version: 66.08
glider: 502
mission: 3
dive: 457
start: 1 1 111 20 24 41
data:
$ID,502
$MISSION,3
$DIVE,457
$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,-30717.229
$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,32
$R_STBD_OVSHOOT,28
$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
$GPS1,010111,201507,-7628.500,-17953.406,14,1.4,14,117.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-73.9
$GPS2,010111,202413,-7628.432,-17953.752,14,1.6,14,117.9
$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,17.1,9076448,-17.5,-10.000
$D_GRID,439
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,106,0.00,0.00,-87.78,0.000,2,0.000,0.000,418,2656,3356,0,0,0,0,0,0
$GC,109,-0.76,-146.0,3.4,-1.9,13,131,8.93,1.80,-5.47,0.000,4,0.199,0.074,2803,3759,3560,0,0,0,0,0,0
$GC,379,-0.76,-146.0,53.4,-16.8,61,386,0.00,1.77,0.00,0.000,6,0.000,0.042,2803,2627,3564,0,0,0,0,0,0
$GC,515,-0.76,-146.0,75.7,-15.7,86,524,0.00,1.88,0.00,0.000,4,0.000,0.060,2794,3751,3564,0,0,0,0,0,0
$GC,560,-0.76,-146.0,83.1,-17.2,93,566,0.00,1.75,0.00,0.000,6,0.000,0.043,2794,2659,3564,0,0,0,0,0,0
$GC,699,-0.76,-146.0,105.5,-15.9,115,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2657,3564,0,0,0,0,0,0
$GC,826,-0.76,-146.0,126.2,-15.9,127,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2657,3564,0,0,0,0,0,0
$GC,952,-0.76,-146.0,145.8,-15.4,139,956,0.00,1.80,0.00,0.000,4,0.000,0.062,2785,3762,3565,0,0,0,0,0,0
$GC,990,-0.76,-146.0,152.4,-16.2,142,999,0.08,1.75,0.00,0.000,6,0.140,0.041,2811,2664,3564,0,0,0,0,0,0
$GC,1128,-0.76,-146.0,171.4,-14.2,155,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2663,3565,0,0,0,0,0,0
$GC,1264,-0.76,-146.0,190.8,-14.1,168,1267,0.00,1.77,0.00,0.000,4,0.000,0.061,2803,3758,3565,0,0,0,0,0,0
$GC,1298,-0.76,-146.0,196.0,-15.3,171,1302,0.00,1.67,0.00,0.000,6,0.000,0.041,2803,2679,3565,0,0,0,0,0,0
$GC,1440,-0.76,-146.0,215.7,-14.0,184,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2677,3565,0,0,0,0,0,0
$GC,1568,-0.76,-146.0,233.0,-13.5,196,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2677,3565,0,0,0,0,0,0
$GC,1695,-0.76,-146.0,250.4,-13.8,208,1699,0.00,1.77,0.00,0.000,4,0.000,0.063,2796,3764,3565,0,0,0,0,0,0
$GC,1730,-0.76,-146.0,255.6,-13.8,211,1733,0.00,1.67,0.00,0.000,6,0.000,0.041,2796,2683,3565,0,0,0,0,0,0
$GC,1933,-0.76,-146.0,284.4,-14.4,230,1938,0.00,2.28,0.00,0.000,4,0.000,0.051,2795,1244,3564,0,0,0,0,0,0
$GC,1955,-0.76,-146.0,287.7,-13.9,231,1964,0.12,2.35,0.00,0.000,6,0.153,0.057,2818,2682,3564,0,0,0,0,0,0
$GC,2155,-0.76,-146.0,312.1,-13.0,250,2159,0.00,1.77,0.00,0.000,4,0.000,0.061,2811,3766,3564,0,0,0,0,0,0
$GC,2204,-0.76,-146.0,319.3,-14.5,254,2211,0.00,1.73,0.00,0.000,6,0.000,0.041,2811,2683,3564,0,0,0,0,0,0
$GC,2402,-0.76,-146.0,344.8,-13.1,273,2404,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2682,3565,0,0,0,0,0,0
$STATE,2496,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2496,begin apogee
$GC,2502,-0.27,0.0,357.4,13.9,282,2640,0.50,0.00,131.57,1.022,4,0.124,0.000,2974,2486,2960,0,0,0,0,0,0
$STATE,2641,end apogee,CONTROL_FINISHED_OK
$STATE,2641,begin climb
$GC,2644,0.76,146.0,362.4,0.0,294,2801,1.08,2.53,148.62,0.939,4,0.080,0.050,3307,1098,2365,0,0,0,0,0,0
$GC,2959,0.76,146.0,326.2,14.6,322,2963,0.00,2.50,0.00,0.000,6,0.000,0.053,3307,2506,2353,0,0,0,0,0,0
$GC,3157,0.76,146.0,299.4,12.4,340,3161,0.00,2.28,0.00,0.000,4,0.000,0.050,3315,1104,2351,0,0,0,0,0,0
$GC,3314,0.76,146.0,279.0,13.5,353,3321,0.00,2.30,0.00,0.000,6,0.000,0.054,3315,2518,2348,0,0,0,0,0,0
