version: 66.08
glider: 502
mission: 3
dive: 500
start: 1 4 111 5 37 5
data:
$ID,502
$MISSION,3
$DIVE,500
$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,-30770.062
$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,35
$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
$GPS1,040111,052650,-7628.836,17855.969,12,1.2,12,119.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-74.3
$GPS2,040111,053637,-7628.910,17855.959,36,0.8,36,119.6
$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,194.9,231726,-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,-146.0,0.0,0.0,0,103,0.00,0.00,-85.20,0.000,2,0.000,0.000,412,2659,3295,0,0,0,0,0,0
$GC,106,-0.76,-146.0,3.1,-1.2,13,129,9.02,2.38,-7.68,0.000,4,0.197,0.063,2816,1238,3561,0,0,0,0,0,0
$GC,158,-0.76,-146.0,13.0,-16.5,21,166,0.00,2.33,0.00,0.000,6,0.000,0.056,2807,2657,3563,0,0,0,0,0,0
$GC,296,-0.76,-146.0,35.7,-16.9,46,304,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2657,3564,0,0,0,0,0,0
$GC,436,-0.76,-146.0,58.6,-16.1,71,444,0.00,1.80,0.00,0.000,4,0.000,0.060,2799,3768,3564,0,0,0,0,0,0
$GC,489,-0.76,-146.0,67.9,-16.9,80,497,0.00,1.80,0.00,0.000,6,0.000,0.043,2799,2645,3564,0,0,0,0,0,0
$GC,629,-0.76,-146.0,91.2,-16.6,105,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2645,3564,0,0,0,0,0,0
$GC,771,-0.76,-146.0,114.1,-15.6,123,774,0.00,1.85,0.00,0.000,4,0.000,0.062,2790,3773,3564,0,0,0,0,0,0
$GC,828,-0.76,-146.0,123.7,-16.7,128,832,0.00,1.73,0.00,0.000,6,0.000,0.042,2790,2669,3564,0,0,0,0,0,0
$GC,969,-0.76,-146.0,147.0,-16.6,141,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2666,3564,0,0,0,0,0,0
$GC,1097,-0.76,-146.0,167.8,-16.0,153,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2666,3565,0,0,0,0,0,0
$GC,1224,-0.76,-146.0,188.0,-16.0,165,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2666,3564,0,0,0,0,0,0
$GC,1351,-0.76,-146.0,208.6,-16.3,177,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2666,3564,0,0,0,0,0,0
$GC,1479,-0.76,-146.0,229.1,-16.2,189,1482,0.00,1.80,0.00,0.000,4,0.000,0.062,2782,3764,3564,0,0,0,0,0,0
$GC,1516,-0.76,-146.0,235.9,-17.4,192,1526,0.10,1.77,0.00,0.000,6,0.135,0.041,2815,2654,3564,0,0,0,0,0,0
$GC,1650,-0.76,-146.0,255.3,-14.4,205,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2653,3565,0,0,0,0,0,0
$GC,1842,-0.76,-146.0,283.4,-14.6,223,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2653,3565,0,0,0,0,0,0
$STATE,1904,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1905,begin apogee
$GC,1910,-0.27,0.0,292.5,13.7,229,2049,0.47,0.00,129.90,0.991,4,0.128,0.000,2970,2488,2961,0,0,0,0,0,0
$STATE,2050,end apogee,CONTROL_FINISHED_OK
$STATE,2050,begin climb
$GC,2052,0.76,146.0,300.8,0.0,241,2211,1.08,2.50,147.15,0.913,4,0.076,0.048,3309,1099,2363,0,0,0,0,0,0
$GC,2319,0.77,150.9,281.1,9.8,264,2326,0.00,2.55,0.00,0.000,6,0.000,0.050,3309,2498,2354,0,0,0,0,0,0
$GC,2517,0.77,150.9,258.4,11.2,283,2521,0.00,2.33,0.00,0.000,4,0.000,0.050,3315,1102,2351,0,0,0,0,0,0
$GC,2653,0.77,150.9,243.2,10.9,295,2658,0.00,2.33,0.00,0.000,6,0.000,0.054,3315,2526,2348,0,0,0,0,0,0
$GC,2790,0.77,150.9,227.4,11.8,307,2794,0.00,2.00,0.00,0.000,4,0.000,0.060,3315,3770,2347,0,0,0,0,0,0
