version: 66.08
glider: 502
mission: 3
dive: 477
start: 1 2 111 21 46 41
data:
$ID,502
$MISSION,3
$DIVE,477
$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,-30741.148
$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,38
$R_STBD_OVSHOOT,26
$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
$GPS1,020111,214014,-7626.030,17946.248,14,2.0,14,118.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-72.1
$GPS2,020111,214615,-7625.992,17945.945,12,1.6,12,118.2
$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,105.1,253437,-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,15,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,101,0.00,0.00,-81.65,0.000,2,0.000,0.000,417,2637,3232,0,0,0,0,0,0
$GC,104,-0.76,-146.0,3.1,-1.3,12,128,8.80,2.30,-10.23,0.000,4,0.195,0.063,2806,1245,3560,0,0,0,0,0,0
$GC,168,-0.76,-146.0,13.7,-15.7,22,178,0.00,2.33,0.00,0.000,6,0.000,0.058,2798,2638,3562,0,0,0,0,0,0
$GC,315,-0.76,-146.0,38.1,-15.6,47,321,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2638,3563,0,0,0,0,0,0
$GC,456,-0.76,-146.0,64.8,-18.2,72,464,0.00,1.85,0.00,0.000,4,0.000,0.061,2789,3761,3563,0,0,0,0,0,0
$GC,493,-0.76,-146.0,72.0,-20.1,78,502,0.00,1.77,0.00,0.000,6,0.000,0.042,2789,2650,3563,0,0,0,0,0,0
$GC,639,-0.76,-146.0,100.2,-18.3,103,643,0.00,2.22,0.00,0.000,4,0.000,0.050,2789,1233,3563,0,0,0,0,0,0
$GC,670,-0.76,-146.0,106.3,-17.6,105,680,0.08,2.35,0.00,0.000,6,0.133,0.057,2810,2646,3563,0,0,0,0,0,0
$GC,808,-0.76,-146.0,124.6,-12.3,118,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2646,3563,0,0,0,0,0,0
$GC,944,-0.76,-146.0,141.4,-13.6,131,948,0.00,1.80,0.00,0.000,4,0.000,0.062,2804,3767,3564,0,0,0,0,0,0
$GC,981,-0.76,-146.0,147.3,-14.2,134,992,0.00,1.75,0.00,0.000,6,0.000,0.042,2804,2664,3564,0,0,0,0,0,0
$GC,1118,-0.76,-146.0,163.6,-12.7,147,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2662,3564,0,0,0,0,0,0
$GC,1253,-0.76,-146.0,182.5,-13.8,160,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2663,3564,0,0,0,0,0,0
$GC,1381,-0.76,-146.0,200.8,-14.8,172,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2663,3563,0,0,0,0,0,0
$GC,1509,-0.76,-146.0,221.0,-15.9,184,1512,0.00,1.80,0.00,0.000,4,0.000,0.062,2796,3767,3564,0,0,0,0,0,0
$GC,1555,-0.76,-146.0,228.6,-14.7,188,1558,0.00,1.73,0.00,0.000,6,0.000,0.042,2796,2659,3564,0,0,0,0,0,0
$STATE,1686,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1686,begin apogee
$GC,1692,-0.27,0.0,250.4,17.1,200,1829,0.55,0.00,127.95,0.947,4,0.128,0.000,2971,2490,2960,0,0,0,0,0,0
$STATE,1830,end apogee,CONTROL_FINISHED_OK
$STATE,1830,begin climb
$GC,1832,0.76,146.0,259.3,0.0,212,1986,1.10,2.38,145.00,0.872,4,0.092,0.063,3308,3761,2364,0,0,0,0,0,0
$GC,2237,0.76,146.0,214.1,14.0,248,2241,0.00,2.05,0.00,0.000,6,0.000,0.039,3316,2509,2351,0,0,0,0,0,0
$GC,2374,0.76,146.0,198.1,13.5,260,2378,0.00,2.28,0.00,0.000,4,0.000,0.052,3316,1084,2348,0,0,0,0,0,0
$GC,2482,0.76,146.0,183.9,11.4,269,2491,0.00,2.35,0.00,0.000,6,0.000,0.054,3316,2505,2345,0,0,0,0,0,0
