version: 66.08
glider: 502
mission: 3
dive: 499
start: 1 4 111 3 59 29
data:
$ID,502
$MISSION,3
$DIVE,499
$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,-30768.805
$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,24
$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
$GPS1,040111,034731,-7628.524,17858.494,41,1.2,41,119.5
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-67.8
$GPS2,040111,035902,-7628.598,17858.350,14,1.0,14,119.5
$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,194.9,232765,-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,-146.0,0.0,0.0,0,168,0.00,0.00,-149.40,0.000,2,0.000,0.000,416,2669,3392,0,0,0,0,0,0
$GC,173,-0.76,-146.0,3.3,-1.8,22,196,8.90,1.83,-4.32,0.000,4,0.195,0.076,2803,3760,3562,0,0,0,0,0,0
$GC,203,-0.76,-146.0,12.2,-24.4,26,211,0.00,1.77,0.00,0.000,6,0.000,0.042,2803,2648,3563,0,0,0,0,0,0
$GC,348,-0.76,-146.0,35.8,-15.9,51,354,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2648,3565,0,0,0,0,0,0
$GC,487,-0.76,-146.0,58.5,-16.4,76,496,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2647,3565,0,0,0,0,0,0
$GC,633,-0.76,-146.0,81.9,-16.0,101,640,0.00,1.83,0.00,0.000,4,0.000,0.062,2794,3763,3565,0,0,0,0,0,0
$GC,664,-0.76,-146.0,87.6,-17.1,106,672,0.00,1.77,0.00,0.000,6,0.000,0.042,2794,2650,3565,0,0,0,0,0,0
$GC,805,-0.76,-146.0,111.3,-16.8,125,808,0.00,1.83,0.00,0.000,4,0.000,0.061,2785,3769,3565,0,0,0,0,0,0
$GC,852,-0.76,-146.0,119.6,-17.7,129,856,0.12,1.73,0.00,0.000,6,0.161,0.042,2819,2664,3564,0,0,0,0,0,0
$GC,994,-0.76,-146.0,141.2,-14.6,142,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2662,3565,0,0,0,0,0,0
$GC,1129,-0.76,-146.0,161.1,-14.6,155,1133,0.00,1.80,0.00,0.000,4,0.000,0.062,2812,3767,3565,0,0,0,0,0,0
$GC,1156,-0.76,-146.0,165.7,-16.1,157,1164,0.00,1.75,0.00,0.000,6,0.000,0.041,2812,2674,3565,0,0,0,0,0,0
$GC,1293,-0.76,-146.0,185.9,-15.1,170,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2674,3564,0,0,0,0,0,0
$GC,1429,-0.76,-146.0,206.6,-15.1,183,1432,0.00,1.77,0.00,0.000,4,0.000,0.063,2803,3761,3564,0,0,0,0,0,0
$GC,1465,-0.76,-146.0,212.4,-16.8,186,1468,0.00,1.70,0.00,0.000,6,0.000,0.041,2803,2672,3564,0,0,0,0,0,0
$GC,1606,-0.76,-146.0,235.2,-16.7,199,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2670,3565,0,0,0,0,0,0
$GC,1732,-0.76,-146.0,256.4,-15.9,211,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2670,3564,0,0,0,0,0,0
$GC,1926,-0.76,-146.0,285.3,-14.1,229,1929,0.00,1.80,0.00,0.000,4,0.000,0.063,2795,3770,3565,0,0,0,0,0,0
$GC,1974,-0.76,-146.0,293.8,-16.2,233,1982,0.00,1.75,0.00,0.000,6,0.000,0.042,2795,2676,3564,0,0,0,0,0,0
$GC,2173,-0.76,-146.0,304.4,0.1,252,2177,0.00,1.80,0.00,0.000,4,0.000,0.067,2795,3765,3565,0,0,0,0,0,0
$STATE,2206,end dive,NO_VERTICAL_VELOCITY
$STATE,2206,begin apogee
$GC,2214,-0.27,0.0,304.5,0.0,255,2350,0.50,0.00,130.25,0.985,4,0.075,0.000,2981,2487,2960,0,0,0,0,0,0
$STATE,2351,end apogee,CONTROL_FINISHED_OK
$STATE,2351,begin climb
$GC,2354,0.76,146.0,304.4,0.0,267,2509,1.05,2.50,147.20,0.908,4,0.076,0.048,3311,1092,2364,0,0,0,0,0,0
$GC,2637,0.76,146.0,278.9,10.8,292,2645,0.00,2.55,0.00,0.000,6,0.000,0.050,3310,2504,2353,0,0,0,0,0,0
$GC,2835,0.76,146.0,257.2,11.5,311,2840,0.00,2.33,0.00,0.000,4,0.000,0.050,3315,1093,2349,0,0,0,0,0,0
$GC,3000,0.76,146.0,239.2,10.9,325,3009,0.00,2.35,0.00,0.000,6,0.000,0.054,3315,2508,2347,0,0,0,0,0,0
$GC,3136,0.76,146.0,223.8,11.2,338,3139,0.00,2.03,0.00,0.000,4,0.000,0.060,3315,3767,2346,0,0,0,0,0,0
