version: 66.08
glider: 502
mission: 3
dive: 533
start: 1 6 111 12 4 41
data:
$ID,502
$MISSION,3
$DIVE,533
$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,-30811.779
$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,40
$R_STBD_OVSHOOT,26
$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
$GPS1,060111,115538,-7628.259,17741.004,12,1.4,13,121.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-65.3
$GPS2,060111,120414,-7628.254,17741.227,12,1.3,12,121.3
$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,167.3,199433,-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,14,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,163,0.00,0.00,-143.93,0.000,2,0.000,0.000,413,2663,3294,0,0,0,0,0,0
$GC,168,-0.76,-146.0,3.0,-1.2,21,191,8.82,1.88,-7.40,0.000,4,0.190,0.078,2799,3760,3561,0,0,0,0,0,0
$GC,287,-0.76,-146.0,25.4,-18.1,41,294,0.00,1.77,0.00,0.000,6,0.000,0.041,2799,2624,3564,0,0,0,0,0,0
$GC,425,-0.76,-146.0,48.9,-16.6,66,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2623,3565,0,0,0,0,0,0
$GC,564,-0.76,-146.0,71.7,-16.7,91,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2623,3566,0,0,0,0,0,0
$GC,701,-0.76,-146.0,94.2,-16.7,116,709,0.00,1.90,0.00,0.000,4,0.000,0.060,2790,3756,3565,0,0,0,0,0,0
$GC,738,-0.76,-146.0,100.7,-17.8,122,742,0.00,1.75,0.00,0.000,6,0.000,0.040,2790,2656,3565,0,0,0,0,0,0
$GC,879,-0.76,-146.0,124.2,-16.6,135,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2654,3566,0,0,0,0,0,0
$GC,1006,-0.76,-146.0,145.6,-16.7,147,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2654,3566,0,0,0,0,0,0
$GC,1132,-0.76,-146.0,166.4,-16.2,159,1136,0.00,1.83,0.00,0.000,4,0.000,0.061,2784,3762,3566,0,0,0,0,0,0
$GC,1179,-0.76,-146.0,174.2,-16.4,163,1183,0.12,1.73,0.00,0.000,6,0.161,0.040,2817,2647,3566,0,0,0,0,0,0
$GC,1322,-0.76,-146.0,195.0,-14.4,176,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2645,3566,0,0,0,0,0,0
$GC,1458,-0.76,-146.0,214.9,-14.4,189,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2645,3566,0,0,0,0,0,0
$GC,1585,-0.76,-146.0,233.2,-14.3,201,1589,0.00,1.83,0.00,0.000,4,0.000,0.060,2810,3758,3566,0,0,0,0,0,0
$GC,1632,-0.76,-146.0,240.3,-15.5,205,1635,0.00,1.70,0.00,0.000,6,0.000,0.040,2810,2667,3566,0,0,0,0,0,0
$GC,1772,-0.76,-146.0,261.1,-14.6,218,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2665,3566,0,0,0,0,0,0
$GC,1963,-0.76,-146.0,289.4,-14.8,236,1966,0.00,1.80,0.00,0.000,4,0.000,0.060,2801,3760,3566,0,0,0,0,0,0
$GC,1998,-0.76,-146.0,294.9,-16.3,239,2002,0.00,1.70,0.00,0.000,6,0.000,0.040,2802,2669,3566,0,0,0,0,0,0
$GC,2201,-0.76,-146.0,325.5,-14.9,258,2205,0.00,1.80,0.00,0.000,4,0.000,0.060,2793,3765,3566,0,0,0,0,0,0
$GC,2236,-0.76,-146.0,330.9,-16.8,261,2240,0.00,1.70,0.00,0.000,6,0.000,0.041,2793,2673,3566,0,0,0,0,0,0
$STATE,2440,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2440,begin apogee
$GC,2446,-0.27,0.0,362.4,15.7,280,2583,0.55,0.00,130.57,1.033,4,0.128,0.000,2969,2488,2961,0,0,0,0,0,0
$STATE,2584,end apogee,CONTROL_FINISHED_OK
$STATE,2584,begin climb
$GC,2587,0.76,146.0,370.4,0.0,292,2746,1.10,2.53,149.95,0.957,4,0.080,0.047,3305,1106,2364,0,0,0,0,0,0
$GC,2863,0.76,146.0,348.3,11.0,316,2871,0.00,2.53,0.00,0.000,6,0.000,0.050,3305,2495,2353,0,0,0,0,0,0
$GC,3062,0.76,146.0,327.2,10.5,335,3066,0.00,2.33,0.00,0.000,4,0.000,0.047,3315,1103,2350,0,0,0,0,0,0
$GC,3205,0.76,146.0,311.8,10.7,347,3209,0.00,2.35,0.00,0.000,6,0.000,0.052,3315,2531,2347,0,0,0,0,0,0
$GC,3408,0.76,146.0,288.8,11.0,366,3412,0.00,1.98,0.00,0.000,4,0.000,0.058,3315,3766,2347,0,0,0,0,0,0
$GC,3498,0.76,146.0,277.1,13.8,374,3502,0.00,1.90,0.00,0.000,6,0.000,0.038,3324,2535,2346,0,0,0,0,0,0
$GC,3702,0.76,146.0,252.8,11.6,393,3705,0.00,2.00,0.00,0.000,4,0.000,0.057,3324,3770,2345,0,0,0,0,0,0
