version: 66.08
glider: 502
mission: 3
dive: 518
start: 1 5 111 9 52 30
data:
$ID,502
$MISSION,3
$DIVE,518
$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,-30792.805
$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,38
$R_STBD_OVSHOOT,37
$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
$GPS1,050111,094237,-7628.723,17819.703,38,1.0,38,120.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-70.8
$GPS2,050111,095202,-7628.720,17819.656,11,1.7,11,120.4
$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,194.0,216035,-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,-146.0,0.0,0.0,0,92,0.00,0.00,-74.95,0.000,2,0.000,0.000,406,2674,3081,0,0,0,0,0,0
$GC,95,-0.76,-146.0,3.0,-2.3,11,131,8.95,2.38,-16.62,0.000,4,0.194,0.060,2809,1239,3560,0,0,0,0,0,0
$GC,251,-0.76,-146.0,25.1,-15.2,38,259,0.00,2.33,0.00,0.000,6,0.000,0.055,2800,2636,3563,0,0,0,0,0,0
$GC,390,-0.76,-146.0,48.0,-16.8,63,396,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2636,3563,0,0,0,0,0,0
$GC,525,-0.76,-146.0,70.3,-16.4,88,534,0.00,1.85,0.00,0.000,4,0.000,0.061,2792,3754,3564,0,0,0,0,0,0
$GC,581,-0.76,-146.0,79.9,-17.4,97,589,0.00,1.75,0.00,0.000,6,0.000,0.041,2792,2658,3564,0,0,0,0,0,0
$GC,720,-0.76,-146.0,103.9,-17.1,120,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2657,3564,0,0,0,0,0,0
$GC,848,-0.76,-146.0,126.3,-17.3,132,851,0.00,1.83,0.00,0.000,4,0.000,0.062,2785,3766,3564,0,0,0,0,0,0
$GC,885,-0.76,-146.0,133.9,-18.6,135,894,0.00,1.77,0.00,0.000,6,0.000,0.041,2785,2651,3564,0,0,0,0,0,0
$GC,1023,-0.76,-146.0,157.3,-17.5,148,1031,0.12,0.00,0.00,0.000,6,0.159,0.000,2819,2649,3564,0,0,0,0,0,0
$GC,1159,-0.76,-146.0,177.9,-14.5,161,1163,0.00,1.83,0.00,0.000,4,0.000,0.063,2812,3760,3564,0,0,0,0,0,0
$GC,1206,-0.76,-146.0,185.1,-15.6,165,1209,0.00,1.70,0.00,0.000,6,0.000,0.040,2812,2668,3564,0,0,0,0,0,0
$GC,1349,-0.76,-146.0,206.5,-15.5,178,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2666,3564,0,0,0,0,0,0
$GC,1485,-0.76,-146.0,227.7,-15.3,191,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2666,3563,0,0,0,0,0,0
$GC,1611,-0.76,-146.0,246.7,-15.1,203,1615,0.00,1.80,0.00,0.000,4,0.000,0.061,2803,3764,3564,0,0,0,0,0,0
$GC,1642,-0.76,-146.0,252.0,-15.5,205,1650,0.00,1.75,0.00,0.000,6,0.000,0.041,2803,2669,3564,0,0,0,0,0,0
$GC,1841,-0.76,-146.0,282.1,-15.2,224,1844,0.00,1.80,0.00,0.000,4,0.000,0.061,2798,3763,3564,0,0,0,0,0,0
$GC,1875,-0.76,-146.0,288.0,-17.6,227,1879,0.00,1.70,0.00,0.000,6,0.000,0.041,2798,2669,3564,0,0,0,0,0,0
$STATE,2024,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2024,begin apogee
$GC,2030,-0.27,0.0,310.8,15.1,241,2167,0.52,0.00,129.73,0.998,4,0.128,0.000,2967,2484,2961,0,0,0,0,0,0
$STATE,2168,end apogee,CONTROL_FINISHED_OK
$STATE,2168,begin climb
$GC,2170,0.76,146.0,319.6,0.0,253,2330,1.10,2.47,147.52,0.920,4,0.075,0.047,3312,1102,2363,0,0,0,0,0,0
$GC,2465,0.76,146.0,296.1,11.4,279,2470,0.00,2.53,0.00,0.000,6,0.000,0.050,3312,2503,2353,0,0,0,0,0,0
$GC,2664,0.76,146.0,274.1,11.8,297,2668,0.00,2.30,0.00,0.000,4,0.000,0.047,3322,1105,2351,0,0,0,0,0,0
$GC,2786,0.76,146.0,260.1,10.7,307,2793,0.00,2.30,0.00,0.000,6,0.000,0.050,3322,2522,2349,0,0,0,0,0,0
$GC,2987,0.76,146.0,236.5,11.7,326,2990,0.00,2.00,0.00,0.000,4,0.000,0.058,3322,3766,2348,0,0,0,0,0,0
