version: 66.08
glider: 502
mission: 3
dive: 456
start: 1 1 111 18 29 45
data:
$ID,502
$MISSION,3
$DIVE,456
$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,-30715.967
$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,22
$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
$GPS1,010111,182306,-7629.333,-17953.502,40,0.9,40,117.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-74.0
$GPS2,010111,182919,-7629.265,-17953.668,13,1.0,13,117.9
$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,17.1,9076416,-17.5,-10.000
$D_GRID,453
$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,18,-0.76,-146.0,0.0,0.0,0,106,0.00,0.00,-85.55,0.000,2,0.000,0.000,425,2647,3305,0,0,0,0,0,0
$GC,108,-0.76,-146.0,3.2,-1.3,13,131,8.88,2.33,-7.10,0.000,4,0.199,0.064,2808,1243,3560,0,0,0,0,0,0
$GC,291,-0.76,-146.0,32.0,-15.0,45,299,0.00,2.33,0.00,0.000,6,0.000,0.058,2800,2659,3563,0,0,0,0,0,0
$GC,429,-0.76,-146.0,52.7,-15.6,70,436,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2659,3563,0,0,0,0,0,0
$GC,570,-0.76,-146.0,73.9,-16.1,95,577,0.00,2.28,0.00,0.000,4,0.000,0.050,2800,1238,3563,0,0,0,0,0,0
$GC,606,-0.76,-146.0,80.1,-15.8,101,613,0.00,2.33,0.00,0.000,6,0.000,0.056,2789,2655,3563,0,0,0,0,0,0
$GC,751,-0.76,-146.0,104.1,-16.5,125,755,0.00,1.77,0.00,0.000,4,0.000,0.060,2781,3767,3563,0,0,0,0,0,0
$GC,787,-0.76,-146.0,110.2,-17.5,128,792,0.12,1.75,0.00,0.000,6,0.158,0.042,2815,2640,3563,0,0,0,0,0,0
$GC,930,-0.76,-146.0,131.6,-14.7,141,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2638,3563,0,0,0,0,0,0
$GC,1065,-0.76,-146.0,151.6,-14.5,154,1069,0.00,1.85,0.00,0.000,4,0.000,0.061,2807,3772,3563,0,0,0,0,0,0
$GC,1103,-0.76,-146.0,157.7,-16.1,157,1111,0.00,1.77,0.00,0.000,6,0.000,0.041,2807,2657,3563,0,0,0,0,0,0
$GC,1238,-0.76,-146.0,178.8,-15.2,170,1242,0.00,1.83,0.00,0.000,4,0.000,0.062,2799,3773,3563,0,0,0,0,0,0
$GC,1263,-0.76,-146.0,182.8,-16.7,172,1267,0.00,1.73,0.00,0.000,6,0.000,0.041,2799,2667,3563,0,0,0,0,0,0
$GC,1404,-0.76,-146.0,204.6,-14.7,185,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2664,3563,0,0,0,0,0,0
$GC,1531,-0.76,-146.0,223.7,-15.5,197,1534,0.00,1.80,0.00,0.000,4,0.000,0.061,2790,3768,3563,0,0,0,0,0,0
$GC,1566,-0.76,-146.0,229.3,-16.6,200,1570,0.00,1.70,0.00,0.000,6,0.000,0.041,2790,2674,3563,0,0,0,0,0,0
$GC,1708,-0.76,-146.0,250.8,-14.7,213,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2672,3563,0,0,0,0,0,0
$GC,1909,-0.76,-146.0,282.6,-16.3,232,1912,0.00,1.80,0.00,0.000,4,0.000,0.061,2783,3774,3564,0,0,0,0,0,0
$GC,1955,-0.76,-146.0,290.6,-16.2,236,1959,0.12,1.70,0.00,0.000,6,0.158,0.042,2817,2681,3563,0,0,0,0,0,0
