version: 66.08
glider: 502
mission: 3
dive: 474
start: 1 2 111 18 7 40
data:
$ID,502
$MISSION,3
$DIVE,474
$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,-30737.369
$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,30
$R_STBD_OVSHOOT,29
$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
$GPS1,020111,180124,-7627.216,17955.008,25,1.0,43,118.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-73.1
$GPS2,020111,180714,-7627.129,17955.006,16,1.1,16,118.1
$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,105.7,257300,-17.5,-10.000
$D_GRID,385
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,107,0.00,0.00,-87.35,0.000,2,0.000,0.000,419,2655,3365,0,0,0,0,0,0
$GC,110,-0.76,-146.0,3.3,-1.4,13,132,8.98,2.30,-5.40,0.000,4,0.198,0.061,2808,1236,3560,0,0,0,0,0,0
$GC,270,-0.76,-146.0,30.5,-14.7,41,277,0.00,2.33,0.00,0.000,6,0.000,0.057,2799,2649,3563,0,0,0,0,0,0
$GC,408,-0.76,-146.0,51.9,-14.5,66,416,0.00,1.83,0.00,0.000,4,0.000,0.062,2790,3757,3564,0,0,0,0,0,0
$GC,467,-0.76,-146.0,61.4,-17.0,76,475,0.00,1.77,0.00,0.000,6,0.000,0.042,2790,2643,3564,0,0,0,0,0,0
$GC,606,-0.76,-146.0,82.9,-15.5,101,613,0.00,1.85,0.00,0.000,4,0.000,0.063,2782,3769,3564,0,0,0,0,0,0
$GC,657,-0.76,-146.0,91.9,-16.8,110,667,0.10,1.75,0.00,0.000,6,0.138,0.042,2815,2670,3563,0,0,0,0,0,0
$GC,803,-0.76,-146.0,113.0,-15.2,128,807,0.00,1.77,0.00,0.000,4,0.000,0.063,2808,3765,3564,0,0,0,0,0,0
$GC,873,-0.76,-146.0,124.9,-15.5,134,882,0.00,1.73,0.00,0.000,6,0.000,0.041,2808,2678,3564,0,0,0,0,0,0
$GC,1009,-0.76,-146.0,144.4,-15.1,147,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2676,3564,0,0,0,0,0,0
$GC,1137,-0.76,-146.0,163.8,-15.7,159,1141,0.00,2.28,0.00,0.000,4,0.000,0.048,2808,1237,3564,0,0,0,0,0,0
$GC,1200,-0.76,-146.0,173.8,-16.5,164,1205,0.00,2.38,0.00,0.000,6,0.000,0.061,2798,2675,3564,0,0,0,0,0,0
$GC,1338,-0.76,-146.0,197.7,-20.1,176,1342,0.00,2.33,0.00,0.000,4,0.000,0.051,2798,1234,3564,0,0,0,0,0,0
$GC,1401,-0.76,-146.0,206.0,-15.7,181,1406,0.10,2.35,0.00,0.000,6,0.161,0.057,2813,2677,3564,0,0,0,0,0,0
$GC,1536,-0.76,-146.0,227.7,-14.3,193,1541,0.00,2.33,0.00,0.000,4,0.000,0.054,2813,1241,3564,0,0,0,0,0,0
$GC,1568,-0.76,-146.0,231.3,-13.6,195,1572,0.00,2.30,0.00,0.000,6,0.000,0.056,2804,2651,3564,0,0,0,0,0,0
$GC,1704,-0.76,-146.0,236.3,0.2,207,1708,0.00,2.28,0.00,0.000,4,0.000,0.050,2804,1239,3564,0,0,0,0,0,0
$STATE,1766,end dive,NO_VERTICAL_VELOCITY
$STATE,1766,begin apogee
$GC,1774,-0.27,0.0,236.2,0.0,212,1908,0.47,0.00,128.00,0.942,4,0.080,0.000,2982,2503,2961,0,0,0,0,0,0
$STATE,1909,end apogee,CONTROL_FINISHED_OK
$STATE,1909,begin climb
$GC,1911,0.76,146.0,236.2,0.0,223,2065,1.02,2.30,144.50,0.859,4,0.080,0.062,3305,3761,2365,0,0,0,0,0,0