$GC,3512,0.76,146.0,253.0,12.8,372,3516,0.00,2.00,0.00,0.000,4,0.000,0.058,3315,3771,2348,0,0,0,0,0,0
$GC,3593,0.76,146.0,241.3,15.2,379,3597,0.00,1.95,0.00,0.000,6,0.000,0.041,3324,2520,2348,0,0,0,0,0,0
$GC,3736,0.76,146.0,221.8,13.2,392,3739,0.00,2.03,0.00,0.000,4,0.000,0.059,3324,3767,2347,0,0,0,0,0,0
$GC,3772,0.76,146.0,216.5,14.9,395,3776,0.00,1.92,0.00,0.000,6,0.000,0.041,3334,2532,2347,0,0,0,0,0,0
$GC,3915,0.76,146.0,196.2,14.2,408,3922,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2529,2346,0,0,0,0,0,0
$GC,4050,0.76,146.0,177.2,13.9,421,4053,0.00,2.00,0.00,0.000,4,0.000,0.059,3334,3767,2346,0,0,0,0,0,0
$GC,4076,0.76,146.0,173.0,15.0,423,4086,0.08,1.92,0.00,0.000,6,0.142,0.041,3318,2555,2347,0,0,0,0,0,0
$GC,4214,0.76,146.0,155.9,12.8,436,4221,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2553,2346,0,0,0,0,0,0
$GC,4349,0.76,146.0,138.2,12.7,449,4352,0.00,1.95,0.00,0.000,4,0.000,0.057,3318,3764,2346,0,0,0,0,0,0
$GC,4384,0.76,146.0,133.3,14.3,452,4388,0.00,1.90,0.00,0.000,6,0.000,0.041,3326,2546,2346,0,0,0,0,0,0
$GC,4525,0.76,146.0,114.1,13.1,465,4526,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2543,2346,0,0,0,0,0,0
$GC,4652,0.76,146.0,97.6,12.7,478,4660,0.00,2.03,0.00,0.000,4,0.000,0.060,3326,3758,2346,0,0,0,0,0,0
$GC,4716,0.76,146.0,88.4,15.5,489,4722,0.00,1.90,0.00,0.000,6,0.000,0.041,3336,2550,2346,0,0,0,0,0,0
$GC,4854,0.76,146.0,69.5,13.1,514,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2548,2346,0,0,0,0,0,0
$GC,4995,0.76,146.0,51.0,13.1,539,5002,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2547,2346,0,0,0,0,0,0
$GC,5133,0.76,146.0,33.4,12.7,564,5140,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2548,2345,0,0,0,0,0,0
$GC,5272,0.76,146.0,15.7,12.5,589,5279,0.00,2.33,0.00,0.000,4,0.000,0.051,3347,1086,2345,0,0,0,0,0,0
$GC,5302,0.76,146.0,12.0,12.1,594,5310,0.10,2.42,0.00,0.000,6,0.129,0.054,3314,2556,2344,0,0,0,0,0,0
$FREEZE,8.83,-0.662,-1.896,2,1,0
$FREEZE,8.26,-0.660,-1.895,2,1,0
$FREEZE,7.60,-0.654,-1.895,2,1,0
$FREEZE,6.98,-0.642,-1.894,2,1,0
$FREEZE,6.27,-0.630,-1.893,2,1,0
$FREEZE,5.72,-0.616,-1.893,2,1,0
$FREEZE,5.03,-0.599,-1.893,2,1,0
$FREEZE,4.36,-0.587,-1.892,2,1,0
$FREEZE,3.77,-0.508,-1.890,2,1,0
$FREEZE,3.16,-0.500,-1.890,2,1,0
$FREEZE,2.41,-0.480,-1.890,2,1,0
$STATE,5387,end climb,SURFACE_DEPTH_REACHED
$STATE,5387,begin surface coast
$FREEZE,1.58,-0.435,-1.889,2,1,0
$FREEZE,1.25,-0.443,-1.890,2,1,0
$FREEZE,1.12,-0.478,-1.106,2,1,0
$FREEZE,1.12,-0.519,-1.869,2,1,0
$FREEZE,1.18,-0.470,-1.051,2,1,0
$FINISH,1.2,1.015521
$STATE,5419,end surface coast,CONTROL_FINISHED_OK
$STATE,5419,begin surface
$SM_CCo,5436,82.07,0.732,1,0,1737,300.24
$SM_GC,2.05,0.00,0.00,82.07,0.000,0.000,0.732,433,2655,1737,-8.22,0.11,300.24
$IRIDIUM_FIX,-7545.40,-17950.81,010111,202049
$TT8_MAMPS,0.028462
$HUMID,52.95
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,18.5
$ALTIM_BOTTOM_PING,350.2,21.1
$24V_AH,20.1,70.147
$10V_AH,9.6,47.662
$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,18.450,60.150,280.200,82.075,0.000,57.985,113.779,191.880,1.500,0.000,14.925,1553.928,1982.703,468.237,1879.820,192.293,0.000,1100.160,0.000,1020.880,0.000,10.540,0.000
$DEVICE_MAMPS,198.900,94.860,1022.040,732.105,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,430.501,807.195,904.234,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267128
$DATA_FILE_SIZE,43747,613
$CAP_FILE_SIZE,86226,0
$CFSIZE,260165632,226996224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.404,316.8,1
$GPS,010111,215806,-7628.025,-17955.582,43,0.9,43,117.9