version: 66.08
glider: 502
mission: 3
dive: 493
start: 1 3 111 19 16 29
data:
$ID,502
$MISSION,3
$DIVE,493
$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,-30761.262
$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,37
$R_STBD_OVSHOOT,22
$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
$GPS1,030111,190550,-7628.433,17924.047,11,1.2,11,118.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-70.9
$GPS2,030111,191603,-7628.297,17923.865,15,1.3,15,118.9
$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,105.4,243802,-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,14,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,108,0.00,0.00,-88.55,0.000,2,0.000,0.000,420,2640,3375,0,0,0,0,0,0
$GC,111,-0.76,-146.0,3.3,-2.3,13,133,9.00,1.88,-4.85,0.000,4,0.198,0.074,2801,3770,3559,0,0,0,0,0,0
$GC,314,-0.76,-146.0,41.3,-17.2,49,320,0.00,1.77,0.00,0.000,6,0.000,0.042,2801,2639,3562,0,0,0,0,0,0
$GC,451,-0.76,-146.0,65.4,-16.5,74,459,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2638,3562,0,0,0,0,0,0
$GC,593,-0.76,-146.0,88.6,-16.4,99,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2638,3563,0,0,0,0,0,0
$GC,729,-0.76,-146.0,110.6,-16.3,118,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2638,3564,0,0,0,0,0,0
$GC,857,-0.76,-146.0,131.7,-16.7,130,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2638,3563,0,0,0,0,0,0
$GC,984,-0.76,-146.0,151.3,-15.5,142,988,0.00,1.85,0.00,0.000,4,0.000,0.062,2792,3767,3564,0,0,0,0,0,0
$GC,1020,-0.76,-146.0,157.2,-16.7,145,1023,0.00,1.73,0.00,0.000,6,0.000,0.042,2792,2660,3563,0,0,0,0,0,0
$GC,1161,-0.76,-146.0,180.3,-16.6,158,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2659,3564,0,0,0,0,0,0
$GC,1288,-0.76,-146.0,201.7,-16.7,170,1292,0.00,1.83,0.00,0.000,4,0.000,0.063,2785,3773,3563,0,0,0,0,0,0
$GC,1315,-0.76,-146.0,207.2,-18.2,172,1324,0.08,1.77,0.00,0.000,6,0.142,0.041,2810,2662,3563,0,0,0,0,0,0
$GC,1452,-0.76,-146.0,228.5,-15.7,185,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2661,3563,0,0,0,0,0,0
$GC,1588,-0.76,-146.0,249.3,-15.0,198,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2661,3563,0,0,0,0,0,0
$GC,1714,-0.76,-146.0,267.6,-14.7,210,1719,0.00,2.25,0.00,0.000,4,0.000,0.051,2810,1240,3564,0,0,0,0,0,0
$STATE,1730,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1731,begin apogee
$GC,1738,-0.27,0.0,271.1,17.7,211,1874,0.52,0.00,129.15,0.978,4,0.127,0.000,2971,2511,2961,0,0,0,0,0,0
$STATE,1875,end apogee,CONTROL_FINISHED_OK
$STATE,1875,begin climb
$GC,1877,0.76,146.0,278.8,0.0,223,2037,1.12,2.33,146.57,0.900,4,0.092,0.060,3305,3763,2365,0,0,0,0,0,0
$GC,2284,0.76,146.0,233.9,13.0,259,2288,0.00,2.10,0.00,0.000,6,0.000,0.041,3315,2497,2353,0,0,0,0,0,0
$GC,2421,0.76,146.0,218.7,10.4,271,2425,0.00,2.25,0.00,0.000,4,0.000,0.050,3325,1083,2350,0,0,0,0,0,0
$GC,2619,0.76,146.0,195.4,10.8,288,2628,0.00,2.35,0.00,0.000,6,0.000,0.054,3325,2510,2347,0,0,0,0,0,0
$GC,2758,0.76,146.0,179.8,11.9,301,2761,0.00,2.00,0.00,0.000,4,0.000,0.059,3324,3764,2346,0,0,0,0,0,0
