version: 66.08
glider: 502
mission: 3
dive: 448
start: 1 1 111 7 41 54
data:
$ID,502
$MISSION,3
$DIVE,448
$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,-30705.902
$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,35
$R_STBD_OVSHOOT,35
$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
$GPS1,010111,073514,-7633.360,17939.891,9,1.3,9,118.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-73.5
$GPS2,010111,074128,-7633.386,17940.248,13,2.1,32,118.8
$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,249.9,10594,-17.5,-10.000
$D_GRID,393
$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,-146.0,0.0,0.0,0,103,0.00,0.00,-83.88,0.000,2,0.000,0.000,413,2662,3276,0,0,0,0,0,0
$GC,106,-0.76,-146.0,3.1,-1.1,13,129,8.90,2.38,-8.43,0.000,4,0.194,0.063,2806,1238,3560,0,0,0,0,0,0
$GC,310,-0.76,-146.0,34.5,-15.1,49,317,0.00,2.30,0.00,0.000,6,0.000,0.057,2797,2638,3564,0,0,0,0,0,0
$GC,448,-0.76,-146.0,57.3,-16.8,74,456,0.00,2.28,0.00,0.000,4,0.000,0.051,2797,1240,3564,0,0,0,0,0,0
$GC,480,-0.76,-146.0,62.5,-16.3,79,489,0.12,2.30,0.00,0.000,6,0.154,0.057,2821,2641,3564,0,0,0,0,0,0
$GC,623,-0.76,-146.0,83.1,-15.1,104,631,0.00,1.85,0.00,0.000,4,0.000,0.061,2813,3765,3564,0,0,0,0,0,0
$GC,660,-0.76,-146.0,89.1,-16.2,110,668,0.00,1.80,0.00,0.000,6,0.000,0.042,2813,2635,3564,0,0,0,0,0,0
$GC,805,-0.76,-146.0,110.0,-14.7,130,809,0.00,1.85,0.00,0.000,4,0.000,0.061,2805,3773,3564,0,0,0,0,0,0
$GC,863,-0.76,-146.0,118.8,-15.1,135,866,0.00,1.75,0.00,0.000,6,0.000,0.042,2804,2647,3564,0,0,0,0,0,0
$GC,1005,-0.76,-146.0,139.9,-15.0,148,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2644,3565,0,0,0,0,0,0
$GC,1141,-0.76,-146.0,160.3,-14.8,161,1145,0.00,1.83,0.00,0.000,4,0.000,0.061,2796,3770,3564,0,0,0,0,0,0
$GC,1189,-0.76,-146.0,168.3,-15.5,165,1198,0.00,1.77,0.00,0.000,6,0.000,0.042,2796,2650,3564,0,0,0,0,0,0
$GC,1327,-0.76,-146.0,188.4,-15.5,178,1331,0.00,2.22,0.00,0.000,4,0.000,0.050,2796,1237,3564,0,0,0,0,0,0
$GC,1391,-0.76,-146.0,197.1,-14.7,183,1396,0.12,2.30,0.00,0.000,6,0.152,0.057,2818,2645,3565,0,0,0,0,0,0
$GC,1526,-0.76,-146.0,216.0,-13.6,195,1527,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2645,3564,0,0,0,0,0,0
$GC,1653,-0.76,-146.0,229.9,-10.0,207,1657,0.00,2.20,0.00,0.000,4,0.000,0.046,2819,1241,3564,0,0,0,0,0,0
$STATE,1824,end dive,NO_VERTICAL_VELOCITY
$STATE,1825,begin apogee
$GC,1832,-0.27,0.0,233.5,0.0,222,1971,0.43,0.00,129.07,0.943,4,0.096,0.000,2972,2505,2959,0,0,0,0,0,0
$STATE,1972,end apogee,CONTROL_FINISHED_OK
$STATE,1972,begin climb
$GC,1974,0.76,146.0,232.9,0.0,233,2129,1.10,2.30,145.68,0.862,4,0.096,0.064,3307,3762,2365,0,0,0,0,0,0
$GC,2220,0.76,146.0,198.7,16.4,253,2224,0.00,2.20,0.00,0.000,6,0.000,0.038,3317,2501,2356,0,0,0,0,0,0
