version: 66.08
glider: 502
mission: 3
dive: 485
start: 1 3 111 8 11 46
data:
$ID,502
$MISSION,3
$DIVE,485
$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,-30751.209
$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,27
$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
$GPS1,030111,080520,-7630.183,17917.594,10,1.1,10,119.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-73.4
$GPS2,030111,081120,-7630.250,17917.795,11,1.4,11,119.1
$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,196.0,241158,-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,15,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,107,0.00,0.00,-87.38,0.000,2,0.000,0.000,415,2655,3363,0,0,0,0,0,0
$GC,110,-0.76,-146.0,3.3,-2.1,13,133,9.00,1.83,-5.30,0.000,4,0.197,0.074,2801,3766,3560,0,0,0,0,0,0
$GC,173,-0.76,-146.0,16.7,-17.7,23,181,0.00,1.77,0.00,0.000,6,0.000,0.043,2801,2635,3562,0,0,0,0,0,0
$GC,312,-0.76,-146.0,39.3,-16.1,48,319,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2635,3563,0,0,0,0,0,0
$GC,452,-0.76,-146.0,61.6,-16.3,73,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2634,3563,0,0,0,0,0,0
$GC,589,-0.76,-146.0,83.1,-14.6,98,598,0.00,1.88,0.00,0.000,4,0.000,0.061,2792,3756,3563,0,0,0,0,0,0
$GC,626,-0.76,-146.0,89.1,-17.3,104,634,0.00,1.75,0.00,0.000,6,0.000,0.042,2792,2661,3563,0,0,0,0,0,0
$GC,770,-0.76,-146.0,112.2,-16.4,123,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2660,3563,0,0,0,0,0,0
$GC,898,-0.76,-146.0,132.1,-15.3,135,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2660,3563,0,0,0,0,0,0
$GC,1024,-0.76,-146.0,151.4,-15.2,147,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2660,3564,0,0,0,0,0,0
$GC,1151,-0.76,-146.0,171.2,-16.0,159,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2660,3563,0,0,0,0,0,0
$GC,1279,-0.76,-146.0,191.3,-15.7,171,1282,0.00,1.80,0.00,0.000,4,0.000,0.062,2784,3766,3563,0,0,0,0,0,0
$GC,1336,-0.76,-146.0,201.0,-17.6,176,1340,0.12,1.73,0.00,0.000,6,0.158,0.042,2817,2656,3564,0,0,0,0,0,0
$GC,1477,-0.76,-146.0,220.9,-13.0,189,1481,0.00,2.25,0.00,0.000,4,0.000,0.051,2817,1231,3564,0,0,0,0,0,0
$GC,1518,-0.76,-146.0,226.1,-12.9,192,1522,0.00,2.35,0.00,0.000,6,0.000,0.058,2808,2660,3564,0,0,0,0,0,0
$GC,1655,-0.76,-146.0,244.5,-12.5,204,1659,0.00,1.77,0.00,0.000,4,0.000,0.060,2799,3769,3564,0,0,0,0,0,0
$GC,1672,-0.76,-146.0,247.4,-13.7,205,1680,0.00,1.80,0.00,0.000,6,0.000,0.044,2799,2652,3564,0,0,0,0,0,0
$GC,1806,-0.76,-146.0,269.5,-16.1,218,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2649,3564,0,0,0,0,0,0
$GC,1998,-0.76,-146.0,285.2,0.0,236,2001,0.00,1.83,0.00,0.000,4,0.000,0.063,2799,3762,3564,0,0,0,0,0,0
$STATE,2076,end dive,NO_VERTICAL_VELOCITY
$STATE,2076,begin apogee
$GC,2084,-0.27,0.0,285.2,0.0,243,2220,0.47,0.00,129.23,0.975,4,0.087,0.000,2975,2483,2960,0,0,0,0,0,0
$STATE,2221,end apogee,CONTROL_FINISHED_OK
$STATE,2221,begin climb
$GC,2223,0.76,146.0,285.1,0.0,255,2375,0.98,0.00,146.30,0.894,6,0.066,0.000,3304,2482,2364,0,0,0,0,0,0
$GC,2567,0.76,146.0,252.7,10.6,287,2571,0.00,2.25,0.00,0.000,4,0.000,0.055,3304,3770,2353,0,0,0,0,0,0
$GC,2820,0.76,146.0,218.1,13.3,309,2829,0.00,2.03,0.00,0.000,6,0.000,0.041,3314,2509,2350,0,0,0,0,0,0
