version: 66.08
glider: 502
mission: 3
dive: 487
start: 1 3 111 10 57 45
data:
$ID,502
$MISSION,3
$DIVE,487
$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,-30753.723
$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,31
$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
$GPS1,030111,105126,-7630.726,17920.129,12,1.9,12,119.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-73.0
$GPS2,030111,105719,-7630.765,17920.412,11,1.6,16,119.1
$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,196.2,242293,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,101,0.00,0.00,-81.28,0.000,2,0.000,0.000,416,2663,3216,0,0,0,0,0,0
$GC,104,-0.76,-146.0,3.0,-0.8,12,133,8.93,2.35,-10.85,0.000,4,0.194,0.063,2806,1240,3559,0,0,0,0,0,0
$GC,211,-0.76,-146.0,18.6,-14.9,30,220,0.00,2.35,0.00,0.000,6,0.000,0.057,2797,2645,3562,0,0,0,0,0,0
$GC,353,-0.76,-146.0,41.3,-16.0,55,359,0.00,1.83,0.00,0.000,4,0.000,0.061,2789,3773,3562,0,0,0,0,0,0
$GC,394,-0.76,-146.0,48.7,-17.0,62,402,0.00,1.80,0.00,0.000,6,0.000,0.042,2789,2645,3562,0,0,0,0,0,0
$GC,535,-0.76,-146.0,72.7,-16.3,87,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2645,3562,0,0,0,0,0,0
$GC,671,-0.76,-146.0,97.1,-17.0,112,679,0.00,1.88,0.00,0.000,4,0.000,0.063,2781,3761,3562,0,0,0,0,0,0
$GC,743,-0.76,-146.0,109.7,-18.3,120,747,0.12,1.73,0.00,0.000,6,0.156,0.041,2815,2652,3562,0,0,0,0,0,0
$GC,885,-0.76,-146.0,131.6,-14.8,133,889,0.00,2.25,0.00,0.000,4,0.000,0.051,2815,1241,3562,0,0,0,0,0,0
$GC,906,-0.76,-146.0,135.7,-15.9,134,915,0.00,2.38,0.00,0.000,6,0.000,0.057,2806,2664,3562,0,0,0,0,0,0
$GC,1044,-0.76,-146.0,155.9,-15.4,147,1048,0.00,1.77,0.00,0.000,4,0.000,0.061,2798,3767,3563,0,0,0,0,0,0
$GC,1102,-0.76,-146.0,165.7,-16.8,152,1105,0.00,1.70,0.00,0.000,6,0.000,0.041,2798,2673,3562,0,0,0,0,0,0
$GC,1244,-0.76,-146.0,189.2,-17.3,165,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2671,3562,0,0,0,0,0,0
$GC,1381,-0.76,-146.0,211.9,-16.9,178,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2671,3562,0,0,0,0,0,0
$GC,1516,-0.76,-146.0,234.1,-16.4,191,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2671,3562,0,0,0,0,0,0
$GC,1642,-0.76,-146.0,255.4,-17.3,203,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2671,3562,0,0,0,0,0,0
$STATE,1725,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1725,begin apogee
$GC,1731,-0.27,0.0,269.3,16.6,211,1868,0.55,0.00,129.07,0.968,4,0.129,0.000,2974,2489,2960,0,0,0,0,0,0
$STATE,1869,end apogee,CONTROL_FINISHED_OK
$STATE,1869,begin climb
$GC,1871,0.76,146.0,277.4,0.0,223,2023,1.02,0.00,146.40,0.891,6,0.082,0.000,3304,2488,2365,0,0,0,0,0,0
$GC,2219,0.76,146.0,246.2,11.7,254,2223,0.00,2.25,0.00,0.000,4,0.000,0.060,3303,3763,2353,0,0,0,0,0,0
$GC,2306,0.76,146.0,234.1,13.4,261,2315,0.00,2.05,0.00,0.000,6,0.000,0.040,3312,2536,2352,0,0,0,0,0,0
$GC,2443,0.76,146.0,219.0,11.9,274,2451,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2536,2350,0,0,0,0,0,0
$GC,2579,0.76,146.0,203.3,11.4,287,2583,0.00,2.00,0.00,0.000,4,0.000,0.059,3313,3766,2348,0,0,0,0,0,0
