version: 66.08
glider: 502
mission: 3
dive: 497
start: 1 4 111 0 54 46
data:
$ID,502
$MISSION,3
$DIVE,497
$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,-30766.291
$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,32
$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
$GPS1,040111,004625,-7627.864,17907.939,38,1.4,38,119.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-66.7
$GPS2,040111,005420,-7627.874,17907.732,15,0.9,15,119.2
$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,145.3,236840,-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,14,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,169,0.00,0.00,-148.88,0.000,2,0.000,0.000,408,2655,3398,0,0,0,0,0,0
$GC,174,-0.76,-146.0,3.6,-2.9,22,197,9.10,1.88,-4.10,0.000,4,0.200,0.077,2800,3758,3562,0,0,0,0,0,0
$GC,302,-0.76,-146.0,29.2,-17.3,43,309,0.00,1.77,0.00,0.000,6,0.000,0.042,2800,2633,3565,0,0,0,0,0,0
$GC,444,-0.76,-146.0,54.2,-17.3,68,453,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2631,3564,0,0,0,0,0,0
$GC,589,-0.76,-146.0,78.1,-16.1,93,595,0.00,1.88,0.00,0.000,4,0.000,0.063,2791,3765,3565,0,0,0,0,0,0
$GC,615,-0.76,-146.0,82.6,-16.6,97,622,0.00,1.80,0.00,0.000,6,0.000,0.043,2791,2642,3565,0,0,0,0,0,0
$GC,762,-0.76,-146.0,107.7,-16.9,119,766,0.00,1.85,0.00,0.000,4,0.000,0.061,2783,3770,3565,0,0,0,0,0,0
$GC,789,-0.76,-146.0,113.3,-18.6,121,798,0.08,1.77,0.00,0.000,6,0.142,0.042,2808,2657,3565,0,0,0,0,0,0
$GC,925,-0.76,-146.0,134.6,-15.9,134,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2656,3565,0,0,0,0,0,0
$GC,1052,-0.76,-146.0,154.6,-15.2,146,1057,0.00,2.22,0.00,0.000,4,0.000,0.050,2808,1243,3565,0,0,0,0,0,0
$GC,1094,-0.76,-146.0,161.1,-15.5,149,1098,0.00,2.30,0.00,0.000,6,0.000,0.057,2799,2652,3565,0,0,0,0,0,0
$GC,1230,-0.76,-146.0,182.8,-15.9,161,1233,0.00,1.77,0.00,0.000,4,0.000,0.060,2791,3764,3565,0,0,0,0,0,0
$GC,1290,-0.76,-146.0,193.3,-16.9,166,1298,0.00,1.75,0.00,0.000,6,0.000,0.041,2791,2666,3565,0,0,0,0,0,0
$GC,1427,-0.76,-146.0,215.1,-16.3,179,1434,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2665,3565,0,0,0,0,0,0
$GC,1563,-0.76,-146.0,236.4,-15.6,192,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2665,3565,0,0,0,0,0,0
$GC,1691,-0.76,-146.0,256.7,-15.8,204,1694,0.00,1.80,0.00,0.000,4,0.000,0.061,2783,3772,3565,0,0,0,0,0,0
$GC,1758,-0.76,-146.0,268.8,-15.7,210,1763,0.10,1.77,0.00,0.000,6,0.142,0.044,2815,2666,3565,0,0,0,0,0,0
$STATE,1929,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1929,begin apogee
$GC,1935,-0.27,0.0,294.7,15.6,226,2073,0.47,0.00,129.48,0.991,4,0.129,0.000,2970,2484,2960,0,0,0,0,0,0
$STATE,2074,end apogee,CONTROL_FINISHED_OK
$STATE,2074,begin climb
$GC,2076,0.76,146.0,302.2,0.0,238,2235,1.10,2.50,147.45,0.916,4,0.084,0.049,3309,1097,2364,0,0,0,0,0,0
$GC,2375,0.77,153.2,278.0,9.7,264,2387,0.00,2.53,6.35,0.741,6,0.000,0.051,3310,2499,2336,0,0,0,0,0,0
$GC,2587,0.77,153.2,252.0,12.5,284,2591,0.00,2.30,0.00,0.000,4,0.000,0.050,3315,1090,2333,0,0,0,0,0,0
$GC,2781,0.77,153.2,229.0,11.6,301,2786,0.00,2.30,0.00,0.000,6,0.000,0.053,3315,2512,2330,0,0,0,0,0,0
