version: 66.08
glider: 502
mission: 3
dive: 515
start: 1 5 111 5 4 16
data:
$ID,502
$MISSION,3
$DIVE,515
$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,-30789.031
$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,36
$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
$GPS1,050111,045531,-7627.956,17826.143,7,1.2,12,120.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-65.6
$GPS2,050111,050350,-7628.005,17826.021,17,1.1,17,120.2
$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,193.8,218805,-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,-146.0,0.0,0.0,0,169,0.00,0.00,-149.25,0.000,2,0.000,0.000,406,2665,3380,0,0,0,0,0,0
$GC,174,-0.76,-146.0,3.6,-3.0,22,197,8.90,2.33,-4.43,0.000,4,0.192,0.060,2806,1245,3559,0,0,0,0,0,0
$GC,382,-0.76,-146.0,39.8,-14.5,58,390,0.00,2.35,0.00,0.000,6,0.000,0.056,2797,2652,3562,0,0,0,0,0,0
$GC,527,-0.76,-146.0,63.5,-16.6,83,534,0.00,1.83,0.00,0.000,4,0.000,0.060,2789,3760,3561,0,0,0,0,0,0
$GC,565,-0.76,-146.0,70.4,-18.5,89,573,0.00,1.77,0.00,0.000,6,0.000,0.041,2789,2627,3561,0,0,0,0,0,0
$GC,708,-0.76,-146.0,94.8,-16.3,114,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2626,3562,0,0,0,0,0,0
$GC,847,-0.76,-146.0,118.4,-16.6,129,850,0.00,1.88,0.00,0.000,4,0.000,0.061,2781,3764,3562,0,0,0,0,0,0
$GC,883,-0.76,-146.0,125.8,-18.8,132,894,0.10,1.77,0.00,0.000,6,0.136,0.041,2814,2650,3562,0,0,0,0,0,0
$GC,1020,-0.76,-146.0,147.0,-15.7,145,1024,0.00,1.83,0.00,0.000,4,0.000,0.061,2807,3764,3562,0,0,0,0,0,0
$GC,1057,-0.76,-146.0,154.0,-16.8,148,1067,0.00,1.75,0.00,0.000,6,0.000,0.041,2807,2669,3562,0,0,0,0,0,0
$GC,1195,-0.76,-146.0,175.0,-16.0,161,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2669,3562,0,0,0,0,0,0
$GC,1331,-0.76,-146.0,197.6,-16.6,174,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2669,3562,0,0,0,0,0,0
$GC,1457,-0.76,-146.0,217.9,-15.7,186,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2668,3562,0,0,0,0,0,0
$GC,1585,-0.76,-146.0,237.8,-15.4,198,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2668,3563,0,0,0,0,0,0
$GC,1711,-0.76,-146.0,256.9,-15.5,210,1714,0.00,1.80,0.00,0.000,4,0.000,0.062,2799,3764,3563,0,0,0,0,0,0
$GC,1760,-0.76,-146.0,265.8,-15.9,214,1767,0.00,1.75,0.00,0.000,6,0.000,0.041,2798,2673,3563,0,0,0,0,0,0
$GC,1960,-0.76,-146.0,296.2,-15.0,233,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2672,3562,0,0,0,0,0,0
$STATE,1999,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1999,begin apogee
$GC,2005,-0.27,0.0,302.6,15.4,237,2142,0.52,0.00,129.12,0.989,4,0.129,0.000,2968,2489,2961,0,0,0,0,0,0
$STATE,2143,end apogee,CONTROL_FINISHED_OK
$STATE,2143,begin climb
$GC,2145,0.76,146.0,310.7,0.0,249,2304,1.10,2.50,147.43,0.910,4,0.081,0.048,3308,1106,2365,0,0,0,0,0,0
$GC,2466,0.76,146.0,282.8,11.5,277,2473,0.00,2.47,0.00,0.000,6,0.000,0.049,3309,2500,2353,0,0,0,0,0,0
$GC,2665,0.76,146.0,260.8,11.1,296,2669,0.00,2.28,0.00,0.000,4,0.000,0.049,3315,1105,2350,0,0,0,0,0,0
$GC,2810,0.76,146.0,246.2,10.8,308,2814,0.00,2.30,0.00,0.000,6,0.000,0.052,3315,2521,2348,0,0,0,0,0,0
$GC,2945,0.76,146.0,231.5,10.8,320,2948,0.00,2.00,0.00,0.000,4,0.000,0.059,3315,3768,2347,0,0,0,0,0,0
$GC,3038,0.76,146.0,219.2,12.9,328,3048,0.00,1.95,0.00,0.000,6,0.000,0.041,3324,2542,2346,0,0,0,0,0,0
