version: 66.08
glider: 502
mission: 3
dive: 480
start: 1 3 111 1 35 45
data:
$ID,502
$MISSION,3
$DIVE,480
$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,-30744.924
$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,44
$R_STBD_OVSHOOT,33
$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
$GPS1,030111,012944,-7626.998,17929.131,13,1.8,13,118.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-72.6
$GPS2,030111,013519,-7627.061,17928.896,11,1.8,16,118.7
$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,195.0,246018,-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,17,-0.76,-146.0,0.0,0.0,0,107,0.00,0.00,-87.22,0.000,2,0.000,0.000,407,2664,3360,0,0,0,0,0,0
$GC,110,-0.76,-146.0,3.3,-1.6,13,132,8.98,2.30,-5.47,0.000,4,0.194,0.060,2816,1247,3559,0,0,0,0,0,0
$GC,270,-0.76,-146.0,30.7,-15.6,41,277,0.00,2.30,0.00,0.000,6,0.000,0.057,2807,2642,3562,0,0,0,0,0,0
$GC,407,-0.76,-146.0,54.9,-18.5,66,415,0.00,1.85,0.00,0.000,4,0.000,0.062,2799,3761,3562,0,0,0,0,0,0
$GC,473,-0.76,-146.0,67.1,-18.7,77,480,0.00,1.75,0.00,0.000,6,0.000,0.041,2799,2664,3563,0,0,0,0,0,0
$GC,609,-0.76,-146.0,93.0,-17.5,102,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2663,3563,0,0,0,0,0,0
$GC,747,-0.76,-146.0,117.9,-18.2,118,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2663,3563,0,0,0,0,0,0
$GC,874,-0.76,-146.0,140.5,-17.5,130,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2663,3563,0,0,0,0,0,0
$GC,1001,-0.76,-146.0,161.6,-16.8,142,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2663,3563,0,0,0,0,0,0
$GC,1128,-0.76,-146.0,182.1,-16.2,154,1131,0.00,1.80,0.00,0.000,4,0.000,0.061,2790,3762,3563,0,0,0,0,0,0
$GC,1174,-0.76,-146.0,189.8,-16.2,158,1178,0.00,1.73,0.00,0.000,6,0.000,0.041,2790,2653,3562,0,0,0,0,0,0
$GC,1317,-0.76,-146.0,214.1,-18.1,171,1321,0.00,2.28,0.00,0.000,4,0.000,0.051,2790,1230,3563,0,0,0,0,0,0
$GC,1338,-0.76,-146.0,218.2,-19.1,172,1343,0.12,2.35,0.00,0.000,6,0.159,0.058,2818,2661,3563,0,0,0,0,0,0
$GC,1474,-0.76,-146.0,239.8,-16.7,184,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2661,3563,0,0,0,0,0,0
$GC,1600,-0.76,-146.0,259.2,-16.0,196,1604,0.00,1.77,0.00,0.000,4,0.000,0.060,2811,3766,3563,0,0,0,0,0,0
$STATE,1648,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1648,begin apogee
$GC,1655,-0.27,0.0,267.0,14.9,200,1789,0.50,0.00,127.75,0.963,4,0.125,0.000,2973,2494,2961,0,0,0,0,0,0
$STATE,1790,end apogee,CONTROL_FINISHED_OK
$STATE,1790,begin climb
$GC,1792,0.76,146.0,276.6,0.0,212,1950,1.05,2.50,145.12,0.884,4,0.075,0.049,3307,1094,2363,0,0,0,0,0,0
$GC,2076,0.76,146.0,253.9,10.4,237,2080,0.00,2.53,0.00,0.000,6,0.000,0.052,3307,2498,2354,0,0,0,0,0,0
$GC,2277,0.76,146.0,229.8,11.6,255,2281,0.00,2.30,0.00,0.000,4,0.000,0.050,3316,1088,2351,0,0,0,0,0,0
$GC,2472,0.77,152.0,209.6,9.7,272,2477,0.00,2.33,0.00,0.000,6,0.000,0.054,3316,2519,2348,0,0,0,0,0,0
$GC,2609,0.77,152.0,196.1,10.1,284,2612,0.00,2.00,0.00,0.000,4,0.000,0.059,3316,3767,2348,0,0,0,0,0,0
$GC,2679,0.77,152.0,187.2,12.8,290,2687,0.00,1.98,0.00,0.000,6,0.000,0.041,3325,2521,2348,0,0,0,0,0,0