$GC,2917,0.77,153.2,213.1,11.7,313,2921,0.00,2.00,0.00,0.000,4,0.000,0.060,3315,3765,2329,0,0,0,0,0,0
$GC,2997,0.77,153.2,202.2,13.9,320,3000,0.00,1.92,0.00,0.000,6,0.000,0.041,3324,2532,2328,0,0,0,0,0,0
$GC,3140,0.77,153.2,184.8,11.9,333,3147,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2530,2327,0,0,0,0,0,0
$GC,3275,0.77,153.2,168.8,11.5,346,3279,0.00,2.00,0.00,0.000,4,0.000,0.059,3324,3765,2328,0,0,0,0,0,0
$GC,3344,0.77,153.2,159.9,13.7,352,3347,0.00,1.92,0.00,0.000,6,0.000,0.041,3333,2533,2327,0,0,0,0,0,0
$GC,3487,0.77,153.2,143.0,11.6,365,3494,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2530,2326,0,0,0,0,0,0
$GC,3623,0.77,153.2,126.6,12.1,378,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2530,2327,0,0,0,0,0,0
$GC,3750,0.77,153.2,111.2,12.3,390,3751,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2530,2326,0,0,0,0,0,0
$GC,3879,0.77,153.2,95.9,11.8,405,3885,0.00,2.03,0.00,0.000,4,0.000,0.059,3334,3773,2326,0,0,0,0,0,0
$GC,3909,0.77,153.2,91.5,14.1,410,3918,0.08,1.98,0.00,0.000,6,0.140,0.041,3318,2542,2325,0,0,0,0,0,0
$GC,4055,0.77,153.2,75.1,10.9,435,4062,0.00,2.00,0.00,0.000,4,0.000,0.059,3318,3765,2325,0,0,0,0,0,0
$GC,4097,0.77,153.2,69.4,13.2,442,4105,0.00,1.95,0.00,0.000,6,0.000,0.041,3326,2545,2325,0,0,0,0,0,0
$GC,4243,0.77,153.2,52.6,11.1,467,4251,0.00,2.00,0.00,0.000,4,0.000,0.060,3326,3764,2325,0,0,0,0,0,0
$GC,4281,0.77,153.2,47.5,13.5,473,4288,0.00,1.90,0.00,0.000,6,0.000,0.041,3335,2552,2325,0,0,0,0,0,0
$GC,4424,0.77,153.2,29.8,12.2,498,4431,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2550,2325,0,0,0,0,0,0
$GC,4568,0.77,153.2,11.8,12.2,523,4575,0.00,2.00,0.00,0.000,4,0.000,0.059,3335,3767,2325,0,0,0,0,0,0
$FREEZE,8.88,-0.843,-1.897,2,1,0
$FREEZE,8.03,-0.838,-1.896,2,1,0
$FREEZE,6.99,-0.851,-1.896,2,1,0
$FREEZE,6.09,-0.843,-1.895,2,1,0
$FREEZE,5.08,-0.848,-1.894,2,1,0
$FREEZE,4.37,-0.840,-1.894,2,1,0
$FREEZE,3.35,-0.812,-1.893,2,1,0
$FREEZE,2.63,-0.811,-1.892,2,1,0
$STATE,4628,end climb,SURFACE_DEPTH_REACHED
$STATE,4628,begin surface coast
$FREEZE,1.26,-0.813,-1.891,2,1,0
$FREEZE,1.13,-0.785,-1.038,2,1,0
$FINISH,1.1,1.015324
$STATE,4643,end surface coast,CONTROL_FINISHED_OK
$STATE,4643,begin surface
$SM_CCo,4662,72.30,0.100,0,0,1737,300.24
$SM_GC,2.06,0.00,0.00,72.30,0.000,0.000,0.100,425,2632,1737,-8.25,-0.51,300.24
$IRIDIUM_FIX,-7545.40,17904.85,030111,232317
$TT8_MAMPS,0.027713
$HUMID,53.07
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.4,18.3
$ALTIM_BOTTOM_PING,251.6,57.0
$24V_AH,20.2,73.927
$10V_AH,9.7,50.576
$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,18.525,55.975,283.275,72.300,0.000,27.909,38.761,263.764,1.250,0.000,16.196,1333.440,1441.062,492.789,1730.874,221.244,0.000,1083.536,0.000,909.446,0.000,7.200,0.000
$DEVICE_MAMPS,200.430,77.265,991.440,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,373.910,751.283,913.868,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267156
$DATA_FILE_SIZE,37048,535
$CAP_FILE_SIZE,79139,0
$CFSIZE,260165632,225333248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.244,242.0,1
$GPS,040111,021432,-7628.204,17903.000,13,1.3,13,119.3