version: 66.08
glider: 502
mission: 3
dive: 506
start: 1 4 111 14 48 1
data:
$ID,502
$MISSION,3
$DIVE,506
$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,-30777.615
$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,31
$R_STBD_OVSHOOT,26
$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
$GPS1,040111,143802,-7628.816,17856.703,7,1.9,7,119.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-74.6
$GPS2,040111,144734,-7628.748,17857.002,11,2.5,30,119.5
$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,125.2,232179,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,105,0.00,0.00,-84.82,0.000,2,0.000,0.000,422,2665,3279,0,0,0,0,0,0
$GC,108,-0.76,-146.0,3.0,-1.0,13,130,8.90,2.38,-8.02,0.000,4,0.195,0.061,2806,1237,3561,0,0,0,0,0,0
$GC,241,-0.76,-146.0,25.3,-15.0,36,249,0.00,2.35,0.00,0.000,6,0.000,0.056,2798,2645,3564,0,0,0,0,0,0
$GC,382,-0.76,-146.0,47.9,-16.1,61,389,0.00,1.83,0.00,0.000,4,0.000,0.061,2789,3768,3564,0,0,0,0,0,0
$GC,412,-0.76,-146.0,53.4,-16.9,66,420,0.00,1.80,0.00,0.000,6,0.000,0.042,2789,2643,3564,0,0,0,0,0,0
$GC,553,-0.76,-146.0,76.8,-16.0,91,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2642,3564,0,0,0,0,0,0
$GC,689,-0.76,-146.0,99.8,-16.4,116,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2642,3564,0,0,0,0,0,0
$GC,825,-0.76,-146.0,122.3,-16.9,129,829,0.00,1.85,0.00,0.000,4,0.000,0.061,2783,3769,3564,0,0,0,0,0,0
$GC,863,-0.76,-146.0,129.5,-17.7,132,872,0.08,1.77,0.00,0.000,6,0.142,0.041,2808,2660,3564,0,0,0,0,0,0
$GC,1000,-0.76,-146.0,149.5,-14.8,145,1004,0.00,1.80,0.00,0.000,4,0.000,0.061,2801,3763,3565,0,0,0,0,0,0
$GC,1038,-0.76,-146.0,155.2,-16.3,148,1042,0.00,1.70,0.00,0.000,6,0.000,0.041,2801,2671,3565,0,0,0,0,0,0
$GC,1181,-0.76,-146.0,177.3,-15.0,161,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2669,3564,0,0,0,0,0,0
$GC,1316,-0.76,-146.0,197.6,-14.7,174,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2669,3565,0,0,0,0,0,0
$GC,1443,-0.76,-146.0,216.6,-14.7,186,1447,0.00,1.80,0.00,0.000,4,0.000,0.062,2794,3767,3565,0,0,0,0,0,0
$GC,1501,-0.76,-146.0,225.8,-16.2,191,1504,0.00,1.73,0.00,0.000,6,0.000,0.042,2794,2661,3565,0,0,0,0,0,0
$GC,1642,-0.76,-146.0,247.7,-15.2,204,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2659,3565,0,0,0,0,0,0
$GC,1768,-0.76,-146.0,267.8,-16.9,216,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2659,3565,0,0,0,0,0,0
$STATE,1914,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1914,begin apogee
$GC,1920,-0.27,0.0,291.3,16.7,230,2059,0.55,0.00,129.65,0.983,4,0.132,0.000,2969,2492,2960,0,0,0,0,0,0
$STATE,2059,end apogee,CONTROL_FINISHED_OK
$STATE,2060,begin climb
$GC,2062,0.76,146.0,299.5,0.0,242,2220,1.05,0.00,147.43,0.906,6,0.086,0.000,3301,2491,2363,0,0,0,0,0,0
$GC,2412,0.76,146.0,264.7,12.0,274,2416,0.00,2.25,0.00,0.000,4,0.000,0.059,3301,3760,2352,0,0,0,0,0,0
$GC,2544,0.76,146.0,246.1,12.8,285,2553,0.00,2.03,0.00,0.000,6,0.000,0.040,3310,2533,2350,0,0,0,0,0,0
$GC,2681,0.76,146.0,231.0,11.1,298,2684,0.00,2.03,0.00,0.000,4,0.000,0.058,3310,3774,2349,0,0,0,0,0,0
$GC,2717,0.76,146.0,226.4,12.7,301,2721,0.00,1.98,0.00,0.000,6,0.000,0.041,3320,2516,2349,0,0,0,0,0,0
$GC,2859,0.76,146.0,210.0,11.3,314,2863,0.00,2.03,0.00,0.000,4,0.000,0.060,3320,3764,2347,0,0,0,0,0,0