$GC,2614,0.76,146.0,199.1,13.2,290,2618,0.00,1.95,0.00,0.000,6,0.000,0.041,3322,2514,2348,0,0,0,0,0,0
$GC,2755,0.76,146.0,182.2,12.2,303,2756,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2513,2347,0,0,0,0,0,0
$GC,2883,0.76,146.0,166.5,12.4,315,2886,0.00,2.05,0.00,0.000,4,0.000,0.060,3322,3773,2347,0,0,0,0,0,0
$GC,2918,0.76,146.0,162.0,13.7,318,2922,0.00,1.92,0.00,0.000,6,0.000,0.042,3331,2542,2347,0,0,0,0,0,0
$GC,3060,0.76,146.0,144.4,11.8,331,3064,0.00,2.00,0.00,0.000,4,0.000,0.059,3331,3773,2347,0,0,0,0,0,0
$GC,3097,0.76,146.0,138.7,14.0,334,3106,0.00,1.98,0.00,0.000,6,0.000,0.042,3341,2543,2347,0,0,0,0,0,0
$GC,3234,0.76,146.0,122.1,12.1,347,3235,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2541,2346,0,0,0,0,0,0
$GC,3360,0.76,146.0,106.0,12.6,359,3362,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2541,2346,0,0,0,0,0,0
$GC,3486,0.76,146.0,89.6,13.6,378,3494,0.00,2.03,0.00,0.000,4,0.000,0.059,3341,3762,2346,0,0,0,0,0,0
$GC,3583,0.76,146.0,75.2,15.1,395,3590,0.15,1.90,0.00,0.000,6,0.155,0.041,3309,2552,2346,0,0,0,0,0,0
$GC,3722,0.76,146.0,58.4,11.7,420,3731,0.00,2.35,0.00,0.000,4,0.000,0.051,3315,1091,2345,0,0,0,0,0,0
$GC,3749,0.76,146.0,55.1,11.2,424,3757,0.00,2.42,0.00,0.000,6,0.000,0.054,3315,2556,2344,0,0,0,0,0,0
$GC,3891,0.76,146.0,39.3,11.5,449,3899,0.00,1.98,0.00,0.000,4,0.000,0.060,3315,3784,2344,0,0,0,0,0,0
$GC,3987,0.76,146.0,26.7,13.4,466,3995,0.00,1.95,0.00,0.000,6,0.000,0.041,3324,2562,2344,0,0,0,0,0,0
$GC,4129,0.76,146.0,9.6,11.8,491,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2560,2344,0,0,0,0,0,0
$FREEZE,7.70,-0.824,-1.898,2,1,0
$FREEZE,6.95,-0.823,-1.898,2,1,0
$FREEZE,6.26,-0.824,-1.897,2,1,0
$FREEZE,5.48,-0.826,-1.896,2,1,0
$FREEZE,4.75,-0.825,-1.896,2,1,0
$FREEZE,3.93,-0.826,-1.895,2,1,0
$FREEZE,3.31,-0.827,-1.895,2,1,0
$FREEZE,2.54,-0.830,-1.894,2,1,0
$STATE,4184,end climb,SURFACE_DEPTH_REACHED
$STATE,4184,begin surface coast
$FREEZE,1.62,-0.831,-1.894,2,1,0
$FREEZE,1.22,-0.832,-1.893,2,1,0
$FREEZE,1.36,-0.853,-1.894,2,1,0
$FREEZE,1.15,-0.890,-1.883,2,1,0
$FINISH,1.2,1.027577
$STATE,4210,end surface coast,CONTROL_FINISHED_OK
$STATE,4210,begin surface
$SM_CCo,4227,81.85,0.732,1,0,1737,300.24
$SM_GC,2.12,0.00,0.00,81.85,0.000,0.000,0.732,425,2665,1737,-8.25,0.42,300.24
$IRIDIUM_FIX,-7545.40,17914.04,030111,090959
$TT8_MAMPS,0.028462
$HUMID,53.07
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,20.0,18.7
$ALTIM_BOTTOM_PING,250.0,33.8
$24V_AH,20.2,72.958
$10V_AH,9.7,49.814
$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,18.275,49.275,275.475,81.850,0.000,27.591,35.336,176.585,1.250,0.000,17.423,1273.290,1225.682,456.438,1542.934,179.257,0.000,993.808,0.000,817.539,0.000,7.138,0.000
$DEVICE_MAMPS,194.310,81.855,968.490,732.105,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,352.954,731.069,914.239,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33791,504
$CAP_FILE_SIZE,72464,0
$CFSIZE,260165632,225767424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.360,104.3,1
$GPS,030111,121055,-7630.555,17922.104,37,2.0,37,119.1