version: 66.08
glider: 502
mission: 3
dive: 455
start: 1 1 111 16 38 58
data:
$ID,502
$MISSION,3
$DIVE,455
$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,-30714.707
$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,35
$R_STBD_OVSHOOT,34
$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
$GPS1,010111,163250,-7630.218,-17956.395,12,1.1,12,118.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-73.5
$GPS2,010111,163832,-7630.145,-17956.299,11,1.8,11,118.1
$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,16.9,9077552,-17.5,-10.000
$D_GRID,427
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,103,0.00,0.00,-83.97,0.000,2,0.000,0.000,411,2661,3256,0,0,0,0,0,0
$GC,106,-0.76,-146.0,3.0,-0.8,13,136,8.98,2.35,-9.27,0.000,4,0.197,0.063,2807,1245,3561,0,0,0,0,0,0
$GC,292,-0.76,-146.0,31.4,-14.7,46,300,0.00,2.33,0.00,0.000,6,0.000,0.057,2799,2638,3562,0,0,0,0,0,0
$GC,432,-0.76,-146.0,52.5,-16.5,71,440,0.00,1.83,0.00,0.000,4,0.000,0.062,2790,3767,3563,0,0,0,0,0,0
$GC,469,-0.76,-146.0,59.0,-18.6,77,476,0.00,1.75,0.00,0.000,6,0.000,0.042,2790,2669,3563,0,0,0,0,0,0
$GC,606,-0.76,-146.0,85.7,-20.6,102,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2668,3563,0,0,0,0,0,0
$GC,745,-0.76,-146.0,113.1,-19.9,121,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2668,3563,0,0,0,0,0,0
$GC,881,-0.76,-146.0,139.3,-19.2,134,885,0.00,1.80,0.00,0.000,4,0.000,0.061,2782,3773,3563,0,0,0,0,0,0
$GC,928,-0.76,-146.0,148.4,-19.5,138,933,0.12,1.73,0.00,0.000,6,0.158,0.042,2815,2669,3563,0,0,0,0,0,0
$GC,1071,-0.76,-146.0,171.2,-15.1,151,1074,0.00,1.80,0.00,0.000,4,0.000,0.062,2808,3773,3563,0,0,0,0,0,0
$GC,1108,-0.76,-146.0,176.9,-16.6,154,1112,0.00,1.70,0.00,0.000,6,0.000,0.042,2808,2680,3563,0,0,0,0,0,0
$GC,1251,-0.76,-146.0,198.2,-14.2,167,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2678,3563,0,0,0,0,0,0
$GC,1386,-0.76,-146.0,216.8,-13.2,180,1390,0.00,1.77,0.00,0.000,4,0.000,0.063,2799,3768,3563,0,0,0,0,0,0
$GC,1444,-0.76,-146.0,225.0,-13.9,185,1448,0.00,1.67,0.00,0.000,6,0.000,0.042,2799,2688,3563,0,0,0,0,0,0
$GC,1585,-0.76,-146.0,244.9,-14.3,198,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2687,3563,0,0,0,0,0,0
$GC,1710,-0.76,-146.0,264.9,-16.0,210,1714,0.00,1.75,0.00,0.000,4,0.000,0.060,2791,3764,3563,0,0,0,0,0,0
$GC,1734,-0.76,-146.0,268.6,-16.4,212,1738,0.00,1.70,0.00,0.000,6,0.000,0.041,2791,2698,3563,0,0,0,0,0,0
$GC,1938,-0.76,-146.0,300.8,-14.6,231,1943,0.00,2.33,0.00,0.000,4,0.000,0.052,2791,1240,3563,0,0,0,0,0,0
