version: 66.08
glider: 502
mission: 3
dive: 458
start: 1 1 111 22 7 22
data:
$ID,502
$MISSION,3
$DIVE,458
$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,-30718.49
$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,25
$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
$GPS1,010111,215806,-7628.025,-17955.582,43,0.9,43,117.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-72.5
$GPS2,010111,220655,-7628.009,-17956.094,11,0.9,16,117.9
$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,17.1,9077464,-17.5,-10.000
$D_GRID,405
$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,-146.0,0.0,0.0,0,107,0.00,0.00,-88.82,0.000,2,0.000,0.000,431,2655,3387,0,0,0,0,0,0
$GC,110,-0.76,-146.0,3.5,-2.2,13,132,8.82,1.83,-4.57,0.000,4,0.197,0.073,2800,3774,3560,0,0,0,0,0,0
$GC,357,-0.76,-146.0,50.0,-17.2,57,365,0.00,1.80,0.00,0.000,6,0.000,0.043,2800,2646,3562,0,0,0,0,0,0
$GC,495,-0.76,-146.0,73.4,-17.3,82,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2645,3564,0,0,0,0,0,0
$GC,635,-0.76,-146.0,97.7,-18.1,107,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2645,3564,0,0,0,0,0,0
$GC,779,-0.76,-146.0,122.7,-17.9,121,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2645,3564,0,0,0,0,0,0
$GC,914,-0.76,-146.0,146.7,-17.5,134,917,0.00,1.83,0.00,0.000,4,0.000,0.062,2791,3767,3564,0,0,0,0,0,0
$GC,950,-0.76,-146.0,153.0,-18.2,137,953,0.00,1.73,0.00,0.000,6,0.000,0.042,2791,2658,3564,0,0,0,0,0,0
$GC,1090,-0.76,-146.0,178.4,-17.7,150,1091,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2656,3563,0,0,0,0,0,0
$GC,1218,-0.76,-146.0,200.6,-17.4,162,1222,0.00,2.25,0.00,0.000,4,0.000,0.052,2791,1236,3564,0,0,0,0,0,0
$GC,1237,-0.76,-146.0,203.9,-17.2,163,1242,0.12,2.33,0.00,0.000,6,0.162,0.058,2819,2653,3564,0,0,0,0,0,0
$GC,1374,-0.76,-146.0,224.7,-15.3,175,1377,0.00,1.77,0.00,0.000,4,0.000,0.060,2812,3766,3564,0,0,0,0,0,0
$GC,1400,-0.76,-146.0,229.6,-15.6,177,1409,0.00,1.77,0.00,0.000,6,0.000,0.041,2812,2655,3564,0,0,0,0,0,0
$GC,1537,-0.76,-146.0,249.9,-15.0,190,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2655,3564,0,0,0,0,0,0
$GC,1661,-0.76,-146.0,268.6,-14.8,202,1665,0.00,1.83,0.00,0.000,4,0.000,0.062,2803,3774,3564,0,0,0,0,0,0
$GC,1685,-0.76,-146.0,272.3,-15.9,204,1689,0.00,1.73,0.00,0.000,6,0.000,0.042,2802,2665,3564,0,0,0,0,0,0
$GC,1889,-0.76,-146.0,302.7,-14.6,223,1890,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2662,3564,0,0,0,0,0,0
$STATE,1929,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1929,begin apogee
$GC,1935,-0.27,0.0,308.7,13.9,227,2073,0.52,0.00,129.70,0.985,4,0.129,0.000,2971,2480,2960,0,0,0,0,0,0
$STATE,2074,end apogee,CONTROL_FINISHED_OK
$STATE,2074,begin climb
$GC,2076,0.76,146.0,315.8,0.0,239,2234,1.12,2.40,147.23,0.905,4,0.088,0.062,3310,3766,2364,0,0,0,0,0,0
$GC,2331,0.76,146.0,287.5,14.9,261,2337,0.00,2.20,0.00,0.000,6,0.000,0.038,3319,2515,2355,0,0,0,0,0,0
$GC,2529,0.76,146.0,263.0,12.2,280,2533,0.00,2.12,0.00,0.000,4,0.000,0.057,3319,3771,2349,0,0,0,0,0,0
$GC,2550,0.76,146.0,259.8,13.5,281,2557,0.00,2.05,0.00,0.000,6,0.000,0.041,3328,2499,2349,0,0,0,0,0,0
$GC,2750,0.76,146.0,233.7,12.9,300,2754,0.00,2.08,0.00,0.000,4,0.000,0.058,3328,3773,2347,0,0,0,0,0,0
$GC,2781,0.76,146.0,228.7,15.1,302,2790,0.00,2.03,0.00,0.000,6,0.000,0.042,3338,2503,2347,0,0,0,0,0,0
