version: 66.08
glider: 502
mission: 3
dive: 510
start: 1 4 111 21 16 20
data:
$ID,502
$MISSION,3
$DIVE,510
$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,-30782.742
$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,34
$R_STBD_OVSHOOT,28
$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
$GPS1,040111,210606,-7627.082,17850.551,42,1.1,42,119.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-70.9
$GPS2,040111,211552,-7626.940,17850.141,16,2.1,35,119.6
$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,104.0,229271,-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,13,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,104,0.00,0.00,-86.57,0.000,2,0.000,0.000,417,2661,3335,0,0,0,0,0,0
$GC,107,-0.76,-146.0,3.4,-2.7,13,130,8.90,2.38,-5.88,0.000,4,0.193,0.060,2810,1227,3561,0,0,0,0,0,0
$GC,213,-0.76,-146.0,22.5,-15.0,31,221,0.00,2.35,0.00,0.000,6,0.000,0.056,2801,2655,3564,0,0,0,0,0,0
$GC,352,-0.76,-146.0,45.8,-16.7,56,360,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2655,3564,0,0,0,0,0,0
$GC,494,-0.76,-146.0,68.0,-16.2,81,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2655,3564,0,0,0,0,0,0
$GC,628,-0.76,-146.0,89.4,-15.8,106,637,0.00,1.83,0.00,0.000,4,0.000,0.061,2793,3759,3564,0,0,0,0,0,0
$GC,661,-0.76,-146.0,94.8,-17.7,111,668,0.00,1.77,0.00,0.000,6,0.000,0.042,2793,2628,3565,0,0,0,0,0,0
$GC,800,-0.76,-146.0,117.8,-16.4,126,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2627,3565,0,0,0,0,0,0
$GC,935,-0.76,-146.0,140.0,-16.3,139,939,0.00,1.88,0.00,0.000,4,0.000,0.062,2785,3769,3565,0,0,0,0,0,0
$GC,972,-0.76,-146.0,147.2,-17.4,142,982,0.08,1.75,0.00,0.000,6,0.141,0.042,2811,2671,3564,0,0,0,0,0,0
$GC,1109,-0.76,-146.0,168.4,-15.9,155,1113,0.00,2.28,0.00,0.000,4,0.000,0.050,2810,1233,3565,0,0,0,0,0,0
$GC,1139,-0.76,-146.0,173.3,-15.8,157,1143,0.00,2.35,0.00,0.000,6,0.000,0.055,2801,2667,3565,0,0,0,0,0,0
$GC,1276,-0.76,-146.0,195.1,-16.3,169,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2667,3565,0,0,0,0,0,0
$GC,1412,-0.76,-146.0,217.1,-15.8,182,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2667,3565,0,0,0,0,0,0
$GC,1539,-0.76,-146.0,237.1,-15.5,194,1542,0.00,1.77,0.00,0.000,4,0.000,0.061,2792,3768,3565,0,0,0,0,0,0
$GC,1596,-0.76,-146.0,246.7,-16.3,199,1600,0.00,1.73,0.00,0.000,6,0.000,0.042,2792,2666,3564,0,0,0,0,0,0
$GC,1738,-0.76,-146.0,269.2,-15.9,212,1744,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2663,3564,0,0,0,0,0,0
$STATE,1860,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1860,begin apogee
$GC,1865,-0.27,0.0,289.8,15.3,224,2005,0.55,0.00,129.43,0.984,4,0.129,0.000,2969,2480,2960,0,0,0,0,0,0
$STATE,2005,end apogee,CONTROL_FINISHED_OK
$STATE,2006,begin climb
$GC,2008,0.76,146.0,298.4,0.0,236,2165,1.08,0.00,147.25,0.900,6,0.093,0.000,3304,2480,2364,0,0,0,0,0,0
$GC,2358,0.76,146.0,268.3,10.7,268,2362,0.00,2.28,0.00,0.000,4,0.000,0.057,3303,3770,2353,0,0,0,0,0,0
$GC,2401,0.76,146.0,262.4,12.8,271,2410,0.00,2.12,0.00,0.000,6,0.000,0.039,3313,2523,2352,0,0,0,0,0,0
$GC,2602,0.76,146.0,239.9,11.3,290,2606,0.00,2.05,0.00,0.000,4,0.000,0.060,3313,3768,2349,0,0,0,0,0,0
$GC,2666,0.76,146.0,231.2,14.0,295,2676,0.00,2.00,0.00,0.000,6,0.000,0.041,3322,2521,2349,0,0,0,0,0,0
$GC,2802,0.76,146.0,215.9,11.1,308,2806,0.00,2.03,0.00,0.000,4,0.000,0.060,3322,3767,2347,0,0,0,0,0,0