$GC,2312,0.76,146.0,187.2,15.0,257,2321,0.00,2.12,0.00,0.000,6,0.000,0.040,3315,2500,2351,0,0,0,0,0,0
$GC,2450,0.76,146.0,168.3,14.0,270,2454,0.00,2.25,0.00,0.000,4,0.000,0.053,3316,1088,2349,0,0,0,0,0,0
$GC,2626,0.76,146.0,148.4,10.7,285,2635,0.00,2.38,0.00,0.000,6,0.000,0.054,3316,2521,2345,0,0,0,0,0,0
$GC,2764,0.76,146.0,133.1,12.0,298,2768,0.00,2.00,0.00,0.000,4,0.000,0.059,3316,3768,2345,0,0,0,0,0,0
$GC,2855,0.76,146.0,120.2,13.7,306,2858,0.00,1.92,0.00,0.000,6,0.000,0.041,3325,2535,2344,0,0,0,0,0,0
$GC,2996,0.76,146.0,104.0,11.3,319,2999,0.00,2.00,0.00,0.000,4,0.000,0.058,3325,3769,2344,0,0,0,0,0,0
$GC,3081,0.76,146.0,92.9,13.5,331,3089,0.00,1.90,0.00,0.000,6,0.000,0.041,3335,2556,2344,0,0,0,0,0,0
$GC,3219,0.76,146.0,76.0,11.8,356,3227,0.00,2.03,0.00,0.000,4,0.000,0.060,3334,3773,2344,0,0,0,0,0,0
$GC,3256,0.76,146.0,70.7,14.4,362,3264,0.08,1.92,0.00,0.000,6,0.143,0.041,3318,2569,2344,0,0,0,0,0,0
$GC,3397,0.76,146.0,54.4,10.8,387,3404,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2567,2343,0,0,0,0,0,0
$GC,3535,0.76,146.0,39.1,11.5,412,3543,0.00,2.00,0.00,0.000,4,0.000,0.060,3318,3767,2343,0,0,0,0,0,0
$GC,3624,0.76,146.0,26.7,14.1,428,3632,0.00,1.90,0.00,0.000,6,0.000,0.041,3326,2571,2343,0,0,0,0,0,0
$GC,3766,0.76,146.0,9.1,12.2,453,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2571,2343,0,0,0,0,0,0
$FREEZE,7.12,-1.058,-1.897,2,1,0
$FREEZE,6.31,-1.058,-1.897,2,1,0
$FREEZE,5.55,-1.060,-1.896,2,1,0
$FREEZE,4.80,-1.058,-1.895,2,1,0
$FREEZE,4.15,-1.058,-1.895,2,1,0
$FREEZE,3.35,-1.058,-1.894,2,1,0
$FREEZE,2.56,-1.059,-1.894,2,1,0
$STATE,3813,end climb,SURFACE_DEPTH_REACHED
$STATE,3813,begin surface coast
$FREEZE,1.72,-1.065,-1.893,2,1,0
$FREEZE,1.23,-1.086,-1.895,2,1,0
$FREEZE,1.22,-1.063,-1.893,2,1,0
$FREEZE,1.15,-1.082,-1.588,2,1,0
$FINISH,1.1,1.023381
$STATE,3841,end surface coast,CONTROL_FINISHED_OK
$STATE,3841,begin surface
$SM_CCo,3857,75.32,0.100,0,0,1736,300.24
$SM_GC,2.06,0.00,0.00,75.32,0.000,0.000,0.100,419,2659,1736,-8.27,0.28,300.24
$IRIDIUM_FIX,-7545.40,18000.00,020111,161635
$TT8_MAMPS,0.028462
$HUMID,52.75
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,18.1
$24V_AH,20.3,71.736
$10V_AH,9.7,48.878
$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,18.200,58.550,272.500,75.325,0.000,27.879,39.647,168.405,0.500,0.000,17.303,1192.866,965.447,412.086,1554.419,169.905,0.000,963.246,0.000,826.145,0.000,2.623,0.000
$DEVICE_MAMPS,198.135,91.800,941.715,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,325.798,708.496,936.342,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33694,465
$CAP_FILE_SIZE,69506,0
$CFSIZE,260165632,226312192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.424,349.3,1
$GPS,020111,191402,-7626.553,17953.023,11,1.3,11,118.1