version: 66.08
glider: 502
mission: 3
dive: 483
start: 1 3 111 5 35 33
data:
$ID,502
$MISSION,3
$DIVE,483
$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,-30748.697
$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,30
$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
$GPS1,030111,052855,-7628.879,17918.547,10,1.6,10,119.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-73.5
$GPS2,030111,053507,-7628.961,17918.639,32,0.8,32,119.0
$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,195.5,241530,-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,-86.80,0.000,2,0.000,0.000,420,2661,3348,0,0,0,0,0,0
$GC,109,-0.76,-146.0,3.3,-1.6,13,132,8.93,2.33,-5.90,0.000,4,0.195,0.060,2808,1230,3559,0,0,0,0,0,0
$GC,264,-0.76,-146.0,29.4,-14.5,40,273,0.00,2.35,0.00,0.000,6,0.000,0.057,2799,2638,3563,0,0,0,0,0,0
$GC,404,-0.76,-146.0,53.3,-17.1,65,410,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2638,3563,0,0,0,0,0,0
$GC,542,-0.76,-146.0,78.1,-18.1,90,550,0.00,1.85,0.00,0.000,4,0.000,0.062,2791,3756,3563,0,0,0,0,0,0
$GC,587,-0.76,-146.0,86.1,-19.0,97,594,0.00,1.77,0.00,0.000,6,0.000,0.042,2791,2625,3563,0,0,0,0,0,0
$GC,725,-0.76,-146.0,112.4,-19.1,116,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2624,3563,0,0,0,0,0,0
$GC,853,-0.76,-146.0,136.7,-18.8,128,856,0.00,1.88,0.00,0.000,4,0.000,0.061,2783,3770,3563,0,0,0,0,0,0
$GC,899,-0.76,-146.0,146.1,-19.3,132,903,0.12,1.75,0.00,0.000,6,0.158,0.042,2816,2648,3563,0,0,0,0,0,0
$GC,1041,-0.76,-146.0,169.2,-15.8,145,1045,0.00,2.22,0.00,0.000,4,0.000,0.050,2816,1241,3563,0,0,0,0,0,0
$GC,1095,-0.76,-146.0,178.1,-13.9,149,1103,0.00,2.35,0.00,0.000,6,0.000,0.057,2807,2649,3564,0,0,0,0,0,0
$GC,1231,-0.76,-146.0,198.7,-16.0,162,1234,0.00,1.80,0.00,0.000,4,0.000,0.061,2799,3769,3563,0,0,0,0,0,0
$GC,1301,-0.76,-146.0,210.7,-16.0,168,1310,0.00,1.77,0.00,0.000,6,0.000,0.042,2798,2656,3564,0,0,0,0,0,0
$GC,1439,-0.76,-146.0,231.1,-15.7,181,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2656,3563,0,0,0,0,0,0
$GC,1573,-0.76,-146.0,253.4,-13.1,194,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2656,3563,0,0,0,0,0,0
$STATE,1730,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1730,begin apogee
$GC,1737,-0.27,0.0,277.9,18.8,209,1874,0.52,0.00,128.12,0.971,4,0.127,0.000,2969,2490,2962,0,0,0,0,0,0
$STATE,1875,end apogee,CONTROL_FINISHED_OK
$STATE,1875,begin climb
$GC,1877,0.76,146.0,285.9,0.0,221,2039,1.08,2.50,148.05,0.887,4,0.080,0.049,3306,1098,2366,0,0,0,0,1,0
$GC,2150,0.76,146.0,266.0,14.2,245,2158,0.00,2.55,0.00,0.000,6,0.000,0.051,3306,2505,2356,0,0,0,0,0,0
$GC,2353,0.76,146.0,245.7,11.1,264,2357,0.00,2.30,0.00,0.000,4,0.000,0.050,3316,1104,2352,0,0,0,0,0,0
$GC,2507,0.76,146.0,229.3,10.3,277,2515,0.00,2.38,0.00,0.000,6,0.000,0.054,3316,2531,2349,0,0,0,0,0,0
$GC,2644,0.79,164.3,215.7,9.2,290,2671,0.00,2.08,15.48,0.886,4,0.000,0.059,3316,3763,2290,0,0,0,0,0,0
$GC,2718,0.79,164.3,206.8,13.3,296,2722,0.00,1.92,0.00,0.000,6,0.000,0.041,3324,2542,2289,0,0,0,0,0,0
