version: 66.08
glider: 502
mission: 3
dive: 450
start: 1 1 111 9 57 21
data:
$ID,502
$MISSION,3
$DIVE,450
$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,-30708.414
$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,33
$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
$GPS1,010111,095114,-7633.325,17947.965,7,1.6,7,118.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-73.0
$GPS2,010111,095655,-7633.314,17948.348,15,1.5,15,118.6
$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,235.8,7940,-17.5,-10.000
$D_GRID,404
$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,-146.0,0.0,0.0,0,106,0.00,0.00,-87.45,0.000,2,0.000,0.000,423,2669,3354,0,0,0,0,0,0
$GC,109,-0.76,-146.0,3.2,-1.6,13,132,8.82,2.33,-5.70,0.000,4,0.195,0.063,2805,1234,3560,0,0,0,0,0,0
$GC,193,-0.76,-146.0,18.9,-15.4,27,201,0.00,2.33,0.00,0.000,6,0.000,0.057,2797,2648,3562,0,0,0,0,0,0
$GC,331,-0.76,-146.0,41.7,-16.6,52,339,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2648,3563,0,0,0,0,0,0
$GC,472,-0.76,-146.0,65.6,-16.7,77,478,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2648,3563,0,0,0,0,0,0
$GC,609,-0.76,-146.0,89.4,-16.9,102,617,0.00,1.83,0.00,0.000,4,0.000,0.061,2789,3760,3563,0,0,0,0,0,0
$GC,681,-0.76,-146.0,102.7,-17.9,114,689,0.00,1.77,0.00,0.000,6,0.000,0.041,2788,2644,3563,0,0,0,0,0,0
$GC,818,-0.76,-146.0,125.3,-17.0,127,822,0.10,1.85,0.00,0.000,4,0.171,0.061,2807,3770,3563,0,0,0,0,0,0
$GC,867,-0.76,-146.0,133.9,-15.6,131,876,0.00,1.77,0.00,0.000,6,0.000,0.042,2807,2651,3563,0,0,0,0,0,0
$GC,1002,-0.76,-146.0,154.7,-16.0,144,1006,0.00,1.80,0.00,0.000,4,0.000,0.062,2798,3762,3563,0,0,0,0,0,0
$GC,1037,-0.76,-146.0,160.6,-17.4,147,1040,0.00,1.70,0.00,0.000,6,0.000,0.041,2798,2666,3563,0,0,0,0,0,0
$GC,1179,-0.76,-146.0,182.9,-15.7,160,1182,0.00,1.80,0.00,0.000,4,0.000,0.060,2790,3773,3563,0,0,0,0,0,0
$GC,1214,-0.76,-146.0,189.4,-19.0,163,1217,0.00,1.70,0.00,0.000,6,0.000,0.042,2790,2678,3563,0,0,0,0,0,0
$GC,1357,-0.76,-146.0,216.0,-14.8,176,1362,0.00,2.30,0.00,0.000,4,0.000,0.051,2790,1240,3563,0,0,0,0,0,0
$GC,1411,-0.76,-146.0,224.5,-12.1,180,1421,0.10,2.38,0.00,0.000,6,0.134,0.059,2812,2663,3563,0,0,0,0,0,0
$GC,1547,-0.76,-146.0,241.3,-11.2,193,1551,0.00,2.28,0.00,0.000,4,0.000,0.047,2812,1231,3563,0,0,0,0,0,0
$STATE,1767,end dive,NO_VERTICAL_VELOCITY
$STATE,1767,begin apogee
$GC,1774,-0.27,0.0,251.6,0.0,212,1914,0.45,0.00,128.45,0.954,4,0.085,0.000,2979,2503,2960,0,0,0,0,0,0
$STATE,1914,end apogee,CONTROL_FINISHED_OK
$STATE,1914,begin climb
$GC,1916,0.76,146.0,251.1,0.0,225,2078,1.05,2.30,146.05,0.875,4,0.083,0.062,3307,3764,2363,0,0,0,0,0,0
$GC,2125,0.76,146.0,226.3,14.8,242,2130,0.00,2.25,0.00,0.000,6,0.000,0.039,3315,2503,2358,0,0,0,0,0,0
