version: 66.08
glider: 502
mission: 3
dive: 513
start: 1 5 111 1 59 46
data:
$ID,502
$MISSION,3
$DIVE,513
$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,-30786.516
$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,32
$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
$GPS1,050111,014707,-7627.175,17835.900,33,0.8,33,119.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-63.4
$GPS2,050111,015920,-7627.181,17835.391,15,1.0,15,119.9
$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,155.1,222886,-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,-146.0,0.0,0.0,0,165,0.00,0.00,-145.88,0.000,2,0.000,0.000,409,2665,3286,0,0,0,0,0,0
$GC,170,-0.76,-146.0,3.1,-1.1,21,193,8.88,2.38,-7.55,0.000,4,0.191,0.061,2808,1231,3561,0,0,0,0,0,0
$GC,384,-0.76,-146.0,38.9,-15.3,59,391,0.00,2.33,0.00,0.000,6,0.000,0.055,2799,2647,3564,0,0,0,0,0,0
$GC,523,-0.76,-146.0,62.3,-17.1,84,531,0.00,1.85,0.00,0.000,4,0.000,0.061,2791,3767,3564,0,0,0,0,0,0
$GC,557,-0.76,-146.0,68.2,-18.0,89,564,0.00,1.77,0.00,0.000,6,0.000,0.042,2791,2634,3564,0,0,0,0,0,0
$GC,693,-0.76,-146.0,92.9,-18.0,114,702,0.00,1.90,0.00,0.000,4,0.000,0.063,2783,3760,3564,0,0,0,0,0,0
$GC,726,-0.76,-146.0,98.8,-18.5,119,735,0.12,1.75,0.00,0.000,6,0.158,0.041,2817,2667,3564,0,0,0,0,0,0
$GC,864,-0.76,-146.0,120.3,-15.2,132,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2666,3565,0,0,0,0,0,0
$GC,1000,-0.76,-146.0,140.9,-14.9,145,1003,0.00,1.80,0.00,0.000,4,0.000,0.062,2809,3766,3564,0,0,0,0,0,0
$GC,1046,-0.76,-146.0,148.4,-15.5,149,1050,0.00,1.73,0.00,0.000,6,0.000,0.041,2809,2659,3565,0,0,0,0,0,0
$GC,1189,-0.76,-146.0,171.0,-16.4,162,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2657,3564,0,0,0,0,0,0
$GC,1325,-0.76,-146.0,193.6,-16.4,175,1328,0.00,1.83,0.00,0.000,4,0.000,0.063,2801,3770,3565,0,0,0,0,0,0
$GC,1371,-0.76,-146.0,201.8,-17.8,179,1375,0.00,1.73,0.00,0.000,6,0.000,0.041,2801,2663,3564,0,0,0,0,0,0
$GC,1514,-0.76,-146.0,224.8,-15.5,192,1522,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2660,3565,0,0,0,0,0,0
$GC,1650,-0.76,-146.0,246.4,-15.7,205,1654,0.00,1.83,0.00,0.000,4,0.000,0.063,2793,3773,3564,0,0,0,0,0,0
$GC,1681,-0.76,-146.0,252.0,-16.1,207,1689,0.00,1.77,0.00,0.000,6,0.000,0.042,2793,2665,3565,0,0,0,0,0,0
$GC,1879,-0.76,-146.0,282.5,-15.5,226,1883,0.00,1.80,0.00,0.000,4,0.000,0.063,2785,3763,3565,0,0,0,0,0,0
$GC,1917,-0.76,-146.0,289.2,-17.2,229,1926,0.12,1.70,0.00,0.000,6,0.157,0.041,2819,2670,3565,0,0,0,0,0,0
$STATE,1975,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1975,begin apogee
$GC,1981,-0.27,0.0,298.1,14.8,235,2118,0.47,0.00,129.15,0.986,4,0.122,0.000,2974,2487,2961,0,0,0,0,0,0
$STATE,2119,end apogee,CONTROL_FINISHED_OK
$STATE,2119,begin climb
$GC,2121,0.76,146.0,304.0,0.0,247,2279,1.02,0.00,147.77,0.903,6,0.084,0.000,3301,2487,2363,0,0,0,0,0,0
$GC,2471,0.76,146.0,271.8,11.3,279,2475,0.00,2.25,0.00,0.000,4,0.000,0.058,3301,3758,2352,0,0,0,0,0,0
$GC,2594,0.76,146.0,255.4,13.5,289,2601,0.00,2.03,0.00,0.000,6,0.000,0.041,3311,2515,2349,0,0,0,0,0,0
$GC,2795,0.76,146.0,231.8,11.9,308,2798,0.00,2.05,0.00,0.000,4,0.000,0.059,3311,3770,2347,0,0,0,0,0,0
$GC,2843,0.76,146.0,225.0,13.7,312,2852,0.00,2.00,0.00,0.000,6,0.000,0.041,3320,2520,2347,0,0,0,0,0,0