$GC,3175,0.76,146.0,204.0,11.1,341,3183,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2541,2346,0,0,0,0,0,0
$GC,3311,0.76,146.0,188.9,10.9,354,3314,0.00,2.00,0.00,0.000,4,0.000,0.060,3324,3767,2345,0,0,0,0,0,0
$GC,3337,0.76,146.0,185.5,12.2,356,3347,0.00,1.98,0.00,0.000,6,0.000,0.041,3328,2533,2345,0,0,0,0,0,0
$GC,3474,0.76,146.0,171.2,10.9,369,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2532,2345,0,0,0,0,0,0
$GC,3609,0.76,146.0,156.1,11.3,382,3613,0.00,2.00,0.00,0.000,4,0.000,0.060,3328,3762,2345,0,0,0,0,0,0
$GC,3658,0.76,146.0,149.7,12.8,386,3666,0.00,1.95,0.00,0.000,6,0.000,0.041,3337,2536,2345,0,0,0,0,0,0
$GC,3796,0.76,146.0,134.0,11.5,399,3799,0.00,2.00,0.00,0.000,4,0.000,0.059,3337,3766,2345,0,0,0,0,0,0
$GC,3842,0.76,146.0,127.6,13.7,403,3847,0.12,1.88,0.00,0.000,6,0.160,0.040,3313,2560,2344,0,0,0,0,0,0
$GC,3983,0.76,146.0,112.4,10.1,416,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2557,2344,0,0,0,0,0,0
$GC,4111,0.76,146.0,99.5,10.2,428,4121,0.00,2.03,0.00,0.000,4,0.000,0.060,3313,3767,2343,0,0,0,0,0,0
$GC,4182,0.76,146.0,91.1,11.9,440,4191,0.00,1.92,0.00,0.000,6,0.000,0.041,3320,2559,2343,0,0,0,0,0,0
$GC,4329,0.76,146.0,75.8,10.5,465,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2557,2343,0,0,0,0,0,0
$GC,4471,0.76,146.0,60.1,10.5,490,4479,0.00,2.03,0.00,0.000,4,0.000,0.060,3321,3769,2343,0,0,0,0,0,0
$GC,4508,0.76,146.0,55.5,12.6,496,4517,0.00,1.92,0.00,0.000,6,0.000,0.041,3330,2561,2343,0,0,0,0,0,0
$GC,4655,0.76,146.0,38.4,12.9,521,4661,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2562,2343,0,0,0,0,0,0
$GC,4795,0.76,146.0,20.5,12.2,546,4804,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2562,2343,0,0,0,0,0,0
$FREEZE,8.39,-0.646,-1.895,2,1,0
$FREEZE,7.69,-0.645,-1.894,2,1,0
$FREEZE,6.98,-0.640,-1.894,2,1,0
$FREEZE,6.17,-0.650,-1.893,2,1,0
$FREEZE,5.48,-0.656,-1.893,2,1,0
$FREEZE,4.63,-0.654,-1.892,2,1,0
$FREEZE,3.85,-0.636,-1.891,2,1,0
$FREEZE,2.68,-0.648,-1.891,2,1,0
$STATE,4937,end climb,SURFACE_DEPTH_REACHED
$STATE,4937,begin surface coast
$FREEZE,2.00,-0.644,-1.890,2,1,0
$FREEZE,1.25,-0.634,-1.889,2,1,0
$FREEZE,1.16,-0.665,-0.485,2,1,0
$FINISH,1.2,1.007048
$STATE,4957,end surface coast,FINISH_DEPTH_REACHED
$STATE,4957,begin surface
$SM_CCo,4974,73.32,0.097,0,0,1736,300.24
$SM_GC,1.97,0.00,0.00,73.32,0.000,0.000,0.097,413,2671,1736,-8.29,0.57,300.24
$IRIDIUM_FIX,-7545.40,17837.51,050111,030300
$TT8_MAMPS,0.028462
$HUMID,53.34
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,18.1
$ALTIM_BOTTOM_PING,250.5,66.5
$24V_AH,20.2,75.776
$10V_AH,9.7,52.032
$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,18.400,52.675,276.550,73.325,0.000,31.497,36.784,279.248,1.250,0.000,17.859,1415.167,1573.694,507.262,1822.477,236.029,0.000,1131.392,0.000,956.528,0.000,7.218,0.000
$DEVICE_MAMPS,192.015,79.560,989.145,97.155,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,400.651,797.478,962.056,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267144
$DATA_FILE_SIZE,40378,573
$CAP_FILE_SIZE,81629,0
$CFSIZE,260165632,224489472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.270,200.0,1
$GPS,050111,062937,-7628.299,17823.070,34,1.1,34,120.3