$GC,2849,0.76,146.0,210.0,12.8,312,2853,0.00,1.92,0.00,0.000,6,0.000,0.039,3332,2532,2347,0,0,0,0,0,0
$GC,2992,0.76,146.0,193.1,11.3,325,2999,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2529,2347,0,0,0,0,0,0
$GC,3127,0.76,146.0,177.2,11.6,338,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2529,2345,0,0,0,0,0,0
$GC,3255,0.76,146.0,162.0,12.0,350,3256,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2529,2345,0,0,0,0,0,0
$GC,3381,0.76,146.0,147.3,11.8,362,3385,0.00,2.00,0.00,0.000,4,0.000,0.057,3332,3764,2345,0,0,0,0,0,0
$GC,3408,0.76,146.0,143.6,13.5,364,3417,0.08,1.95,0.00,0.000,6,0.143,0.041,3317,2541,2345,0,0,0,0,0,0
$GC,3546,0.76,146.0,128.7,10.6,377,3554,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2541,2345,0,0,0,0,0,0
$GC,3681,0.76,146.0,114.6,10.3,390,3685,0.00,2.00,0.00,0.000,4,0.000,0.060,3317,3767,2344,0,0,0,0,0,0
$GC,3750,0.76,146.0,106.1,12.8,396,3754,0.00,1.90,0.00,0.000,6,0.000,0.041,3324,2550,2344,0,0,0,0,0,0
$GC,3885,0.76,146.0,90.4,11.3,416,3892,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2547,2344,0,0,0,0,0,0
$GC,4024,0.76,146.0,74.8,11.1,441,4031,0.00,2.00,0.00,0.000,4,0.000,0.060,3324,3767,2343,0,0,0,0,0,0
$GC,4071,0.76,146.0,68.9,13.0,449,4077,0.00,1.90,0.00,0.000,6,0.000,0.041,3334,2557,2343,0,0,0,0,0,0
$GC,4210,0.76,146.0,52.8,11.6,474,4218,0.00,2.00,0.00,0.000,4,0.000,0.059,3333,3754,2343,0,0,0,0,0,0
$GC,4246,0.76,146.0,48.0,13.3,480,4255,0.08,1.90,0.00,0.000,6,0.132,0.041,3317,2567,2343,0,0,0,0,0,0
$GC,4388,0.76,146.0,33.0,10.8,505,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2567,2343,0,0,0,0,0,0
$GC,4526,0.76,146.0,18.2,11.1,530,4533,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2567,2343,0,0,0,0,0,0
$FREEZE,8.79,-0.933,-1.895,2,2,0
$FREEZE,8.05,-0.930,-1.894,2,2,0
$FREEZE,7.52,-0.933,-1.894,2,2,0
$FREEZE,6.61,-0.942,-1.894,2,2,0
$FREEZE,5.99,-0.931,-1.893,2,2,0
$FREEZE,5.35,-0.925,-1.893,2,2,0
$FREEZE,4.78,-0.941,-1.892,2,2,0
$FREEZE,3.99,-0.935,-1.892,2,2,0
$FREEZE,3.40,-0.931,-1.891,2,2,0
$FREEZE,2.20,-0.932,-1.890,2,2,0
$STATE,4663,end climb,SURFACE_DEPTH_REACHED
$STATE,4663,begin surface coast
$FREEZE,1.38,-0.942,-1.890,2,2,0
$FREEZE,1.07,-0.975,-1.806,2,2,0
$FREEZE,1.11,-0.966,-1.890,2,2,0
$FREEZE,1.28,-0.979,-1.889,2,2,0
$FINISH,1.3,1.027666
$STATE,4688,end surface coast,CONTROL_FINISHED_OK
$STATE,4688,begin surface
$SM_CCo,4705,257.73,0.100,0,0,419,623.30
$SM_GC,1.74,0.00,0.00,257.73,0.000,0.000,0.100,412,2658,419,-8.29,0.23,623.30
$IRIDIUM_FIX,-7545.40,17923.23,040111,212140
$TT8_MAMPS,0.028462
$HUMID,50.55
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,18.1
$ALTIM_BOTTOM_PING,250.6,52.7
$24V_AH,20.2,75.274
$10V_AH,9.6,51.627
$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,18.325,48.525,276.675,257.725,0.000,85.873,225.322,0.000,1.000,0.000,37.015,1397.791,1558.824,646.582,1754.730,200.174,0.000,1224.573,0.000,902.147,0.000,7.190,0.000
$DEVICE_MAMPS,192.780,91.800,983.790,100.215,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,391.018,788.060,951.962,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267068
$DATA_FILE_SIZE,40244,558
$CAP_FILE_SIZE,74148,0
$CFSIZE,260165632,224731136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.286,315.5,1
$GPS,040111,224016,-7626.871,17845.957,13,3.2,32,119.7