$GC,2861,0.79,164.3,190.3,11.7,309,2865,0.00,2.00,0.00,0.000,4,0.000,0.058,3325,3777,2286,0,0,0,0,0,0
$GC,2909,0.79,164.3,183.6,12.6,313,2918,0.00,1.98,0.00,0.000,6,0.000,0.041,3334,2544,2286,0,0,0,0,0,0
$GC,3045,0.79,164.3,168.0,11.5,326,3049,0.00,2.00,0.00,0.000,4,0.000,0.060,3334,3777,2285,0,0,0,0,0,0
$GC,3072,0.79,164.3,164.1,13.2,328,3082,0.00,1.98,0.00,0.000,6,0.000,0.041,3343,2545,2285,0,0,0,0,0,0
$GC,3209,0.79,164.3,145.0,13.8,341,3213,0.00,2.30,0.00,0.000,4,0.000,0.050,3354,1082,2284,0,0,0,0,0,0
$GC,3240,0.79,164.3,140.2,13.8,343,3251,0.10,2.42,0.00,0.000,6,0.131,0.054,3322,2553,2283,0,0,0,0,0,0
$GC,3378,0.79,164.3,123.1,13.0,356,3382,0.00,1.95,0.00,0.000,4,0.000,0.060,3322,3770,2283,0,0,0,0,0,0
$GC,3427,0.79,164.3,115.1,15.3,360,3435,0.00,1.92,0.00,0.000,6,0.000,0.042,3330,2562,2282,0,0,0,0,0,0
$GC,3564,0.79,164.3,96.2,13.5,375,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2561,2283,0,0,0,0,0,0
$GC,3701,0.79,164.3,76.6,15.0,400,3709,0.00,2.00,0.00,0.000,4,0.000,0.059,3330,3765,2283,0,0,0,0,0,0
$GC,3754,0.79,164.3,68.7,15.7,409,3761,0.00,1.90,0.00,0.000,6,0.000,0.041,3339,2554,2283,0,0,0,0,0,0
$GC,3892,0.79,164.3,48.9,15.0,434,3900,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2551,2282,0,0,0,0,0,0
$GC,4031,0.79,164.3,29.4,13.5,459,4038,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2552,2281,0,0,0,0,0,0
$GC,4170,0.79,164.3,10.5,13.1,484,4178,0.00,2.03,0.00,0.000,4,0.000,0.059,3339,3763,2281,0,0,0,0,0,0
$FREEZE,8.05,-0.786,-1.898,2,1,0
$FREEZE,7.35,-0.784,-1.897,2,1,0
$FREEZE,6.32,-0.779,-1.896,2,1,0
$FREEZE,5.55,-0.776,-1.896,2,1,0
$GC,4204,0.79,164.3,5.5,15.1,489,4211,0.00,1.88,0.00,0.000,6,0.000,0.042,3348,2571,2281,0,0,0,0,0,0
$FREEZE,3.00,-0.769,-1.894,2,1,0
$STATE,4218,end climb,SURFACE_DEPTH_REACHED
$STATE,4218,begin surface coast
$FREEZE,2.11,-0.766,-1.893,2,1,0
$FREEZE,1.30,-0.765,-1.893,2,1,0
$FREEZE,1.22,-0.907,-1.056,2,1,0
$FINISH,1.2,1.015591
$STATE,4237,end surface coast,CONTROL_FINISHED_OK
$STATE,4237,begin surface
$SM_CCo,4254,72.93,0.724,1,0,1736,300.24
$SM_GC,2.09,0.00,0.00,72.93,0.000,0.000,0.724,427,2660,1736,-8.24,0.28,300.24
$IRIDIUM_FIX,-7545.40,17932.50,030111,040435
$TT8_MAMPS,0.028462
$HUMID,53.50
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,18.1
$ALTIM_BOTTOM_PING,250.7,40.8
$24V_AH,20.2,72.592
$10V_AH,9.7,49.521
$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,18.375,58.525,291.650,72.925,0.000,28.277,43.081,169.447,1.500,0.000,33.686,1248.036,1246.739,479.015,1565.544,175.135,0.000,1039.080,0.000,850.491,0.000,7.157,0.000
$DEVICE_MAMPS,195.075,90.270,970.785,723.690,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,345.124,700.895,863.839,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267120
$DATA_FILE_SIZE,33790,494
$CAP_FILE_SIZE,74228,0
$CFSIZE,260165632,225935360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.444,170.7,1
$GPS,030111,064832,-7629.608,17917.756,8,1.4,8,119.1