$GC,2816,0.77,152.0,172.2,11.0,303,2824,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2520,2348,0,0,0,0,0,0
$GC,2952,0.77,152.0,157.3,10.7,316,2956,0.00,2.03,0.00,0.000,4,0.000,0.059,3325,3768,2347,0,0,0,0,0,0
$GC,3031,0.77,152.0,147.3,12.9,323,3035,0.00,1.92,0.00,0.000,6,0.000,0.040,3334,2533,2347,0,0,0,0,0,0
$GC,3173,0.77,152.0,131.6,10.8,336,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2530,2347,0,0,0,0,0,0
$GC,3300,0.77,152.0,117.5,10.9,348,3301,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2530,2346,0,0,0,0,0,0
$GC,3427,0.77,152.0,104.2,10.6,360,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2530,2347,0,0,0,0,0,0
$GC,3555,0.77,152.0,90.4,10.1,380,3563,0.00,2.05,0.00,0.000,4,0.000,0.058,3335,3768,2346,0,0,0,0,0,0
$GC,3604,0.77,152.0,85.1,12.2,388,3612,0.08,1.98,0.00,0.000,6,0.148,0.041,3319,2532,2347,0,0,0,0,0,0
$GC,3747,0.77,152.0,70.7,10.0,413,3754,0.00,2.00,0.00,0.000,4,0.000,0.057,3319,3764,2347,0,0,0,0,0,0
$GC,3806,0.77,152.0,64.1,12.3,423,3814,0.00,1.90,0.00,0.000,6,0.000,0.041,3327,2551,2346,0,0,0,0,0,0
$GC,3947,0.77,152.0,48.1,11.7,448,3954,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2549,2346,0,0,0,0,0,0
$GC,4086,0.77,152.0,30.7,13.1,473,4093,0.00,1.98,0.00,0.000,4,0.000,0.060,3328,3764,2346,0,0,0,0,0,0
$GC,4137,0.77,152.0,23.1,15.2,482,4146,0.00,1.90,0.00,0.000,6,0.000,0.041,3336,2567,2346,0,0,0,0,0,0
$FREEZE,8.96,-1.225,-1.900,2,1,0
$FREEZE,8.12,-1.228,-1.899,2,1,0
$FREEZE,7.48,-1.223,-1.899,2,1,0
$FREEZE,6.65,-1.205,-1.898,2,1,0
$FREEZE,5.72,-1.196,-1.897,2,1,0
$FREEZE,4.87,-1.187,-1.896,2,1,0
$FREEZE,4.17,-1.186,-1.896,2,1,0
$GC,4280,0.77,152.0,4.2,13.3,507,4287,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2565,2345,0,0,0,0,0,0
$FREEZE,1.99,-1.189,-1.894,2,1,0
$STATE,4294,end climb,SURFACE_DEPTH_REACHED
$STATE,4294,begin surface coast
$FREEZE,1.25,-1.160,-1.893,2,1,0
$FREEZE,1.29,-1.158,-1.893,2,1,0
$FREEZE,1.22,-1.194,-1.647,2,1,0
$FREEZE,1.16,-1.172,-1.041,2,1,0
$FINISH,1.2,1.015374
$STATE,4320,end surface coast,FINISH_DEPTH_REACHED
$STATE,4320,begin surface
$SM_CCo,4337,76.45,0.100,0,0,1737,300.24
$SM_GC,1.97,0.00,0.00,76.45,0.000,0.000,0.100,411,2658,1737,-8.29,0.25,300.24
$IRIDIUM_FIX,-7545.40,17923.33,030111,000028
$TT8_MAMPS,0.028462
$HUMID,52.95
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,18.2
$ALTIM_BOTTOM_PING,250.8,31.2
$24V_AH,20.2,72.291
$10V_AH,9.7,49.306
$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,18.350,49.700,272.875,76.450,0.000,27.238,35.405,156.738,1.000,0.000,17.450,1300.413,1253.066,438.108,1588.356,178.962,0.000,978.980,0.000,863.409,0.000,7.133,0.000
$DEVICE_MAMPS,194.310,90.270,963.135,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,359.882,743.347,943.487,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37088,513
$CAP_FILE_SIZE,73053,0
$CFSIZE,260165632,226058240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.431,220.1,1
$GPS,030111,025037,-7627.504,17924.504,40,1.1,40,118.8