version: 66.08
glider: 502
mission: 3
dive: 481
start: 1 3 111 2 57 4
data:
$ID,502
$MISSION,3
$DIVE,481
$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,-30746.182
$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,29
$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
$GPS1,030111,025037,-7627.504,17924.504,40,1.1,40,118.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-73.6
$GPS2,030111,025638,-7627.562,17924.318,21,1.7,21,118.8
$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,195.1,244020,-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,15,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,106,0.00,0.00,-86.65,0.000,2,0.000,0.000,409,2659,3346,0,0,0,0,0,0
$GC,109,-0.76,-146.0,3.3,-1.4,13,132,8.98,2.38,-5.88,0.000,4,0.195,0.063,2810,1237,3561,0,0,0,0,0,0
$GC,317,-0.76,-146.0,38.5,-16.3,50,326,0.00,2.35,0.00,0.000,6,0.000,0.057,2802,2641,3564,0,0,0,0,0,0
$GC,457,-0.76,-146.0,63.4,-20.0,75,465,0.00,1.83,0.00,0.000,4,0.000,0.063,2793,3763,3564,0,0,0,0,0,0
$GC,574,-0.76,-146.0,89.8,-22.2,96,583,0.00,1.77,0.00,0.000,6,0.000,0.043,2793,2654,3564,0,0,0,0,0,0
$GC,713,-0.76,-146.0,118.6,-20.7,113,717,0.00,2.28,0.00,0.000,4,0.000,0.051,2793,1232,3564,0,0,0,0,0,0
$GC,754,-0.76,-146.0,126.7,-19.6,116,758,0.12,2.35,0.00,0.000,6,0.157,0.057,2819,2665,3564,0,0,0,0,0,0
$GC,891,-0.76,-146.0,150.9,-17.5,128,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2665,3564,0,0,0,0,0,0
$GC,1027,-0.76,-146.0,173.9,-16.9,141,1030,0.00,1.77,0.00,0.000,4,0.000,0.063,2812,3767,3564,0,0,0,0,0,0
$GC,1073,-0.76,-146.0,181.8,-17.5,145,1077,0.00,1.75,0.00,0.000,6,0.000,0.042,2812,2644,3564,0,0,0,0,0,0
$GC,1216,-0.76,-146.0,206.3,-16.2,158,1220,0.00,2.25,0.00,0.000,4,0.000,0.052,2812,1237,3564,0,0,0,0,0,0
$GC,1267,-0.76,-146.0,213.9,-13.7,162,1271,0.00,2.33,0.00,0.000,6,0.000,0.057,2801,2652,3564,0,0,0,0,0,0
$GC,1404,-0.76,-146.0,235.4,-14.8,174,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2652,3564,0,0,0,0,0,0
$GC,1539,-0.76,-146.0,256.9,-17.4,187,1543,0.00,1.80,0.00,0.000,4,0.000,0.063,2792,3766,3564,0,0,0,0,0,0
$GC,1577,-0.76,-146.0,264.8,-19.5,190,1585,0.00,1.80,0.00,0.000,6,0.000,0.042,2793,2638,3564,0,0,0,0,0,0
$STATE,1625,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1625,begin apogee
$GC,1631,-0.27,0.0,274.7,20.8,195,1768,0.55,0.00,128.23,0.966,4,0.125,0.000,2971,2487,2962,0,0,0,0,0,0
$STATE,1769,end apogee,CONTROL_FINISHED_OK
$STATE,1769,begin climb
$GC,1771,0.76,146.0,283.7,0.0,207,1930,1.08,2.47,145.82,0.890,4,0.085,0.048,3304,1101,2363,0,0,0,0,0,0
$GC,2059,0.78,159.2,256.8,9.4,232,2078,0.00,2.53,13.32,0.832,6,0.000,0.053,3304,2501,2311,0,0,0,0,0,0
$GC,2272,0.78,160.4,233.8,9.9,252,2276,0.00,2.30,0.00,0.000,4,0.000,0.049,3313,1099,2305,0,0,0,0,0,0
$GC,2435,0.82,192.0,218.4,8.5,266,2474,0.00,2.33,30.98,0.894,6,0.000,0.054,3314,2529,2177,0,0,0,0,0,0
$GC,2603,0.84,208.7,203.1,9.2,281,2629,0.00,2.05,16.73,0.864,4,0.000,0.057,3313,3756,2109,0,0,0,0,0,0