$GC,2958,0.76,146.0,201.4,12.8,322,2962,0.00,2.05,0.00,0.000,4,0.000,0.059,3314,3768,2348,0,0,0,0,0,0
$GC,2996,0.76,146.0,195.7,14.7,325,3004,0.00,1.98,0.00,0.000,6,0.000,0.041,3323,2528,2348,0,0,0,0,0,0
$GC,3133,0.76,146.0,179.2,12.2,338,3137,0.00,2.00,0.00,0.000,4,0.000,0.059,3323,3764,2347,0,0,0,0,0,0
$GC,3192,0.76,146.0,170.6,13.9,343,3202,0.00,1.95,0.00,0.000,6,0.000,0.040,3333,2536,2347,0,0,0,0,0,0
$GC,3331,0.76,146.0,154.1,12.4,356,3338,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2536,2346,0,0,0,0,0,0
$GC,3466,0.76,146.0,137.0,12.4,369,3469,0.00,2.00,0.00,0.000,4,0.000,0.059,3333,3764,2346,0,0,0,0,0,0
$GC,3503,0.76,146.0,131.3,14.8,372,3512,0.08,1.95,0.00,0.000,6,0.143,0.041,3317,2548,2346,0,0,0,0,0,0
$GC,3640,0.76,146.0,116.4,10.9,385,3641,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2546,2346,0,0,0,0,0,0
$GC,3766,0.76,146.0,101.9,11.7,397,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2546,2345,0,0,0,0,0,0
$GC,3893,0.76,146.0,87.1,10.8,419,3901,0.00,2.03,0.00,0.000,4,0.000,0.060,3317,3761,2345,0,0,0,0,0,0
$GC,3931,0.76,146.0,82.1,12.7,425,3939,0.00,1.92,0.00,0.000,6,0.000,0.041,3325,2540,2345,0,0,0,0,0,0
$GC,4069,0.76,146.0,65.2,11.9,450,4077,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2538,2345,0,0,0,0,0,0
$GC,4208,0.76,146.0,48.9,12.2,475,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2538,2344,0,0,0,0,0,0
$GC,4346,0.76,146.0,32.2,12.2,500,4354,0.00,2.05,0.00,0.000,4,0.000,0.058,3325,3767,2345,0,0,0,0,0,0
$GC,4415,0.76,146.0,22.8,13.9,512,4423,0.00,1.95,0.00,0.000,6,0.000,0.041,3334,2551,2345,0,0,0,0,0,0
$FREEZE,8.37,-0.870,-1.897,2,1,0
$FREEZE,7.72,-0.856,-1.897,2,1,0
$FREEZE,7.06,-0.875,-1.897,2,1,0
$FREEZE,6.26,-0.877,-1.896,2,1,0
$FREEZE,5.43,-0.875,-1.896,2,1,0
$FREEZE,4.80,-0.857,-1.895,2,1,0
$GC,4558,0.76,146.0,4.8,12.2,537,4565,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2550,2344,0,0,0,0,0,0
$FREEZE,2.83,-0.854,-1.894,2,1,0
$STATE,4571,end climb,SURFACE_DEPTH_REACHED
$STATE,4572,begin surface coast
$FREEZE,1.97,-0.858,-1.893,2,1,0
$FREEZE,1.29,-0.862,-1.893,2,1,0
$FREEZE,1.11,-0.905,-0.953,2,1,0
$FREEZE,1.03,-0.907,-1.322,2,1,0
$FINISH,1.0,1.019518
$STATE,4596,end surface coast,CONTROL_FINISHED_OK
$STATE,4596,begin surface
$SM_CCo,4614,76.22,0.100,0,0,1737,300.24
$SM_GC,1.95,0.00,0.00,76.22,0.000,0.000,0.100,410,2653,1737,-8.30,0.11,300.24
$IRIDIUM_FIX,-7545.40,17904.85,030111,060611
$TT8_MAMPS,0.028462
$HUMID,52.91
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,18.9
$24V_AH,20.2,72.768
$10V_AH,9.7,49.666
$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,18.300,47.125,275.525,76.225,0.000,30.183,45.060,175.379,1.000,0.000,12.013,1368.077,1415.401,449.022,1651.667,177.082,0.000,1023.954,0.000,905.031,0.000,4.339,0.000
$DEVICE_MAMPS,197.370,85.680,975.375,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,380.754,765.518,930.064,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37176,543
$CAP_FILE_SIZE,76139,0
$CFSIZE,260165632,225849344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.364,140.5,1
$GPS,030111,093106,-7630.624,17918.512,15,1.0,31,119.1