$GC,2906,0.76,146.0,203.6,13.5,318,2910,0.00,1.90,0.00,0.000,6,0.000,0.041,3330,2547,2347,0,0,0,0,0,0
$GC,3046,0.76,146.0,186.2,12.1,331,3050,0.00,2.00,0.00,0.000,4,0.000,0.060,3330,3770,2346,0,0,0,0,0,0
$GC,3082,0.76,146.0,181.5,14.1,334,3086,0.00,1.90,0.00,0.000,6,0.000,0.041,3339,2554,2346,0,0,0,0,0,0
$GC,3225,0.76,146.0,162.8,13.0,347,3234,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2552,2345,0,0,0,0,0,0
$GC,3361,0.76,146.0,145.1,12.9,360,3365,0.00,1.98,0.00,0.000,4,0.000,0.059,3339,3764,2345,0,0,0,0,0,0
$GC,3408,0.76,146.0,138.5,14.4,364,3412,0.12,1.88,0.00,0.000,6,0.164,0.041,3315,2560,2345,0,0,0,0,0,0
$GC,3551,0.76,146.0,121.9,11.1,377,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2558,2344,0,0,0,0,0,0
$GC,3686,0.76,146.0,106.2,11.8,390,3690,0.00,1.98,0.00,0.000,4,0.000,0.060,3315,3767,2344,0,0,0,0,0,0
$GC,3713,0.76,146.0,102.5,13.7,392,3721,0.00,1.92,0.00,0.000,6,0.000,0.041,3323,2563,2344,0,0,0,0,0,0
$GC,3850,0.76,146.0,85.9,12.5,415,3857,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2562,2343,0,0,0,0,0,0
$GC,3987,0.76,146.0,69.4,11.7,440,3995,0.00,2.00,0.00,0.000,4,0.000,0.060,3323,3760,2343,0,0,0,0,0,0
$GC,4034,0.76,146.0,63.0,13.5,448,4042,0.00,1.90,0.00,0.000,6,0.000,0.041,3332,2569,2343,0,0,0,0,0,0
$GC,4175,0.76,146.0,46.2,11.9,473,4181,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2567,2343,0,0,0,0,0,0
$GC,4310,0.76,146.0,29.8,12.0,498,4318,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2568,2343,0,0,0,0,0,0
$GC,4450,0.76,146.0,12.8,13.7,523,4457,0.00,1.98,0.00,0.000,4,0.000,0.060,3332,3771,2343,0,0,0,0,0,0
$FREEZE,8.37,-0.598,-1.898,2,2,0
$FREEZE,7.71,-0.601,-1.897,2,2,0
$FREEZE,6.74,-0.604,-1.897,2,2,0
$FREEZE,5.97,-0.603,-1.896,2,2,0
$FREEZE,5.16,-0.605,-1.895,2,2,0
$FREEZE,4.38,-0.605,-1.895,2,2,0
$GC,4511,0.76,146.0,4.4,14.4,533,4518,0.00,1.90,0.00,0.000,6,0.000,0.041,3341,2564,2343,0,0,0,0,0,0
$FREEZE,1.97,-0.602,-1.893,2,2,0
$STATE,4526,end climb,SURFACE_DEPTH_REACHED
$STATE,4526,begin surface coast
$FREEZE,1.04,-0.604,-1.892,2,2,0
$FREEZE,1.09,-0.644,-1.833,2,2,0
$FREEZE,1.06,-0.670,-1.896,2,2,0
$FREEZE,1.01,-0.655,-1.894,2,2,0
$FINISH,1.0,1.027733
$STATE,4551,end surface coast,CONTROL_FINISHED_OK
$STATE,4551,begin surface
$SM_CCo,4568,258.50,0.100,0,0,419,623.30
$SM_GC,1.76,0.00,0.00,258.50,0.000,0.000,0.100,426,2663,419,-8.25,0.37,623.30
$IRIDIUM_FIX,-7545.40,17855.49,040111,141428
$TT8_MAMPS,0.028462
$HUMID,51.14
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,18.2
$ALTIM_BOTTOM_PING,250.9,53.9
$24V_AH,20.2,74.851
$10V_AH,9.6,51.295
$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,18.300,51.025,277.075,258.500,0.000,78.953,225.321,0.000,1.250,0.000,32.555,1361.836,1511.294,634.683,1710.842,190.473,0.000,1206.400,0.000,884.705,0.000,7.192,0.000
$DEVICE_MAMPS,195.075,84.150,983.025,100.215,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,377.647,763.134,931.326,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267052
$DATA_FILE_SIZE,37026,539
$CAP_FILE_SIZE,73435,0
$CFSIZE,260165632,224923648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.282, 45.8,1
$GPS,040111,160936,-7628.551,17856.900,13,0.9,29,119.5