$GC,2159,-0.76,-146.0,317.7,-12.3,255,2163,0.00,1.77,0.00,0.000,4,0.000,0.063,2810,3764,3563,0,0,0,0,0,0
$GC,2229,-0.76,-146.0,327.1,-13.6,261,2232,0.00,1.65,0.00,0.000,6,0.000,0.041,2810,2698,3563,0,0,0,0,0,0
$GC,2433,-0.76,-146.0,353.4,-12.4,280,2437,0.00,2.30,0.00,0.000,4,0.000,0.052,2809,1246,3564,0,0,0,0,0,0
$GC,2463,-0.76,-146.0,357.1,-12.2,282,2468,0.00,2.40,0.00,0.000,6,0.000,0.058,2799,2708,3564,0,0,0,0,0,0
$GC,2661,-0.76,-146.0,385.9,-17.0,300,2665,0.00,1.70,0.00,0.000,4,0.000,0.060,2790,3771,3564,0,0,0,0,0,0
$GC,2711,-0.76,-146.0,394.9,-17.3,304,2718,0.00,1.70,0.00,0.000,6,0.000,0.042,2791,2700,3563,0,0,0,0,0,0
$STATE,2769,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2769,begin apogee
$GC,2775,-0.27,0.0,403.7,14.7,310,2913,0.57,0.00,132.32,1.050,4,0.132,0.000,2973,2490,2961,0,0,0,0,0,0
$STATE,2914,end apogee,CONTROL_FINISHED_OK
$STATE,2914,begin climb
$GC,2916,0.76,146.0,408.3,0.0,322,3077,1.08,2.53,150.20,0.968,4,0.078,0.050,3306,1106,2364,0,0,0,0,0,0
$GC,3201,0.76,146.0,379.6,15.0,347,3206,0.00,2.53,0.00,0.000,6,0.000,0.053,3306,2504,2354,0,0,0,0,0,0
$GC,3401,0.76,146.0,355.6,11.4,365,3405,0.00,2.30,0.00,0.000,4,0.000,0.051,3316,1099,2351,0,0,0,0,0,0
$GC,3522,0.76,146.0,340.3,13.8,375,3530,0.00,2.33,0.00,0.000,6,0.000,0.053,3316,2528,2348,0,0,0,0,0,0
$GC,3720,0.76,146.0,314.1,13.3,394,3723,0.00,1.98,0.00,0.000,4,0.000,0.059,3316,3762,2348,0,0,0,0,0,0
$GC,3812,0.76,146.0,300.6,14.7,402,3816,0.00,1.90,0.00,0.000,6,0.000,0.040,3326,2543,2348,0,0,0,0,0,0
$GC,4016,0.76,146.0,271.8,13.2,421,4019,0.00,1.98,0.00,0.000,4,0.000,0.058,3326,3762,2347,0,0,0,0,0,0
$GC,4065,0.76,146.0,264.2,15.6,425,4072,0.00,1.95,0.00,0.000,6,0.000,0.041,3335,2540,2347,0,0,0,0,0,0
$GC,4266,0.76,146.0,237.6,13.4,444,4270,0.00,1.98,0.00,0.000,4,0.000,0.058,3335,3764,2347,0,0,0,0,0,0
$GC,4290,0.76,146.0,233.9,14.3,446,4294,0.12,1.90,0.00,0.000,6,0.164,0.040,3311,2544,2347,0,0,0,0,0,0
$GC,4431,0.76,146.0,216.1,12.3,459,4434,0.00,1.98,0.00,0.000,4,0.000,0.059,3311,3763,2346,0,0,0,0,0,0
$GC,4468,0.76,146.0,210.5,14.3,462,4477,0.00,1.92,0.00,0.000,6,0.000,0.041,3319,2556,2347,0,0,0,0,0,0
$GC,4606,0.76,146.0,193.6,12.5,475,4609,0.00,1.95,0.00,0.000,4,0.000,0.057,3319,3763,2346,0,0,0,0,0,0
$GC,4630,0.76,146.0,190.1,13.5,477,4634,0.00,1.88,0.00,0.000,6,0.000,0.040,3328,2558,2346,0,0,0,0,0,0
$GC,4772,0.76,146.0,171.8,12.4,490,4773,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2556,2346,0,0,0,0,0,0
$GC,4898,0.76,146.0,156.2,12.6,502,4902,0.00,1.95,0.00,0.000,4,0.000,0.058,3327,3763,2346,0,0,0,0,0,0
$GC,4969,0.76,146.0,145.3,15.2,508,4978,0.00,1.90,0.00,0.000,6,0.000,0.041,3337,2567,2346,0,0,0,0,0,0
