version: 66.08
glider: 502
mission: 3
dive: 449
start: 1 1 111 8 51 2
data:
$ID,502
$MISSION,3
$DIVE,449
$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,-30707.16
$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,25
$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
$GPS1,010111,084432,-7633.421,17943.619,9,1.8,9,118.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-72.2
$GPS2,010111,085036,-7633.451,17944.078,14,0.9,30,118.7
$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,243.4,9393,-17.5,-10.000
$D_GRID,395
$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,16,-0.76,-146.0,0.0,0.0,0,106,0.00,0.00,-87.25,0.000,2,0.000,0.000,414,2658,3352,0,0,0,0,0,0
$GC,109,-0.76,-146.0,3.3,-1.5,13,132,8.90,2.30,-5.80,0.000,4,0.194,0.062,2808,1241,3560,0,0,0,0,0,0
$GC,204,-0.76,-146.0,20.3,-15.4,29,211,0.00,2.33,0.00,0.000,6,0.000,0.057,2799,2653,3563,0,0,0,0,0,0
$GC,341,-0.76,-146.0,43.1,-17.1,54,348,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2653,3563,0,0,0,0,0,0
$GC,481,-0.76,-146.0,67.4,-17.5,79,488,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2653,3564,0,0,0,0,0,0
$GC,617,-0.76,-146.0,89.8,-16.1,104,625,0.00,1.83,0.00,0.000,4,0.000,0.060,2791,3766,3563,0,0,0,0,0,0
$GC,671,-0.76,-146.0,99.2,-17.8,113,678,0.00,1.77,0.00,0.000,6,0.000,0.042,2790,2630,3563,0,0,0,0,0,0
$GC,806,-0.76,-146.0,122.6,-17.3,126,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2628,3563,0,0,0,0,0,0
$GC,934,-0.76,-146.0,143.8,-16.6,138,938,0.00,1.85,0.00,0.000,4,0.000,0.063,2782,3764,3563,0,0,0,0,0,0
$GC,994,-0.76,-146.0,155.3,-18.2,143,1004,0.10,1.77,0.00,0.000,6,0.133,0.041,2815,2645,3563,0,0,0,0,0,0
$GC,1130,-0.76,-146.0,176.6,-16.2,156,1134,0.00,2.20,0.00,0.000,4,0.000,0.051,2816,1251,3563,0,0,0,0,0,0
$GC,1214,-0.76,-146.0,190.1,-15.9,163,1219,0.00,2.25,0.00,0.000,6,0.000,0.056,2807,2638,3563,0,0,0,0,0,0
$GC,1351,-0.76,-146.0,210.8,-14.8,175,1355,0.00,2.20,0.00,0.000,4,0.000,0.049,2806,1246,3564,0,0,0,0,0,0
$STATE,1491,end dive,NO_VERTICAL_VELOCITY
$STATE,1491,begin apogee
$GC,1498,-0.27,0.0,210.7,0.0,187,1637,0.45,0.00,128.20,0.926,4,0.063,0.000,2987,2507,2960,0,0,0,0,0,0
$STATE,1638,end apogee,CONTROL_FINISHED_OK
$STATE,1638,begin climb
$GC,1641,0.76,146.0,210.8,0.0,198,1795,0.98,2.25,144.52,0.850,4,0.069,0.057,3306,3760,2365,0,0,0,0,0,0
$GC,1998,0.76,146.0,171.3,15.2,228,2002,0.00,2.10,0.00,0.000,6,0.000,0.040,3316,2500,2352,0,0,0,0,0,0
$GC,2134,0.76,146.0,154.9,11.7,240,2138,0.00,2.28,0.00,0.000,4,0.000,0.053,3316,1090,2349,0,0,0,0,0,0
$GC,2277,0.76,146.0,139.6,10.5,252,2285,0.00,2.38,0.00,0.000,6,0.000,0.055,3316,2520,2345,0,0,0,0,0,0
