version: 66.08
glider: 502
mission: 3
dive: 489
start: 1 3 111 13 51 36
data:
$ID,502
$MISSION,3
$DIVE,489
$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,-30756.236
$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
$GPS1,030111,134414,-7630.240,17924.119,10,1.3,10,119.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-65.8
$GPS2,030111,135108,-7630.217,17924.516,12,1.7,12,119.0
$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,136.7,244064,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,164,0.00,0.00,-145.90,0.000,2,0.000,0.000,414,2659,3359,0,0,0,0,0,0
$GC,169,-0.76,-146.0,3.2,-1.6,21,191,8.93,1.80,-5.32,0.000,4,0.194,0.074,2799,3757,3558,0,0,0,0,0,0
$GC,324,-0.76,-146.0,31.7,-15.8,48,332,0.00,1.77,0.00,0.000,6,0.000,0.042,2799,2648,3561,0,0,0,0,0,0
$GC,464,-0.76,-146.0,53.8,-15.5,73,471,0.00,1.85,0.00,0.000,4,0.000,0.061,2791,3749,3562,0,0,0,0,0,0
$GC,502,-0.76,-146.0,59.9,-17.2,79,510,0.10,1.75,0.00,0.000,6,0.172,0.042,2816,2656,3562,0,0,0,0,0,0
$GC,644,-0.76,-146.0,80.8,-13.5,104,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2655,3562,0,0,0,0,0,0
$GC,784,-0.76,-146.0,100.7,-14.2,129,787,0.00,1.80,0.00,0.000,4,0.000,0.063,2808,3758,3562,0,0,0,0,0,0
$GC,841,-0.76,-146.0,109.5,-15.2,134,845,0.00,1.70,0.00,0.000,6,0.000,0.041,2808,2666,3562,0,0,0,0,0,0
$GC,984,-0.76,-146.0,130.5,-14.7,147,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2664,3562,0,0,0,0,0,0
$GC,1120,-0.76,-146.0,150.5,-14.4,160,1124,0.00,1.77,0.00,0.000,4,0.000,0.061,2800,3756,3563,0,0,0,0,0,0
$GC,1167,-0.76,-146.0,157.6,-15.4,164,1170,0.00,1.67,0.00,0.000,6,0.000,0.041,2800,2678,3562,0,0,0,0,0,0
$GC,1309,-0.76,-146.0,178.7,-14.7,177,1313,0.00,2.28,0.00,0.000,4,0.000,0.050,2800,1239,3562,0,0,0,0,0,0
$GC,1353,-0.76,-146.0,185.9,-14.8,180,1361,0.00,2.38,0.00,0.000,6,0.000,0.057,2791,2662,3563,0,0,0,0,0,0
$GC,1490,-0.76,-146.0,206.3,-15.8,193,1494,0.00,1.77,0.00,0.000,4,0.000,0.061,2781,3767,3563,0,0,0,0,0,0
$GC,1536,-0.76,-146.0,214.3,-17.4,197,1541,0.12,1.70,0.00,0.000,6,0.154,0.042,2816,2676,3562,0,0,0,0,0,0
$GC,1678,-0.76,-146.0,235.2,-15.0,210,1679,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2673,3562,0,0,0,0,0,0
$GC,1802,-0.76,-146.0,253.1,-13.7,222,1803,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2673,3563,0,0,0,0,0,0
$STATE,1907,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1907,begin apogee
$GC,1913,-0.27,0.0,267.4,13.2,232,2052,0.47,0.00,127.72,0.964,4,0.125,0.000,2972,2488,2959,0,0,0,0,0,0
$STATE,2053,end apogee,CONTROL_FINISHED_OK
$STATE,2053,begin climb
$GC,2055,0.76,146.0,274.5,0.0,244,2213,1.05,2.47,145.75,0.890,4,0.075,0.049,3307,1101,2364,0,0,0,0,0,0
$GC,2331,0.76,146.0,252.0,10.1,268,2338,0.00,2.53,0.00,0.000,6,0.000,0.050,3307,2500,2355,0,0,0,0,0,0
$GC,2531,0.76,146.0,229.2,13.5,287,2535,0.00,2.30,0.00,0.000,4,0.000,0.050,3315,1100,2351,0,0,0,0,0,0
$GC,2696,0.76,146.0,208.9,12.2,301,2704,0.00,2.35,0.00,0.000,6,0.000,0.054,3315,2517,2349,0,0,0,0,0,0
