version: 66.08
glider: 502
mission: 3
dive: 519
start: 1 5 111 11 28 10
data:
$ID,502
$MISSION,3
$DIVE,519
$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,-30794.061
$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,28
$R_STBD_OVSHOOT,24
$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
$GPS1,050111,111938,-7628.645,17818.984,12,1.7,12,120.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-64.3
$GPS2,050111,112743,-7628.632,17819.006,10,1.5,15,120.4
$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,177.7,215755,-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,16,-0.76,-146.0,0.0,0.0,0,163,0.00,0.00,-143.65,0.000,2,0.000,0.000,397,2642,3262,0,0,0,0,0,0
$GC,168,-0.76,-146.0,3.1,-2.0,21,191,8.90,2.33,-8.25,0.000,4,0.191,0.062,2805,1233,3560,0,0,0,0,0,0
$GC,372,-0.76,-146.0,36.7,-15.1,57,379,0.00,2.33,0.00,0.000,6,0.000,0.055,2796,2651,3564,0,0,0,0,0,0
$GC,510,-0.76,-146.0,60.0,-17.0,82,519,0.00,1.83,0.00,0.000,4,0.000,0.060,2788,3760,3564,0,0,0,0,0,0
$GC,544,-0.76,-146.0,65.8,-17.9,87,552,0.10,1.77,0.00,0.000,6,0.171,0.041,2813,2622,3564,0,0,0,0,0,0
$GC,688,-0.76,-146.0,88.7,-15.6,112,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2622,3564,0,0,0,0,0,0
$GC,827,-0.76,-146.0,110.6,-15.4,131,831,0.00,1.85,0.00,0.000,4,0.000,0.060,2806,3762,3564,0,0,0,0,0,0
$GC,888,-0.76,-146.0,120.9,-16.3,136,897,0.00,1.75,0.00,0.000,6,0.000,0.040,2806,2655,3564,0,0,0,0,0,0
$GC,1025,-0.76,-146.0,142.1,-15.7,149,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2653,3564,0,0,0,0,0,0
$GC,1151,-0.76,-146.0,162.3,-15.9,161,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2654,3564,0,0,0,0,0,0
$GC,1278,-0.76,-146.0,182.6,-15.9,173,1281,0.00,1.83,0.00,0.000,4,0.000,0.063,2798,3767,3564,0,0,0,0,0,0
$GC,1305,-0.76,-146.0,187.5,-16.6,175,1314,0.00,1.77,0.00,0.000,6,0.000,0.041,2798,2654,3564,0,0,0,0,0,0
$GC,1442,-0.76,-146.0,209.0,-16.5,188,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2654,3564,0,0,0,0,0,0
$GC,1577,-0.76,-146.0,230.9,-15.9,201,1580,0.00,1.83,0.00,0.000,4,0.000,0.062,2789,3771,3565,0,0,0,0,0,0
$GC,1626,-0.76,-146.0,239.7,-17.3,205,1634,0.00,1.77,0.00,0.000,6,0.000,0.041,2789,2662,3564,0,0,0,0,0,0
$GC,1759,-0.76,-146.0,261.1,-15.8,218,1760,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2662,3564,0,0,0,0,0,0
$GC,1951,-0.76,-146.0,292.1,-16.7,236,1954,0.00,1.83,0.00,0.000,4,0.000,0.062,2782,3770,3564,0,0,0,0,0,0
$GC,1975,-0.76,-146.0,296.2,-17.8,238,1979,0.12,1.73,0.00,0.000,6,0.157,0.041,2815,2663,3564,0,0,0,0,0,0
$STATE,2071,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2071,begin apogee
$GC,2077,-0.27,0.0,310.7,13.9,247,2215,0.47,0.00,129.73,0.996,4,0.120,0.000,2972,2493,2961,0,0,0,0,0,0
$STATE,2216,end apogee,CONTROL_FINISHED_OK
$STATE,2216,begin climb
$GC,2218,0.76,146.0,319.1,0.0,259,2377,1.08,2.53,147.50,0.917,4,0.082,0.047,3305,1097,2364,0,0,0,0,0,0
$GC,2481,0.78,157.3,300.4,9.5,282,2498,0.00,2.55,10.88,0.832,6,0.000,0.050,3305,2497,2319,0,0,0,0,0,0
$GC,2693,0.78,157.3,277.7,11.2,301,2697,0.00,2.33,0.00,0.000,4,0.000,0.047,3315,1102,2312,0,0,0,0,0,0
$GC,2815,0.78,157.3,264.0,10.4,311,2823,0.00,2.33,0.00,0.000,6,0.000,0.052,3315,2518,2310,0,0,0,0,0,0
$GC,3014,0.78,157.3,242.1,10.6,330,3018,0.00,2.00,0.00,0.000,4,0.000,0.058,3315,3769,2309,0,0,0,0,0,0
