version: 66.08
glider: 502
mission: 3
dive: 502
start: 1 4 111 8 43 54
data:
$ID,502
$MISSION,3
$DIVE,502
$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,-30772.58
$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,28
$R_STBD_OVSHOOT,22
$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
$GPS1,040111,083402,-7629.402,17854.193,10,1.2,10,119.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-73.0
$GPS2,040111,084326,-7629.463,17854.354,14,1.4,14,119.6
$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,195.2,231025,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,107,0.00,0.00,-88.72,0.000,2,0.000,0.000,411,2639,3365,0,0,0,0,0,0
$GC,110,-0.76,-146.0,3.3,-2.1,13,132,8.93,1.88,-5.22,0.000,4,0.194,0.073,2798,3770,3559,0,0,0,0,0,0
$GC,156,-0.76,-146.0,14.1,-19.9,20,164,0.00,1.80,0.00,0.000,6,0.000,0.043,2798,2646,3562,0,0,0,0,0,0
$GC,297,-0.76,-146.0,37.1,-16.4,45,303,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2645,3563,0,0,0,0,0,0
$GC,433,-0.76,-146.0,59.4,-15.5,70,441,0.00,1.88,0.00,0.000,4,0.000,0.061,2790,3767,3563,0,0,0,0,0,0
$GC,480,-0.76,-146.0,67.5,-17.0,78,489,0.00,1.77,0.00,0.000,6,0.000,0.042,2790,2658,3563,0,0,0,0,0,0
$GC,620,-0.76,-146.0,91.3,-17.5,103,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2657,3563,0,0,0,0,0,0
$GC,758,-0.76,-146.0,114.9,-17.4,120,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2657,3563,0,0,0,0,0,0
$GC,894,-0.76,-146.0,138.4,-16.8,133,897,0.00,1.83,0.00,0.000,4,0.000,0.062,2782,3767,3563,0,0,0,0,0,0
$GC,963,-0.76,-146.0,151.2,-18.9,139,967,0.12,1.75,0.00,0.000,6,0.158,0.041,2815,2646,3563,0,0,0,0,0,0
$GC,1104,-0.76,-146.0,173.1,-15.0,152,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2644,3564,0,0,0,0,0,0
$GC,1240,-0.76,-146.0,193.6,-14.7,165,1243,0.00,1.85,0.00,0.000,4,0.000,0.061,2807,3771,3564,0,0,0,0,0,0
$GC,1276,-0.76,-146.0,199.0,-15.8,168,1279,0.00,1.73,0.00,0.000,6,0.000,0.042,2807,2669,3563,0,0,0,0,0,0
$GC,1419,-0.76,-146.0,219.7,-14.6,181,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2666,3563,0,0,0,0,0,0
$GC,1554,-0.76,-146.0,239.4,-14.3,194,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2666,3563,0,0,0,0,0,0
$GC,1680,-0.76,-146.0,257.9,-14.6,206,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2666,3563,0,0,0,0,0,0
$GC,1872,-0.76,-146.0,286.7,-15.2,224,1876,0.00,1.80,0.00,0.000,4,0.000,0.062,2798,3764,3563,0,0,0,0,0,0
$GC,1911,-0.76,-146.0,292.7,-14.3,227,1919,0.00,1.75,0.00,0.000,6,0.000,0.041,2799,2667,3563,0,0,0,0,0,0
$STATE,1926,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1927,begin apogee
$GC,1932,-0.27,0.0,295.0,15.1,229,2071,0.55,0.00,129.30,0.992,4,0.136,0.000,2971,2489,2961,0,0,0,0,0,0
$STATE,2071,end apogee,CONTROL_FINISHED_OK
$STATE,2072,begin climb
$GC,2074,0.76,146.0,300.7,0.0,241,2231,1.05,0.00,148.25,0.910,6,0.084,0.000,3302,2488,2363,0,0,0,0,0,0
$GC,2424,0.76,146.0,266.0,11.8,273,2428,0.00,2.25,0.00,0.000,4,0.000,0.058,3303,3761,2351,0,0,0,0,0,0
$GC,2501,0.76,146.0,255.8,12.9,279,2509,0.00,2.05,0.00,0.000,6,0.000,0.040,3312,2513,2350,0,0,0,0,0,0
$GC,2701,0.76,146.0,234.6,11.2,298,2705,0.00,2.05,0.00,0.000,4,0.000,0.059,3312,3770,2347,0,0,0,0,0,0
$GC,2758,0.76,146.0,227.2,13.7,303,2762,0.00,1.98,0.00,0.000,6,0.000,0.041,3321,2508,2348,0,0,0,0,0,0