$GC,2621,0.76,146.0,168.4,11.2,282,2624,0.00,2.03,0.00,0.000,4,0.000,0.058,3316,3772,2345,0,0,0,0,0,0
$GC,2667,0.76,146.0,161.9,14.1,286,2671,0.00,1.98,0.00,0.000,6,0.000,0.041,3326,2500,2345,0,0,0,0,0,0
$GC,2808,0.76,146.0,145.8,12.7,299,2812,0.00,2.08,0.00,0.000,4,0.000,0.060,3326,3776,2345,0,0,0,0,0,0
$GC,2861,0.76,146.0,137.8,15.3,303,2865,0.00,1.95,0.00,0.000,6,0.000,0.041,3335,2524,2345,0,0,0,0,0,0
$GC,3004,0.78,158.3,121.3,9.4,316,3018,0.00,2.12,8.52,0.809,4,0.000,0.059,3335,3774,2315,0,0,0,0,0,0
$GC,3056,0.78,158.3,114.2,13.9,320,3064,0.00,1.98,0.00,0.000,6,0.000,0.041,3345,2535,2314,0,0,0,0,0,0
$GC,3191,0.78,158.3,98.7,11.0,334,3199,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,2534,2312,0,0,0,0,0,0
$GC,3336,0.78,161.1,83.3,9.9,359,3342,0.00,2.00,0.00,0.000,4,0.000,0.058,3345,3768,2312,0,0,0,0,0,0
$GC,3396,0.78,161.1,74.7,15.3,369,3404,0.10,1.95,0.00,0.000,6,0.139,0.041,3321,2547,2311,0,0,0,0,0,0
$GC,3540,0.78,161.1,58.4,10.4,394,3549,0.00,2.35,0.00,0.000,4,0.000,0.051,3328,1084,2310,0,0,0,0,0,0
$GC,3563,0.78,161.1,56.0,10.7,397,3570,0.00,2.38,0.00,0.000,6,0.000,0.054,3328,2548,2310,0,0,0,0,0,0
$GC,3709,0.78,161.1,39.3,12.6,422,3718,0.00,1.98,0.00,0.000,4,0.000,0.058,3328,3757,2310,0,0,0,0,0,0
$GC,3776,0.78,161.1,29.8,14.2,433,3783,0.00,1.90,0.00,0.000,6,0.000,0.041,3337,2548,2310,0,0,0,0,0,0
$GC,3919,0.78,161.1,11.5,13.0,458,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2546,2310,0,0,0,0,0,0
$FREEZE,8.46,-1.040,-1.898,2,1,0
$FREEZE,7.71,-1.043,-1.898,2,1,0
$FREEZE,7.00,-1.039,-1.897,2,1,0
$FREEZE,6.00,-1.036,-1.896,2,1,0
$FREEZE,5.34,-1.034,-1.896,2,1,0
$FREEZE,4.52,-1.034,-1.895,2,1,0
$FREEZE,3.67,-1.032,-1.894,2,1,0
$FREEZE,2.63,-1.033,-1.894,2,1,0
$STATE,3981,end climb,SURFACE_DEPTH_REACHED
$STATE,3981,begin surface coast
$FREEZE,1.94,-1.030,-1.893,2,1,0
$FREEZE,1.25,-1.029,-1.892,2,1,0
$FREEZE,1.35,-1.027,-1.892,2,1,0
$FREEZE,1.12,-1.027,-1.116,2,1,0
$FINISH,1.1,1.016483
$STATE,4008,end surface coast,CONTROL_FINISHED_OK
$STATE,4008,begin surface
$SM_CCo,4025,71.95,0.099,0,0,1736,300.24
$SM_GC,2.11,0.00,0.00,71.95,0.000,0.000,0.099,416,2651,1736,-8.28,0.03,300.24
$IRIDIUM_FIX,-7545.40,18000.00,020111,202059
$TT8_MAMPS,0.026964
$HUMID,53.11
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,20.0,19.1
$ALTIM_BOTTOM_PING,250.4,14.5
$24V_AH,20.3,72.009
$10V_AH,9.7,49.088
$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,18.250,54.025,281.475,71.950,0.000,30.408,42.625,176.919,1.250,0.000,12.843,1196.332,1102.200,449.791,1548.587,171.984,0.000,984.565,0.000,811.691,0.000,7.090,0.000
$DEVICE_MAMPS,195.075,86.445,947.070,98.685,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,330.118,702.677,919.786,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267120
$DATA_FILE_SIZE,33772,472
$CAP_FILE_SIZE,71058,0
$CFSIZE,260165632,226185216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.368,276.3,1
$GPS,020111,225607,-7626.244,17940.920,30,0.8,30,118.3