version: 66.08
glider: 502
mission: 3
dive: 484
start: 1 3 111 6 55 2
data:
$ID,502
$MISSION,3
$DIVE,484
$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,-30749.951
$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,30
$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
$GPS1,030111,064832,-7629.608,17917.756,8,1.4,8,119.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-73.9
$GPS2,030111,065436,-7629.683,17917.920,15,1.0,31,119.1
$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,195.8,241212,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,103,0.00,0.00,-83.55,0.000,2,0.000,0.000,423,2662,3274,0,0,0,0,0,0
$GC,106,-0.76,-146.0,3.2,-1.4,12,130,8.77,2.38,-8.40,0.000,4,0.194,0.063,2805,1227,3561,0,0,0,0,0,0
$GC,188,-0.76,-146.0,17.2,-15.8,25,195,0.00,2.33,0.00,0.000,6,0.000,0.058,2797,2645,3563,0,0,0,0,0,0
$GC,331,-0.76,-146.0,41.9,-17.4,50,340,0.00,1.85,0.00,0.000,4,0.000,0.061,2788,3767,3564,0,0,0,0,0,0
$GC,366,-0.76,-146.0,48.0,-18.3,55,373,0.10,1.77,0.00,0.000,6,0.172,0.042,2813,2632,3564,0,0,0,0,0,0
$GC,509,-0.76,-146.0,71.8,-16.6,80,516,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2631,3563,0,0,0,0,0,0
$GC,653,-0.76,-146.0,95.9,-16.5,105,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2631,3564,0,0,0,0,0,0
$GC,796,-0.76,-146.0,119.5,-16.3,120,799,0.00,1.85,0.00,0.000,4,0.000,0.063,2806,3762,3564,0,0,0,0,0,0
$GC,822,-0.76,-146.0,124.6,-17.5,122,831,0.00,1.77,0.00,0.000,6,0.000,0.041,2806,2648,3564,0,0,0,0,0,0
$GC,958,-0.76,-146.0,146.1,-16.0,135,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2647,3565,0,0,0,0,0,0
$GC,1084,-0.76,-146.0,166.8,-16.4,147,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2648,3564,0,0,0,0,0,0
$GC,1212,-0.76,-146.0,187.2,-15.9,159,1215,0.00,1.83,0.00,0.000,4,0.000,0.062,2798,3766,3564,0,0,0,0,0,0
$GC,1258,-0.76,-146.0,195.2,-17.9,163,1262,0.00,1.75,0.00,0.000,6,0.000,0.043,2798,2642,3565,0,0,0,0,0,0
$GC,1399,-0.76,-146.0,218.7,-15.6,176,1400,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2641,3565,0,0,0,0,0,0
$GC,1527,-0.76,-146.0,239.1,-16.0,188,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2640,3565,0,0,0,0,0,0
$GC,1652,-0.76,-146.0,258.9,-11.8,200,1655,0.00,1.85,0.00,0.000,4,0.000,0.063,2789,3770,3565,0,0,0,0,0,0
$GC,1689,-0.76,-146.0,264.6,-14.9,203,1696,0.00,1.77,0.00,0.000,6,0.000,0.041,2789,2660,3565,0,0,0,0,0,0
$STATE,1758,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1758,begin apogee
$GC,1764,-0.27,0.0,274.7,14.9,210,1902,0.57,0.00,128.77,0.965,4,0.138,0.000,2970,2481,2959,0,0,0,0,0,0
$STATE,1903,end apogee,CONTROL_FINISHED_OK
$STATE,1903,begin climb
$GC,1905,0.76,146.0,283.1,0.0,222,2057,1.05,0.00,145.38,0.892,6,0.087,0.000,3304,2481,2365,0,0,0,0,0,0
$GC,2256,0.76,146.0,249.0,12.1,254,2260,0.00,2.25,0.00,0.000,4,0.000,0.057,3304,3766,2354,0,0,0,0,0,0
$GC,2411,0.76,146.0,225.2,16.2,267,2419,0.00,2.03,0.00,0.000,6,0.000,0.040,3313,2519,2352,0,0,0,0,0,0
$GC,2548,0.76,146.0,206.7,13.4,280,2552,0.00,2.28,0.00,0.000,4,0.000,0.052,3323,1081,2350,0,0,0,0,0,0