$GC,2355,0.76,146.0,176.9,15.9,265,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2498,2350,0,0,0,0,0,0
$GC,2483,0.76,146.0,155.7,16.7,277,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2498,2349,0,0,0,0,0,0
$GC,2611,0.76,146.0,134.7,16.2,289,2614,0.00,2.08,0.00,0.000,4,0.000,0.058,3317,3775,2348,0,0,0,0,0,0
$GC,2665,0.76,146.0,124.7,17.6,293,2673,0.00,2.05,0.00,0.000,6,0.000,0.041,3327,2491,2347,0,0,0,0,0,0
$GC,2802,0.76,146.0,104.7,14.3,306,2806,0.00,2.08,0.00,0.000,4,0.000,0.058,3326,3773,2346,0,0,0,0,0,0
$GC,2849,0.76,146.0,97.2,16.1,311,2857,0.00,2.00,0.00,0.000,6,0.000,0.041,3336,2497,2346,0,0,0,0,0,0
$GC,2989,0.76,146.0,77.4,13.9,336,2997,0.00,2.10,0.00,0.000,4,0.000,0.059,3337,3761,2346,0,0,0,0,0,0
$GC,3054,0.76,146.0,67.2,15.8,347,3063,0.12,1.95,0.00,0.000,6,0.162,0.041,3313,2517,2346,0,0,0,0,0,0
$GC,3195,0.76,146.0,50.4,10.8,372,3203,0.00,2.08,0.00,0.000,4,0.000,0.060,3313,3768,2345,0,0,0,0,0,0
$GC,3221,0.76,146.0,47.2,12.0,376,3229,0.00,1.98,0.00,0.000,6,0.000,0.041,3321,2524,2345,0,0,0,0,0,0
$GC,3362,0.76,146.0,31.2,11.7,401,3368,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2523,2344,0,0,0,0,0,0
$GC,3500,0.76,146.0,14.3,11.5,426,3508,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2523,2344,0,0,0,0,0,0
$FREEZE,8.76,-1.097,-1.899,2,1,0
$FREEZE,8.02,-1.097,-1.898,2,1,0
$FREEZE,7.39,-1.095,-1.898,2,1,0
$FREEZE,6.79,-1.096,-1.897,2,1,0
$FREEZE,5.93,-1.087,-1.896,2,1,0
$FREEZE,5.43,-1.087,-1.896,2,1,0
$FREEZE,4.67,-1.083,-1.895,2,1,0
$FREEZE,4.03,-1.085,-1.895,2,1,0
$FREEZE,3.34,-1.082,-1.894,2,1,0
$FREEZE,2.66,-1.084,-1.894,2,1,0
$STATE,3599,end climb,SURFACE_DEPTH_REACHED
$STATE,3601,begin surface coast
$FREEZE,1.66,-1.084,-1.893,2,1,0
$FREEZE,1.26,-1.109,-1.894,2,1,0
$FREEZE,1.16,-1.093,-1.040,2,1,0
$FINISH,1.2,1.015353
$STATE,3619,end surface coast,FINISH_DEPTH_REACHED
$STATE,3619,begin surface
$SM_CCo,3635,74.55,0.099,0,0,1736,300.24
$SM_GC,1.96,0.00,0.00,74.55,0.000,0.000,0.099,419,2657,1736,-8.27,0.17,300.24
$IRIDIUM_FIX,-7545.40,17932.35,010111,060602
$TT8_MAMPS,0.028462
$HUMID,52.99
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,18.9
$24V_AH,20.3,69.208
$10V_AH,9.7,47.001
$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,18.250,50.000,274.750,74.550,0.000,30.515,38.991,175.211,0.750,0.000,34.083,1135.028,902.127,410.647,1487.930,159.389,0.000,929.731,0.000,755.628,0.000,2.624,0.000
$DEVICE_MAMPS,193.545,79.560,943.245,98.685,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,312.288,678.753,882.929,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267128
$DATA_FILE_SIZE,30471,446
$CAP_FILE_SIZE,65988,0
$CFSIZE,260165632,227446784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.461,124.5,1
$GPS,010111,084432,-7633.421,17943.619,9,1.8,9,118.7