$GC,2698,0.84,208.7,191.2,12.2,289,2702,0.00,1.90,0.00,0.000,6,0.000,0.041,3322,2540,2108,0,0,0,0,0,0
$GC,2841,0.84,208.7,176.0,10.5,302,2848,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2539,2105,0,0,0,0,0,0
$GC,2976,0.84,208.7,161.1,10.7,315,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2538,2104,0,0,0,0,0,0
$GC,3104,0.84,208.7,145.9,12.5,327,3108,0.00,2.00,0.00,0.000,4,0.000,0.059,3323,3773,2103,0,0,0,0,0,0
$GC,3131,0.84,208.7,141.9,13.9,329,3140,0.00,1.98,0.00,0.000,6,0.000,0.041,3332,2543,2103,0,0,0,0,0,0
$GC,3267,0.84,208.7,124.6,12.8,342,3271,0.00,2.30,0.00,0.000,4,0.000,0.051,3342,1084,2103,0,0,0,0,0,0
$GC,3287,0.84,208.7,121.4,13.5,343,3297,0.00,2.40,0.00,0.000,6,0.000,0.054,3342,2540,2101,0,0,0,0,0,0
$GC,3424,0.84,208.7,102.7,13.9,356,3427,0.00,1.98,0.00,0.000,4,0.000,0.058,3342,3775,2101,0,0,0,0,0,0
$GC,3496,0.84,208.7,91.2,15.5,367,3503,0.00,1.95,0.00,0.000,6,0.000,0.041,3351,2539,2101,0,0,0,0,0,0
$GC,3638,0.84,208.7,70.6,14.6,392,3646,0.00,2.05,0.00,0.000,4,0.000,0.059,3351,3769,2101,0,0,0,0,0,0
$GC,3681,0.84,208.7,63.4,17.0,399,3689,0.00,1.95,0.00,0.000,6,0.000,0.043,3360,2555,2101,0,0,0,0,0,0
$GC,3821,0.84,208.7,41.2,16.9,424,3828,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,2553,2101,0,0,0,0,0,0
$GC,3960,0.84,208.7,18.6,16.9,449,3966,0.00,1.98,0.00,0.000,4,0.000,0.058,3361,3767,2101,0,0,0,0,0,0
$GC,3996,0.84,208.7,12.0,17.6,455,4005,0.12,1.90,0.00,0.000,6,0.174,0.041,3338,2556,2101,0,0,0,0,0,0
$FREEZE,8.28,-1.127,-1.898,2,1,0
$FREEZE,7.42,-1.118,-1.898,2,1,0
$FREEZE,6.49,-1.123,-1.897,2,1,0
$FREEZE,5.72,-1.123,-1.896,2,1,0
$FREEZE,4.87,-1.101,-1.896,2,1,0
$FREEZE,4.10,-1.104,-1.895,2,1,0
$FREEZE,3.06,-1.109,-1.895,2,1,0
$FREEZE,2.23,-1.090,-1.894,2,1,0
$STATE,4058,end climb,SURFACE_DEPTH_REACHED
$STATE,4058,begin surface coast
$FREEZE,1.24,-1.086,-1.893,2,1,0
$FREEZE,1.12,-1.130,-1.364,2,1,0
$FREEZE,1.18,-1.181,-0.910,2,1,0
$FINISH,1.2,1.013424
$STATE,4079,end surface coast,FINISH_DEPTH_REACHED
$STATE,4079,begin surface
$SM_CCo,4096,49.22,0.695,1,0,1735,300.24
$SM_GC,2.00,0.00,0.00,49.22,0.000,0.000,0.695,414,2659,1735,-8.28,0.25,300.24
$IRIDIUM_FIX,-7545.40,17923.33,030111,010120
$TT8_MAMPS,0.027713
$HUMID,53.85
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.3,17.9
$ALTIM_BOTTOM_PING,251.1,36.5
$24V_AH,20.2,72.400
$10V_AH,9.7,49.377
$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,18.425,59.075,335.075,49.225,0.000,31.316,40.894,169.576,1.000,0.000,22.334,1179.764,1172.732,472.809,1525.623,169.798,0.000,1015.176,0.000,812.547,0.000,7.144,0.000
$DEVICE_MAMPS,195.075,81.090,966.195,695.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,326.782,671.799,860.697,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267160
$DATA_FILE_SIZE,33741,468
$CAP_FILE_SIZE,72988,0
$CFSIZE,260165632,226021376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,4
$CURRENT,0.464,201.7,1
$GPS,030111,040702,-7628.152,17920.945,9,1.4,9,118.9