version: 66.08
glider: 502
mission: 3
dive: 503
start: 1 4 111 10 15 23
data:
$ID,502
$MISSION,3
$DIVE,503
$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,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,-30773.838
$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,32
$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
$GPS1,040111,100655,-7629.406,17854.438,41,1.2,41,119.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-68.3
$GPS2,040111,101456,-7629.441,17854.668,14,1.2,14,119.6
$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,184.5,231161,-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,-146.0,0.0,0.0,0,167,0.00,0.00,-147.45,0.000,2,0.000,0.000,421,2662,3340,0,0,0,0,0,0
$GC,172,-0.76,-146.0,3.1,-1.3,22,194,8.95,0.00,-5.93,0.000,6,0.196,0.000,2809,2662,3561,0,0,0,0,0,0
$GC,330,-0.76,-146.0,31.5,-16.3,49,337,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2662,3563,0,0,0,0,0,0
$GC,470,-0.76,-146.0,55.0,-16.4,74,479,0.00,1.83,0.00,0.000,4,0.000,0.061,2803,3761,3564,0,0,0,0,0,0
$GC,497,-0.76,-146.0,59.7,-17.1,78,505,0.00,1.77,0.00,0.000,6,0.000,0.041,2803,2651,3564,0,0,0,0,0,0
$GC,642,-0.76,-146.0,83.9,-16.7,103,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2650,3564,0,0,0,0,0,0
$GC,784,-0.76,-146.0,107.2,-16.5,124,787,0.00,1.83,0.00,0.000,4,0.000,0.063,2795,3759,3564,0,0,0,0,0,0
$GC,821,-0.76,-146.0,114.7,-17.8,127,830,0.00,1.77,0.00,0.000,6,0.000,0.041,2795,2647,3564,0,0,0,0,0,0
$GC,959,-0.76,-146.0,137.6,-17.4,140,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2646,3564,0,0,0,0,0,0
$GC,1095,-0.76,-146.0,161.4,-17.5,153,1099,0.00,1.83,0.00,0.000,4,0.000,0.060,2787,3765,3564,0,0,0,0,0,0
$GC,1163,-0.76,-146.0,173.8,-18.6,159,1167,0.12,1.73,0.00,0.000,6,0.162,0.042,2820,2654,3564,0,0,0,0,0,0
$GC,1306,-0.76,-146.0,194.8,-14.4,172,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2652,3565,0,0,0,0,0,0
$GC,1442,-0.76,-146.0,214.0,-14.0,185,1446,0.00,1.83,0.00,0.000,4,0.000,0.062,2813,3768,3564,0,0,0,0,0,0
$GC,1469,-0.76,-146.0,217.6,-14.6,187,1472,0.00,1.73,0.00,0.000,6,0.000,0.042,2813,2659,3564,0,0,0,0,0,0
$GC,1611,-0.76,-146.0,238.3,-14.5,200,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2657,3564,0,0,0,0,0,0
$GC,1746,-0.76,-146.0,258.0,-15.2,213,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2657,3564,0,0,0,0,0,0
$GC,1936,-0.76,-146.0,286.3,-14.5,231,1940,0.00,1.80,0.00,0.000,4,0.000,0.062,2804,3759,3564,0,0,0,0,0,0
$GC,1960,-0.76,-146.0,290.0,-16.2,233,1964,0.00,1.73,0.00,0.000,6,0.000,0.042,2804,2656,3564,0,0,0,0,0,0
$STATE,1981,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1981,begin apogee
$GC,1988,-0.27,0.0,294.0,17.1,235,2126,0.52,0.00,129.57,0.989,4,0.128,0.000,2973,2489,2961,0,0,0,0,0,0
$STATE,2127,end apogee,CONTROL_FINISHED_OK
$STATE,2127,begin climb
$GC,2129,0.76,146.0,303.2,0.0,247,2288,1.05,0.00,148.05,0.911,6,0.089,0.000,3301,2489,2363,0,0,0,0,0,0
$GC,2480,0.76,146.0,272.6,10.2,279,2484,0.00,2.25,0.00,0.000,4,0.000,0.058,3301,3760,2352,0,0,0,0,0,0
$GC,2608,0.76,146.0,256.2,12.7,290,2612,0.00,2.00,0.00,0.000,6,0.000,0.041,3311,2526,2350,0,0,0,0,0,0
$GC,2813,0.76,146.0,233.2,11.2,309,2817,0.00,2.03,0.00,0.000,4,0.000,0.060,3311,3766,2347,0,0,0,0,0,0
