version: 66.08
glider: 502
mission: 3
dive: 459
start: 1 1 111 23 32 34
data:
$ID,502
$MISSION,3
$DIVE,459
$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,-30719.746
$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,33
$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
$GPS1,010111,232620,-7628.014,-17958.027,8,2.0,8,118.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-74.0
$GPS2,010111,233208,-7628.021,-17958.311,15,1.2,15,118.0
$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,12.4,9078424,-17.5,-10.000
$D_GRID,405
$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,-146.0,0.0,0.0,0,101,0.00,0.00,-82.30,0.000,2,0.000,0.000,432,2657,3224,0,0,0,0,0,0
$GC,104,-0.76,-146.0,3.1,-1.0,12,127,8.93,0.00,-10.60,0.000,6,0.196,0.000,2807,2657,3559,0,0,0,0,0,0
$GC,264,-0.76,-146.0,27.3,-14.8,39,271,0.00,1.80,0.00,0.000,4,0.000,0.061,2800,3764,3562,0,0,0,0,0,0
$GC,350,-0.76,-146.0,41.6,-15.9,54,359,0.00,1.77,0.00,0.000,6,0.000,0.042,2800,2650,3562,0,0,0,0,0,0
$GC,496,-0.76,-146.0,63.8,-15.7,79,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2650,3562,0,0,0,0,0,0
$GC,636,-0.76,-146.0,86.1,-15.7,104,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2649,3563,0,0,0,0,0,0
$GC,777,-0.76,-146.0,108.7,-16.3,124,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2650,3563,0,0,0,0,0,0
$GC,904,-0.76,-146.0,129.0,-15.9,136,908,0.00,1.83,0.00,0.000,4,0.000,0.062,2791,3762,3563,0,0,0,0,0,0
$GC,941,-0.76,-146.0,135.0,-17.8,139,945,0.00,1.73,0.00,0.000,6,0.000,0.041,2791,2652,3563,0,0,0,0,0,0
$GC,1084,-0.76,-146.0,159.1,-17.0,152,1088,0.00,2.25,0.00,0.000,4,0.000,0.051,2791,1243,3563,0,0,0,0,0,0
$GC,1115,-0.76,-146.0,165.1,-16.1,154,1126,0.08,2.35,0.00,0.000,6,0.132,0.057,2811,2646,3563,0,0,0,0,0,0
$GC,1252,-0.76,-146.0,185.9,-15.9,167,1255,0.00,1.80,0.00,0.000,4,0.000,0.060,2804,3770,3563,0,0,0,0,0,0
$GC,1276,-0.76,-146.0,190.2,-16.6,169,1280,0.00,1.75,0.00,0.000,6,0.000,0.041,2804,2642,3563,0,0,0,0,0,0
$GC,1417,-0.76,-146.0,212.9,-16.0,182,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2640,3563,0,0,0,0,0,0
$GC,1544,-0.76,-146.0,232.7,-15.2,194,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2640,3563,0,0,0,0,0,0
$GC,1669,-0.76,-146.0,252.0,-15.5,206,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2640,3563,0,0,0,0,0,0
$GC,1860,-0.76,-146.0,281.7,-16.0,224,1864,0.00,2.22,0.00,0.000,4,0.000,0.051,2804,1236,3563,0,0,0,0,0,0
$GC,1927,-0.76,-146.0,291.6,-13.5,229,1933,0.00,2.35,0.00,0.000,6,0.000,0.057,2795,2670,3563,0,0,0,0,0,0
$STATE,1989,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1989,begin apogee
$GC,1995,-0.27,0.0,300.4,15.5,235,2132,0.55,0.00,130.10,0.983,4,0.128,0.000,2971,2481,2960,0,0,0,0,0,0
$STATE,2133,end apogee,CONTROL_FINISHED_OK
$STATE,2133,begin climb
$GC,2135,0.76,146.0,307.7,0.0,247,2293,1.08,2.47,146.25,0.901,4,0.072,0.049,3314,1108,2364,0,0,0,0,0,0
$GC,2432,0.76,146.0,280.5,10.9,273,2440,0.00,2.47,0.00,0.000,6,0.000,0.052,3314,2499,2354,0,0,0,0,0,0
$GC,2631,0.76,146.0,258.0,11.0,292,2635,0.00,2.28,0.00,0.000,4,0.000,0.050,3325,1096,2351,0,0,0,0,0,0
$GC,2750,0.76,146.0,245.7,10.4,302,2754,0.00,2.33,0.00,0.000,6,0.000,0.054,3325,2527,2349,0,0,0,0,0,0
$GC,2885,0.76,146.0,230.4,11.3,314,2889,0.00,1.98,0.00,0.000,4,0.000,0.058,3324,3764,2349,0,0,0,0,0,0
