version: 66.08
glider: 502
mission: 3
dive: 508
start: 1 4 111 18 0 4
data:
$ID,502
$MISSION,3
$DIVE,508
$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,-30780.133
$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,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
$GPS1,040111,174955,-7628.132,17856.246,14,1.9,31,119.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-73.4
$GPS2,040111,175936,-7628.016,17856.229,16,1.3,25,119.5
$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,104.6,231863,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-82.75,0.000,2,0.000,0.000,415,2669,3229,0,0,0,0,0,0
$GC,103,-0.76,-146.0,3.0,-1.1,12,127,8.85,0.00,-10.12,0.000,6,0.192,0.000,2803,2669,3559,0,0,0,0,0,0
$GC,265,-0.76,-146.0,28.6,-16.1,39,271,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2669,3562,0,0,0,0,0,0
$GC,404,-0.76,-146.0,51.7,-15.7,64,412,0.00,1.83,0.00,0.000,4,0.000,0.065,2796,3755,3563,0,0,0,0,0,0
$GC,460,-0.76,-146.0,60.8,-16.6,73,467,0.00,1.77,0.00,0.000,6,0.000,0.043,2796,2628,3563,0,0,0,0,0,0
$GC,601,-0.76,-146.0,84.4,-17.0,98,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2625,3563,0,0,0,0,0,0
$GC,743,-0.76,-146.0,108.0,-16.8,119,747,0.00,1.88,0.00,0.000,4,0.000,0.062,2787,3764,3563,0,0,0,0,0,0
$GC,768,-0.76,-146.0,112.2,-17.0,121,772,0.10,1.75,0.00,0.000,6,0.174,0.041,2813,2641,3563,0,0,0,0,0,0
$GC,909,-0.76,-146.0,133.6,-14.7,134,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2639,3564,0,0,0,0,0,0
$GC,1035,-0.76,-146.0,152.7,-14.8,146,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2640,3564,0,0,0,0,0,0
$GC,1163,-0.76,-146.0,170.9,-13.9,158,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2640,3564,0,0,0,0,0,0
$GC,1291,-0.76,-146.0,189.2,-14.3,170,1295,0.00,1.85,0.00,0.000,4,0.000,0.061,2806,3766,3564,0,0,0,0,0,0
$GC,1328,-0.76,-146.0,195.7,-16.6,173,1337,0.00,1.77,0.00,0.000,6,0.000,0.041,2806,2655,3563,0,0,0,0,0,0
$GC,1464,-0.76,-146.0,216.8,-15.6,186,1465,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2654,3564,0,0,0,0,0,0
$GC,1592,-0.76,-146.0,236.5,-15.3,198,1596,0.00,1.83,0.00,0.000,4,0.000,0.063,2798,3762,3563,0,0,0,0,0,0
$GC,1638,-0.76,-146.0,244.1,-16.4,202,1642,0.00,1.73,0.00,0.000,6,0.000,0.041,2798,2656,3563,0,0,0,0,0,0
$GC,1778,-0.76,-146.0,265.9,-15.4,215,1779,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2655,3563,0,0,0,0,0,0
$STATE,1946,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1946,begin apogee
$GC,1953,-0.27,0.0,292.1,14.3,231,2091,0.55,0.00,129.35,0.984,4,0.129,0.000,2974,2488,2961,0,0,0,0,0,0
$STATE,2092,end apogee,CONTROL_FINISHED_OK
$STATE,2092,begin climb
$GC,2094,0.76,146.0,300.8,0.0,243,2251,1.02,0.00,147.50,0.901,6,0.085,0.000,3301,2487,2363,0,0,0,0,0,0
$GC,2444,0.76,146.0,268.7,11.4,275,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,2488,2352,0,0,0,0,0,0
$GC,2644,0.76,146.0,246.6,11.1,294,2648,0.00,2.10,0.00,0.000,4,0.000,0.059,3301,3761,2349,0,0,0,0,0,0
$GC,2718,0.76,146.0,236.8,13.3,300,2722,0.00,1.98,0.00,0.000,6,0.000,0.041,3310,2502,2349,0,0,0,0,0,0
$GC,2859,0.76,146.0,220.1,11.3,313,2863,0.00,2.05,0.00,0.000,4,0.000,0.061,3310,3760,2347,0,0,0,0,0,0
$GC,2891,0.76,146.0,215.5,13.4,315,2899,0.00,1.98,0.00,0.000,6,0.000,0.042,3320,2521,2348,0,0,0,0,0,0
