version: 66.08
glider: 502
mission: 3
dive: 491
start: 1 3 111 16 29 52
data:
$ID,502
$MISSION,3
$DIVE,491
$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,-30758.748
$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,31
$R_STBD_OVSHOOT,27
$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
$GPS1,030111,162336,-7629.496,17926.342,15,1.6,25,118.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-70.8
$GPS2,030111,162926,-7629.424,17926.527,14,1.0,14,118.9
$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,105.9,244935,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-80.47,0.000,2,0.000,0.000,415,2658,3201,0,0,0,0,0,0
$GC,103,-0.76,-146.0,3.0,-1.3,12,132,9.02,1.85,-11.35,0.000,4,0.197,0.079,2805,3753,3559,0,0,0,0,0,0
$GC,258,-0.76,-146.0,27.7,-16.1,38,267,0.00,1.77,0.00,0.000,6,0.000,0.043,2805,2641,3561,0,0,0,0,0,0
$GC,404,-0.76,-146.0,50.6,-14.8,63,410,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2639,3562,0,0,0,0,0,0
$GC,544,-0.76,-146.0,72.8,-15.5,88,554,0.00,1.88,0.00,0.000,4,0.000,0.062,2797,3755,3561,0,0,0,0,0,0
$GC,590,-0.76,-146.0,80.1,-17.3,95,597,0.00,1.77,0.00,0.000,6,0.000,0.042,2797,2625,3562,0,0,0,0,0,0
$GC,731,-0.76,-146.0,103.4,-16.3,118,734,0.00,1.85,0.00,0.000,4,0.000,0.061,2789,3758,3562,0,0,0,0,0,0
$GC,778,-0.76,-146.0,111.2,-16.8,122,782,0.10,1.73,0.00,0.000,6,0.172,0.041,2813,2649,3562,0,0,0,0,0,0
$GC,920,-0.76,-146.0,132.2,-14.3,135,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2646,3562,0,0,0,0,0,0
$GC,1056,-0.76,-146.0,151.9,-14.9,148,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2647,3562,0,0,0,0,0,0
$GC,1183,-0.76,-146.0,170.4,-14.4,160,1187,0.00,1.83,0.00,0.000,4,0.000,0.061,2806,3767,3563,0,0,0,0,0,0
$GC,1232,-0.76,-146.0,178.2,-15.0,164,1240,0.00,1.77,0.00,0.000,6,0.000,0.041,2806,2660,3563,0,0,0,0,0,0
$GC,1369,-0.76,-146.0,197.8,-14.9,177,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2659,3563,0,0,0,0,0,0
$GC,1505,-0.76,-146.0,219.2,-15.8,190,1506,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2659,3563,0,0,0,0,0,0
$GC,1632,-0.76,-146.0,238.1,-14.8,202,1635,0.00,1.80,0.00,0.000,4,0.000,0.063,2797,3759,3562,0,0,0,0,0,0
$GC,1647,-0.76,-146.0,241.2,-15.6,203,1656,0.00,1.75,0.00,0.000,6,0.000,0.041,2799,2666,3563,0,0,0,0,0,0
$GC,1782,-0.76,-146.0,260.7,-15.1,216,1783,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2665,3563,0,0,0,0,0,0
$STATE,1812,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1812,begin apogee
$GC,1819,-0.27,0.0,265.7,15.3,219,1955,0.55,0.00,128.57,0.968,4,0.128,0.000,2974,2485,2961,0,0,0,0,0,0
$STATE,1956,end apogee,CONTROL_FINISHED_OK
$STATE,1956,begin climb
$GC,1959,0.76,146.0,273.0,0.0,231,2110,1.02,0.00,146.48,0.892,6,0.081,0.000,3302,2485,2365,0,0,0,0,0,0
$GC,2306,0.76,146.0,236.6,13.5,262,2310,0.00,2.25,0.00,0.000,4,0.000,0.057,3303,3756,2352,0,0,0,0,0,0
$GC,2426,0.76,146.0,219.8,14.1,272,2435,0.00,2.03,0.00,0.000,6,0.000,0.041,3312,2534,2351,0,0,0,0,0,0