$GC,2944,0.76,146.0,222.7,14.3,319,2948,0.00,1.90,0.00,0.000,6,0.000,0.041,3334,2543,2348,0,0,0,0,0,0
$GC,3088,0.76,146.0,204.3,12.8,332,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2540,2348,0,0,0,0,0,0
$GC,3223,0.76,146.0,187.2,12.8,345,3224,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2541,2347,0,0,0,0,0,0
$GC,3351,0.76,146.0,171.6,12.4,357,3354,0.00,1.98,0.00,0.000,4,0.000,0.058,3334,3764,2347,0,0,0,0,0,0
$GC,3377,0.76,146.0,167.6,13.5,359,3386,0.10,1.95,0.00,0.000,6,0.138,0.040,3311,2547,2347,0,0,0,0,0,0
$GC,3514,0.76,146.0,152.0,11.4,372,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2546,2347,0,0,0,0,0,0
$GC,3650,0.76,146.0,136.2,11.5,385,3654,0.00,1.98,0.00,0.000,4,0.000,0.059,3310,3764,2346,0,0,0,0,0,0
$GC,3686,0.76,146.0,131.7,13.3,388,3689,0.00,1.90,0.00,0.000,6,0.000,0.041,3318,2541,2347,0,0,0,0,0,0
$GC,3826,0.76,146.0,114.4,11.8,401,3828,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2539,2346,0,0,0,0,0,0
$GC,3953,0.76,146.0,98.7,11.9,414,3962,0.00,2.03,0.00,0.000,4,0.000,0.058,3318,3761,2346,0,0,0,0,0,0
$GC,3979,0.76,146.0,95.0,13.6,418,3988,0.00,1.92,0.00,0.000,6,0.000,0.041,3328,2553,2347,0,0,0,0,0,0
$GC,4124,0.76,146.0,76.4,12.8,443,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2552,2347,0,0,0,0,0,0
$GC,4264,0.76,146.0,58.5,12.4,468,4272,0.00,2.00,0.00,0.000,4,0.000,0.060,3328,3758,2346,0,0,0,0,0,0
$GC,4288,0.76,146.0,55.6,13.0,471,4295,0.00,1.88,0.00,0.000,6,0.000,0.041,3337,2559,2347,0,0,0,0,0,0
$GC,4430,0.76,146.0,37.1,12.7,496,4437,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2557,2346,0,0,0,0,0,0
$GC,4574,0.76,146.0,19.5,12.2,521,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2557,2346,0,0,0,0,0,0
$FREEZE,8.19,-0.834,-1.896,2,1,0
$FREEZE,7.64,-0.827,-1.896,2,1,0
$FREEZE,6.84,-0.804,-1.895,2,1,0
$FREEZE,6.19,-0.755,-1.894,2,1,0
$FREEZE,5.28,-0.741,-1.893,2,1,0
$FREEZE,4.78,-0.700,-1.892,2,1,0
$FREEZE,3.86,-0.608,-1.890,2,1,0
$FREEZE,3.21,-0.540,-1.889,2,1,0
$FREEZE,2.34,-0.418,-1.887,2,1,0
$STATE,4708,end climb,SURFACE_DEPTH_REACHED
$STATE,4708,begin surface coast
$FREEZE,1.23,-0.349,-1.887,2,1,0
$FREEZE,1.13,-0.373,-1.057,2,1,0
$FREEZE,1.18,-0.384,-0.959,2,1,0
$FREEZE,1.18,-0.405,-0.608,2,1,0
$FINISH,1.2,1.008915
$STATE,4734,end surface coast,CONTROL_FINISHED_OK
$STATE,4734,begin surface
$SM_CCo,4750,76.18,0.101,0,0,1737,300.24
$SM_GC,1.94,0.00,0.00,76.18,0.000,0.000,0.101,428,2664,1737,-8.24,0.40,300.24
$IRIDIUM_FIX,-7545.40,18000.00,010111,222234
$TT8_MAMPS,0.028462
$HUMID,53.07
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,17.8
$ALTIM_BOTTOM_PING,300.4,7.2
$24V_AH,20.2,70.330
$10V_AH,9.7,47.813
$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,18.300,49.350,276.350,76.175,0.000,29.634,37.394,167.890,1.750,0.000,16.163,1386.009,1536.795,448.511,1637.300,175.631,0.000,1022.472,0.000,909.315,0.000,11.682,0.000
$DEVICE_MAMPS,195.840,83.385,983.025,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,384.410,763.631,915.699,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37142,548
$CAP_FILE_SIZE,76834,0
$CFSIZE,260165632,226914304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,1917.900, 90.0,1
$GPS,020111,005407,-7628.351,17959.752,27,0.9,27,118.0