$GC,2900,0.76,146.0,210.2,11.8,316,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2506,2346,0,0,0,0,0,0
$GC,3036,0.76,146.0,193.7,11.9,329,3040,0.00,2.05,0.00,0.000,4,0.000,0.060,3321,3769,2345,0,0,0,0,0,0
$GC,3107,0.76,146.0,183.6,14.2,335,3116,0.00,1.98,0.00,0.000,6,0.000,0.041,3331,2529,2345,0,0,0,0,0,0
$GC,3244,0.76,146.0,166.9,12.1,348,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2527,2344,0,0,0,0,0,0
$GC,3380,0.76,146.0,150.5,11.7,361,3383,0.00,2.00,0.00,0.000,4,0.000,0.059,3331,3764,2344,0,0,0,0,0,0
$GC,3448,0.76,146.0,141.1,14.8,367,3451,0.00,1.92,0.00,0.000,6,0.000,0.041,3340,2533,2344,0,0,0,0,0,0
$GC,3590,0.76,146.0,123.2,12.4,380,3591,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2530,2343,0,0,0,0,0,0
$GC,3716,0.76,146.0,108.1,12.1,392,3720,0.00,2.00,0.00,0.000,4,0.000,0.059,3340,3766,2343,0,0,0,0,0,0
$GC,3811,0.76,146.0,94.6,14.3,403,3820,0.15,1.92,0.00,0.000,6,0.156,0.041,3309,2538,2343,0,0,0,0,0,0
$GC,3953,0.76,146.0,79.1,11.0,428,3961,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2537,2343,0,0,0,0,0,0
$GC,4093,0.76,146.0,63.7,11.3,453,4100,0.00,2.03,0.00,0.000,4,0.000,0.059,3309,3755,2343,0,0,0,0,0,0
$GC,4135,0.76,146.0,58.5,12.7,460,4143,0.00,1.95,0.00,0.000,6,0.000,0.042,3317,2542,2343,0,0,0,0,0,0
$GC,4276,0.76,146.0,42.1,11.8,485,4283,0.00,2.03,0.00,0.000,4,0.000,0.059,3317,3771,2342,0,0,0,0,0,0
$GC,4334,0.76,146.0,34.1,13.3,495,4341,0.00,1.90,0.00,0.000,6,0.000,0.041,3326,2562,2343,0,0,0,0,0,0
$GC,4475,0.76,146.0,17.4,12.4,520,4482,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2560,2342,0,0,0,0,0,0
$FREEZE,8.29,-0.556,-1.898,2,2,0
$FREEZE,7.59,-0.556,-1.898,2,2,0
$FREEZE,6.78,-0.549,-1.897,2,2,0
$FREEZE,6.20,-0.549,-1.897,2,2,0
$FREEZE,5.51,-0.549,-1.896,2,2,0
$FREEZE,4.82,-0.548,-1.896,2,2,0
$FREEZE,4.18,-0.547,-1.895,2,2,0
$FREEZE,3.46,-0.549,-1.895,2,2,0
$FREEZE,2.79,-0.547,-1.894,2,2,0
$STATE,4595,end climb,SURFACE_DEPTH_REACHED
$STATE,4595,begin surface coast
$FREEZE,1.90,-0.550,-1.893,2,2,0
$FREEZE,1.23,-0.553,-1.893,2,2,0
$FREEZE,1.03,-0.581,-1.868,2,2,0
$FREEZE,1.03,-0.567,-1.551,2,2,0
$FREEZE,1.02,-0.594,-1.894,2,2,0
$FINISH,1.0,1.027732
$STATE,4624,end surface coast,CONTROL_FINISHED_OK
$STATE,4624,begin surface
$SM_CCo,4642,258.35,0.100,0,0,419,623.30
$SM_GC,1.79,0.00,0.00,258.35,0.000,0.000,0.100,423,2662,419,-8.26,0.34,623.30
$IRIDIUM_FIX,-7545.40,17855.66,040111,080832
$TT8_MAMPS,0.028462
$HUMID,51.06
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,14.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,18.1
$ALTIM_BOTTOM_PING,250.2,58.4
$24V_AH,20.2,74.471
$10V_AH,9.6,50.979
$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,18.325,46.550,277.550,258.350,0.000,88.195,225.325,0.000,1.500,0.000,15.821,1367.452,1550.090,644.522,1722.823,190.223,0.000,1220.870,0.000,895.577,0.000,7.203,0.000
$DEVICE_MAMPS,193.545,84.915,992.205,100.215,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,382.421,768.147,930.821,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267100
$DATA_FILE_SIZE,37103,546
$CAP_FILE_SIZE,73342,0
$CFSIZE,260165632,225103872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.236,128.2,1
$GPS,040111,100655,-7629.406,17854.438,41,1.2,41,119.6