$GC,2578,0.76,146.0,202.6,13.2,282,2582,0.00,2.33,0.00,0.000,6,0.000,0.054,3323,2513,2349,0,0,0,0,0,0
$GC,2715,0.76,146.0,183.5,14.2,294,2718,0.00,2.00,0.00,0.000,4,0.000,0.059,3323,3764,2348,0,0,0,0,0,0
$GC,2783,0.76,146.0,172.5,16.2,300,2787,0.00,1.95,0.00,0.000,6,0.000,0.041,3333,2513,2348,0,0,0,0,0,0
$GC,2925,0.76,146.0,151.6,15.0,313,2926,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2510,2348,0,0,0,0,0,0
$GC,3051,0.76,146.0,132.8,14.4,325,3055,0.00,2.03,0.00,0.000,4,0.000,0.058,3333,3765,2348,0,0,0,0,0,0
$GC,3097,0.76,146.0,125.4,16.5,329,3102,0.12,1.95,0.00,0.000,6,0.162,0.041,3310,2515,2347,0,0,0,0,0,0
$GC,3233,0.76,146.0,107.4,12.9,341,3237,0.00,2.03,0.00,0.000,4,0.000,0.060,3310,3762,2347,0,0,0,0,0,0
$GC,3260,0.76,146.0,103.4,13.4,343,3269,0.00,1.98,0.00,0.000,6,0.000,0.041,3317,2527,2347,0,0,0,0,0,0
$GC,3398,0.76,146.0,86.1,11.9,366,3407,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2526,2346,0,0,0,0,0,0
$GC,3543,0.76,146.0,69.1,12.1,391,3550,0.00,2.03,0.00,0.000,4,0.000,0.060,3317,3763,2346,0,0,0,0,0,0
$GC,3584,0.76,146.0,63.3,14.1,398,3593,0.00,1.98,0.00,0.000,6,0.000,0.041,3327,2529,2346,0,0,0,0,0,0
$GC,3731,0.76,146.0,45.1,12.3,423,3737,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2529,2346,0,0,0,0,0,0
$GC,3871,0.76,146.0,26.9,12.6,448,3880,0.00,2.05,0.00,0.000,4,0.000,0.059,3327,3756,2346,0,0,0,0,0,0
$GC,3909,0.76,146.0,21.9,13.8,454,3918,0.00,1.95,0.00,0.000,6,0.000,0.041,3336,2537,2346,0,0,0,0,0,0
$FREEZE,8.82,-0.882,-1.898,2,1,0
$FREEZE,8.07,-0.844,-1.897,2,1,0
$FREEZE,7.28,-0.805,-1.896,2,1,0
$FREEZE,6.57,-0.800,-1.896,2,1,0
$FREEZE,5.90,-0.802,-1.895,2,1,0
$FREEZE,4.85,-0.799,-1.895,2,1,0
$FREEZE,4.20,-0.798,-1.894,2,1,0
$FREEZE,3.42,-0.798,-1.894,2,1,0
$FREEZE,2.80,-0.795,-1.893,2,1,0
$STATE,4056,end climb,SURFACE_DEPTH_REACHED
$STATE,4057,begin surface coast
$FREEZE,1.79,-0.792,-1.893,2,1,0
$FREEZE,1.13,-0.799,-1.892,2,1,0
$FREEZE,1.19,-0.868,-0.195,2,1,0
$FINISH,1.2,1.002666
$STATE,4075,end surface coast,FINISH_DEPTH_REACHED
$STATE,4075,begin surface
$SM_CCo,4092,76.30,0.099,0,0,1737,300.24
$SM_GC,1.96,0.00,0.00,76.30,0.000,0.000,0.099,418,2655,1737,-8.27,0.14,300.24
$IRIDIUM_FIX,-7545.40,17923.33,030111,050539
$TT8_MAMPS,0.028462
$HUMID,53.03
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,18.9
$ALTIM_BOTTOM_PING,250.2,38.4
$24V_AH,20.2,72.679
$10V_AH,9.7,49.590
$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,18.225,48.400,274.150,76.300,0.000,29.960,37.135,167.772,1.250,0.000,32.022,1222.015,1209.417,438.112,1500.617,172.911,0.000,957.748,0.000,802.231,0.000,7.152,0.000
$DEVICE_MAMPS,194.310,79.560,964.665,99.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,337.708,688.030,840.564,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267160
$DATA_FILE_SIZE,33739,482
$CAP_FILE_SIZE,70995,0
$CFSIZE,260165632,225898496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.435,155.9,1
$GPS,030111,080520,-7630.183,17917.594,10,1.1,10,119.1