version: 66.08
glider: 502
mission: 3
dive: 531
start: 1 6 111 8 22 0
data:
$ID,502
$MISSION,3
$DIVE,531
$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,-30809.26
$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,39
$R_STBD_OVSHOOT,28
$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
$GPS1,060111,081006,-7628.294,17742.414,15,1.9,31,121.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-65.3
$GPS2,060111,082132,-7628.393,17742.711,15,1.4,15,121.2
$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,188.9,200071,-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,13,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,163,0.00,0.00,-144.48,0.000,2,0.000,0.000,415,2664,3287,0,0,0,0,0,0
$GC,168,-0.76,-146.0,3.0,-1.5,21,190,8.85,0.00,-7.50,0.000,6,0.191,0.000,2806,2664,3561,0,0,0,0,0,0
$GC,322,-0.76,-146.0,29.7,-15.7,48,330,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2664,3563,0,0,0,0,0,0
$GC,463,-0.76,-146.0,52.4,-15.6,73,470,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2664,3564,0,0,0,0,0,0
$GC,598,-0.76,-146.0,74.8,-16.8,98,606,0.00,1.80,0.00,0.000,4,0.000,0.060,2799,3752,3564,0,0,0,0,0,0
$GC,635,-0.76,-146.0,81.0,-18.1,104,643,0.00,1.75,0.00,0.000,6,0.000,0.041,2800,2650,3564,0,0,0,0,0,0
$GC,775,-0.76,-146.0,104.4,-16.4,127,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2649,3564,0,0,0,0,0,0
$GC,911,-0.76,-146.0,127.5,-16.6,140,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2650,3565,0,0,0,0,0,0
$GC,1039,-0.76,-146.0,148.4,-16.3,152,1042,0.00,1.83,0.00,0.000,4,0.000,0.060,2791,3764,3565,0,0,0,0,0,0
$GC,1087,-0.76,-146.0,157.6,-17.2,156,1095,0.00,1.77,0.00,0.000,6,0.000,0.040,2791,2648,3565,0,0,0,0,0,0
$GC,1224,-0.76,-146.0,179.3,-15.9,169,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2648,3565,0,0,0,0,0,0
$GC,1360,-0.76,-146.0,201.5,-16.3,182,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2648,3565,0,0,0,0,0,0
$GC,1487,-0.76,-146.0,221.5,-15.8,194,1490,0.00,1.83,0.00,0.000,4,0.000,0.060,2782,3757,3565,0,0,0,0,0,0
$GC,1533,-0.76,-146.0,229.3,-16.8,198,1537,0.12,1.73,0.00,0.000,6,0.158,0.040,2816,2647,3565,0,0,0,0,0,0
$GC,1676,-0.76,-146.0,249.4,-13.6,211,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2645,3565,0,0,0,0,0,0
$GC,1812,-0.76,-146.0,268.9,-14.0,224,1815,0.00,1.83,0.00,0.000,4,0.000,0.060,2808,3759,3565,0,0,0,0,0,0
$GC,1861,-0.76,-146.0,276.9,-14.5,228,1868,0.00,1.75,0.00,0.000,6,0.000,0.041,2809,2664,3565,0,0,0,0,0,0
$GC,2060,-0.76,-146.0,305.9,-14.3,247,2061,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2663,3565,0,0,0,0,0,0
$GC,2250,-0.76,-146.0,333.2,-14.1,265,2254,0.00,1.80,0.00,0.000,4,0.000,0.060,2800,3762,3565,0,0,0,0,0,0
$GC,2300,-0.76,-146.0,340.9,-14.3,269,2307,0.00,1.75,0.00,0.000,6,0.000,0.040,2800,2662,3565,0,0,0,0,0,0
$STATE,2464,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2464,begin apogee
$GC,2471,-0.27,0.0,364.8,14.1,285,2609,0.52,0.00,131.02,1.029,4,0.128,0.000,2968,2495,2961,0,0,0,0,0,0
$STATE,2610,end apogee,CONTROL_FINISHED_OK
$STATE,2610,begin climb
$GC,2612,0.76,146.0,371.5,0.0,297,2771,1.10,2.55,149.62,0.952,4,0.079,0.047,3306,1094,2364,0,0,0,0,0,0
$GC,2900,0.76,146.0,347.2,11.7,322,2908,0.00,2.55,0.00,0.000,6,0.000,0.050,3305,2497,2352,0,0,0,0,0,0
$GC,3099,0.76,146.0,324.5,11.1,341,3103,0.00,2.33,0.00,0.000,4,0.000,0.047,3315,1097,2349,0,0,0,0,0,0
$GC,3242,0.76,146.0,308.8,10.7,353,3247,0.00,2.33,0.00,0.000,6,0.000,0.051,3316,2524,2347,0,0,0,0,0,0
$GC,3440,0.76,146.0,285.5,11.7,371,3444,0.00,1.98,0.00,0.000,4,0.000,0.057,3316,3761,2347,0,0,0,0,0,0
$GC,3542,0.76,146.0,271.8,13.7,380,3546,0.00,1.95,0.00,0.000,6,0.000,0.040,3325,2535,2345,0,0,0,0,0,0
