version: 66.08
glider: 502
mission: 3
dive: 511
start: 1 4 111 22 52 3
data:
$ID,502
$MISSION,3
$DIVE,511
$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,-30784
$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,31
$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
$GPS1,040111,224016,-7626.871,17845.957,13,3.2,32,119.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-63.9
$GPS2,040111,225136,-7626.760,17845.418,33,0.8,43,119.7
$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,103.8,227239,-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,-146.0,0.0,0.0,0,169,0.00,0.00,-150.30,0.000,2,0.000,0.000,406,2662,3380,0,0,0,0,0,0
$GC,174,-0.76,-146.0,3.3,-2.4,21,196,8.93,2.33,-4.57,0.000,4,0.194,0.062,2807,1236,3561,0,0,0,0,0,0
$GC,284,-0.76,-146.0,25.2,-14.9,40,293,0.00,2.35,0.00,0.000,6,0.000,0.056,2799,2645,3564,0,0,0,0,0,0
$GC,426,-0.76,-146.0,47.7,-15.8,65,433,0.00,1.83,0.00,0.000,4,0.000,0.062,2790,3770,3564,0,0,0,0,0,0
$GC,467,-0.76,-146.0,55.4,-17.9,72,475,0.00,1.80,0.00,0.000,6,0.000,0.042,2790,2645,3564,0,0,0,0,0,0
$GC,608,-0.76,-146.0,79.2,-16.6,97,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2644,3564,0,0,0,0,0,0
$GC,744,-0.76,-146.0,102.1,-16.4,121,748,0.00,1.85,0.00,0.000,4,0.000,0.061,2782,3770,3564,0,0,0,0,0,0
$GC,780,-0.76,-146.0,108.4,-18.6,124,784,0.12,1.75,0.00,0.000,6,0.158,0.042,2815,2648,3564,0,0,0,0,0,0
$GC,921,-0.76,-146.0,130.3,-15.3,137,924,0.00,1.85,0.00,0.000,4,0.000,0.063,2808,3770,3564,0,0,0,0,0,0
$GC,947,-0.76,-146.0,135.1,-16.8,139,957,0.00,1.75,0.00,0.000,6,0.000,0.042,2808,2677,3564,0,0,0,0,0,0
$GC,1085,-0.76,-146.0,156.3,-16.1,152,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2677,3564,0,0,0,0,0,0
$GC,1221,-0.76,-146.0,178.7,-16.2,165,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2677,3564,0,0,0,0,0,0
$GC,1348,-0.76,-146.0,199.2,-16.0,177,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2677,3565,0,0,0,0,0,0
$GC,1475,-0.76,-146.0,219.5,-15.9,189,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2677,3564,0,0,0,0,0,0
$GC,1603,-0.76,-146.0,239.6,-15.6,201,1607,0.00,1.80,0.00,0.000,4,0.000,0.063,2800,3769,3564,0,0,0,0,0,0
$GC,1629,-0.76,-146.0,244.6,-16.7,203,1639,0.00,1.77,0.00,0.000,6,0.000,0.043,2800,2667,3564,0,0,0,0,0,0
$GC,1764,-0.76,-146.0,266.1,-16.5,216,1768,0.00,1.80,0.00,0.000,4,0.000,0.062,2791,3763,3564,0,0,0,0,0,0
$GC,1803,-0.76,-146.0,273.3,-18.4,219,1811,0.00,1.70,0.00,0.000,6,0.000,0.041,2791,2674,3564,0,0,0,0,0,0
$STATE,1936,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1936,begin apogee
$GC,1942,-0.27,0.0,296.1,16.6,232,2080,0.55,0.00,129.25,0.988,4,0.126,0.000,2969,2492,2960,0,0,0,0,0,0
$STATE,2081,end apogee,CONTROL_FINISHED_OK
$STATE,2081,begin climb
$GC,2083,0.76,146.0,305.8,0.0,244,2241,1.15,2.38,147.88,0.904,4,0.101,0.062,3305,3758,2365,0,0,0,0,0,0
$GC,2411,0.76,146.0,271.4,14.3,273,2416,0.00,2.15,0.00,0.000,6,0.000,0.040,3314,2511,2354,0,0,0,0,0,0
$GC,2618,0.76,146.0,247.0,11.9,292,2622,0.00,2.28,0.00,0.000,4,0.000,0.048,3324,1085,2348,0,0,0,0,0,0
$GC,2835,0.76,146.0,221.3,11.9,311,2839,0.00,2.30,0.00,0.000,6,0.000,0.051,3324,2510,2343,0,0,0,0,0,0
