version: 66.08
glider: 502
mission: 3
dive: 476
start: 1 2 111 20 37 3
data:
$ID,502
$MISSION,3
$DIVE,476
$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,-30739.891
$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,35
$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
$GPS1,020111,203028,-7626.191,17949.922,8,3.9,27,118.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-70.3
$GPS2,020111,203637,-7626.132,17949.773,39,0.9,39,118.1
$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,105.3,255084,-17.5,-10.000
$D_GRID,378
$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,17,-0.76,-146.0,0.0,0.0,0,104,0.00,0.00,-83.78,0.000,2,0.000,0.000,410,2662,3281,0,0,0,0,0,0
$GC,107,-0.76,-146.0,3.1,-1.2,13,130,8.90,2.38,-8.25,0.000,4,0.192,0.063,2809,1240,3559,0,0,0,0,0,0
$GC,159,-0.76,-146.0,12.1,-14.5,21,166,0.00,2.33,0.00,0.000,6,0.000,0.057,2800,2655,3562,0,0,0,0,0,0
$GC,298,-0.76,-146.0,34.4,-15.7,46,306,0.00,1.83,0.00,0.000,4,0.000,0.061,2791,3760,3563,0,0,0,0,0,0
$GC,362,-0.76,-146.0,45.9,-17.5,57,369,0.00,1.77,0.00,0.000,6,0.000,0.041,2791,2628,3563,0,0,0,0,0,0
$GC,501,-0.76,-146.0,71.4,-18.8,82,509,0.00,1.90,0.00,0.000,4,0.000,0.062,2783,3763,3563,0,0,0,0,0,0
$GC,526,-0.76,-146.0,76.3,-17.9,86,535,0.10,1.75,0.00,0.000,6,0.138,0.041,2816,2666,3563,0,0,0,0,0,0
$GC,666,-0.76,-146.0,99.6,-17.5,111,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2664,3564,0,0,0,0,0,0
$GC,802,-0.76,-146.0,123.1,-17.7,124,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2664,3564,0,0,0,0,0,0
$GC,928,-0.76,-146.0,143.6,-16.8,136,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2663,3564,0,0,0,0,0,0
$GC,1055,-0.76,-146.0,167.1,-17.9,148,1059,0.00,1.80,0.00,0.000,4,0.000,0.061,2809,3765,3564,0,0,0,0,0,0
$GC,1113,-0.76,-146.0,177.7,-18.6,153,1116,0.00,1.70,0.00,0.000,6,0.000,0.041,2809,2671,3564,0,0,0,0,0,0
$GC,1254,-0.76,-146.0,202.6,-17.7,166,1258,0.00,2.28,0.00,0.000,4,0.000,0.051,2809,1234,3564,0,0,0,0,0,0
$GC,1306,-0.76,-146.0,212.1,-18.1,170,1310,0.00,2.35,0.00,0.000,6,0.000,0.058,2798,2665,3564,0,0,0,0,0,0
$GC,1442,-0.76,-146.0,235.7,-17.7,182,1446,0.00,2.28,0.00,0.000,4,0.000,0.051,2798,1241,3564,0,0,0,0,0,0
$GC,1473,-0.76,-146.0,241.1,-18.4,184,1478,0.00,2.33,0.00,0.000,6,0.000,0.058,2788,2657,3564,0,0,0,0,0,0
$GC,1609,-0.76,-146.0,257.4,-2.8,196,1613,0.10,2.28,0.00,0.000,4,0.138,0.048,2821,1235,3564,0,0,0,0,0,0
$STATE,1738,end dive,NO_VERTICAL_VELOCITY
$STATE,1738,begin apogee
$GC,1746,-0.27,0.0,257.5,0.0,207,1880,0.43,0.00,128.07,0.953,4,0.092,0.000,2976,2510,2961,0,0,0,0,0,0
$STATE,1881,end apogee,CONTROL_FINISHED_OK
$STATE,1881,begin climb
$GC,1883,0.76,146.0,257.5,0.0,219,2037,1.08,2.28,145.20,0.872,4,0.083,0.060,3310,3761,2365,0,0,0,0,0,0
