version: 66.08
glider: 502
mission: 3
dive: 443
start: 1 1 111 1 20 28
data:
$ID,502
$MISSION,3
$DIVE,443
$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,-30699.607
$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,34
$R_STBD_OVSHOOT,29
$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
$GPS1,010111,011425,-7629.997,17936.811,32,1.9,32,118.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-71.8
$GPS2,010111,012002,-7630.087,17936.611,10,1.2,10,118.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,POLYNYA2
$TGT_LATLONG,-7630.000,18000.000
$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,285.4,10113,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,107,0.00,0.00,-87.70,0.000,2,0.000,0.000,408,2669,3361,0,0,0,0,0,0
$GC,109,-0.76,-146.0,3.3,-1.4,13,132,9.00,2.33,-5.57,0.000,4,0.197,0.062,2807,1243,3559,0,0,0,0,0,0
$GC,292,-0.76,-146.0,33.1,-14.8,45,300,0.00,2.30,0.00,0.000,6,0.000,0.057,2799,2648,3563,0,0,0,0,0,0
$GC,430,-0.76,-146.0,56.3,-17.7,70,438,0.00,1.83,0.00,0.000,4,0.000,0.060,2790,3763,3563,0,0,0,0,0,0
$GC,484,-0.76,-146.0,66.1,-19.0,79,492,0.00,1.77,0.00,0.000,6,0.000,0.041,2790,2621,3562,0,0,0,0,0,0
$GC,623,-0.76,-146.0,90.0,-18.3,104,631,0.00,1.90,0.00,0.000,4,0.000,0.061,2781,3764,3563,0,0,0,0,0,0
$GC,649,-0.76,-146.0,94.9,-18.3,108,658,0.10,1.75,0.00,0.000,6,0.138,0.041,2814,2662,3563,0,0,0,0,0,0
$GC,789,-0.76,-146.0,118.3,-15.7,123,793,0.00,2.22,0.00,0.000,4,0.000,0.050,2814,1247,3563,0,0,0,0,0,0
$GC,810,-0.76,-146.0,122.5,-17.1,124,820,0.00,2.33,0.00,0.000,6,0.000,0.057,2805,2649,3563,0,0,0,0,0,0
$GC,948,-0.76,-146.0,144.7,-16.9,137,951,0.00,1.77,0.00,0.000,4,0.000,0.061,2797,3764,3563,0,0,0,0,0,0
$GC,971,-0.76,-146.0,149.1,-17.4,139,975,0.00,1.73,0.00,0.000,6,0.000,0.041,2797,2649,3563,0,0,0,0,0,0
$GC,1113,-0.76,-146.0,173.6,-17.7,152,1117,0.00,2.20,0.00,0.000,4,0.000,0.050,2797,1247,3563,0,0,0,0,0,0
$GC,1165,-0.76,-146.0,182.1,-15.5,156,1170,0.12,2.30,0.00,0.000,6,0.154,0.057,2820,2658,3563,0,0,0,0,0,0
$GC,1301,-0.76,-146.0,203.4,-15.9,168,1305,0.00,2.25,0.00,0.000,4,0.000,0.049,2820,1241,3563,0,0,0,0,0,0
$GC,1333,-0.76,-146.0,208.7,-15.6,170,1341,0.00,2.33,0.00,0.000,6,0.000,0.057,2811,2639,3563,0,0,0,0,0,0
$GC,1470,-0.76,-146.0,228.7,-14.9,183,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2639,3563,0,0,0,0,0,0
$GC,1607,-0.76,-146.0,248.9,-13.5,196,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2639,3563,0,0,0,0,0,0
$GC,1741,-0.76,-146.0,257.9,-0.2,209,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2639,3563,0,0,0,0,0,0
$STATE,1834,end dive,NO_VERTICAL_VELOCITY
$STATE,1835,begin apogee
$GC,1840,-0.27,0.0,257.9,0.0,218,1975,0.45,0.00,128.70,0.955,4,0.077,0.000,2979,2482,2961,0,0,0,0,0,0
$STATE,1976,end apogee,CONTROL_FINISHED_OK
$STATE,1976,begin climb
$GC,1978,0.76,146.0,257.9,0.0,230,2130,1.00,0.00,145.20,0.877,6,0.081,0.000,3303,2481,2363,0,0,0,0,0,0
$GC,2256,0.76,146.0,230.2,12.6,255,2260,0.00,2.28,0.00,0.000,4,0.000,0.057,3302,3761,2353,0,0,0,0,0,0