$GC,2970,0.76,146.0,204.4,12.7,323,2974,0.00,2.03,0.00,0.000,4,0.000,0.060,3324,3773,2343,0,0,0,0,0,0
$GC,3020,0.76,146.0,196.8,15.4,327,3029,0.00,2.05,0.00,0.000,6,0.000,0.042,3333,2490,2343,0,0,0,0,0,0
$GC,3156,0.76,146.0,179.4,12.5,340,3157,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2489,2342,0,0,0,0,0,0
$GC,3283,0.76,146.0,163.2,12.4,352,3287,0.00,2.08,0.00,0.000,4,0.000,0.060,3334,3764,2342,0,0,0,0,0,0
$GC,3325,0.76,146.0,156.6,15.6,355,3335,0.08,2.00,0.00,0.000,6,0.142,0.041,3318,2510,2341,0,0,0,0,0,0
$GC,3461,0.76,146.0,141.2,10.9,368,3462,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2509,2342,0,0,0,0,0,0
$GC,3588,0.76,146.0,127.3,10.9,380,3591,0.00,2.05,0.00,0.000,4,0.000,0.060,3318,3767,2341,0,0,0,0,0,0
$GC,3641,0.76,146.0,120.7,13.7,384,3644,0.00,1.98,0.00,0.000,6,0.000,0.042,3326,2502,2341,0,0,0,0,0,0
$GC,3783,0.76,146.0,104.1,11.3,397,3787,0.00,2.08,0.00,0.000,4,0.000,0.060,3326,3771,2341,0,0,0,0,0,0
$GC,3841,0.76,146.0,96.6,13.0,403,3849,0.00,1.98,0.00,0.000,6,0.000,0.041,3336,2515,2340,0,0,0,0,0,0
$GC,3979,0.76,146.0,80.0,11.7,428,3987,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2513,2340,0,0,0,0,0,0
$GC,4119,0.76,146.0,62.9,12.2,453,4126,0.00,2.05,0.00,0.000,4,0.000,0.059,3336,3765,2340,0,0,0,0,0,0
$GC,4171,0.76,146.0,55.7,14.2,462,4181,0.10,1.98,0.00,0.000,6,0.132,0.041,3312,2533,2340,0,0,0,0,0,0
$GC,4313,0.76,146.0,40.2,10.9,487,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2532,2340,0,0,0,0,0,0
$GC,4451,0.77,154.9,25.9,9.6,512,4460,0.00,2.10,4.25,0.642,4,0.000,0.060,3312,3764,2329,0,0,0,0,0,0
$GC,4485,0.77,154.9,22.3,10.7,517,4492,0.00,1.95,0.00,0.000,6,0.000,0.041,3320,2521,2329,0,0,0,0,0,0
$FREEZE,8.63,-0.773,-1.897,2,1,0
$FREEZE,8.01,-0.788,-1.897,2,1,0
$FREEZE,7.12,-0.760,-1.894,2,1,0
$FREEZE,6.16,-0.748,-1.894,2,1,0
$FREEZE,5.30,-0.747,-1.894,2,1,0
$GC,4625,0.77,154.9,5.3,13.4,542,4633,0.00,2.30,0.00,0.000,4,0.000,0.050,3328,1090,2328,0,0,0,0,0,0
$FREEZE,3.40,-0.746,-1.892,2,1,0
$FREEZE,2.68,-0.747,-1.892,2,1,0
$STATE,4645,end climb,SURFACE_DEPTH_REACHED
$STATE,4645,begin surface coast
$FREEZE,1.91,-0.733,-1.891,2,1,0
$FINISH,1.9,1.027680
$STATE,4652,end surface coast,CONTROL_FINISHED_OK
$STATE,4652,begin surface
$SM_CCo,4670,77.35,0.731,1,0,1736,300.24
$SM_GC,1.86,0.00,0.00,77.35,0.000,0.000,0.731,420,2650,1736,-8.26,0.00,300.24
$IRIDIUM_FIX,-7545.40,17855.84,040111,222231
$TT8_MAMPS,0.028462
$HUMID,53.03
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,18.7
$ALTIM_BOTTOM_PING,250.7,58.9
$24V_AH,20.2,75.388
$10V_AH,9.6,51.708
$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,18.400,61.125,281.375,77.350,0.000,55.816,114.205,271.519,1.250,0.000,44.379,1361.848,1446.550,511.148,1886.176,237.694,0.000,1110.783,0.000,927.867,0.000,7.208,0.000
$DEVICE_MAMPS,193.545,63.495,987.615,730.575,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,381.963,768.907,924.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267096
$DATA_FILE_SIZE,37037,546
$CAP_FILE_SIZE,82183,0
$CFSIZE,260165632,224677888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.233,293.4,1
$GPS,050111,001208,-7626.894,17841.418,13,1.3,13,119.8