version: 66.08
glider: 502
mission: 3
dive: 468
start: 1 2 111 10 59 36
data:
$ID,502
$MISSION,3
$DIVE,468
$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,-30731.078
$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,34
$R_STBD_OVSHOOT,22
$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
$GPS1,020111,104637,-7630.378,17949.045,34,0.9,34,118.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-69.7
$GPS2,020111,105908,-7630.392,17949.709,12,1.5,12,118.4
$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,179.0,254956,-17.5,-10.000
$D_GRID,388
$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,-146.0,0.0,0.0,0,100,0.00,0.00,-82.12,0.000,2,0.000,0.000,395,2654,3235,0,0,0,0,0,0
$GC,103,-0.76,-146.0,3.1,-1.3,12,128,8.95,2.38,-9.95,0.000,4,0.193,0.064,2809,1233,3559,0,0,0,0,0,0
$GC,275,-0.76,-146.0,28.7,-13.9,41,282,0.00,2.33,0.00,0.000,6,0.000,0.058,2801,2650,3562,0,0,0,0,0,0
$GC,417,-0.76,-146.0,51.2,-16.5,66,426,0.00,1.85,0.00,0.000,4,0.000,0.061,2792,3760,3562,0,0,0,0,0,0
$GC,444,-0.76,-146.0,55.8,-16.6,70,453,0.00,1.77,0.00,0.000,6,0.000,0.041,2792,2646,3562,0,0,0,0,0,0
$GC,589,-0.76,-146.0,79.8,-17.0,95,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2645,3562,0,0,0,0,0,0
$GC,729,-0.76,-146.0,103.9,-16.9,118,733,0.00,1.88,0.00,0.000,4,0.000,0.062,2783,3764,3563,0,0,0,0,0,0
$GC,776,-0.76,-146.0,112.0,-17.9,122,781,0.12,1.73,0.00,0.000,6,0.158,0.042,2817,2657,3562,0,0,0,0,0,0
$GC,919,-0.76,-146.0,133.9,-15.1,135,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2655,3562,0,0,0,0,0,0
$GC,1055,-0.76,-146.0,154.7,-15.9,148,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2655,3562,0,0,0,0,0,0
$GC,1182,-0.76,-146.0,173.9,-14.5,160,1186,0.00,2.25,0.00,0.000,4,0.000,0.051,2817,1237,3563,0,0,0,0,0,0
$GC,1223,-0.76,-146.0,180.0,-14.3,163,1227,0.00,2.33,0.00,0.000,6,0.000,0.057,2808,2658,3563,0,0,0,0,0,0
$GC,1360,-0.76,-146.0,201.1,-17.0,175,1364,0.00,2.28,0.00,0.000,4,0.000,0.051,2808,1237,3563,0,0,0,0,0,0
$GC,1381,-0.76,-146.0,204.4,-14.8,176,1386,0.00,2.33,0.00,0.000,6,0.000,0.056,2798,2659,3563,0,0,0,0,0,0
$GC,1518,-0.76,-146.0,212.0,-0.2,188,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2659,3563,0,0,0,0,0,0
$STATE,1610,end dive,NO_VERTICAL_VELOCITY
$STATE,1610,begin apogee
$GC,1616,-0.27,0.0,211.9,0.0,197,1755,0.50,0.00,127.38,0.923,4,0.092,0.000,2979,2489,2959,0,0,0,0,0,0
$STATE,1756,end apogee,CONTROL_FINISHED_OK
$STATE,1756,begin climb
$GC,1758,0.76,146.0,211.9,0.0,208,1912,1.02,2.45,141.57,0.838,4,0.072,0.050,3312,1101,2364,0,0,0,0,0,0
$GC,2016,0.78,161.9,189.8,9.3,229,2039,0.00,2.58,15.70,0.801,6,0.000,0.053,3311,2497,2300,0,0,0,0,0,0