$GC,3182,0.76,146.0,218.1,13.0,342,3186,0.00,1.95,0.00,0.000,6,0.000,0.041,3324,2515,2345,0,0,0,0,0,0
$GC,3325,0.76,146.0,201.5,11.7,355,3329,0.00,2.05,0.00,0.000,4,0.000,0.060,3324,3770,2345,0,0,0,0,0,0
$GC,3377,0.76,146.0,194.5,13.0,359,3381,0.00,1.95,0.00,0.000,6,0.000,0.042,3334,2527,2345,0,0,0,0,0,0
$GC,3518,0.76,146.0,177.2,12.0,372,3522,0.00,2.03,0.00,0.000,4,0.000,0.060,3334,3770,2344,0,0,0,0,0,0
$GC,3555,0.76,146.0,172.4,13.3,375,3560,0.12,1.92,0.00,0.000,6,0.160,0.041,3310,2539,2344,0,0,0,0,0,0
$GC,3691,0.76,146.0,157.3,10.3,387,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2536,2344,0,0,0,0,0,0
$GC,3818,0.76,146.0,144.0,10.6,399,3819,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2536,2344,0,0,0,0,0,0
$GC,3945,0.76,146.0,131.1,10.2,411,3949,0.00,2.00,0.00,0.000,4,0.000,0.060,3310,3767,2343,0,0,0,0,0,0
$GC,3993,0.76,146.0,124.9,12.5,415,4002,0.00,1.98,0.00,0.000,6,0.000,0.041,3318,2532,2343,0,0,0,0,0,0
$GC,4132,0.76,146.0,110.3,10.7,428,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2532,2343,0,0,0,0,0,0
$GC,4271,0.76,146.0,94.5,11.6,445,4277,0.00,2.03,0.00,0.000,4,0.000,0.060,3318,3770,2342,0,0,0,0,0,0
$GC,4345,0.76,146.0,84.6,13.0,458,4354,0.00,1.95,0.00,0.000,6,0.000,0.042,3327,2553,2342,0,0,0,0,0,0
$GC,4493,0.76,146.0,68.4,11.0,483,4500,0.00,2.00,0.00,0.000,4,0.000,0.060,3327,3771,2342,0,0,0,0,0,0
$GC,4535,0.76,146.0,63.0,12.7,490,4543,0.00,1.95,0.00,0.000,6,0.000,0.041,3337,2555,2342,0,0,0,0,0,0
$GC,4679,0.76,146.0,46.7,11.4,515,4686,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2553,2342,0,0,0,0,0,0
$GC,4822,0.76,146.0,30.1,11.4,540,4830,0.00,2.03,0.00,0.000,4,0.000,0.060,3337,3770,2341,0,0,0,0,0,0
$GC,4856,0.76,146.0,25.9,13.2,545,4863,0.12,1.90,0.00,0.000,6,0.160,0.041,3312,2560,2341,0,0,0,0,0,0
$GC,5001,0.76,146.0,10.0,10.4,570,5009,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2558,2341,0,0,0,0,0,0
$FREEZE,8.38,-0.811,-1.897,2,1,0
$FREEZE,7.83,-0.806,-1.896,2,1,0
$FREEZE,7.15,-0.811,-1.896,2,1,0
$FREEZE,6.65,-0.814,-1.896,2,1,0
$FREEZE,5.85,-0.819,-1.895,2,1,0
$FREEZE,5.24,-0.819,-1.895,2,1,0
$FREEZE,4.60,-0.815,-1.894,2,1,0
$FREEZE,4.05,-0.818,-1.894,2,1,0
$FREEZE,3.32,-0.818,-1.893,2,1,0
$FREEZE,2.69,-0.806,-1.893,2,1,0
$STATE,5067,end climb,SURFACE_DEPTH_REACHED
$STATE,5068,begin surface coast
$FREEZE,1.77,-0.808,-1.892,2,1,0
$FREEZE,1.26,-0.810,-1.892,2,1,0
$FREEZE,1.14,-0.829,-1.704,2,1,0
$FREEZE,1.15,-0.842,-1.873,2,1,0
$FREEZE,1.13,-0.812,-1.888,2,1,0
$FINISH,1.1,1.027646
$STATE,5099,end surface coast,CONTROL_FINISHED_OK
$STATE,5099,begin surface
$SM_CCo,5116,73.40,0.099,0,0,1735,300.24
$SM_GC,1.98,0.00,0.00,73.40,0.000,0.000,0.099,416,2658,1735,-8.28,0.23,300.24
$IRIDIUM_FIX,-7545.40,17855.66,040111,030349
$TT8_MAMPS,0.028462
$HUMID,53.07
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,18.7
$24V_AH,20.2,74.179
$10V_AH,9.5,50.740
$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,18.300,62.825,277.450,73.400,0.000,58.897,126.825,296.132,1.500,0.000,15.742,1463.989,1712.440,504.665,1975.307,234.080,0.000,1141.184,0.000,981.209,0.000,6.058,0.000
$DEVICE_MAMPS,195.075,86.445,985.320,99.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,409.973,810.657,961.575,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267076
$DATA_FILE_SIZE,40416,586
$CAP_FILE_SIZE,87481,0
$CFSIZE,260165632,225230848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.241,191.8,1
$GPS,040111,052650,-7628.836,17855.969,12,1.2,12,119.6