version: 66.08
glider: 502
mission: 3
dive: 504
start: 1 4 111 11 45 47
data:
$ID,502
$MISSION,3
$DIVE,504
$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,-30775.096
$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,33
$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
$GPS1,040111,113557,-7629.261,17855.018,11,1.8,11,119.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-72.3
$GPS2,040111,114520,-7629.254,17855.355,14,1.2,14,119.6
$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,164.4,231460,-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,17,-0.76,-146.0,0.0,0.0,0,107,0.00,0.00,-88.00,0.000,2,0.000,0.000,419,2655,3353,0,0,0,0,0,0
$GC,110,-0.76,-146.0,3.1,-1.2,13,133,8.95,2.30,-5.65,0.000,4,0.196,0.060,2806,1237,3559,0,0,0,0,0,0
$GC,338,-0.76,-146.0,39.7,-14.0,53,345,0.00,2.33,0.00,0.000,6,0.000,0.056,2798,2652,3563,0,0,0,0,0,0
$GC,474,-0.76,-146.0,62.2,-16.6,78,482,0.00,1.83,0.00,0.000,4,0.000,0.061,2790,3761,3563,0,0,0,0,0,0
$GC,507,-0.76,-146.0,67.8,-17.6,83,515,0.00,1.77,0.00,0.000,6,0.000,0.041,2790,2628,3563,0,0,0,0,0,0
$GC,647,-0.76,-146.0,92.2,-16.8,108,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2626,3564,0,0,0,0,0,0
$GC,791,-0.76,-146.0,116.9,-16.6,125,794,0.00,1.88,0.00,0.000,4,0.000,0.061,2782,3770,3563,0,0,0,0,0,0
$GC,827,-0.76,-146.0,123.2,-17.9,128,831,0.12,1.75,0.00,0.000,6,0.157,0.042,2815,2649,3564,0,0,0,0,0,0
$GC,967,-0.76,-146.0,144.6,-14.8,141,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2647,3564,0,0,0,0,0,0
$GC,1094,-0.76,-146.0,162.6,-14.1,153,1097,0.00,1.83,0.00,0.000,4,0.000,0.061,2808,3764,3564,0,0,0,0,0,0
$GC,1143,-0.76,-146.0,170.5,-14.8,157,1151,0.00,1.75,0.00,0.000,6,0.000,0.042,2808,2670,3564,0,0,0,0,0,0
$GC,1280,-0.76,-146.0,190.4,-14.8,170,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2670,3564,0,0,0,0,0,0
$GC,1415,-0.76,-146.0,210.7,-14.9,183,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2670,3564,0,0,0,0,0,0
$GC,1543,-0.76,-146.0,229.5,-15.0,195,1547,0.00,1.80,0.00,0.000,4,0.000,0.061,2800,3769,3564,0,0,0,0,0,0
$GC,1580,-0.76,-146.0,236.2,-16.0,198,1589,0.00,1.77,0.00,0.000,6,0.000,0.042,2799,2658,3564,0,0,0,0,0,0
$GC,1715,-0.76,-146.0,256.8,-15.4,211,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2658,3564,0,0,0,0,0,0
$GC,1907,-0.76,-146.0,286.2,-16.5,229,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2657,3564,0,0,0,0,0,0
$STATE,1957,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1957,begin apogee
$GC,1963,-0.27,0.0,294.6,16.0,234,2101,0.55,0.00,129.43,0.992,4,0.130,0.000,2974,2491,2960,0,0,0,0,0,0
$STATE,2102,end apogee,CONTROL_FINISHED_OK
$STATE,2102,begin climb
$GC,2104,0.76,146.0,302.6,0.0,246,2264,1.08,2.50,147.43,0.911,4,0.080,0.048,3309,1105,2363,0,0,0,0,0,0
$GC,2400,0.76,146.0,277.7,11.1,272,2405,0.00,2.50,0.00,0.000,6,0.000,0.051,3308,2500,2353,0,0,0,0,0,0
$GC,2598,0.76,146.0,255.5,11.1,290,2602,0.00,2.30,0.00,0.000,4,0.000,0.050,3315,1096,2351,0,0,0,0,0,0
$GC,2751,0.76,146.0,238.6,11.0,303,2755,0.00,2.30,0.00,0.000,6,0.000,0.052,3315,2518,2348,0,0,0,0,0,0
$GC,2887,0.76,146.0,221.6,12.4,315,2891,0.00,2.00,0.00,0.000,4,0.000,0.059,3315,3768,2348,0,0,0,0,0,0