$GC,3749,0.76,146.0,246.7,13.6,397,3753,0.00,1.92,0.00,0.000,6,0.000,0.039,3334,2530,2344,0,0,0,0,0,0
$GC,3892,0.76,146.0,229.1,12.0,410,3895,0.00,2.00,0.00,0.000,4,0.000,0.057,3334,3763,2345,0,0,0,0,0,0
$GC,3918,0.76,146.0,224.8,13.5,412,3928,0.08,1.92,0.00,0.000,6,0.142,0.038,3318,2548,2344,0,0,0,0,0,0
$GC,4055,0.76,146.0,209.4,11.7,425,4056,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2548,2344,0,0,0,0,0,0
$GC,4183,0.76,146.0,194.6,11.8,437,4186,0.00,1.98,0.00,0.000,4,0.000,0.058,3317,3765,2344,0,0,0,0,0,0
$GC,4220,0.76,146.0,189.1,13.9,440,4229,0.00,1.92,0.00,0.000,6,0.000,0.038,3325,2551,2343,0,0,0,0,0,0
$GC,4358,0.76,146.0,172.7,12.5,453,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2550,2343,0,0,0,0,0,0
$GC,4494,0.76,146.0,156.1,11.7,466,4498,0.00,1.98,0.00,0.000,4,0.000,0.057,3325,3766,2343,0,0,0,0,0,0
$GC,4553,0.76,146.0,147.4,14.6,471,4563,0.00,1.92,0.00,0.000,6,0.000,0.038,3334,2554,2343,0,0,0,0,0,0
$GC,4689,0.76,146.0,130.4,12.4,484,4690,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2553,2342,0,0,0,0,0,0
$GC,4817,0.76,146.0,114.9,12.1,496,4820,0.00,1.98,0.00,0.000,4,0.000,0.057,3334,3772,2343,0,0,0,0,0,0
$GC,4863,0.76,146.0,108.5,14.2,500,4867,0.12,1.90,0.00,0.000,6,0.158,0.038,3310,2551,2342,0,0,0,0,0,0
$GC,4997,0.76,146.0,93.8,10.4,518,5005,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2549,2342,0,0,0,0,0,0
$GC,5136,0.76,146.0,80.0,10.1,543,5143,0.00,2.00,0.00,0.000,4,0.000,0.058,3310,3770,2341,0,0,0,0,0,0
$GC,5196,0.76,146.0,73.0,11.7,553,5203,0.00,1.92,0.00,0.000,6,0.000,0.040,3318,2557,2341,0,0,0,0,0,0
$GC,5335,0.76,146.0,58.3,10.4,578,5343,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2556,2341,0,0,0,0,0,0
$GC,5474,0.76,146.5,43.9,10.0,603,5482,0.00,1.98,0.00,0.000,4,0.000,0.057,3318,3764,2341,0,0,0,0,0,0
$GC,5516,0.76,146.5,38.8,12.0,610,5524,0.00,1.90,0.00,0.000,6,0.000,0.038,3327,2564,2341,0,0,0,0,0,0
$GC,5658,0.76,146.5,23.2,11.1,635,5666,0.00,2.33,0.00,0.000,4,0.000,0.048,3337,1092,2341,0,0,0,0,0,0
$GC,5699,0.76,146.5,18.2,10.9,642,5708,0.00,2.42,0.00,0.000,6,0.000,0.050,3337,2566,2340,0,0,0,0,0,0
$FREEZE,8.88,-0.254,-1.892,2,1,0
$FREEZE,8.28,-0.256,-1.892,2,1,0
$FREEZE,7.49,-0.252,-1.891,2,1,0
$FREEZE,6.89,-0.249,-1.891,2,1,0
$FREEZE,6.07,-0.249,-1.890,2,1,0
$FREEZE,5.41,-0.249,-1.890,2,1,0
$FREEZE,4.58,-0.248,-1.889,2,1,0
$FREEZE,3.96,-0.244,-1.888,2,1,0
$FREEZE,2.86,-0.242,-1.888,2,1,0
$STATE,5826,end climb,SURFACE_DEPTH_REACHED
$STATE,5826,begin surface coast
$FREEZE,2.22,-0.243,-1.887,2,1,0
$FREEZE,1.38,-0.243,-1.886,2,1,0
$FREEZE,1.12,-0.296,-1.002,2,1,0
$FREEZE,1.17,-0.319,-1.891,2,1,0
$FINISH,1.2,1.027662
$STATE,5851,end surface coast,CONTROL_FINISHED_OK
$STATE,5851,begin surface
$SM_CCo,5868,78.03,0.740,1,0,1736,300.24
$SM_GC,1.93,0.00,0.00,78.03,0.000,0.000,0.740,426,2658,1736,-8.24,0.20,300.24
$IRIDIUM_FIX,-7545.40,17733.02,060111,101015
$TT8_MAMPS,0.028462
$HUMID,53.70
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.3,18.0
$ALTIM_BOTTOM_PING,351.0,25.3
$24V_AH,20.2,77.710
$10V_AH,9.7,53.558
$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,18.475,67.425,280.525,78.025,0.000,27.869,43.081,292.950,2.000,0.000,13.687,1675.841,2031.852,508.344,1991.526,268.074,0.000,1203.561,0.000,1107.418,0.000,13.535,0.000
$DEVICE_MAMPS,189.720,101.745,1032.750,739.755,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,468.599,878.603,959.374,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258188
$DATA_FILE_SIZE,46949,668
$CAP_FILE_SIZE,94540,0
$CFSIZE,260165632,223567872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.137, 99.6,1
$GPS,060111,134506,-7628.102,17740.078,34,0.8,34,121.3