$GC,2562,0.76,146.0,203.3,11.9,285,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2533,2349,0,0,0,0,0,0
$GC,2690,0.76,146.0,188.3,11.7,297,2693,0.00,2.00,0.00,0.000,4,0.000,0.058,3312,3765,2348,0,0,0,0,0,0
$GC,2727,0.76,146.0,182.8,13.7,300,2736,0.00,1.95,0.00,0.000,6,0.000,0.041,3320,2539,2348,0,0,0,0,0,0
$GC,2863,0.76,146.0,167.9,11.1,313,2864,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2538,2347,0,0,0,0,0,0
$GC,2991,0.76,146.0,153.2,12.0,325,2994,0.00,1.98,0.00,0.000,4,0.000,0.058,3321,3758,2346,0,0,0,0,0,0
$GC,3051,0.76,146.0,144.5,13.9,330,3060,0.00,1.95,0.00,0.000,6,0.000,0.041,3330,2538,2346,0,0,0,0,0,0
$GC,3189,0.76,146.0,127.6,12.3,343,3196,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2538,2346,0,0,0,0,0,0
$GC,3324,0.76,146.0,111.4,11.4,356,3328,0.00,1.98,0.00,0.000,4,0.000,0.058,3330,3759,2345,0,0,0,0,0,0
$GC,3382,0.76,146.0,103.9,13.8,361,3385,0.00,1.90,0.00,0.000,6,0.000,0.041,3340,2543,2345,0,0,0,0,0,0
$GC,3521,0.76,146.0,87.1,12.0,383,3527,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2541,2345,0,0,0,0,0,0
$GC,3660,0.76,146.0,69.6,12.8,408,3669,0.00,2.03,0.00,0.000,4,0.000,0.059,3340,3760,2345,0,0,0,0,0,0
$GC,3709,0.76,146.0,62.4,15.0,416,3718,0.10,1.92,0.00,0.000,6,0.135,0.041,3315,2557,2345,0,0,0,0,0,0
$GC,3856,0.76,146.0,44.4,12.1,441,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2556,2345,0,0,0,0,0,0
$GC,3999,0.76,146.0,26.6,11.5,466,4008,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2556,2344,0,0,0,0,0,0
$GC,4146,0.76,146.0,10.0,10.8,491,4153,0.00,2.00,0.00,0.000,4,0.000,0.059,3316,3753,2344,0,0,0,0,0,0
$FREEZE,8.17,-0.735,-1.898,2,1,0
$FREEZE,7.46,-0.736,-1.898,2,1,0
$FREEZE,6.70,-0.736,-1.897,2,1,0
$FREEZE,5.92,-0.736,-1.897,2,1,0
$FREEZE,5.36,-0.736,-1.896,2,1,0
$FREEZE,4.51,-0.735,-1.895,2,1,0
$FREEZE,3.80,-0.735,-1.895,2,1,0
$FREEZE,2.78,-0.735,-1.894,2,1,0
$STATE,4202,end climb,SURFACE_DEPTH_REACHED
$STATE,4202,begin surface coast
$FREEZE,1.72,-0.734,-1.893,2,1,0
$FREEZE,1.25,-0.741,-1.893,2,1,0
$FINISH,1.3,1.027717
$STATE,4216,end surface coast,CONTROL_FINISHED_OK
$STATE,4216,begin surface
$SM_CCo,4234,80.88,0.734,1,0,1736,300.24
$SM_GC,1.99,0.00,0.00,80.88,0.000,0.000,0.734,421,2646,1736,-8.26,-0.11,300.24
$IRIDIUM_FIX,-7545.40,17923.23,030111,151548
$TT8_MAMPS,0.027713
$HUMID,53.62
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,18.5
$ALTIM_BOTTOM_PING,251.2,28.4
$24V_AH,20.2,73.357
$10V_AH,9.7,50.119
$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,18.300,42.000,275.050,80.875,0.000,29.165,53.570,156.494,1.250,0.000,15.221,1258.983,1237.879,456.055,1552.741,175.950,0.000,991.576,0.000,821.683,0.000,7.125,0.000
$DEVICE_MAMPS,196.605,78.795,968.490,733.635,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,351.588,731.976,930.305,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267124
$DATA_FILE_SIZE,33708,502
$CAP_FILE_SIZE,70538,0
$CFSIZE,260165632,225595392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.390, 15.6,1
$GPS,030111,174307,-7628.981,17925.932,35,0.9,35,118.9