$GC,2510,0.76,146.0,197.1,13.1,277,2518,0.00,2.00,0.00,0.000,6,0.000,0.041,3312,2526,2349,0,0,0,0,0,0
$GC,2645,0.76,146.0,181.5,12.1,290,2646,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2524,2347,0,0,0,0,0,0
$GC,2772,0.76,146.0,166.6,11.9,302,2776,0.00,2.00,0.00,0.000,4,0.000,0.060,3313,3764,2346,0,0,0,0,0,0
$GC,2800,0.76,146.0,162.7,14.0,304,2808,0.00,1.98,0.00,0.000,6,0.000,0.041,3322,2521,2347,0,0,0,0,0,0
$GC,2936,0.76,146.0,145.7,12.3,317,2944,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2519,2346,0,0,0,0,0,0
$GC,3073,0.76,146.0,128.3,12.5,330,3076,0.00,2.03,0.00,0.000,4,0.000,0.059,3322,3775,2346,0,0,0,0,0,0
$GC,3110,0.76,146.0,122.7,14.4,333,3119,0.00,2.00,0.00,0.000,6,0.000,0.041,3331,2517,2346,0,0,0,0,0,0
$GC,3246,0.76,146.0,105.9,11.8,346,3247,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2516,2345,0,0,0,0,0,0
$GC,3373,0.76,146.0,90.8,12.4,365,3379,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2516,2345,0,0,0,0,0,0
$GC,3508,0.76,146.0,74.7,11.4,390,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2516,2345,0,0,0,0,0,0
$GC,3646,0.76,146.0,58.7,11.6,415,3653,0.00,2.03,0.00,0.000,4,0.000,0.059,3331,3764,2345,0,0,0,0,0,0
$GC,3716,0.76,146.0,49.2,14.8,427,3723,0.00,1.92,0.00,0.000,6,0.000,0.041,3341,2531,2344,0,0,0,0,0,0
$GC,3856,0.76,146.0,31.1,12.8,452,3864,0.00,2.03,0.00,0.000,4,0.000,0.057,3341,3759,2344,0,0,0,0,0,0
$GC,3925,0.76,146.0,20.6,15.3,464,3938,0.10,1.92,0.00,0.000,6,0.136,0.041,3316,2550,2344,0,0,0,0,0,0
$FREEZE,8.61,-1.069,-1.898,2,1,0
$FREEZE,8.08,-1.070,-1.898,2,1,0
$FREEZE,7.38,-1.063,-1.897,2,1,0
$FREEZE,6.62,-1.067,-1.897,2,1,0
$FREEZE,5.82,-1.084,-1.896,2,1,0
$FREEZE,5.12,-1.076,-1.896,2,1,0
$FREEZE,4.38,-1.061,-1.895,2,1,0
$FREEZE,3.91,-1.059,-1.895,2,1,0
$FREEZE,3.20,-1.056,-1.894,2,1,0
$FREEZE,2.65,-1.057,-1.894,2,1,0
$STATE,4073,end climb,SURFACE_DEPTH_REACHED
$STATE,4074,begin surface coast
$FREEZE,1.78,-1.054,-1.893,2,1,0
$FREEZE,1.23,-1.057,-1.893,2,1,0
$FREEZE,1.19,-1.093,-1.894,2,1,0
$FREEZE,1.31,-1.077,-1.894,2,1,0
$FREEZE,1.18,-1.110,-1.041,2,1,0
$FINISH,1.2,1.015371
$STATE,4105,end surface coast,FINISH_DEPTH_REACHED
$STATE,4105,begin surface
$SM_CCo,4122,75.43,0.100,0,0,1736,300.24
$SM_GC,2.02,0.00,0.00,75.43,0.000,0.000,0.100,422,2660,1736,-8.26,0.31,300.24
$IRIDIUM_FIX,-7545.40,17932.35,311210,232310
$TT8_MAMPS,0.027713
$HUMID,52.91
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,18.0
$24V_AH,20.3,68.763
$10V_AH,9.7,46.634
$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,18.325,49.575,273.900,75.425,0.000,28.764,36.511,166.488,1.250,0.000,11.752,1245.679,1159.279,448.008,1529.874,163.328,0.000,989.454,0.000,819.069,0.000,6.911,0.000
$DEVICE_MAMPS,196.605,82.620,955.485,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,345.829,719.476,903.569,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267044
$DATA_FILE_SIZE,33825,494
$CAP_FILE_SIZE,71591,0
$CFSIZE,260165632,227643392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.540,210.2,1
$GPS,010111,023136,-7630.763,17935.180,31,0.9,31,118.8