$GC,3747,0.76,146.0,247.7,11.3,399,3750,0.00,2.00,0.00,0.000,4,0.000,0.056,3325,3771,2344,0,0,0,0,0,0
$GC,3793,0.76,146.0,241.8,12.7,403,3797,0.00,1.92,0.00,0.000,6,0.000,0.039,3335,2534,2344,0,0,0,0,0,0
$GC,3935,0.76,146.0,225.9,11.0,416,3939,0.00,2.00,0.00,0.000,4,0.000,0.057,3335,3767,2344,0,0,0,0,0,0
$GC,3982,0.76,146.0,220.1,12.8,420,3986,0.12,1.90,0.00,0.000,6,0.162,0.038,3310,2545,2343,0,0,0,0,0,0
$GC,4125,0.76,146.0,205.2,10.1,433,4132,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2543,2343,0,0,0,0,0,0
$GC,4260,0.76,146.8,191.2,10.0,446,4264,0.00,1.98,0.00,0.000,4,0.000,0.057,3310,3760,2343,0,0,0,0,0,0
$GC,4309,0.76,146.8,185.2,12.2,450,4317,0.00,1.92,0.00,0.000,6,0.000,0.039,3319,2550,2343,0,0,0,0,0,0
$GC,4447,0.76,146.8,170.8,11.0,463,4455,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2548,2342,0,0,0,0,0,0
$GC,4583,0.76,146.8,155.9,10.7,476,4586,0.00,1.98,0.00,0.000,4,0.000,0.058,3318,3760,2342,0,0,0,0,0,0
$GC,4653,0.76,146.8,147.1,13.2,482,4661,0.00,1.90,0.00,0.000,6,0.000,0.039,3328,2564,2341,0,0,0,0,0,0
$GC,4791,0.76,146.8,132.5,11.0,495,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2563,2341,0,0,0,0,0,0
$GC,4927,0.76,146.8,116.9,11.7,508,4931,0.00,1.98,0.00,0.000,4,0.000,0.059,3328,3772,2342,0,0,0,0,0,0
$GC,4975,0.76,146.8,111.0,13.6,512,4978,0.00,1.88,0.00,0.000,6,0.000,0.041,3337,2565,2342,0,0,0,0,0,0
$GC,5112,0.76,146.8,94.0,11.6,529,5118,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2563,2341,0,0,0,0,0,0
$GC,5249,0.76,146.8,77.7,11.2,554,5256,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2563,2341,0,0,0,0,0,0
$GC,5388,0.76,146.8,62.0,11.9,579,5395,0.00,1.98,0.00,0.000,4,0.000,0.058,3337,3761,2341,0,0,0,0,0,0
$GC,5426,0.76,146.8,57.1,13.2,585,5433,0.10,1.88,0.00,0.000,6,0.130,0.040,3313,2580,2340,0,0,0,0,0,0
$GC,5565,0.76,146.8,42.0,10.6,610,5573,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2579,2340,0,0,0,0,0,0
$GC,5705,0.76,146.8,27.4,11.2,635,5713,0.00,1.95,0.00,0.000,4,0.000,0.057,3313,3767,2341,0,0,0,0,0,0
$GC,5743,0.76,146.8,22.6,13.3,641,5749,0.00,1.85,0.00,0.000,6,0.000,0.039,3320,2577,2340,0,0,0,0,0,0
$FREEZE,8.78,-0.217,-1.894,2,1,0
$FREEZE,8.11,-0.160,-1.893,2,1,0
$FREEZE,7.50,-0.110,-1.892,2,1,0
$FREEZE,6.64,-0.054,-1.891,2,1,0
$FREEZE,5.87,-0.038,-1.891,2,1,0
$GC,5884,0.76,146.8,5.9,11.2,666,5892,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2576,2340,0,0,0,0,0,0
$FREEZE,4.02,-0.012,-1.889,2,1,0
$FREEZE,3.48,-0.008,-1.889,2,1,0
$FREEZE,2.74,-0.010,-1.889,2,1,0
$STATE,5909,end climb,SURFACE_DEPTH_REACHED
$STATE,5909,begin surface coast
$FREEZE,2.05,-0.019,-1.888,2,1,0
$FREEZE,1.33,-0.026,-1.888,2,1,0
$FREEZE,1.22,-0.153,-0.856,2,1,0
$FREEZE,1.23,-0.128,-1.888,2,1,0
$FINISH,1.2,1.027621
$STATE,5934,end surface coast,CONTROL_FINISHED_OK
$STATE,5934,begin surface
$SM_CCo,5951,80.75,0.741,1,0,1736,300.24
$SM_GC,1.97,0.00,0.00,80.75,0.000,0.000,0.741,425,2668,1736,-8.25,0.51,300.24
$IRIDIUM_FIX,-7545.40,17733.02,060111,080825
$TT8_MAMPS,0.028462
$HUMID,53.46
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.4,18.0
$ALTIM_BOTTOM_PING,351.3,27.9
$24V_AH,20.2,77.495
$10V_AH,9.6,53.382
$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,18.350,58.975,280.650,80.750,0.000,52.450,116.367,300.376,1.750,0.000,16.142,1683.669,2126.663,533.135,2122.529,265.818,0.000,1243.003,0.000,1125.276,0.000,10.548,0.000
$DEVICE_MAMPS,191.250,89.505,1028.925,740.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,472.212,886.091,981.312,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258172
$DATA_FILE_SIZE,47061,674
$CAP_FILE_SIZE,94409,0
$CFSIZE,260165632,223670272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.162,143.2,1
$GPS,060111,100354,-7628.333,17741.699,38,1.3,38,121.3