$GC,2414,0.76,146.0,125.0,10.9,265,2417,0.00,2.00,0.00,0.000,4,0.000,0.058,3316,3777,2345,0,0,0,0,0,0
$GC,2495,0.76,146.0,114.3,13.3,272,2504,0.00,1.98,0.00,0.000,6,0.000,0.041,3324,2532,2345,0,0,0,0,0,0
$GC,2633,0.76,146.0,99.5,10.9,285,2640,0.00,2.00,0.00,0.000,4,0.000,0.058,3324,3766,2345,0,0,0,0,0,0
$GC,2684,0.76,146.0,92.9,12.8,294,2692,0.00,1.92,0.00,0.000,6,0.000,0.041,3333,2553,2344,0,0,0,0,0,0
$GC,2826,0.76,146.0,77.0,11.5,319,2834,0.00,1.98,0.00,0.000,4,0.000,0.060,3334,3768,2344,0,0,0,0,0,0
$GC,2874,0.76,146.0,70.7,13.1,327,2883,0.12,1.88,0.00,0.000,6,0.162,0.041,3310,2564,2344,0,0,0,0,0,0
$GC,3017,0.79,168.2,56.6,9.0,352,3040,0.00,2.08,17.45,0.835,4,0.000,0.059,3310,3774,2275,0,0,0,0,0,0
$GC,3068,0.79,168.2,51.0,11.5,360,3076,0.00,1.92,0.00,0.000,6,0.000,0.042,3317,2571,2273,0,0,0,0,0,0
$GC,3207,0.79,168.2,35.7,11.6,385,3214,0.00,2.35,0.00,0.000,4,0.000,0.052,3327,1092,2270,0,0,0,0,0,0
$GC,3236,0.79,168.2,32.4,10.7,390,3244,0.00,2.45,0.00,0.000,6,0.000,0.054,3327,2574,2269,0,0,0,0,0,0
$GC,3376,0.79,168.2,15.5,12.7,415,3383,0.00,1.92,0.00,0.000,4,0.000,0.059,3327,3778,2269,0,0,0,0,0,0
$FREEZE,8.52,-1.078,-1.898,2,1,0
$GC,3425,0.79,168.2,8.5,14.8,423,3433,0.00,1.88,0.00,0.000,6,0.000,0.041,3337,2573,2269,0,0,0,0,0,0
$FREEZE,6.11,-1.075,-1.896,2,1,0
$FREEZE,5.24,-1.075,-1.896,2,1,0
$FREEZE,4.41,-1.075,-1.895,2,1,0
$FREEZE,3.47,-1.073,-1.894,2,1,0
$FREEZE,2.73,-1.074,-1.894,2,1,0
$STATE,3463,end climb,SURFACE_DEPTH_REACHED
$STATE,3463,begin surface coast
$FREEZE,1.89,-1.076,-1.893,2,1,0
$FREEZE,1.05,-1.079,-1.893,2,1,0
$FREEZE,1.07,-1.128,-0.960,2,1,0
$FINISH,1.1,1.014172
$STATE,3482,end surface coast,FINISH_DEPTH_REACHED
$STATE,3484,begin surface
$SM_CCo,3500,66.30,0.100,0,0,1737,300.24
$SM_GC,2.14,0.00,0.00,66.30,0.000,0.000,0.100,425,2669,1737,-8.25,0.54,300.24
$IRIDIUM_FIX,-7545.40,17932.28,010111,070750
$TT8_MAMPS,0.028462
$HUMID,52.91
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,18.2
$24V_AH,20.3,69.296
$10V_AH,9.7,47.068
$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,18.050,54.100,290.175,66.300,0.000,28.477,41.345,170.032,0.750,0.000,31.612,1088.951,813.496,424.751,1461.179,154.476,0.000,946.694,0.000,758.956,0.000,2.624,0.000
$DEVICE_MAMPS,193.545,84.915,926.415,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,301.713,657.234,843.756,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30500,432
$CAP_FILE_SIZE,65388,0
$CFSIZE,260165632,227409920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.471,104.4,1
$GPS,010111,095114,-7633.325,17947.965,7,1.6,7,118.6