$GC,2166,0.78,161.9,173.5,11.1,243,2171,0.00,2.38,0.00,0.000,4,0.000,0.050,3322,1103,2295,0,0,0,0,0,0
$GC,2318,0.78,161.9,156.8,11.4,256,2323,0.00,2.35,0.00,0.000,6,0.000,0.054,3322,2529,2292,0,0,0,0,0,0
$GC,2454,0.78,161.9,140.2,12.0,268,2458,0.00,2.00,0.00,0.000,4,0.000,0.060,3322,3775,2291,0,0,0,0,0,0
$GC,2511,0.78,161.9,132.5,14.2,273,2515,0.00,1.95,0.00,0.000,6,0.000,0.041,3332,2533,2292,0,0,0,0,0,0
$GC,2654,0.78,161.9,114.4,12.4,286,2662,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2530,2290,0,0,0,0,0,0
$GC,2790,0.78,161.9,96.5,13.7,301,2797,0.00,2.05,0.00,0.000,4,0.000,0.060,3332,3768,2290,0,0,0,0,0,0
$GC,2839,0.78,161.9,89.2,14.6,309,2846,0.00,1.98,0.00,0.000,6,0.000,0.041,3341,2534,2290,0,0,0,0,0,0
$GC,2981,0.78,161.9,70.3,12.7,334,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2532,2290,0,0,0,0,0,0
$GC,3126,0.78,161.9,51.7,13.1,359,3133,0.00,2.03,0.00,0.000,4,0.000,0.059,3341,3772,2289,0,0,0,0,0,0
$GC,3185,0.78,161.9,42.5,15.1,369,3192,0.12,1.95,0.00,0.000,6,0.166,0.041,3318,2538,2289,0,0,0,0,0,0
$GC,3330,0.78,161.9,24.5,12.4,394,3338,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2535,2288,0,0,0,0,0,0
$FREEZE,8.48,-1.074,-1.898,2,1,0
$FREEZE,7.68,-1.074,-1.898,2,1,0
$FREEZE,6.96,-1.074,-1.897,2,1,0
$GC,3477,0.78,161.9,7.0,12.9,419,3483,0.00,2.03,0.00,0.000,4,0.000,0.058,3318,3775,2288,0,0,0,0,0,0
$FREEZE,4.59,-1.078,-1.896,2,1,0
$FREEZE,3.57,-1.078,-1.895,2,1,0
$FREEZE,2.71,-1.080,-1.894,2,1,0
$STATE,3504,end climb,SURFACE_DEPTH_REACHED
$STATE,3504,begin surface coast
$FREEZE,1.70,-1.085,-1.894,2,1,0
$FREEZE,1.14,-1.083,-1.893,2,1,0
$FREEZE,1.17,-1.159,-1.879,2,1,0
$FREEZE,1.03,-1.125,-1.812,2,1,0
$FINISH,1.0,1.026589
$STATE,3530,end surface coast,CONTROL_FINISHED_OK
$STATE,3530,begin surface
$SM_CCo,3549,74.20,0.712,1,0,1736,300.24
$SM_GC,1.89,0.00,0.00,74.20,0.000,0.000,0.712,407,2641,1736,-8.31,-0.28,300.24
$IRIDIUM_FIX,-7545.40,17950.76,020111,101014
$TT8_MAMPS,0.028462
$HUMID,52.83
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.4,18.5
$24V_AH,20.4,71.170
$10V_AH,9.6,48.452
$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,18.250,46.900,284.650,74.200,0.000,59.958,73.407,414.395,0.750,0.000,13.142,1083.021,985.162,423.120,1728.671,171.649,0.000,922.380,0.000,718.008,0.000,2.624,0.000
$DEVICE_MAMPS,192.780,64.260,923.355,712.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,298.785,649.851,851.418,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30367,427
$CAP_FILE_SIZE,68647,0
$CFSIZE,260165632,226562048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.394, 91.1,1
$GPS,020111,120055,-7630.256,17951.459,8,1.1,13,118.3