$GC,3069,0.76,146.0,224.6,14.0,333,3078,0.00,1.95,0.00,0.000,6,0.000,0.040,3331,2534,2347,0,0,0,0,0,0
$GC,3206,0.76,146.0,207.7,12.4,346,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2534,2347,0,0,0,0,0,0
$GC,3343,0.76,146.0,191.4,11.8,359,3346,0.00,2.00,0.00,0.000,4,0.000,0.057,3332,3770,2346,0,0,0,0,0,0
$GC,3389,0.76,146.0,184.9,14.3,363,3393,0.00,1.92,0.00,0.000,6,0.000,0.040,3341,2532,2346,0,0,0,0,0,0
$GC,3531,0.76,146.0,166.2,13.6,376,3538,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2529,2346,0,0,0,0,0,0
$GC,3667,0.76,146.0,148.5,12.9,389,3671,0.00,2.00,0.00,0.000,4,0.000,0.058,3341,3764,2346,0,0,0,0,0,0
$GC,3738,0.76,146.0,137.5,15.5,395,3747,0.10,1.95,0.00,0.000,6,0.138,0.039,3317,2536,2345,0,0,0,0,0,0
$GC,3876,0.76,146.0,122.3,10.7,408,3883,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2536,2345,0,0,0,0,0,0
$GC,4011,0.76,146.0,107.1,10.9,421,4015,0.00,2.00,0.00,0.000,4,0.000,0.058,3317,3768,2345,0,0,0,0,0,0
$GC,4079,0.76,146.0,98.4,13.2,428,4087,0.00,1.98,0.00,0.000,6,0.000,0.040,3325,2527,2344,0,0,0,0,0,0
$GC,4221,0.76,146.0,82.7,11.3,453,4228,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2526,2344,0,0,0,0,0,0
$GC,4358,0.76,146.0,66.9,11.9,478,4366,0.00,2.05,0.00,0.000,4,0.000,0.059,3325,3764,2344,0,0,0,0,0,0
$GC,4428,0.76,146.0,57.8,13.6,490,4436,0.00,1.92,0.00,0.000,6,0.000,0.040,3334,2550,2343,0,0,0,0,0,0
$GC,4566,0.76,146.0,40.9,12.1,515,4572,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2548,2343,0,0,0,0,0,0
$GC,4703,0.76,146.0,24.2,12.0,540,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2548,2344,0,0,0,0,0,0
$FREEZE,8.87,-0.847,-1.893,2,2,0
$FREEZE,8.30,-0.847,-1.893,2,2,0
$FREEZE,7.53,-0.851,-1.894,2,2,0
$FREEZE,6.84,-0.851,-1.893,2,2,0
$GC,4846,0.76,146.0,6.8,12.1,565,4854,0.00,1.98,0.00,0.000,4,0.000,0.058,3334,3763,2343,0,0,0,0,0,0
$FREEZE,4.53,-0.851,-1.892,2,2,0
$FREEZE,3.82,-0.851,-1.892,2,2,0
$FREEZE,2.89,-0.854,-1.891,2,2,0
$STATE,4873,end climb,SURFACE_DEPTH_REACHED
$STATE,4873,begin surface coast
$FREEZE,1.82,-0.852,-1.890,2,2,0
$FREEZE,1.25,-0.884,-1.892,2,2,0
$FREEZE,1.14,-0.855,-1.890,2,2,0
$FREEZE,1.05,-0.894,-1.279,2,2,0
$FINISH,1.1,1.018876
$STATE,4897,end surface coast,CONTROL_FINISHED_OK
$STATE,4898,begin surface
$SM_CCo,4917,259.75,0.102,0,0,419,623.30
$SM_GC,1.86,0.00,0.00,259.75,0.000,0.000,0.102,406,2643,419,-8.29,-0.20,623.30
$IRIDIUM_FIX,-7545.40,17819.19,050111,090913
$TT8_MAMPS,0.027713
$HUMID,50.82
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,19.1
$ALTIM_BOTTOM_PING,250.4,74.3
$24V_AH,20.2,76.060
$10V_AH,9.6,52.277
$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,18.375,55.875,277.250,259.750,0.000,89.053,225.323,0.000,1.250,0.000,12.810,1442.667,1675.446,653.278,1774.058,205.585,0.000,1259.238,0.000,958.724,0.000,7.247,0.000
$DEVICE_MAMPS,194.310,62.730,998.325,101.745,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,401.794,787.607,923.865,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267060
$DATA_FILE_SIZE,40353,573
$CAP_FILE_SIZE,76661,0
$CFSIZE,260165632,224346112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.165,138.6,1
$GPS,050111,111938,-7628.645,17818.984,12,1.7,12,120.4