$GC,2919,0.76,146.0,210.1,13.7,315,2927,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2502,2346,0,0,0,0,0,0
$GC,3055,0.76,146.0,191.6,13.3,328,3058,0.00,2.05,0.00,0.000,4,0.000,0.058,3338,3770,2345,0,0,0,0,0,0
$GC,3109,0.76,146.0,182.8,15.6,332,3119,0.10,1.98,0.00,0.000,6,0.139,0.042,3315,2529,2345,0,0,0,0,0,0
$GC,3248,0.76,146.0,166.7,11.6,345,3255,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2528,2345,0,0,0,0,0,0
$GC,3383,0.76,146.0,150.7,11.7,358,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2528,2344,0,0,0,0,0,0
$GC,3510,0.76,146.0,136.3,11.4,370,3514,0.00,2.03,0.00,0.000,4,0.000,0.057,3315,3774,2344,0,0,0,0,0,0
$GC,3546,0.76,146.0,131.7,13.3,373,3550,0.00,1.95,0.00,0.000,6,0.000,0.041,3323,2523,2344,0,0,0,0,0,0
$GC,3687,0.76,146.0,114.4,12.0,386,3690,0.00,2.03,0.00,0.000,4,0.000,0.058,3323,3770,2344,0,0,0,0,0,0
$GC,3724,0.76,146.0,108.7,14.4,389,3733,0.00,1.95,0.00,0.000,6,0.000,0.041,3332,2548,2343,0,0,0,0,0,0
$GC,3861,0.76,146.0,91.9,12.4,408,3869,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2546,2343,0,0,0,0,0,0
$GC,4000,0.76,146.0,74.8,11.9,433,4006,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2546,2343,0,0,0,0,0,0
$GC,4136,0.76,146.0,57.7,12.1,458,4144,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2546,2342,0,0,0,0,0,0
$GC,4275,0.76,146.0,40.0,12.9,483,4282,0.00,2.00,0.00,0.000,4,0.000,0.059,3332,3773,2342,0,0,0,0,0,0
$GC,4312,0.76,146.0,34.8,14.2,489,4319,0.00,1.95,0.00,0.000,6,0.000,0.041,3342,2533,2342,0,0,0,0,0,0
$GC,4451,0.76,146.0,16.9,12.7,514,4459,0.12,2.03,0.00,0.000,4,0.160,0.057,3308,3757,2342,0,0,0,0,0,0
$GC,4477,0.76,146.0,13.1,12.7,518,4485,0.00,1.92,0.00,0.000,6,0.000,0.041,3316,2552,2342,0,0,0,0,0,0
$FREEZE,8.79,-0.641,-1.895,2,1,0
$FREEZE,8.07,-0.616,-1.895,2,1,0
$FREEZE,7.39,-0.604,-1.895,2,1,0
$FREEZE,6.81,-0.589,-1.894,2,1,0
$FREEZE,6.02,-0.500,-1.893,2,1,0
$FREEZE,5.44,-0.513,-1.893,2,1,0
$FREEZE,4.75,-0.512,-1.893,2,1,0
$FREEZE,4.18,-0.519,-1.892,2,1,0
$FREEZE,3.45,-0.495,-1.892,2,1,0
$FREEZE,2.87,-0.496,-1.891,2,1,0
$STATE,4567,end climb,SURFACE_DEPTH_REACHED
$STATE,4567,begin surface coast
$FREEZE,1.90,-0.486,-1.891,2,1,0
$FREEZE,1.34,-0.477,-1.890,2,1,0
$FREEZE,1.12,-0.509,-1.204,2,1,0
$FREEZE,1.09,-0.553,-1.895,2,1,0
$FREEZE,1.06,-0.599,-1.897,2,1,0
$FINISH,1.1,1.027771
$STATE,4598,end surface coast,CONTROL_FINISHED_OK
$STATE,4598,begin surface
$SM_CCo,4615,75.55,0.099,0,0,1737,300.24
$SM_GC,2.04,0.00,0.00,75.55,0.000,0.000,0.099,434,2656,1737,-8.22,0.17,300.24
$IRIDIUM_FIX,-7545.40,18000.00,010111,212146
$TT8_MAMPS,0.028462
$HUMID,54.01
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,18.5
$ALTIM_BOTTOM_PING,301.2,21.5
$24V_AH,20.2,70.241
$10V_AH,9.6,47.737
$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,18.350,52.025,276.925,75.550,0.000,60.500,111.048,181.223,1.750,0.000,16.869,1353.860,1535.994,459.867,1705.645,173.694,0.000,1023.552,0.000,875.807,0.000,10.429,0.000
$DEVICE_MAMPS,197.370,85.680,985.320,99.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,376.969,744.631,881.694,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37088,538
$CAP_FILE_SIZE,77463,0
$CFSIZE,260165632,226963456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.406,294.5,1
$GPS,010111,232620,-7628.014,-17958.027,8,2.0,8,118.0