$GC,3027,0.76,146.0,199.5,11.9,328,3031,0.00,2.03,0.00,0.000,4,0.000,0.060,3320,3766,2346,0,0,0,0,0,0
$GC,3063,0.76,146.0,194.9,12.8,331,3067,0.00,1.95,0.00,0.000,6,0.000,0.040,3328,2517,2346,0,0,0,0,0,0
$GC,3204,0.76,146.0,176.8,12.8,344,3206,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2515,2346,0,0,0,0,0,0
$GC,3332,0.76,146.0,161.0,12.2,356,3335,0.00,2.03,0.00,0.000,4,0.000,0.060,3328,3759,2345,0,0,0,0,0,0
$GC,3379,0.76,146.0,154.7,13.7,360,3382,0.00,1.92,0.00,0.000,6,0.000,0.041,3337,2526,2345,0,0,0,0,0,0
$GC,3521,0.76,146.0,136.2,12.8,373,3525,0.00,2.25,0.00,0.000,4,0.000,0.049,3347,1091,2345,0,0,0,0,0,0
$GC,3552,0.76,146.0,132.2,13.0,375,3557,0.12,2.30,0.00,0.000,6,0.158,0.051,3316,2521,2343,0,0,0,0,0,0
$GC,3690,0.76,146.0,117.0,10.9,387,3693,0.00,2.00,0.00,0.000,4,0.000,0.058,3315,3771,2343,0,0,0,0,0,0
$GC,3747,0.76,146.0,109.2,14.0,392,3751,0.00,1.95,0.00,0.000,6,0.000,0.042,3323,2524,2343,0,0,0,0,0,0
$GC,3884,0.76,146.0,92.8,12.1,410,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2521,2343,0,0,0,0,0,0
$GC,4030,0.76,146.0,75.7,12.0,435,4037,0.00,2.05,0.00,0.000,4,0.000,0.060,3323,3774,2343,0,0,0,0,0,0
$GC,4101,0.76,146.0,66.6,13.8,447,4108,0.00,1.95,0.00,0.000,6,0.000,0.041,3333,2536,2343,0,0,0,0,0,0
$GC,4246,0.76,146.0,49.1,11.6,472,4253,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2535,2343,0,0,0,0,0,0
$GC,4389,0.76,146.0,31.3,12.4,497,4396,0.00,2.05,0.00,0.000,4,0.000,0.059,3333,3767,2342,0,0,0,0,0,0
$GC,4432,0.76,146.0,25.3,14.8,504,4440,0.08,1.98,0.00,0.000,6,0.144,0.041,3317,2536,2343,0,0,0,0,0,0
$FREEZE,8.78,-0.712,-1.895,2,2,0
$FREEZE,8.26,-0.716,-1.895,2,2,0
$FREEZE,7.66,-0.719,-1.894,2,2,0
$GC,4582,0.76,146.0,7.7,10.6,529,4588,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2535,2343,0,0,0,0,0,0
$FREEZE,5.71,-0.721,-1.893,2,2,0
$FREEZE,4.83,-0.718,-1.892,2,2,0
$FREEZE,4.20,-0.726,-1.892,2,2,0
$FREEZE,3.47,-0.722,-1.891,2,2,0
$FREEZE,2.70,-0.722,-1.891,2,2,0
$STATE,4618,end climb,SURFACE_DEPTH_REACHED
$STATE,4618,begin surface coast
$FREEZE,1.75,-0.735,-1.890,2,2,0
$FREEZE,1.10,-0.726,-1.890,2,2,0
$FREEZE,1.04,-0.731,-1.889,2,2,0
$FREEZE,1.13,-0.786,-1.893,2,2,0
$FINISH,1.1,1.027721
$STATE,4643,end surface coast,CONTROL_FINISHED_OK
$STATE,4643,begin surface
$SM_CCo,4661,257.77,0.101,0,0,419,623.30
$SM_GC,1.77,0.00,0.00,257.77,0.000,0.000,0.101,425,2651,419,-8.25,0.03,623.30
$IRIDIUM_FIX,-7545.40,17855.66,040111,171725
$TT8_MAMPS,0.028462
$HUMID,50.82
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,18.5
$ALTIM_BOTTOM_PING,251.3,54.4
$24V_AH,20.2,75.065
$10V_AH,9.6,51.458
$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,18.275,47.375,276.850,257.775,0.000,91.575,225.325,0.000,1.000,0.000,26.806,1368.024,1627.008,619.427,1707.195,188.033,0.000,1175.727,0.000,878.532,0.000,7.191,0.000
$DEVICE_MAMPS,192.015,82.620,983.790,100.980,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,378.347,755.527,913.967,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267108
$DATA_FILE_SIZE,36977,539
$CAP_FILE_SIZE,73257,0
$CFSIZE,260165632,224829440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.311,356.0,1
$GPS,040111,192306,-7627.681,17854.025,14,1.2,24,119.5