version: 66.08
glider: 502
mission: 3
dive: 528
start: 1 6 111 2 48 30
data:
$ID,502
$MISSION,3
$DIVE,528
$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,-30805.479
$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,23
$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
$GPS1,060111,023814,-7627.527,17752.359,11,1.2,11,121.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-73.3
$GPS2,060111,024804,-7627.554,17752.119,16,3.6,35,121.0
$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,153.0,204166,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,106,0.00,0.00,-86.75,0.000,2,0.000,0.000,424,2638,3350,0,0,0,0,0,0
$GC,109,-0.76,-146.0,3.4,-1.7,13,132,8.82,1.85,-5.50,0.000,4,0.195,0.072,2801,3765,3559,0,0,0,0,0,0
$GC,221,-0.76,-146.0,25.4,-18.3,32,229,0.00,1.77,0.00,0.000,6,0.000,0.041,2801,2648,3562,0,0,0,0,0,0
$GC,362,-0.76,-146.0,49.6,-17.3,57,369,0.00,2.22,0.00,0.000,4,0.000,0.048,2801,1241,3563,0,0,0,0,0,0
$GC,410,-0.76,-146.0,57.5,-15.8,65,417,0.00,2.30,0.00,0.000,6,0.000,0.054,2790,2648,3562,0,0,0,0,0,0
$GC,547,-0.76,-146.0,80.5,-16.3,90,555,0.00,1.83,0.00,0.000,4,0.000,0.060,2783,3759,3563,0,0,0,0,0,0
$GC,606,-0.76,-146.0,90.9,-18.0,100,614,0.10,1.75,0.00,0.000,6,0.136,0.041,2815,2657,3562,0,0,0,0,0,0
$GC,752,-0.76,-146.0,113.5,-15.0,118,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2656,3564,0,0,0,0,0,0
$GC,888,-0.76,-146.0,134.9,-15.7,131,891,0.00,1.80,0.00,0.000,4,0.000,0.060,2808,3762,3564,0,0,0,0,0,0
$GC,925,-0.76,-146.0,141.7,-16.4,134,935,0.00,1.75,0.00,0.000,6,0.000,0.039,2808,2655,3564,0,0,0,0,0,0
$GC,1062,-0.76,-146.0,163.3,-16.4,147,1065,0.00,1.83,0.00,0.000,4,0.000,0.060,2799,3767,3563,0,0,0,0,0,0
$GC,1088,-0.76,-146.0,168.2,-16.7,149,1097,0.00,1.75,0.00,0.000,6,0.000,0.041,2800,2667,3564,0,0,0,0,0,0
$GC,1225,-0.76,-146.0,188.6,-14.9,162,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2667,3563,0,0,0,0,0,0
$GC,1353,-0.76,-146.0,207.1,-14.6,174,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2667,3563,0,0,0,0,0,0
$GC,1488,-0.76,-146.0,227.2,-14.7,187,1492,0.00,1.80,0.00,0.000,4,0.000,0.060,2791,3770,3563,0,0,0,0,0,0
$GC,1523,-0.76,-146.0,232.7,-16.0,190,1527,0.00,1.73,0.00,0.000,6,0.000,0.041,2791,2660,3564,0,0,0,0,0,0
$GC,1664,-0.76,-146.0,255.2,-16.3,203,1668,0.00,2.22,0.00,0.000,4,0.000,0.048,2792,1244,3564,0,0,0,0,0,0
$GC,1684,-0.76,-146.0,259.1,-16.1,204,1693,0.12,2.35,0.00,0.000,6,0.162,0.056,2819,2669,3564,0,0,0,0,0,0
$GC,1883,-0.76,-146.0,285.7,-12.8,223,1887,0.00,1.80,0.00,0.000,4,0.000,0.060,2811,3760,3564,0,0,0,0,0,0
$GC,1943,-0.76,-146.0,294.6,-13.7,228,1951,0.00,1.73,0.00,0.000,6,0.000,0.041,2811,2676,3563,0,0,0,0,0,0
$GC,2141,-0.76,-146.0,322.5,-14.5,247,2142,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2676,3563,0,0,0,0,0,0
$GC,2337,-0.76,-146.0,350.8,-14.9,265,2341,0.00,1.77,0.00,0.000,4,0.000,0.060,2803,3763,3564,0,0,0,0,0,0
$GC,2375,-0.76,-146.0,358.1,-17.1,268,2383,0.00,1.75,0.00,0.000,6,0.000,0.040,2803,2667,3563,0,0,0,0,0,0
$STATE,2391,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2391,begin apogee
$GC,2397,-0.27,0.0,360.7,16.4,270,2536,0.52,0.00,130.62,1.027,4,0.125,0.000,2972,2486,2960,0,0,0,0,0,0
$STATE,2537,end apogee,CONTROL_FINISHED_OK
$STATE,2537,begin climb
$GC,2539,0.76,146.0,368.8,0.0,282,2699,1.08,2.50,149.07,0.952,4,0.077,0.047,3306,1106,2363,0,0,0,0,0,0
$GC,2814,0.76,146.0,346.5,10.0,306,2819,0.00,2.53,0.00,0.000,6,0.000,0.049,3306,2498,2354,0,0,0,0,0,0
$GC,3014,0.76,146.0,324.7,10.8,324,3018,0.00,2.33,0.00,0.000,4,0.000,0.047,3315,1102,2351,0,0,0,0,0,0
$GC,3180,0.76,146.0,307.0,10.1,338,3188,0.00,2.33,0.00,0.000,6,0.000,0.051,3315,2506,2348,0,0,0,0,0,0
$GC,3379,0.76,146.0,284.8,11.5,357,3383,0.00,2.05,0.00,0.000,4,0.000,0.059,3315,3770,2347,0,0,0,0,0,0
