version: 66.08
glider: 502
mission: 3
dive: 529
start: 1 6 111 4 38 49
data:
$ID,502
$MISSION,3
$DIVE,529
$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,-2
$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,-30806.736
$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,42
$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
$GPS1,060111,042844,-7627.854,17747.641,14,1.5,14,121.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-66.1
$GPS2,060111,043746,-7627.926,17747.568,17,2.3,36,121.1
$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,172.8,202185,-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,12,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,166,0.00,0.00,-147.73,0.000,2,0.000,0.000,418,2630,3364,0,0,0,0,0,0
$GC,170,-0.76,-146.0,3.3,-1.7,21,193,8.88,1.88,-5.00,0.000,4,0.192,0.073,2800,3762,3561,0,0,0,0,0,0
$GC,270,-0.76,-146.0,24.6,-17.0,38,278,0.00,1.77,0.00,0.000,6,0.000,0.041,2799,2648,3563,0,0,0,0,0,0
$GC,410,-0.76,-146.0,48.3,-16.3,63,417,0.00,1.85,0.00,0.000,4,0.000,0.060,2791,3770,3564,0,0,0,0,0,0
$GC,469,-0.76,-146.0,58.4,-16.4,73,476,0.00,1.77,0.00,0.000,6,0.000,0.041,2791,2637,3564,0,0,0,0,0,0
$GC,606,-0.76,-146.0,81.5,-17.1,98,614,0.00,1.90,0.00,0.000,4,0.000,0.062,2784,3760,3564,0,0,0,0,0,0
$GC,638,-0.76,-146.0,87.1,-17.3,103,647,0.12,1.75,0.00,0.000,6,0.158,0.039,2818,2662,3564,0,0,0,0,0,0
$GC,779,-0.76,-146.0,107.5,-14.1,123,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2662,3564,0,0,0,0,0,0
$GC,907,-0.76,-146.0,125.8,-14.4,135,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2662,3564,0,0,0,0,0,0
$GC,1043,-0.76,-146.0,146.1,-14.8,148,1047,0.00,1.80,0.00,0.000,4,0.000,0.060,2810,3760,3564,0,0,0,0,0,0
$GC,1069,-0.76,-146.0,150.7,-15.9,150,1078,0.00,1.75,0.00,0.000,6,0.000,0.040,2810,2666,3564,0,0,0,0,0,0
$GC,1205,-0.76,-146.0,170.6,-14.3,163,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2665,3564,0,0,0,0,0,0
$GC,1332,-0.76,-146.0,189.2,-14.7,175,1335,0.00,1.80,0.00,0.000,4,0.000,0.060,2802,3766,3564,0,0,0,0,0,0
$GC,1378,-0.76,-146.0,196.6,-15.6,179,1382,0.00,1.70,0.00,0.000,6,0.000,0.040,2802,2673,3564,0,0,0,0,0,0
$GC,1522,-0.76,-146.0,218.7,-15.5,192,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2670,3564,0,0,0,0,0,0
$GC,1657,-0.76,-146.0,240.8,-15.8,205,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2670,3564,0,0,0,0,0,0
$GC,1783,-0.76,-146.0,260.7,-15.2,217,1785,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2671,3564,0,0,0,0,0,0
$GC,1975,-0.76,-146.0,290.6,-15.4,235,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2670,3564,0,0,0,0,0,0
$GC,2166,-0.76,-146.0,320.4,-15.1,253,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2670,3564,0,0,0,0,0,0
$GC,2357,-0.76,-146.0,349.6,-15.1,271,2366,0.00,1.80,0.00,0.000,4,0.000,0.060,2793,3770,3564,0,0,0,0,0,0
$GC,2407,-0.76,-146.0,357.4,-15.3,275,2411,0.00,1.70,0.00,0.000,6,0.000,0.041,2794,2678,3563,0,0,0,0,0,0
$STATE,2470,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2471,begin apogee
$GC,2476,-0.27,0.0,367.3,14.7,281,2615,0.55,0.00,131.20,1.034,4,0.125,0.000,2971,2494,2961,0,0,0,0,0,0
$STATE,2616,end apogee,CONTROL_FINISHED_OK
$STATE,2616,begin climb
$GC,2618,0.76,146.0,373.8,0.0,293,2776,1.05,0.00,149.80,0.955,6,0.085,0.000,3299,2494,2365,0,0,0,0,0,0
$GC,2968,0.76,146.0,342.4,11.4,325,2972,0.00,2.28,0.00,0.000,4,0.000,0.057,3299,3765,2352,0,0,0,0,0,0
$GC,3075,0.76,146.0,328.3,13.2,334,3079,0.00,2.05,0.00,0.000,6,0.000,0.037,3309,2517,2350,0,0,0,0,0,0
$GC,3276,0.76,146.0,304.9,11.9,352,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2515,2348,0,0,0,0,0,0
$GC,3473,0.76,146.0,281.1,11.9,371,3477,0.00,2.03,0.00,0.000,4,0.000,0.058,3309,3760,2347,0,0,0,0,0,0
