,-5.55,0.000,4,0.192,0.072,2798,3771,3558,0,0,0,0,0,0
$GC,290,-0.76,-146.0,27.8,-18.7,41,297,0.00,1.77,0.00,0.000,6,0.000,0.041,2797,2660,3560,0,0,0,0,0,0
$GC,429,-0.76,-146.0,53.7,-17.0,66,437,0.00,2.30,0.00,0.000,4,0.000,0.048,2798,1245,3561,0,0,0,0,0,0
$GC,497,-0.76,-146.0,65.2,-15.8,78,506,0.08,2.33,0.00,0.000,6,0.125,0.054,2813,2643,3562,0,0,0,0,0,0
$GC,638,-0.76,-146.0,86.6,-15.7,103,645,0.00,1.83,0.00,0.000,4,0.000,0.060,2806,3770,3562,0,0,0,0,0,0
$GC,711,-0.76,-146.0,99.7,-17.3,116,719,0.00,1.80,0.00,0.000,6,0.000,0.040,2806,2639,3561,0,0,0,0,0,0
$GC,847,-0.76,-146.0,121.7,-16.2,129,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2639,3562,0,0,0,0,0,0
$GC,974,-0.76,-146.0,141.6,-15.3,141,978,0.00,1.85,0.00,0.000,4,0.000,0.060,2798,3770,3562,0,0,0,0,0,0
$GC,1021,-0.76,-146.0,148.8,-16.0,145,1025,0.00,1.73,0.00,0.000,6,0.000,0.041,2798,2658,3562,0,0,0,0,0,0
$GC,1164,-0.76,-146.0,170.3,-15.2,158,1171,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2656,3562,0,0,0,0,0,0
$GC,1300,-0.76,-146.0,190.9,-15.0,171,1304,0.00,2.22,0.00,0.000,4,0.000,0.047,2798,1246,3561,0,0,0,0,0,0
$GC,1330,-0.76,-146.0,195.8,-15.6,173,1335,0.10,2.30,0.00,0.000,6,0.158,0.054,2813,2653,3562,0,0,0,0,0,0
$GC,1466,-0.76,-146.0,216.0,-15.0,185,1469,0.00,1.77,0.00,0.000,4,0.000,0.059,2807,3763,3562,0,0,0,0,0,0
$GC,1526,-0.76,-146.0,226.0,-15.4,190,1534,0.00,1.75,0.00,0.000,6,0.000,0.039,2806,2662,3562,0,0,0,0,0,0
$GC,1663,-0.76,-146.0,246.8,-15.4,203,1667,0.00,1.80,0.00,0.000,4,0.000,0.060,2798,3763,3562,0,0,0,0,0,0
$GC,1697,-0.76,-146.0,252.9,-17.0,206,1701,0.00,1.70,0.00,0.000,6,0.000,0.039,2798,2667,3562,0,0,0,0,0,0
$GC,1901,-0.76,-146.0,285.4,-16.2,225,1905,0.00,1.80,0.00,0.000,4,0.000,0.060,2790,3765,3562,0,0,0,0,0,0
$GC,1928,-0.76,-146.0,290.3,-17.0,227,1936,0.00,1.73,0.00,0.000,6,0.000,0.040,2789,2678,3562,0,0,0,0,0,0
$GC,2127,-0.76,-146.0,322.3,-15.7,246,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2677,3562,0,0,0,0,0,0
$GC,2318,-0.76,-146.0,352.4,-15.9,264,2321,0.00,1.77,0.00,0.000,4,0.000,0.062,2782,3762,3562,0,0,0,0,0,0
$STATE,2328,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2328,begin apogee
$GC,2336,-0.27,0.0,354.6,16.3,265,2475,0.60,0.00,130.57,1.022,4,0.133,0.000,2970,2486,2961,0,0,0,0,0,0
$STATE,2475,end apogee,CONTROL_FINISHED_OK
$STATE,2475,begin climb
$GC,2478,0.76,146.0,363.1,0.0,277,2637,1.10,2.53,149.52,0.946,4,0.083,0.047,3306,1099,2364,0,0,0,0,0,0
$GC,2753,0.76,146.0,342.2,11.4,301,2757,0.00,2.53,0.00,0.000,6,0.000,0.049,3306,2499,2353,0,0,0,0,0,0
$GC,2953,0.76,146.0,318.3,11.6,319,2957,0.00,2.35,0.00,0.000,4,0.000,0.048,3315,1088,2349,0,0,0,0,0,0
$GC,3106,0.76,146.0,300.8,11.1,332,3110,0.00,2.33,0.00,0.000,6,0.000,0.051,3315,2516,2347,0,0,0,0,0,0
$GC,3306,0.76,146.0,276.8,11.6,350,3309,0.00,2.00,0.00,0.000,4,0.000,0.057,3315,3773,2346,0,0,0,0,0,0
$GC,3385,0.76,146.0,265.7,13.4,357,3389,0.00,1.95,0.00,0.000,6,0.000,0.040,3324,2520,2345,0,0,0,0,0,0
$GC,3591,0.76,146.0,241.9,11.1,376,3594,0.00,2.03,0.00,0.000,4,0.000,0.059,3324,3767,2345,0,0,0,0,0,0
$GC,3628,0.76,146.0,236.9,12.8,379,3637,0.00,1.95,0.00,0.000,6,0.000,0.039,3334,2540,2344,0,0,0,0,0,0
$GC,3764,0.76,146.0,220.8,11.8,392,3767,0.00,2.00,0.00,0.000,4,0.000,0.057,3334,3772,2344,0,0,0,0,0,0
