version: 66.08
glider: 502
mission: 3
dive: 488
start: 1 3 111 12 27 0
data:
$ID,502
$MISSION,3
$DIVE,488
$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,623.29712
$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,-30754.979
$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,31
$R_STBD_OVSHOOT,26
$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
$GPS1,030111,121055,-7630.555,17922.104,37,2.0,37,119.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-72.4
$GPS2,030111,122632,-7630.613,17922.990,14,1.0,14,119.0
$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,170.9,243406,-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,15,-0.76,-146.0,0.0,0.0,0,106,0.00,0.00,-88.53,0.000,2,0.000,0.000,423,2665,3382,0,0,0,0,0,0
$GC,110,-0.76,-146.0,3.2,-1.4,13,132,8.82,1.83,-4.78,0.000,4,0.195,0.076,2798,3763,3559,0,0,0,0,0,0
$GC,162,-0.76,-146.0,15.0,-18.4,21,169,0.00,1.80,0.00,0.000,6,0.000,0.042,2798,2638,3561,0,0,0,0,0,0
$GC,300,-0.76,-146.0,38.0,-17.3,46,307,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2637,3562,0,0,0,0,0,0
$GC,441,-0.76,-146.0,60.7,-16.5,71,448,0.00,1.85,0.00,0.000,4,0.000,0.062,2790,3760,3563,0,0,0,0,0,0
$GC,477,-0.76,-146.0,67.1,-17.5,77,484,0.00,1.75,0.00,0.000,6,0.000,0.042,2790,2664,3563,0,0,0,0,0,0
$GC,616,-0.76,-146.0,90.5,-17.7,102,624,0.00,1.83,0.00,0.000,4,0.000,0.062,2783,3754,3562,0,0,0,0,0,0
$GC,642,-0.76,-146.0,95.2,-17.5,106,651,0.10,1.75,0.00,0.000,6,0.135,0.041,2816,2657,3563,0,0,0,0,0,0
$GC,781,-0.76,-146.0,116.9,-15.7,121,785,0.00,1.80,0.00,0.000,4,0.000,0.062,2808,3760,3563,0,0,0,0,0,0
$GC,830,-0.76,-146.0,125.3,-15.9,125,838,0.00,1.73,0.00,0.000,6,0.000,0.041,2808,2678,3563,0,0,0,0,0,0
$GC,967,-0.76,-146.0,145.7,-15.5,138,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2677,3563,0,0,0,0,0,0
$GC,1102,-0.76,-146.0,166.9,-15.6,151,1106,0.00,1.77,0.00,0.000,4,0.000,0.063,2799,3765,3563,0,0,0,0,0,0
$GC,1130,-0.76,-146.0,171.5,-15.8,153,1138,0.00,1.75,0.00,0.000,6,0.000,0.042,2799,2670,3563,0,0,0,0,0,0
$GC,1267,-0.76,-146.0,191.9,-15.3,166,1271,0.00,2.25,0.00,0.000,4,0.000,0.050,2799,1241,3563,0,0,0,0,0,0
$GC,1298,-0.76,-146.0,197.3,-14.2,168,1307,0.00,2.35,0.00,0.000,6,0.000,0.057,2789,2655,3563,0,0,0,0,0,0
$GC,1435,-0.76,-146.0,219.2,-16.3,181,1439,0.00,1.80,0.00,0.000,4,0.000,0.061,2781,3775,3563,0,0,0,0,0,0
$GC,1482,-0.76,-146.0,227.8,-18.8,185,1487,0.12,1.75,0.00,0.000,6,0.153,0.043,2815,2652,3563,0,0,0,0,0,0
$GC,1623,-0.76,-146.0,248.0,-12.6,198,1627,0.00,2.25,0.00,0.000,4,0.000,0.050,2815,1240,3563,0,0,0,0,0,0
$GC,1654,-0.76,-146.0,251.5,-10.7,200,1659,0.00,2.33,0.00,0.000,6,0.000,0.057,2806,2661,3563,0,0,0,0,0,0
$STATE,1765,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1765,begin apogee
$GC,1771,-0.27,0.0,267.0,14.9,210,1909,0.50,0.00,128.70,0.961,4,0.127,0.000,2968,2490,2960,0,0,0,0,0,0
$STATE,1910,end apogee,CONTROL_FINISHED_OK
$STATE,1910,begin climb
$GC,1912,0.76,146.0,272.2,0.0,222,2062,1.08,0.00,145.20,0.887,6,0.095,0.000,3303,2490,2365,0,0,0,0,0,0
$GC,2264,0.76,146.0,239.9,11.1,254,2265,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,2490,2353,0,0,0,0,0,0
$GC,2390,0.76,146.0,224.0,13.0,266,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,2490,2350,0,0,0,0,0,0
$GC,2518,0.76,146.0,209.7,11.1,278,2522,0.00,2.08,0.00,0.000,4,0.000,0.059,3303,3763,2349,0,0,0,0,0,0