$GC,2817,0.76,146.0,170.9,14.2,306,2826,0.00,1.98,0.00,0.000,6,0.000,0.041,3334,2522,2346,0,0,0,0,0,0
$GC,2955,0.76,146.0,154.3,12.0,319,2958,0.00,2.03,0.00,0.000,4,0.000,0.059,3334,3773,2346,0,0,0,0,0,0
$GC,2992,0.76,146.0,149.4,14.0,322,2997,0.12,1.95,0.00,0.000,6,0.163,0.041,3311,2521,2346,0,0,0,0,0,0
$GC,3128,0.76,146.0,134.3,10.7,334,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2519,2346,0,0,0,0,0,0
$GC,3255,0.76,146.0,120.6,10.9,346,3258,0.00,2.03,0.00,0.000,4,0.000,0.059,3310,3769,2345,0,0,0,0,0,0
$GC,3291,0.76,146.0,116.4,12.9,349,3294,0.00,1.92,0.00,0.000,6,0.000,0.041,3318,2538,2345,0,0,0,0,0,0
$GC,3432,0.76,146.0,99.8,11.7,362,3440,0.00,2.33,0.00,0.000,4,0.000,0.050,3328,1091,2345,0,0,0,0,0,0
$GC,3469,0.76,146.0,95.5,11.7,368,3477,0.00,2.38,0.00,0.000,6,0.000,0.053,3328,2533,2344,0,0,0,0,0,0
$GC,3608,0.76,146.0,79.2,11.6,393,3615,0.00,1.98,0.00,0.000,4,0.000,0.059,3328,3764,2344,0,0,0,0,0,0
$GC,3701,0.76,146.0,66.1,13.5,410,3709,0.00,1.95,0.00,0.000,6,0.000,0.041,3337,2545,2344,0,0,0,0,0,0
$GC,3844,0.76,146.0,48.4,13.2,435,3851,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2543,2344,0,0,0,0,0,0
$GC,3982,0.76,146.0,31.3,12.6,460,3990,0.00,2.03,0.00,0.000,4,0.000,0.060,3337,3763,2343,0,0,0,0,0,0
$GC,4040,0.76,146.0,23.0,15.2,470,4048,0.10,1.92,0.00,0.000,6,0.135,0.041,3313,2558,2343,0,0,0,0,0,0
$FREEZE,8.80,-1.212,-1.898,2,1,0
$FREEZE,7.87,-1.176,-1.897,2,1,0
$FREEZE,7.18,-1.158,-1.896,2,1,0
$FREEZE,6.46,-1.146,-1.896,2,1,0
$FREEZE,5.87,-1.137,-1.895,2,1,0
$GC,4187,0.76,146.0,5.9,11.4,495,4194,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2557,2343,0,0,0,0,0,0
$FREEZE,3.72,-1.123,-1.894,2,1,0
$FREEZE,3.13,-1.114,-1.893,2,1,0
$FREEZE,2.45,-1.114,-1.893,2,1,0
$STATE,4212,end climb,SURFACE_DEPTH_REACHED
$STATE,4212,begin surface coast
$FREEZE,1.73,-1.113,-1.892,2,1,0
$FREEZE,1.23,-1.106,-1.892,2,1,0
$FREEZE,1.20,-1.153,-1.343,2,1,0
$FREEZE,1.12,-1.110,-1.889,2,1,0
$FINISH,1.1,1.027675
$STATE,4237,end surface coast,CONTROL_FINISHED_OK
$STATE,4237,begin surface
$SM_CCo,4255,75.35,0.099,0,0,1736,300.24
$SM_GC,2.07,0.00,0.00,75.35,0.000,0.000,0.099,428,2656,1736,-8.24,0.17,300.24
$IRIDIUM_FIX,-7545.40,17932.50,030111,191926
$TT8_MAMPS,0.028462
$HUMID,53.11
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,18.4
$ALTIM_BOTTOM_PING,250.9,34.7
$24V_AH,20.2,73.544
$10V_AH,9.6,50.269
$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,18.525,48.875,275.725,75.350,0.000,54.916,77.289,290.604,1.500,0.000,15.872,1273.942,1273.740,441.625,1766.414,197.698,0.000,983.544,0.000,858.806,0.000,7.143,0.000
$DEVICE_MAMPS,198.135,88.740,977.670,98.685,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,352.670,728.361,918.874,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267092
$DATA_FILE_SIZE,33719,503
$CAP_FILE_SIZE,75979,0
$CFSIZE,260165632,225509376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.376,340.2,1
$GPS,030111,203000,-7627.791,17921.088,41,1.2,41,118.9