$GC,1959,-0.76,-146.0,304.1,-13.8,232,1967,0.05,2.45,0.00,0.000,6,0.148,0.058,2813,2704,3563,0,0,0,0,0,0
$GC,2158,-0.76,-146.0,329.9,-14.0,251,2159,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2704,3563,0,0,0,0,0,0
$GC,2349,-0.76,-146.0,354.7,-10.8,269,2352,0.00,1.70,0.00,0.000,4,0.000,0.062,2806,3766,3563,0,0,0,0,0,0
$GC,2375,-0.76,-146.0,358.9,-14.8,271,2384,0.00,1.67,0.00,0.000,6,0.000,0.041,2806,2713,3563,0,0,0,0,0,0
$GC,2574,-0.76,-146.0,386.1,-11.6,290,2575,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2712,3563,0,0,0,0,0,0
$STATE,2764,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2764,begin apogee
$GC,2769,-0.27,0.0,408.4,12.6,308,2909,0.52,0.00,132.60,1.057,4,0.131,0.000,2973,2495,2962,0,0,0,0,0,0
$STATE,2910,end apogee,CONTROL_FINISHED_OK
$STATE,2910,begin climb
$GC,2912,0.76,146.0,413.7,0.0,320,3069,1.05,0.00,151.38,0.977,6,0.082,0.000,3302,2495,2365,0,0,0,0,0,0
$GC,3263,0.76,146.0,379.0,13.0,352,3268,0.00,2.22,0.00,0.000,4,0.000,0.057,3302,3761,2352,0,0,0,0,0,0
$GC,3418,0.76,146.0,354.3,16.3,365,3421,0.00,2.00,0.00,0.000,6,0.000,0.041,3313,2506,2350,0,0,0,0,0,0
$GC,3621,0.76,146.0,327.5,12.4,384,3625,0.00,2.05,0.00,0.000,4,0.000,0.059,3313,3765,2348,0,0,0,0,0,0
$GC,3659,0.76,146.0,322.3,13.7,387,3668,0.00,2.00,0.00,0.000,6,0.000,0.041,3322,2507,2348,0,0,0,0,0,0
$GC,3860,0.76,146.0,296.3,13.7,406,3863,0.00,2.05,0.00,0.000,4,0.000,0.058,3322,3775,2347,0,0,0,0,0,0
$GC,3920,0.76,146.0,286.9,14.5,411,3929,0.00,2.00,0.00,0.000,6,0.000,0.040,3332,2523,2347,0,0,0,0,0,0
$GC,4119,0.76,146.0,260.2,13.9,430,4123,0.00,2.03,0.00,0.000,4,0.000,0.059,3332,3771,2346,0,0,0,0,0,0
$GC,4168,0.76,146.0,252.0,16.8,434,4175,0.00,1.98,0.00,0.000,6,0.000,0.041,3341,2535,2346,0,0,0,0,0,0
$GC,4368,0.76,146.0,222.2,15.1,453,4371,0.00,2.00,0.00,0.000,4,0.000,0.057,3341,3770,2345,0,0,0,0,0,0
$GC,4403,0.76,146.0,216.4,17.7,456,4408,0.15,1.92,0.00,0.000,6,0.157,0.041,3310,2536,2345,0,0,0,0,0,0
$GC,4541,0.76,146.0,197.5,13.2,468,4544,0.00,2.00,0.00,0.000,4,0.000,0.058,3310,3772,2344,0,0,0,0,0,0
$GC,4577,0.76,146.0,192.3,13.8,471,4580,0.00,1.90,0.00,0.000,6,0.000,0.042,3318,2551,2344,0,0,0,0,0,0
$GC,4720,0.76,146.0,174.1,12.3,484,4724,0.00,1.98,0.00,0.000,4,0.000,0.059,3318,3768,2344,0,0,0,0,0,0
$GC,4756,0.76,146.0,168.3,14.6,487,4766,0.00,1.90,0.00,0.000,6,0.000,0.040,3327,2566,2344,0,0,0,0,0,0
$GC,4894,0.76,146.0,150.9,13.0,500,4897,0.00,1.95,0.00,0.000,4,0.000,0.059,3327,3770,2344,0,0,0,0,0,0
$GC,4931,0.76,146.0,145.1,14.4,503,4940,0.00,1.90,0.00,0.000,6,0.000,0.041,3336,2576,2344,0,0,0,0,0,0