$GC,5106,0.76,146.0,127.7,13.1,521,5107,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2566,2345,0,0,0,0,0,0
$GC,5232,0.76,146.0,111.3,12.8,533,5236,0.00,1.95,0.00,0.000,4,0.000,0.059,3337,3768,2345,0,0,0,0,0,0
$GC,5247,0.76,146.0,108.9,12.9,534,5257,0.10,1.90,0.00,0.000,6,0.134,0.040,3313,2575,2345,0,0,0,0,0,0
$GC,5382,0.76,146.0,93.8,10.9,552,5390,0.00,1.98,0.00,0.000,4,0.000,0.060,3313,3761,2345,0,0,0,0,0,0
$GC,5415,0.76,146.0,89.7,13.1,557,5422,0.00,1.85,0.00,0.000,6,0.000,0.041,3320,2579,2345,0,0,0,0,0,0
$GC,5551,0.76,146.0,73.3,11.3,582,5559,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2578,2345,0,0,0,0,0,0
$GC,5690,0.76,146.0,56.9,11.4,607,5697,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2578,2345,0,0,0,0,0,0
$GC,5826,0.76,146.0,40.0,13.0,632,5834,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2578,2344,0,0,0,0,0,0
$GC,5965,0.76,146.0,24.4,10.8,657,5973,0.00,2.38,0.00,0.000,4,0.000,0.050,3331,1084,2343,0,0,0,0,0,0
$GC,6002,0.76,146.0,20.3,10.8,663,6014,0.00,2.47,0.00,0.000,6,0.000,0.054,3331,2603,2344,0,0,0,0,0,0
$FREEZE,8.58,-0.807,-1.896,2,1,0
$FREEZE,7.94,-0.799,-1.895,2,1,0
$FREEZE,7.19,-0.787,-1.894,2,1,0
$FREEZE,6.60,-0.771,-1.894,2,1,0
$FREEZE,5.81,-0.763,-1.893,2,1,0
$FREEZE,4.85,-0.742,-1.892,2,1,0
$FREEZE,4.17,-0.706,-1.893,2,1,0
$FREEZE,3.48,-0.663,-1.890,2,1,0
$FREEZE,2.79,-0.639,-1.890,2,1,0
$STATE,6148,end climb,SURFACE_DEPTH_REACHED
$STATE,6148,begin surface coast
$FREEZE,2.05,-0.617,-1.889,2,1,0
$FREEZE,1.26,-0.580,-1.888,2,1,0
$FREEZE,1.12,-0.527,-0.351,2,1,0
$FINISH,1.1,1.005032
$STATE,6167,end surface coast,FINISH_DEPTH_REACHED
$STATE,6167,begin surface
$SM_CCo,6184,81.05,0.734,1,0,1737,300.24
$SM_GC,2.11,0.00,0.00,81.05,0.000,0.000,0.734,419,2656,1737,-8.27,0.17,300.24
$IRIDIUM_FIX,-7545.40,-17950.81,010111,161629
$TT8_MAMPS,0.027713
$HUMID,53.15
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,18.3
$ALTIM_BOTTOM_PING,350.8,67.5
$24V_AH,20.1,70.034
$10V_AH,9.7,47.580
$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,18.625,84.300,282.525,81.050,0.000,28.538,37.949,192.567,1.500,0.000,13.917,1766.685,2248.658,486.797,1936.158,211.343,0.000,1205.337,0.000,1163.942,0.000,10.657,0.000
$DEVICE_MAMPS,198.900,125.460,1050.345,734.400,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,485.885,882.259,934.148,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47045,691
$CAP_FILE_SIZE,98372,0
$CFSIZE,260165632,227037184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.407,338.0,1
$GPS,010111,201507,-7628.500,-17953.406,14,1.4,14,117.9