$GC,3096,0.78,157.3,230.9,13.9,337,3104,0.00,1.98,0.00,0.000,6,0.000,0.040,3324,2527,2308,0,0,0,0,0,0
$GC,3232,0.78,157.3,214.4,12.5,350,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2525,2307,0,0,0,0,0,0
$GC,3359,0.78,157.3,198.3,13.1,362,3363,0.00,2.00,0.00,0.000,4,0.000,0.058,3324,3764,2307,0,0,0,0,0,0
$GC,3419,0.78,157.3,188.9,15.2,367,3428,0.00,1.95,0.00,0.000,6,0.000,0.040,3334,2533,2306,0,0,0,0,0,0
$GC,3555,0.78,157.3,170.2,13.9,380,3556,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2533,2306,0,0,0,0,0,0
$GC,3681,0.78,157.3,152.2,14.1,392,3685,0.00,2.00,0.00,0.000,4,0.000,0.057,3334,3770,2306,0,0,0,0,0,0
$GC,3717,0.78,157.3,146.7,17.1,395,3720,0.00,1.92,0.00,0.000,6,0.000,0.040,3343,2533,2306,0,0,0,0,0,0
$GC,3858,0.78,157.3,125.7,14.5,408,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,2530,2306,0,0,0,0,0,0
$GC,3985,0.78,157.3,107.9,13.6,420,3988,0.00,2.00,0.00,0.000,4,0.000,0.057,3343,3767,2305,0,0,0,0,0,0
$GC,4035,0.78,157.3,100.0,15.5,424,4043,0.10,1.95,0.00,0.000,6,0.138,0.040,3320,2541,2305,0,0,0,0,0,0
$GC,4176,0.78,157.3,83.7,11.2,449,4183,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2540,2305,0,0,0,0,0,0
$GC,4313,0.78,157.3,67.7,11.6,474,4322,0.00,2.05,0.00,0.000,4,0.000,0.060,3320,3764,2304,0,0,0,0,0,0
$GC,4368,0.78,157.3,61.0,13.7,483,4376,0.00,1.90,0.00,0.000,6,0.000,0.040,3328,2547,2304,0,0,0,0,0,0
$GC,4507,0.78,157.3,43.7,11.6,508,4514,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2545,2304,0,0,0,0,0,0
$GC,4647,0.78,157.3,26.5,12.9,533,4654,0.00,2.00,0.00,0.000,4,0.000,0.058,3327,3763,2304,0,0,0,0,0,0
$GC,4694,0.78,157.3,20.1,13.8,541,4702,0.00,1.88,0.00,0.000,6,0.000,0.039,3337,2555,2304,0,0,0,0,0,0
$FREEZE,8.47,-0.873,-1.896,2,1,0
$FREEZE,7.72,-0.873,-1.895,2,1,0
$FREEZE,7.09,-0.877,-1.895,2,1,0
$FREEZE,6.22,-0.875,-1.894,2,1,0
$FREEZE,5.41,-0.871,-1.893,2,1,0
$FREEZE,4.29,-0.869,-1.893,2,1,0
$FREEZE,3.60,-0.864,-1.892,2,1,0
$FREEZE,2.88,-0.870,-1.892,2,1,0
$STATE,4827,end climb,SURFACE_DEPTH_REACHED
$STATE,4827,begin surface coast
$FREEZE,2.10,-0.864,-1.891,2,1,0
$FREEZE,1.18,-0.866,-1.890,2,1,0
$FREEZE,1.06,-0.919,-1.156,2,1,0
$FREEZE,1.05,-0.956,-0.954,2,1,0
$FINISH,1.1,1.014074
$STATE,4852,end surface coast,FINISH_DEPTH_REACHED
$STATE,4852,begin surface
$SM_CCo,4869,72.50,0.728,1,0,1736,300.24
$SM_GC,1.93,0.00,0.00,72.50,0.000,0.000,0.728,406,2664,1736,-8.31,0.40,300.24
$IRIDIUM_FIX,-7545.40,17809.74,050111,090955
$TT8_MAMPS,0.027713
$HUMID,53.74
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.1,17.4
$ALTIM_BOTTOM_PING,251.0,73.9
$24V_AH,20.2,76.172
$10V_AH,9.7,52.356
$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,18.450,56.350,288.100,72.500,0.000,28.689,34.774,271.207,1.250,0.000,16.221,1417.674,1516.815,504.177,1764.257,238.187,0.000,1114.398,0.000,948.202,0.000,7.238,0.000
$DEVICE_MAMPS,191.250,78.030,996.030,727.515,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,397.510,780.611,902.024,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267112
$DATA_FILE_SIZE,40317,568
$CAP_FILE_SIZE,82187,0
$CFSIZE,260165632,224288768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.144,113.5,1
$GPS,050111,125155,-7628.508,17818.131,38,2.0,38,120.4