$GC,3451,0.76,146.0,274.8,13.7,363,3459,0.00,1.95,0.00,0.000,6,0.000,0.040,3325,2506,2346,0,0,0,0,0,0
$GC,3649,0.76,146.0,251.0,11.9,382,3652,0.00,2.05,0.00,0.000,4,0.000,0.057,3325,3764,2345,0,0,0,0,0,0
$GC,3688,0.76,146.0,245.8,13.3,385,3696,0.00,1.98,0.00,0.000,6,0.000,0.039,3335,2522,2345,0,0,0,0,0,0
$GC,3823,0.76,146.0,228.4,13.1,398,3824,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2520,2345,0,0,0,0,0,0
$GC,3950,0.76,146.0,211.5,13.8,410,3951,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2520,2345,0,0,0,0,0,0
$GC,4078,0.76,146.0,194.6,13.2,422,4081,0.00,2.03,0.00,0.000,4,0.000,0.057,3335,3764,2344,0,0,0,0,0,0
$GC,4137,0.76,146.0,185.0,15.8,427,4147,0.10,1.98,0.00,0.000,6,0.137,0.038,3311,2516,2344,0,0,0,0,0,0
$GC,4273,0.76,146.0,169.0,11.4,440,4276,0.00,2.03,0.00,0.000,4,0.000,0.057,3312,3760,2344,0,0,0,0,0,0
$GC,4310,0.76,146.0,163.9,12.8,443,4320,0.00,1.95,0.00,0.000,6,0.000,0.040,3319,2533,2344,0,0,0,0,0,0
$GC,4447,0.76,146.0,148.5,11.3,456,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2533,2344,0,0,0,0,0,0
$GC,4573,0.76,146.0,134.2,11.2,468,4577,0.00,2.00,0.00,0.000,4,0.000,0.057,3320,3765,2343,0,0,0,0,0,0
$GC,4620,0.76,146.0,128.1,13.2,472,4624,0.00,1.92,0.00,0.000,6,0.000,0.038,3328,2529,2343,0,0,0,0,0,0
$GC,4762,0.76,146.0,110.8,11.9,485,4765,0.00,2.03,0.00,0.000,4,0.000,0.058,3328,3770,2343,0,0,0,0,0,0
$GC,4797,0.76,146.0,106.0,14.2,488,4801,0.00,1.90,0.00,0.000,6,0.000,0.039,3337,2548,2343,0,0,0,0,0,0
$GC,4934,0.76,146.0,88.4,13.0,509,4941,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2546,2343,0,0,0,0,0,0
$GC,5072,0.76,146.0,71.3,12.4,534,5080,0.00,2.03,0.00,0.000,4,0.000,0.058,3337,3760,2343,0,0,0,0,0,0
$GC,5141,0.76,146.0,61.5,14.4,546,5149,0.10,1.92,0.00,0.000,6,0.132,0.039,3313,2552,2342,0,0,0,0,0,0
$GC,5282,0.76,146.0,45.9,11.0,571,5289,0.00,2.00,0.00,0.000,4,0.000,0.059,3313,3768,2342,0,0,0,0,0,0
$GC,5334,0.76,146.0,39.3,13.2,580,5342,0.00,1.90,0.00,0.000,6,0.000,0.039,3321,2569,2342,0,0,0,0,0,0
$GC,5476,0.76,146.0,24.4,11.0,605,5482,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2569,2342,0,0,0,0,0,0
$FREEZE,8.82,-0.454,-1.893,2,2,0
$FREEZE,8.08,-0.441,-1.892,2,2,0
$GC,5618,0.76,146.0,8.1,12.0,630,5626,0.00,2.00,0.00,0.000,4,0.000,0.059,3321,3764,2342,0,0,0,0,0,0
$FREEZE,5.89,-0.409,-1.890,2,2,0
$FREEZE,5.05,-0.410,-1.890,2,2,0
$FREEZE,4.21,-0.406,-1.889,2,2,0
$FREEZE,3.48,-0.410,-1.889,2,2,0
$FREEZE,2.65,-0.417,-1.888,2,2,0
$STATE,5655,end climb,SURFACE_DEPTH_REACHED
$STATE,5656,begin surface coast
$FREEZE,1.76,-0.393,-1.887,2,2,0
$FREEZE,1.07,-0.385,-1.886,2,2,0
$FREEZE,1.13,-0.446,-0.986,2,2,0
$FREEZE,1.28,-0.416,-0.968,2,2,0
$FINISH,1.3,1.014289
$STATE,5682,end surface coast,CONTROL_FINISHED_OK
$STATE,5682,begin surface
$SM_CCo,5701,260.02,0.101,0,0,420,623.30
$SM_GC,1.88,0.00,0.00,260.02,0.000,0.000,0.101,421,2629,420,-8.26,-0.59,623.30
$IRIDIUM_FIX,-7545.40,17800.87,060111,020252
$TT8_MAMPS,0.028462
$HUMID,52.00
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,14.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,18.3
$ALTIM_BOTTOM_PING,350.8,23.2
$24V_AH,20.2,77.174
$10V_AH,9.6,53.118
$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,18.450,79.425,279.700,260.025,0.000,85.326,225.319,0.000,2.250,0.000,37.253,1630.259,2102.997,670.601,1927.920,224.125,0.000,1349.927,0.000,1073.930,0.000,13.455,0.000
$DEVICE_MAMPS,195.075,71.910,1026.630,100.980,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,448.915,835.973,920.566,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43797,640
$CAP_FILE_SIZE,90196,0
$CFSIZE,260165632,223825920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.150,221.8,1
$GPS,060111,042844,-7627.854,17747.641,14,1.5,14,121.1