$GC,2850,0.77,150.9,218.9,13.5,312,2858,0.00,1.98,0.00,0.000,6,0.000,0.041,3324,2535,2347,0,0,0,0,0,0
$GC,2988,0.77,150.9,202.6,11.9,325,2991,0.00,2.00,0.00,0.000,4,0.000,0.058,3324,3768,2346,0,0,0,0,0,0
$GC,3025,0.77,150.9,197.1,13.5,328,3034,0.00,1.98,0.00,0.000,6,0.000,0.041,3334,2537,2346,0,0,0,0,0,0
$GC,3163,0.77,150.9,180.1,12.8,341,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2536,2346,0,0,0,0,0,0
$GC,3299,0.77,150.9,162.7,12.6,354,3302,0.00,2.00,0.00,0.000,4,0.000,0.059,3334,3771,2346,0,0,0,0,0,0
$GC,3334,0.77,150.9,157.4,15.2,357,3338,0.00,1.92,0.00,0.000,6,0.000,0.041,3343,2544,2345,0,0,0,0,0,0
$GC,3475,0.77,150.9,138.6,13.2,370,3478,0.00,2.00,0.00,0.000,4,0.000,0.060,3343,3770,2344,0,0,0,0,0,0
$GC,3511,0.77,150.9,133.5,14.9,373,3516,0.15,1.90,0.00,0.000,6,0.159,0.042,3311,2554,2344,0,0,0,0,0,0
$GC,3647,0.77,150.9,117.7,11.3,385,3648,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2552,2345,0,0,0,0,0,0
$GC,3774,0.77,150.9,103.6,11.1,397,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2552,2344,0,0,0,0,0,0
$GC,3903,0.77,150.9,89.4,11.1,417,3910,0.00,2.03,0.00,0.000,4,0.000,0.060,3311,3768,2343,0,0,0,0,0,0
$GC,3982,0.77,150.9,79.5,13.1,431,3989,0.00,1.90,0.00,0.000,6,0.000,0.041,3319,2555,2343,0,0,0,0,0,0
$GC,4121,0.77,150.9,63.3,12.0,456,4129,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2553,2343,0,0,0,0,0,0
$GC,4262,0.77,150.9,47.2,11.3,481,4269,0.00,1.98,0.00,0.000,4,0.000,0.059,3319,3764,2343,0,0,0,0,0,0
$GC,4341,0.77,150.9,36.7,13.6,495,4349,0.00,1.88,0.00,0.000,6,0.000,0.041,3328,2567,2343,0,0,0,0,0,0
$GC,4483,0.77,150.9,19.7,11.6,520,4490,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2566,2342,0,0,0,0,0,0
$FREEZE,8.37,-0.839,-1.897,2,2,0
$FREEZE,7.72,-0.834,-1.897,2,2,0
$FREEZE,6.91,-0.839,-1.896,2,2,0
$FREEZE,6.41,-0.839,-1.896,2,2,0
$FREEZE,5.58,-0.843,-1.895,2,2,0
$FREEZE,4.94,-0.843,-1.895,2,2,0
$FREEZE,4.14,-0.843,-1.894,2,2,0
$FREEZE,3.35,-0.843,-1.894,2,2,0
$FREEZE,2.69,-0.846,-1.893,2,2,0
$STATE,4620,end climb,SURFACE_DEPTH_REACHED
$STATE,4620,begin surface coast
$FREEZE,1.60,-0.844,-1.892,2,2,0
$FREEZE,1.07,-0.885,-1.002,2,2,0
$FREEZE,1.19,-0.878,-1.893,2,2,0
$FREEZE,1.06,-0.881,-1.836,2,2,0
$FINISH,1.1,1.026921
$STATE,4646,end surface coast,CONTROL_FINISHED_OK
$STATE,4646,begin surface
$SM_CCo,4663,261.05,0.102,0,0,420,623.30
$SM_GC,1.93,0.00,0.00,261.05,0.000,0.000,0.102,422,2656,420,-8.26,0.17,623.30
$IRIDIUM_FIX,-7545.40,17846.28,040111,050518
$TT8_MAMPS,0.028462
$HUMID,50.82
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,19.0
$ALTIM_BOTTOM_PING,250.8,55.3
$24V_AH,20.2,74.274
$10V_AH,9.6,50.819
$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,18.350,49.075,277.050,261.050,0.000,87.357,225.323,0.000,1.250,0.000,37.203,1387.900,1570.610,627.907,1742.801,191.293,0.000,1195.544,0.000,902.288,0.000,7.197,0.000
$DEVICE_MAMPS,196.605,93.330,990.675,101.745,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,384.516,767.390,922.347,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267076
$DATA_FILE_SIZE,37066,548
$CAP_FILE_SIZE,73830,0
$CFSIZE,260165632,225193984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.260,171.2,1
$GPS,040111,070002,-7629.171,17854.645,13,1.9,13,119.6