$GC,2860,0.76,146.0,227.2,13.2,313,2864,0.00,1.95,0.00,0.000,6,0.000,0.041,3320,2517,2347,0,0,0,0,0,0
$GC,3001,0.76,146.0,210.7,11.4,326,3005,0.00,2.03,0.00,0.000,4,0.000,0.060,3320,3761,2346,0,0,0,0,0,0
$GC,3039,0.76,146.0,205.4,14.2,329,3048,0.00,1.95,0.00,0.000,6,0.000,0.041,3330,2543,2346,0,0,0,0,0,0
$GC,3177,0.76,146.0,188.8,12.2,342,3185,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2541,2345,0,0,0,0,0,0
$GC,3312,0.76,146.0,172.0,12.8,355,3316,0.00,2.00,0.00,0.000,4,0.000,0.060,3330,3771,2345,0,0,0,0,0,0
$GC,3383,0.76,146.0,161.4,15.4,361,3392,0.00,1.98,0.00,0.000,6,0.000,0.041,3339,2536,2345,0,0,0,0,0,0
$GC,3521,0.76,146.0,143.1,13.1,374,3529,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2536,2344,0,0,0,0,0,0
$GC,3657,0.76,146.0,125.3,12.7,387,3660,0.00,2.00,0.00,0.000,4,0.000,0.059,3339,3766,2344,0,0,0,0,0,0
$GC,3726,0.76,146.0,115.3,14.9,393,3730,0.12,1.90,0.00,0.000,6,0.163,0.041,3315,2552,2344,0,0,0,0,0,0
$GC,3860,0.76,146.0,99.0,11.2,406,3868,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2550,2343,0,0,0,0,0,0
$GC,4006,0.76,146.0,82.7,11.3,431,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2550,2343,0,0,0,0,0,0
$GC,4147,0.76,146.0,66.7,11.5,456,4156,0.00,2.03,0.00,0.000,4,0.000,0.060,3315,3760,2343,0,0,0,0,0,0
$GC,4185,0.76,146.0,61.7,13.8,462,4193,0.00,1.92,0.00,0.000,6,0.000,0.041,3323,2557,2343,0,0,0,0,0,0
$GC,4332,0.76,146.0,44.2,12.4,487,4338,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2555,2343,0,0,0,0,0,0
$GC,4473,0.76,146.0,27.6,11.2,512,4482,0.00,2.00,0.00,0.000,4,0.000,0.059,3323,3757,2342,0,0,0,0,0,0
$GC,4541,0.76,146.0,18.8,13.5,523,4548,0.00,1.90,0.00,0.000,6,0.000,0.041,3332,2552,2342,0,0,0,0,0,0
$FREEZE,8.31,-0.566,-1.898,2,1,0
$FREEZE,7.43,-0.562,-1.897,2,1,0
$FREEZE,6.74,-0.558,-1.897,2,1,0
$FREEZE,6.07,-0.562,-1.896,2,1,0
$FREEZE,5.35,-0.562,-1.896,2,1,0
$FREEZE,4.58,-0.559,-1.895,2,1,0
$FREEZE,3.86,-0.561,-1.895,2,1,0
$FREEZE,2.92,-0.560,-1.894,2,1,0
$STATE,4664,end climb,SURFACE_DEPTH_REACHED
$STATE,4665,begin surface coast
$FREEZE,2.08,-0.558,-1.894,2,1,0
$FREEZE,1.09,-0.561,-1.893,2,1,0
$FREEZE,1.03,-0.641,-0.978,2,1,0
$FREEZE,1.15,-0.595,-1.856,2,1,0
$FINISH,1.2,1.027192
$STATE,4691,end surface coast,CONTROL_FINISHED_OK
$STATE,4691,begin surface
$SM_CCo,4708,73.95,0.099,0,0,1736,300.24
$SM_GC,2.09,0.00,0.00,73.95,0.000,0.000,0.099,419,2655,1736,-8.27,0.14,300.24
$IRIDIUM_FIX,-7545.40,17846.48,040111,080817
$TT8_MAMPS,0.028462
$HUMID,53.50
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,18.9
$ALTIM_BOTTOM_PING,250.2,57.1
$24V_AH,20.2,74.567
$10V_AH,9.7,51.058
$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,18.450,46.150,277.625,73.950,0.000,25.910,39.029,270.648,1.250,0.000,15.077,1360.178,1466.563,497.894,1726.066,223.358,0.000,1095.368,0.000,905.155,0.000,7.202,0.000
$DEVICE_MAMPS,195.840,84.915,989.145,99.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,382.893,768.286,922.543,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267128
$DATA_FILE_SIZE,37152,548
$CAP_FILE_SIZE,78331,0
$CFSIZE,260165632,225050624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.258,104.2,1
$GPS,040111,113557,-7629.261,17855.018,11,1.8,11,119.6