$GC,2572,0.76,146.0,202.4,13.4,282,2581,0.00,2.00,0.00,0.000,6,0.000,0.041,3313,2513,2349,0,0,0,0,0,0
$GC,2710,0.76,146.0,188.0,10.5,295,2713,0.00,2.05,0.00,0.000,4,0.000,0.060,3313,3772,2347,0,0,0,0,0,0
$GC,2746,0.76,146.0,183.5,12.5,298,2750,0.00,1.95,0.00,0.000,6,0.000,0.041,3322,2523,2347,0,0,0,0,0,0
$GC,2888,0.76,146.0,167.8,11.1,311,2897,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2522,2347,0,0,0,0,0,0
$GC,3024,0.76,146.0,152.3,11.4,324,3028,0.00,2.03,0.00,0.000,4,0.000,0.059,3322,3771,2347,0,0,0,0,0,0
$GC,3083,0.76,146.0,144.9,13.9,329,3086,0.00,1.95,0.00,0.000,6,0.000,0.041,3332,2522,2347,0,0,0,0,0,0
$GC,3224,0.76,146.0,127.8,12.0,342,3227,0.00,2.03,0.00,0.000,4,0.000,0.059,3332,3770,2346,0,0,0,0,0,0
$GC,3272,0.76,146.0,121.0,13.5,346,3282,0.08,1.95,0.00,0.000,6,0.142,0.041,3317,2549,2346,0,0,0,0,0,0
$GC,3409,0.76,146.0,106.2,10.9,359,3410,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2548,2346,0,0,0,0,0,0
$GC,3537,0.76,146.0,92.7,10.4,377,3544,0.00,2.00,0.00,0.000,4,0.000,0.059,3316,3773,2346,0,0,0,0,0,0
$GC,3584,0.76,146.0,86.9,12.7,385,3591,0.00,1.92,0.00,0.000,6,0.000,0.041,3324,2547,2346,0,0,0,0,0,0
$GC,3724,0.76,146.0,70.5,11.3,410,3732,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2546,2345,0,0,0,0,0,0
$GC,3864,0.76,146.0,54.0,11.5,435,3872,0.00,2.03,0.00,0.000,4,0.000,0.059,3324,3764,2345,0,0,0,0,0,0
$GC,3935,0.76,146.0,44.6,14.2,447,3943,0.00,1.90,0.00,0.000,6,0.000,0.041,3333,2553,2345,0,0,0,0,0,0
$GC,4076,0.76,146.0,26.9,12.6,472,4085,0.00,2.00,0.00,0.000,4,0.000,0.059,3333,3757,2345,0,0,0,0,0,0
$GC,4112,0.76,146.0,21.6,14.3,478,4121,0.08,1.90,0.00,0.000,6,0.138,0.041,3317,2567,2344,0,0,0,0,0,0
$FREEZE,8.97,-0.766,-1.899,2,2,0
$FREEZE,8.36,-0.764,-1.899,2,2,0
$FREEZE,7.58,-0.761,-1.898,2,2,0
$FREEZE,6.71,-0.763,-1.898,2,2,0
$FREEZE,5.97,-0.764,-1.897,2,2,0
$FREEZE,5.28,-0.770,-1.897,2,2,0
$FREEZE,4.50,-0.761,-1.896,2,2,0
$FREEZE,3.87,-0.759,-1.895,2,2,0
$GC,4259,0.76,146.0,3.9,12.2,503,4266,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2565,2344,0,0,0,0,0,0
$FREEZE,1.75,-0.767,-1.894,2,2,0
$STATE,4274,end climb,SURFACE_DEPTH_REACHED
$STATE,4274,begin surface coast
$FREEZE,1.05,-0.775,-1.854,2,2,0
$FREEZE,1.25,-0.843,-1.755,2,2,0
$FREEZE,1.18,-0.777,-1.893,2,2,0
$FREEZE,1.21,-0.845,-1.897,2,2,0
$FINISH,1.2,1.027773
$STATE,4300,end surface coast,CONTROL_FINISHED_OK
$STATE,4300,begin surface
$SM_CCo,4317,268.33,0.100,0,0,420,623.30
$SM_GC,1.88,0.00,0.00,268.33,0.000,0.000,0.100,415,2659,420,-8.28,0.25,623.30
$IRIDIUM_FIX,-7545.40,17914.04,030111,121242
$TT8_MAMPS,0.028462
$HUMID,50.47
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,14.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.4,18.1
$ALTIM_BOTTOM_PING,250.0,31.9
$24V_AH,20.2,73.069
$10V_AH,9.6,49.896
$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,18.400,58.750,273.900,268.325,0.000,85.608,115.969,381.978,1.500,0.000,15.240,1292.281,1362.833,653.463,2019.825,206.660,0.000,1207.507,0.000,834.360,0.000,7.136,0.000
$DEVICE_MAMPS,195.075,91.035,960.840,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,356.096,739.053,936.715,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267132
$DATA_FILE_SIZE,36979,509
$CAP_FILE_SIZE,84581,0
$CFSIZE,260165632,225701888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.337, 79.1,1
$GPS,030111,134414,-7630.240,17924.119,10,1.3,10,119.0