$GC,3821,0.76,146.0,212.9,14.2,397,3825,0.12,1.90,0.00,0.000,6,0.163,0.040,3310,2555,2343,0,0,0,0,0,0
$GC,3964,0.76,146.0,197.8,10.0,410,3967,0.00,1.98,0.00,0.000,4,0.000,0.057,3310,3770,2343,0,0,0,0,0,0
$GC,3990,0.76,146.0,194.4,11.3,412,3999,0.00,1.92,0.00,0.000,6,0.000,0.039,3318,2552,2343,0,0,0,0,0,0
$GC,4127,0.77,148.4,180.7,9.9,425,4128,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2551,2343,0,0,0,0,0,0
$GC,4254,0.77,155.4,168.1,9.7,437,4263,0.00,0.00,5.53,0.770,6,0.000,0.000,3318,2551,2327,0,0,0,0,0,0
$GC,4392,0.77,155.4,154.0,10.9,450,4400,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2551,2326,0,0,0,0,0,0
$GC,4528,0.77,155.4,138.8,11.6,463,4532,0.00,1.98,0.00,0.000,4,0.000,0.057,3317,3763,2325,0,0,0,0,0,0
$GC,4589,0.77,155.4,130.6,13.2,468,4597,0.00,1.90,0.00,0.000,6,0.000,0.038,3326,2563,2326,0,0,0,0,0,0
$GC,4724,0.77,155.4,113.4,12.8,481,4728,0.00,1.95,0.00,0.000,4,0.000,0.057,3327,3763,2326,0,0,0,0,0,0
$GC,4751,0.77,155.4,109.2,14.3,483,4760,0.00,1.90,0.00,0.000,6,0.000,0.039,3336,2560,2326,0,0,0,0,0,0
$GC,4886,0.77,155.4,91.1,13.0,502,4895,0.00,2.00,0.00,0.000,4,0.000,0.057,3335,3760,2326,0,0,0,0,0,0
$GC,4930,0.77,155.4,84.9,15.1,509,4938,0.12,1.85,0.00,0.000,6,0.159,0.039,3312,2574,2325,0,0,0,0,0,0
$GC,5071,0.77,155.4,68.9,10.5,534,5079,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2573,2325,0,0,0,0,0,0
$GC,5210,0.77,155.4,53.3,11.6,559,5218,0.00,1.98,0.00,0.000,4,0.000,0.059,3311,3755,2325,0,0,0,0,0,0
$GC,5251,0.77,155.4,47.9,13.8,566,5259,0.00,1.85,0.00,0.000,6,0.000,0.040,3319,2591,2324,0,0,0,0,0,0
$GC,5393,0.77,155.4,31.5,11.1,591,5401,0.00,2.38,0.00,0.000,4,0.000,0.047,3328,1094,2324,0,0,0,0,0,0
$GC,5443,0.77,155.4,25.8,11.0,599,5451,0.00,2.42,0.00,0.000,6,0.000,0.050,3328,2584,2324,0,0,0,0,0,0
$GC,5584,0.77,155.4,9.8,12.1,624,5592,0.00,1.92,0.00,0.000,4,0.000,0.058,3328,3755,2324,0,0,0,0,0,0
$FREEZE,7.33,-0.496,-1.892,2,1,0
$FREEZE,6.64,-0.454,-1.891,2,1,0
$FREEZE,5.80,-0.469,-1.890,2,1,0
$FREEZE,5.01,-0.460,-1.890,2,1,0
$FREEZE,3.92,-0.423,-1.889,2,1,0
$FREEZE,3.22,-0.419,-1.888,2,1,0
$FREEZE,2.33,-0.424,-1.888,2,1,0
$STATE,5635,end climb,SURFACE_DEPTH_REACHED
$STATE,5635,begin surface coast
$FREEZE,1.29,-0.424,-1.887,2,1,0
$FREEZE,1.06,-0.392,-0.981,2,1,0
$FREEZE,1.16,-0.424,-1.819,2,1,0
$FREEZE,1.07,-0.448,-0.949,2,1,0
$FINISH,1.1,1.014014
$STATE,5661,end surface coast,CONTROL_FINISHED_OK
$STATE,5661,begin surface
$SM_CCo,5680,75.75,0.735,1,0,1737,300.24
$SM_GC,1.95,0.00,0.00,75.75,0.000,0.000,0.735,425,2638,1737,-8.25,-0.34,300.24
$IRIDIUM_FIX,-7545.40,17800.87,060111,000024
$TT8_MAMPS,0.028462
$HUMID,53.70
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,18.7
$ALTIM_BOTTOM_PING,301.5,68.0
$24V_AH,20.2,77.075
$10V_AH,9.6,53.032
$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,18.625,83.725,285.625,75.750,0.000,56.820,82.385,381.168,1.500,0.000,17.294,1608.014,1996.505,530.188,2118.390,286.109,0.000,1219.055,0.000,1067.119,0.000,8.949,0.000
$DEVICE_MAMPS,192.015,71.910,1022.040,735.165,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,445.416,842.457,954.362,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43709,636
$CAP_FILE_SIZE,99325,0
$CFSIZE,260165632,223870976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.164,260.6,1
$GPS,060111,023814,-7627.527,17752.359,11,1.2,11,121.0