version: 66.08
glider: 502
mission: 3
dive: 478
start: 1 2 111 23 2 15
data:
$ID,502
$MISSION,3
$DIVE,478
$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,-30742.408
$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,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
$GPS1,020111,225607,-7626.244,17940.920,30,0.8,30,118.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-72.8
$GPS2,020111,230150,-7626.239,17940.586,11,1.0,11,118.3
$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,138.9,251108,-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,-146.0,0.0,0.0,0,107,0.00,0.00,-88.12,0.000,2,0.000,0.000,411,2653,3387,0,0,0,0,0,0
$GC,110,-0.76,-146.0,3.5,-2.2,13,132,9.00,2.30,-4.55,0.000,4,0.198,0.062,2808,1234,3560,0,0,0,0,0,0
$GC,281,-0.76,-146.0,32.7,-14.8,43,289,0.00,2.33,0.00,0.000,6,0.000,0.057,2799,2649,3564,0,0,0,0,0,0
$GC,420,-0.76,-146.0,55.7,-16.3,68,428,0.00,1.83,0.00,0.000,4,0.000,0.062,2790,3756,3563,0,0,0,0,0,0
$GC,456,-0.76,-146.0,62.5,-19.8,74,465,0.00,1.77,0.00,0.000,6,0.000,0.042,2790,2642,3564,0,0,0,0,0,0
$GC,597,-0.76,-146.0,87.4,-17.5,99,605,0.00,2.22,0.00,0.000,4,0.000,0.051,2790,1237,3563,0,0,0,0,0,0
$GC,638,-0.76,-146.0,94.5,-15.8,106,647,0.08,2.38,0.00,0.000,6,0.131,0.057,2811,2656,3563,0,0,0,0,0,0
$GC,782,-0.76,-146.0,116.7,-14.8,122,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2656,3563,0,0,0,0,0,0
$GC,909,-0.76,-146.0,135.4,-15.0,134,912,0.00,1.77,0.00,0.000,4,0.000,0.060,2804,3767,3564,0,0,0,0,0,0
$GC,957,-0.76,-146.0,143.9,-15.7,138,966,0.00,1.75,0.00,0.000,6,0.000,0.042,2804,2669,3564,0,0,0,0,0,0
$GC,1095,-0.76,-146.0,164.6,-15.3,151,1099,0.00,1.80,0.00,0.000,4,0.000,0.062,2796,3771,3564,0,0,0,0,0,0
$GC,1155,-0.76,-146.0,176.2,-20.3,156,1163,0.00,1.75,0.00,0.000,6,0.000,0.042,2796,2678,3564,0,0,0,0,0,0
$GC,1292,-0.76,-146.0,199.4,-16.7,169,1296,0.00,1.77,0.00,0.000,4,0.000,0.064,2787,3766,3564,0,0,0,0,0,0
$GC,1341,-0.76,-146.0,208.1,-18.2,173,1350,0.08,1.75,0.00,0.000,6,0.144,0.043,2811,2668,3564,0,0,0,0,0,0
$GC,1476,-0.76,-146.0,228.8,-14.2,186,1480,0.00,2.25,0.00,0.000,4,0.000,0.050,2811,1241,3564,0,0,0,0,0,0
$GC,1497,-0.76,-146.0,231.9,-15.5,187,1501,0.00,2.35,0.00,0.000,6,0.000,0.056,2802,2683,3564,0,0,0,0,0,0
$GC,1631,-0.76,-146.0,253.5,-15.7,199,1635,0.00,1.73,0.00,0.000,4,0.000,0.061,2794,3760,3564,0,0,0,0,0,0
$STATE,1656,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1656,begin apogee
$GC,1664,-0.27,0.0,258.2,15.6,201,1799,0.57,0.00,128.05,0.958,4,0.138,0.000,2972,2494,2962,0,0,0,0,0,0
$STATE,1800,end apogee,CONTROL_FINISHED_OK
$STATE,1800,begin climb
$GC,1802,0.76,146.0,265.4,0.0,213,1957,1.08,2.50,145.00,0.879,4,0.080,0.049,3311,1089,2364,0,0,0,0,0,0
$GC,2131,0.76,146.0,240.1,10.1,243,2135,0.00,2.47,0.00,0.000,6,0.000,0.053,3311,2495,2353,0,0,0,0,0,0
$GC,2268,0.82,196.2,226.5,7.7,255,2320,0.00,2.47,47.20,0.884,4,0.000,0.049,3315,1098,2159,0,0,0,0,0,0
$GC,2480,0.82,196.2,201.0,11.8,273,2484,0.00,2.33,0.00,0.000,6,0.000,0.054,3315,2513,2151,0,0,0,0,0,0
$GC,2616,0.82,196.2,184.1,12.6,285,2619,0.00,2.00,0.00,0.000,4,0.000,0.060,3315,3763,2151,0,0,0,0,0,0