$GC,5069,0.76,146.0,127.2,13.2,516,5076,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2575,2344,0,0,0,0,0,0
$GC,5204,0.76,146.0,107.6,13.7,529,5207,0.00,1.92,0.00,0.000,4,0.000,0.057,3336,3770,2344,0,0,0,0,0,0
$GC,5239,0.76,146.0,102.5,15.4,532,5244,0.12,1.85,0.00,0.000,6,0.161,0.041,3311,2578,2344,0,0,0,0,0,0
$GC,5377,0.76,146.0,86.0,11.0,555,5385,0.00,2.38,0.00,0.000,4,0.000,0.051,3316,1083,2343,0,0,0,0,0,0
$GC,5397,0.76,146.0,83.6,11.1,558,5405,0.00,2.47,0.00,0.000,6,0.000,0.054,3316,2583,2343,0,0,0,0,0,0
$GC,5537,0.76,146.0,68.7,10.6,583,5544,0.00,1.90,0.00,0.000,4,0.000,0.058,3316,3768,2342,0,0,0,0,0,0
$GC,5578,0.76,146.0,63.3,12.5,590,5586,0.00,1.88,0.00,0.000,6,0.000,0.041,3325,2589,2342,0,0,0,0,0,0
$GC,5718,0.76,146.0,46.3,13.0,615,5725,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2588,2342,0,0,0,0,0,0
$GC,5856,0.76,146.0,29.0,11.8,640,5864,0.00,2.42,0.00,0.000,4,0.000,0.052,3336,1087,2342,0,0,0,0,0,0
$GC,5888,0.76,146.0,25.3,12.1,645,5895,0.00,2.45,0.00,0.000,6,0.000,0.054,3336,2588,2341,0,0,0,0,0,0
$FREEZE,8.71,-0.719,-1.896,2,1,0
$FREEZE,8.13,-0.720,-1.896,2,1,0
$FREEZE,7.01,-0.715,-1.895,2,1,0
$GC,6027,0.76,146.0,7.0,13.2,670,6035,0.00,1.92,0.00,0.000,4,0.000,0.058,3336,3769,2341,0,0,0,0,0,0
$FREEZE,4.95,-0.708,-1.893,2,1,0
$FREEZE,4.05,-0.704,-1.893,2,1,0
$FREEZE,3.18,-0.697,-1.892,2,1,0
$FREEZE,2.43,-0.676,-1.891,2,1,0
$STATE,6059,end climb,SURFACE_DEPTH_REACHED
$STATE,6059,begin surface coast
$FREEZE,1.46,-0.662,-1.890,2,1,0
$FINISH,1.5,1.027668
$STATE,6066,end surface coast,CONTROL_FINISHED_OK
$STATE,6066,begin surface
$SM_CCo,6084,80.43,0.733,1,0,1738,300.24
$SM_GC,2.05,0.00,0.00,80.43,0.000,0.000,0.733,426,2646,1738,-8.25,-0.11,300.24
$IRIDIUM_FIX,-7545.40,18000.00,010111,151519
$TT8_MAMPS,0.028462
$HUMID,53.30
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,18.6
$ALTIM_BOTTOM_PING,351.3,71.4
$24V_AH,20.0,69.922
$10V_AH,9.7,47.493
$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,18.625,83.500,283.975,80.425,0.000,29.157,40.440,165.070,1.500,0.000,12.375,1711.460,2287.560,495.002,1835.078,194.900,0.000,1194.643,0.000,1116.921,0.000,10.673,0.000
$DEVICE_MAMPS,196.605,62.730,1057.230,732.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,474.763,851.257,882.037,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267044
$DATA_FILE_SIZE,46964,676
$CAP_FILE_SIZE,95263,0
$CFSIZE,260165632,227098624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.397,359.4,1
$GPS,010111,182306,-7629.333,-17953.502,40,0.9,40,117.9