$GC,2261,0.89,246.4,208.3,5.4,254,2367,0.10,2.42,99.47,0.852,4,0.098,0.053,3357,3754,1956,0,0,0,0,0,0
$GC,2378,0.89,246.4,193.3,11.9,265,2386,0.00,2.28,0.00,0.000,6,0.000,0.038,3366,2520,1953,0,0,0,0,0,0
$GC,2514,0.89,246.4,172.4,16.2,278,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,3366,2519,1947,0,0,0,0,0,0
$GC,2641,0.89,246.4,150.8,16.9,290,2645,0.00,2.10,0.00,0.000,4,0.000,0.058,3366,3772,1944,0,0,0,0,0,0
$GC,2695,0.89,246.4,140.7,17.5,294,2703,0.00,2.03,0.00,0.000,6,0.000,0.041,3376,2521,1945,0,0,0,0,0,0
$GC,2830,0.89,246.4,118.2,16.7,307,2833,0.00,2.03,0.00,0.000,4,0.000,0.058,3376,3768,1942,0,0,0,0,0,0
$GC,2877,0.89,246.4,109.6,19.2,311,2881,0.12,1.92,0.00,0.000,6,0.174,0.041,3354,2552,1942,0,0,0,0,0,0
$GC,3010,0.89,246.4,87.8,15.6,330,3018,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2550,1941,0,0,0,0,0,0
$GC,3149,0.89,246.4,67.2,14.6,355,3157,0.00,1.98,0.00,0.000,4,0.000,0.058,3354,3767,1940,0,0,0,0,0,0
$GC,3186,0.89,246.4,61.0,16.9,361,3193,0.00,1.90,0.00,0.000,6,0.000,0.041,3362,2557,1940,0,0,0,0,0,0
$GC,3325,0.89,246.4,38.4,16.1,386,3332,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2556,1940,0,0,0,0,0,0
$GC,3465,0.89,246.4,15.5,16.6,411,3472,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2556,1939,0,0,0,0,0,0
$FREEZE,8.51,-1.090,-1.898,2,1,0
$FREEZE,7.55,-1.086,-1.897,2,1,0
$FREEZE,6.51,-1.087,-1.897,2,1,0
$FREEZE,5.66,-1.088,-1.896,2,1,0
$FREEZE,4.58,-1.085,-1.895,2,1,0
$FREEZE,3.77,-1.085,-1.895,2,1,0
$FREEZE,2.69,-1.085,-1.894,2,1,0
$STATE,3541,end climb,SURFACE_DEPTH_REACHED
$STATE,3541,begin surface coast
$FREEZE,1.37,-1.091,-1.893,2,1,0
$FREEZE,1.06,-1.101,-1.891,2,1,0
$FREEZE,1.12,-1.145,-1.896,2,1,0
$FINISH,1.1,1.027775
$STATE,3562,end surface coast,CONTROL_FINISHED_OK
$STATE,3562,begin surface
$SM_CCo,3579,28.15,0.614,1,0,1736,300.24
$SM_GC,1.94,0.00,0.00,28.15,0.000,0.000,0.614,413,2661,1736,-8.29,0.31,300.24
$IRIDIUM_FIX,-7545.40,17950.76,010111,080805
$TT8_MAMPS,0.028462
$HUMID,53.38
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.2,17.7
$24V_AH,20.3,69.408
$10V_AH,9.7,47.132
$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,18.375,49.325,373.975,28.150,0.000,27.413,35.883,168.937,1.000,0.000,15.954,1060.547,894.131,459.728,1402.045,148.775,0.000,983.872,0.000,741.755,0.000,7.168,0.000
$DEVICE_MAMPS,195.075,84.150,953.955,614.295,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,297.289,627.241,804.569,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267112
$DATA_FILE_SIZE,30348,427
$CAP_FILE_SIZE,66000,0
$CFSIZE,260165632,227364864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.437, 86.9,1
$GPS,010111,105836,-7632.735,17951.801,14,1.6,24,118.5