$GC,2979,0.76,146.0,209.3,11.8,325,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2519,2346,0,0,0,0,0,0
$GC,3107,0.76,146.0,194.4,11.4,337,3111,0.00,2.03,0.00,0.000,4,0.000,0.060,3320,3764,2345,0,0,0,0,0,0
$GC,3200,0.76,146.0,181.2,14.2,345,3208,0.00,1.95,0.00,0.000,6,0.000,0.041,3328,2539,2344,0,0,0,0,0,0
$GC,3338,0.76,146.0,164.0,13.0,358,3341,0.00,2.00,0.00,0.000,4,0.000,0.058,3328,3771,2344,0,0,0,0,0,0
$GC,3386,0.76,146.0,156.4,14.5,362,3395,0.00,1.98,0.00,0.000,6,0.000,0.041,3337,2535,2344,0,0,0,0,0,0
$GC,3522,0.76,146.0,138.1,13.6,375,3523,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2534,2344,0,0,0,0,0,0
$GC,3650,0.76,146.0,121.0,13.4,387,3651,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2534,2343,0,0,0,0,0,0
$GC,3776,0.76,146.0,103.7,13.3,399,3780,0.00,2.00,0.00,0.000,4,0.000,0.058,3337,3762,2343,0,0,0,0,0,0
$GC,3831,0.76,146.0,95.2,15.2,406,3840,0.10,1.95,0.00,0.000,6,0.133,0.041,3314,2546,2343,0,0,0,0,0,0
$GC,3974,0.76,146.0,78.6,11.2,431,3982,0.00,2.00,0.00,0.000,4,0.000,0.060,3314,3762,2342,0,0,0,0,0,0
$GC,4016,0.76,146.0,72.9,13.2,438,4024,0.00,1.95,0.00,0.000,6,0.000,0.041,3321,2545,2342,0,0,0,0,0,0
$GC,4159,0.76,146.0,57.2,11.5,463,4166,0.00,2.00,0.00,0.000,4,0.000,0.060,3321,3762,2342,0,0,0,0,0,0
$GC,4196,0.76,146.0,51.9,12.7,469,4202,0.00,1.90,0.00,0.000,6,0.000,0.041,3331,2551,2342,0,0,0,0,0,0
$GC,4333,0.76,146.0,35.7,12.1,494,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2549,2342,0,0,0,0,0,0
$GC,4476,0.76,146.0,19.0,11.8,519,4483,0.00,2.00,0.00,0.000,4,0.000,0.060,3331,3766,2341,0,0,0,0,0,0
$GC,4528,0.76,146.0,11.7,13.6,528,4536,0.00,1.92,0.00,0.000,6,0.000,0.040,3340,2559,2341,0,0,0,0,0,0
$FREEZE,8.47,-0.818,-1.895,2,1,0
$FREEZE,7.80,-0.819,-1.895,2,1,0
$FREEZE,6.88,-0.820,-1.894,2,1,0
$FREEZE,6.24,-0.821,-1.893,2,1,0
$FREEZE,5.50,-0.819,-1.893,2,1,0
$FREEZE,4.79,-0.820,-1.892,2,1,0
$FREEZE,3.85,-0.810,-1.891,2,1,0
$FREEZE,3.08,-0.809,-1.891,2,1,0
$FREEZE,2.14,-0.810,-1.890,2,1,0
$STATE,4600,end climb,SURFACE_DEPTH_REACHED
$STATE,4600,begin surface coast
$FREEZE,1.12,-0.799,-1.889,2,1,0
$FREEZE,1.06,-0.851,-1.872,2,1,0
$FREEZE,1.03,-0.879,-1.893,2,1,0
$FREEZE,1.10,-0.852,-1.585,2,1,0
$FINISH,1.1,1.023329
$STATE,4627,end surface coast,CONTROL_FINISHED_OK
$STATE,4627,begin surface
$SM_CCo,4644,72.50,0.099,0,0,1737,300.24
$SM_GC,2.09,0.00,0.00,72.50,0.000,0.000,0.099,412,2661,1737,-8.29,0.31,300.24
$IRIDIUM_FIX,-7545.40,17828.35,050111,010122
$TT8_MAMPS,0.028462
$HUMID,52.91
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,19.2
$ALTIM_BOTTOM_PING,250.4,62.1
$24V_AH,20.2,75.586
$10V_AH,9.6,51.869
$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,18.250,58.575,276.925,72.500,0.000,51.445,73.400,379.610,1.500,0.000,15.799,1353.639,1463.165,505.387,1885.608,249.456,0.000,1096.202,0.000,896.670,0.000,7.217,0.000
$DEVICE_MAMPS,191.250,85.680,986.085,98.685,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,379.961,762.418,914.548,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267104
$DATA_FILE_SIZE,37082,544
$CAP_FILE_SIZE,84894,0
$CFSIZE,260165632,224583680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.240,233.5,1
$GPS,050111,031934,-7627.559,17830.418,12,2.2,31,120.1