$GC,2956,0.76,146.0,211.9,15.1,321,2960,0.00,1.92,0.00,0.000,6,0.000,0.041,3324,2534,2348,0,0,0,0,0,0
$GC,3097,0.76,146.0,193.8,12.4,334,3101,0.00,2.00,0.00,0.000,4,0.000,0.059,3324,3765,2347,0,0,0,0,0,0
$GC,3146,0.76,146.0,186.8,14.8,338,3154,0.00,1.95,0.00,0.000,6,0.000,0.041,3334,2545,2346,0,0,0,0,0,0
$GC,3282,0.76,146.0,170.0,12.3,351,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2543,2346,0,0,0,0,0,0
$GC,3409,0.76,146.0,154.8,11.7,363,3412,0.00,1.98,0.00,0.000,4,0.000,0.060,3333,3764,2346,0,0,0,0,0,0
$GC,3477,0.76,146.0,145.6,14.3,369,3482,0.12,1.92,0.00,0.000,6,0.162,0.041,3310,2533,2345,0,0,0,0,0,0
$GC,3613,0.76,146.7,131.1,10.0,381,3615,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2530,2345,0,0,0,0,0,0
$GC,3740,0.77,152.5,118.7,9.7,393,3743,0.00,2.00,0.00,0.000,4,0.000,0.058,3310,3764,2345,0,0,0,0,0,0
$GC,3786,0.77,152.5,113.5,11.5,397,3790,0.00,1.92,0.00,0.000,6,0.000,0.041,3317,2535,2344,0,0,0,0,0,0
$GC,3921,0.77,152.5,98.7,10.6,410,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2532,2345,0,0,0,0,0,0
$GC,4061,0.77,152.5,83.3,11.2,435,4068,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2532,2344,0,0,0,0,0,0
$GC,4199,0.77,152.5,67.6,11.4,460,4208,0.00,2.05,0.00,0.000,4,0.000,0.060,3318,3763,2344,0,0,0,0,0,0
$GC,4257,0.77,152.5,60.0,13.5,470,4265,0.00,1.95,0.00,0.000,6,0.000,0.041,3327,2547,2343,0,0,0,0,0,0
$GC,4400,0.77,152.5,42.4,13.7,495,4407,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2545,2344,0,0,0,0,0,0
$GC,4537,0.77,152.5,24.5,12.3,520,4546,0.00,2.03,0.00,0.000,4,0.000,0.060,3327,3755,2343,0,0,0,0,0,0
$GC,4585,0.77,152.5,17.9,14.9,528,4593,0.00,1.92,0.00,0.000,6,0.000,0.042,3336,2556,2343,0,0,0,0,0,0
$FREEZE,8.77,-0.604,-1.898,2,2,0
$FREEZE,8.02,-0.606,-1.898,2,2,0
$FREEZE,7.20,-0.603,-1.897,2,2,0
$FREEZE,6.56,-0.601,-1.897,2,2,0
$FREEZE,5.76,-0.601,-1.896,2,2,0
$FREEZE,5.06,-0.600,-1.896,2,2,0
$FREEZE,4.30,-0.600,-1.895,2,2,0
$FREEZE,3.65,-0.600,-1.894,2,2,0
$FREEZE,2.92,-0.604,-1.894,2,2,0
$STATE,4701,end climb,SURFACE_DEPTH_REACHED
$STATE,4701,begin surface coast
$FREEZE,1.80,-0.602,-1.893,2,2,0
$FREEZE,1.11,-0.608,-1.893,2,2,0
$FREEZE,1.12,-0.749,-1.832,2,2,0
$FREEZE,1.08,-0.639,-0.956,2,2,0
$FINISH,1.1,1.014112
$STATE,4728,end surface coast,CONTROL_FINISHED_OK
$STATE,4728,begin surface
$SM_CCo,4745,260.20,0.102,0,0,420,623.30
$SM_GC,1.78,0.00,0.00,260.20,0.000,0.000,0.102,412,2662,420,-8.29,0.34,623.30
$IRIDIUM_FIX,-7545.40,17914.17,040111,111127
$TT8_MAMPS,0.026964
$HUMID,50.82
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,19.0
$ALTIM_BOTTOM_PING,250.3,57.8
$24V_AH,20.2,74.661
$10V_AH,9.6,51.138
$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,18.425,52.650,276.850,260.200,0.000,86.561,225.327,0.000,1.250,0.000,15.455,1399.592,1602.534,629.521,1753.884,193.192,0.000,1213.809,0.000,927.424,0.000,7.202,0.000
$DEVICE_MAMPS,195.840,81.090,992.205,101.745,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,387.350,773.706,939.215,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37095,552
$CAP_FILE_SIZE,75073,0
$CFSIZE,260165632,225009664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.275, 83.3,1
$GPS,040111,131037,-7629.039,17856.148,45,0.9,45,119.6