$GC,3540,0.76,146.0,271.9,14.2,377,3544,0.00,1.95,0.00,0.000,6,0.000,0.039,3319,2503,2346,0,0,0,0,0,0
$GC,3746,0.76,146.0,247.0,12.2,396,3750,0.00,2.05,0.00,0.000,4,0.000,0.058,3318,3761,2346,0,0,0,0,0,0
$GC,3783,0.76,146.0,241.5,13.9,399,3793,0.00,1.98,0.00,0.000,6,0.000,0.038,3328,2523,2345,0,0,0,0,0,0
$GC,3920,0.76,146.0,225.3,12.1,412,3927,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2522,2345,0,0,0,0,0,0
$GC,4055,0.76,146.0,208.6,12.0,425,4056,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2522,2344,0,0,0,0,0,0
$GC,4183,0.76,146.0,192.9,12.5,437,4186,0.00,2.03,0.00,0.000,4,0.000,0.057,3328,3765,2344,0,0,0,0,0,0
$GC,4220,0.76,146.0,187.4,14.7,440,4229,0.00,1.95,0.00,0.000,6,0.000,0.038,3337,2535,2343,0,0,0,0,0,0
$GC,4357,0.76,146.0,169.9,13.0,453,4360,0.00,2.00,0.00,0.000,4,0.000,0.057,3337,3767,2343,0,0,0,0,0,0
$GC,4383,0.76,146.0,165.7,14.2,455,4393,0.10,1.95,0.00,0.000,6,0.134,0.039,3314,2541,2343,0,0,0,0,0,0
$GC,4520,0.76,146.0,149.7,11.5,468,4528,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2540,2343,0,0,0,0,0,0
$GC,4656,0.76,146.0,134.3,11.1,481,4659,0.00,2.00,0.00,0.000,4,0.000,0.058,3313,3767,2342,0,0,0,0,0,0
$GC,4702,0.76,146.0,128.5,12.8,485,4706,0.00,1.90,0.00,0.000,6,0.000,0.038,3321,2545,2342,0,0,0,0,0,0
$GC,4845,0.76,146.0,112.2,11.5,498,4853,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2542,2342,0,0,0,0,0,0
$GC,4983,0.76,146.0,95.6,12.2,514,4991,0.00,2.03,0.00,0.000,4,0.000,0.057,3321,3756,2342,0,0,0,0,0,0
$GC,5036,0.76,146.0,88.4,14.0,523,5044,0.00,1.90,0.00,0.000,6,0.000,0.039,3331,2545,2342,0,0,0,0,0,0
$GC,5177,0.76,146.0,70.6,12.6,548,5184,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2544,2341,0,0,0,0,0,0
$GC,5316,0.76,146.0,53.9,11.5,573,5323,0.00,2.00,0.00,0.000,4,0.000,0.058,3330,3762,2341,0,0,0,0,0,0
$GC,5378,0.76,146.0,45.3,14.1,584,5386,0.00,1.90,0.00,0.000,6,0.000,0.039,3340,2563,2341,0,0,0,0,0,0
$GC,5517,0.76,146.0,27.8,12.5,609,5524,0.00,1.98,0.00,0.000,4,0.000,0.057,3339,3767,2341,0,0,0,0,0,0
$GC,5610,0.76,146.0,14.6,14.8,625,5617,0.12,1.85,0.00,0.000,6,0.160,0.039,3316,2580,2340,0,0,0,0,0,0
$FREEZE,8.47,-0.334,-1.892,2,1,0
$FREEZE,7.80,-0.301,-1.892,2,1,0
$FREEZE,7.14,-0.224,-1.890,2,1,0
$FREEZE,6.55,-0.216,-1.890,2,1,0
$FREEZE,5.80,-0.212,-1.890,2,1,0
$FREEZE,5.14,-0.222,-1.890,2,1,0
$FREEZE,4.57,-0.229,-1.890,2,1,0
$FREEZE,3.89,-0.211,-1.889,2,1,0
$FREEZE,3.33,-0.211,-1.889,2,1,0
$FREEZE,2.27,-0.220,-1.888,2,1,0
$STATE,5709,end climb,SURFACE_DEPTH_REACHED
$STATE,5709,begin surface coast
$FREEZE,1.81,-0.217,-1.888,2,1,0
$FREEZE,1.11,-0.285,-1.892,2,1,0
$FREEZE,1.13,-0.228,-0.195,2,1,0
$FINISH,1.1,1.002705
$STATE,5729,end surface coast,FINISH_DEPTH_REACHED
$STATE,5729,begin surface
$SM_CCo,5746,73.97,0.099,0,0,1736,300.24
$SM_GC,2.07,0.00,0.00,73.97,0.000,0.000,0.099,432,2659,1736,-8.23,0.25,300.24
$IRIDIUM_FIX,-7545.40,17742.20,060111,020237
$TT8_MAMPS,0.028462
$HUMID,53.54
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.4,18.2
$ALTIM_BOTTOM_PING,350.5,30.7
$24V_AH,20.2,77.276
$10V_AH,9.7,53.203
$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,18.375,57.650,281.000,73.975,0.000,27.441,37.748,300.449,1.750,0.000,38.247,1611.212,2066.712,516.607,1930.935,279.929,0.000,1183.610,0.000,1034.327,0.000,12.006,0.000
$DEVICE_MAMPS,192.015,100.215,1033.515,99.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,451.736,843.276,939.265,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258076
$DATA_FILE_SIZE,43723,645
$CAP_FILE_SIZE,90553,0
$CFSIZE,260165632,223776768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.162,188.0,1
$GPS,060111,061707,-7628.130,17744.039,38,1.3,38,121.2