$GC,2698,0.82,196.2,173.6,12.4,292,2707,0.00,1.98,0.00,0.000,6,0.000,0.041,3324,2527,2150,0,0,0,0,0,0
$GC,2835,0.82,196.2,157.4,11.4,305,2839,0.00,2.00,0.00,0.000,4,0.000,0.059,3324,3762,2149,0,0,0,0,0,0
$GC,2893,0.82,196.2,149.5,13.6,310,2897,0.00,1.92,0.00,0.000,6,0.000,0.042,3334,2532,2149,0,0,0,0,0,0
$GC,3035,0.82,196.2,132.8,10.9,323,3039,0.00,2.00,0.00,0.000,4,0.000,0.060,3334,3764,2149,0,0,0,0,0,0
$GC,3084,0.82,196.2,126.5,11.8,327,3094,0.00,1.95,0.00,0.000,6,0.000,0.041,3343,2549,2148,0,0,0,0,0,0
$GC,3221,0.82,196.2,111.2,11.7,340,3225,0.00,2.33,0.00,0.000,4,0.000,0.050,3353,1075,2148,0,0,0,0,0,0
$GC,3241,0.82,196.2,108.5,11.2,341,3250,0.00,2.42,0.00,0.000,6,0.000,0.052,3353,2551,2146,0,0,0,0,0,0
$GC,3377,0.82,196.2,92.3,12.4,359,3384,0.00,1.95,0.00,0.000,4,0.000,0.059,3353,3762,2147,0,0,0,0,0,0
$GC,3414,0.82,196.2,87.2,14.6,365,3422,0.10,1.95,0.00,0.000,6,0.142,0.042,3330,2547,2146,0,0,0,0,0,0
$GC,3554,0.82,196.2,71.7,10.1,390,3561,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2545,2146,0,0,0,0,0,0
$GC,3694,0.82,196.2,57.7,10.3,415,3701,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2545,2146,0,0,0,0,0,0
$GC,3833,0.82,196.2,43.0,11.6,440,3840,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2545,2146,0,0,0,0,0,0
$GC,3974,0.82,196.2,27.6,12.9,465,3981,0.00,2.00,0.00,0.000,4,0.000,0.059,3330,3766,2146,0,0,0,0,0,0
$GC,4022,0.82,196.2,21.0,14.1,473,4030,0.00,1.92,0.00,0.000,6,0.000,0.041,3337,2545,2146,0,0,0,0,0,0
$FREEZE,8.95,-1.124,-1.899,2,1,0
$FREEZE,8.09,-1.103,-1.898,2,1,0
$FREEZE,7.44,-1.071,-1.897,2,1,0
$FREEZE,6.67,-1.058,-1.897,2,1,0
$FREEZE,6.01,-1.035,-1.896,2,1,0
$FREEZE,4.96,-1.003,-1.895,2,1,0
$FREEZE,4.11,-1.008,-1.895,2,1,0
$FREEZE,3.32,-0.987,-1.894,2,1,0
$FREEZE,2.46,-0.983,-1.893,2,1,0
$STATE,4158,end climb,SURFACE_DEPTH_REACHED
$STATE,4159,begin surface coast
$FREEZE,1.45,-0.995,-1.893,2,1,0
$FREEZE,1.37,-0.978,-1.892,2,1,0
$FREEZE,1.20,-1.016,-1.888,2,1,0
$FREEZE,1.27,-1.132,-1.802,2,1,0
$FINISH,1.3,1.026440
$STATE,4184,end surface coast,CONTROL_FINISHED_OK
$STATE,4184,begin surface
$SM_CCo,4201,54.75,0.708,1,0,1737,300.24
$SM_GC,2.10,0.00,0.00,54.75,0.000,0.000,0.708,412,2664,1737,-8.29,0.40,300.24
$IRIDIUM_FIX,-7536.68,18000.00,020111,212156
$TT8_MAMPS,0.027713
$HUMID,53.74
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,18.6
$ALTIM_BOTTOM_PING,250.4,22.7
$24V_AH,20.2,72.115
$10V_AH,9.7,49.163
$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,18.450,66.175,320.250,54.750,0.000,30.156,38.947,163.574,1.250,0.000,12.650,1272.607,1091.564,470.246,1607.348,171.771,0.000,1044.348,0.000,875.193,0.000,7.103,0.000
$DEVICE_MAMPS,198.135,82.620,957.780,707.625,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,350.298,735.684,934.286,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267160
$DATA_FILE_SIZE,33708,501
$CAP_FILE_SIZE,76217,0
$CFSIZE,260165632,226140160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.407,252.6,1
$GPS,030111,001408,-7626.640,17934.691,13,2.0,13,118.5