$GC,2832,0.76,146.0,193.0,12.6,314,2836,0.00,2.00,0.00,0.000,4,0.000,0.058,3315,3771,2348,0,0,0,0,0,0
$GC,2911,0.76,146.0,180.9,14.8,321,2915,0.00,1.92,0.00,0.000,6,0.000,0.042,3324,2539,2347,0,0,0,0,0,0
$GC,3053,0.76,146.0,163.2,12.7,334,3057,0.00,2.00,0.00,0.000,4,0.000,0.059,3324,3771,2347,0,0,0,0,0,0
$GC,3080,0.76,146.0,158.7,15.2,336,3088,0.00,1.98,0.00,0.000,6,0.000,0.041,3334,2533,2347,0,0,0,0,0,0
$GC,3216,0.76,146.0,140.9,13.2,349,3217,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2532,2347,0,0,0,0,0,0
$GC,3343,0.76,146.0,123.9,13.6,361,3347,0.00,2.00,0.00,0.000,4,0.000,0.058,3334,3765,2346,0,0,0,0,0,0
$GC,3401,0.76,146.0,115.6,14.4,366,3405,0.12,1.90,0.00,0.000,6,0.161,0.041,3310,2546,2346,0,0,0,0,0,0
$GC,3541,0.76,146.0,99.3,10.9,379,3549,0.00,2.00,0.00,0.000,4,0.000,0.060,3310,3766,2345,0,0,0,0,0,0
$GC,3582,0.76,146.0,94.0,12.1,386,3590,0.00,1.92,0.00,0.000,6,0.000,0.041,3318,2558,2345,0,0,0,0,0,0
$GC,3723,0.76,146.0,78.6,11.0,411,3730,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2557,2345,0,0,0,0,0,0
$GC,3859,0.76,146.0,63.0,11.1,436,3867,0.00,2.00,0.00,0.000,4,0.000,0.060,3318,3762,2344,0,0,0,0,0,0
$GC,3939,0.76,146.0,52.8,13.1,450,3947,0.00,1.92,0.00,0.000,6,0.000,0.041,3327,2556,2344,0,0,0,0,0,0
$GC,4081,0.76,146.0,36.1,11.6,475,4088,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2555,2344,0,0,0,0,0,0
$GC,4220,0.76,146.0,19.9,11.6,500,4228,0.00,2.00,0.00,0.000,4,0.000,0.060,3327,3756,2344,0,0,0,0,0,0
$FREEZE,8.90,-0.784,-1.899,2,1,0
$GC,4300,0.76,146.0,8.9,14.7,514,4308,0.00,1.90,0.00,0.000,6,0.000,0.041,3336,2561,2344,0,0,0,0,0,0
$FREEZE,6.27,-0.787,-1.897,2,1,0
$FREEZE,5.63,-0.788,-1.897,2,1,0
$FREEZE,4.91,-0.788,-1.896,2,1,0
$FREEZE,4.22,-0.786,-1.896,2,1,0
$FREEZE,3.50,-0.789,-1.895,2,1,0
$FREEZE,2.70,-0.789,-1.894,2,1,0
$STATE,4343,end climb,SURFACE_DEPTH_REACHED
$STATE,4343,begin surface coast
$FREEZE,1.96,-0.789,-1.894,2,1,0
$FREEZE,1.11,-0.790,-1.893,2,1,0
$FREEZE,1.16,-0.871,-1.898,2,1,0
$FREEZE,1.09,-0.827,-1.892,2,1,0
$FINISH,1.1,1.027706
$STATE,4371,end surface coast,CONTROL_FINISHED_OK
$STATE,4371,begin surface
$SM_CCo,4387,73.85,0.099,0,0,1736,300.24
$SM_GC,2.03,0.00,0.00,73.85,0.000,0.000,0.099,428,2661,1736,-8.24,0.28,300.24
$IRIDIUM_FIX,-7554.21,17950.73,030111,121243
$TT8_MAMPS,0.028462
$HUMID,53.38
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,19.2
$ALTIM_BOTTOM_PING,250.3,31.1
$24V_AH,20.2,73.160
$10V_AH,9.7,49.973
$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,18.400,55.875,273.475,73.850,0.000,28.487,38.015,234.573,1.500,0.000,13.733,1308.979,1213.632,489.086,1688.699,185.219,0.000,1067.807,0.000,889.723,0.000,7.132,0.000
$DEVICE_MAMPS,193.545,84.150,963.900,98.685,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,367.031,762.487,944.567,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267060
$DATA_FILE_SIZE,37159,525
$CAP_FILE_SIZE,76585,0
$CFSIZE,260165632,225673216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.353, 58.0,1
$GPS,030111,150707,-7629.892,17925.484,30,1.0,30,118.9