$GC,2241,0.76,146.0,208.5,21.3,250,2250,0.00,2.15,0.00,0.000,6,0.000,0.040,3320,2508,2352,0,0,0,0,0,0
$GC,2378,0.76,146.0,184.5,18.2,263,2382,0.00,2.30,0.00,0.000,4,0.000,0.051,3328,1085,2349,0,0,0,0,0,0
$GC,2554,0.76,146.0,157.3,14.9,278,2562,0.00,2.35,0.00,0.000,6,0.000,0.052,3328,2515,2346,0,0,0,0,0,0
$GC,2691,0.76,146.0,133.8,17.4,291,2695,0.00,2.00,0.00,0.000,4,0.000,0.058,3328,3767,2346,0,0,0,0,0,0
$GC,2740,0.76,146.0,123.7,20.3,295,2749,0.00,2.03,0.00,0.000,6,0.000,0.043,3338,2502,2346,0,0,0,0,0,0
$GC,2875,0.76,146.0,101.6,17.4,308,2879,0.00,2.05,0.00,0.000,4,0.000,0.058,3337,3767,2345,0,0,0,0,0,0
$GC,2916,0.76,146.0,94.0,19.0,313,2923,0.12,1.95,0.00,0.000,6,0.164,0.041,3314,2520,2345,0,0,0,0,0,0
$GC,3055,0.76,146.0,73.5,13.2,338,3064,0.00,2.05,0.00,0.000,4,0.000,0.059,3314,3751,2345,0,0,0,0,0,0
$GC,3088,0.76,146.0,68.5,15.3,343,3096,0.00,1.92,0.00,0.000,6,0.000,0.041,3322,2522,2345,0,0,0,0,0,0
$GC,3228,0.76,146.0,49.9,12.4,368,3236,0.00,2.05,0.00,0.000,4,0.000,0.060,3321,3754,2344,0,0,0,0,0,0
$GC,3286,0.76,146.0,41.8,12.2,378,3294,0.00,1.92,0.00,0.000,6,0.000,0.042,3330,2553,2344,0,0,0,0,0,0
$GC,3426,0.76,146.0,26.5,10.7,403,3434,0.00,1.98,0.00,0.000,4,0.000,0.058,3331,3765,2343,0,0,0,0,0,0
$GC,3467,0.76,146.0,21.2,13.2,410,3476,0.00,1.92,0.00,0.000,6,0.000,0.041,3340,2559,2344,0,0,0,0,0,0
$FREEZE,8.39,-1.086,-1.897,2,1,0
$FREEZE,7.70,-1.074,-1.897,2,1,0
$FREEZE,6.91,-1.078,-1.897,2,1,0
$FREEZE,6.22,-1.061,-1.896,2,1,0
$FREEZE,5.27,-1.062,-1.895,2,1,0
$FREEZE,4.65,-1.066,-1.895,2,1,0
$FREEZE,3.82,-1.062,-1.894,2,1,0
$FREEZE,3.09,-1.064,-1.894,2,1,0
$GC,3612,0.76,146.0,3.1,13.1,435,3620,0.00,1.95,0.00,0.000,4,0.000,0.057,3340,3760,2342,0,0,0,0,0,0
$FREEZE,1.16,-1.062,-1.124,2,1,0
$STATE,3627,end climb,SURFACE_DEPTH_REACHED
$STATE,3627,begin surface coast
$FREEZE,1.20,-1.130,-0.553,2,1,0
$FINISH,1.2,1.008060
$STATE,3633,end surface coast,FINISH_DEPTH_REACHED
$STATE,3633,begin surface
$SM_CCo,3652,81.20,0.724,1,0,1736,300.24
$SM_GC,2.05,0.00,0.00,81.20,0.000,0.000,0.724,420,2638,1736,-8.26,-0.34,300.24
$IRIDIUM_FIX,-7545.40,18000.00,020111,191940
$TT8_MAMPS,0.028462
$HUMID,53.26
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.2,17.7
$24V_AH,20.3,71.921
$10V_AH,9.7,49.015
$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,18.325,61.800,273.275,81.200,0.000,23.271,39.132,168.587,1.500,0.000,40.337,1117.160,932.554,451.458,1446.056,171.139,0.000,960.487,0.000,773.940,0.000,6.922,0.000
$DEVICE_MAMPS,192.015,63.495,953.190,723.690,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,305.985,636.357,779.549,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30401,438
$CAP_FILE_SIZE,68873,0
$CFSIZE,260165632,226234368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.306,309.3,1
$GPS,020111,214014,-7626.030,17946.248,14,2.0,14,118.2