version: 66.08
glider: 502
mission: 3
dive: 451
start: 1 1 111 11 4 46
data:
$ID,502
$MISSION,3
$DIVE,451
$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,-30709.67
$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,30
$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
$GPS1,010111,105836,-7632.735,17951.801,14,1.6,24,118.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-72.9
$GPS2,010111,110420,-7632.705,17952.074,11,2.0,11,118.5
$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,230.9,6069,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,104,0.00,0.00,-84.68,0.000,2,0.000,0.000,411,2662,3294,0,0,0,0,0,0
$GC,107,-0.76,-146.0,3.2,-1.6,13,130,8.82,1.88,-7.68,0.000,4,0.194,0.077,2801,3769,3560,0,0,0,0,0,0
$GC,175,-0.76,-146.0,16.2,-18.1,24,183,0.00,1.80,0.00,0.000,6,0.000,0.042,2801,2640,3562,0,0,0,0,0,0
$GC,315,-0.76,-146.0,39.8,-16.7,49,321,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2640,3562,0,0,0,0,0,0
$GC,454,-0.76,-146.0,64.9,-18.2,74,461,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2640,3562,0,0,0,0,0,0
$GC,594,-0.76,-146.0,91.3,-18.8,99,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2640,3563,0,0,0,0,0,0
$GC,739,-0.76,-146.0,120.8,-21.9,116,743,0.00,1.83,0.00,0.000,4,0.000,0.061,2793,3762,3563,0,0,0,0,0,0
$GC,841,-0.76,-146.0,143.3,-21.9,125,844,0.00,1.73,0.00,0.000,6,0.000,0.041,2793,2649,3563,0,0,0,0,0,0
$GC,984,-0.76,-146.0,173.7,-21.2,138,987,0.00,1.80,0.00,0.000,4,0.000,0.062,2784,3757,3563,0,0,0,0,0,0
$GC,1063,-0.76,-146.0,192.1,-23.0,145,1068,0.12,1.67,0.00,0.000,6,0.160,0.042,2818,2678,3563,0,0,0,0,0,0
$GC,1206,-0.76,-146.0,219.1,-18.4,158,1210,0.00,1.75,0.00,0.000,4,0.000,0.063,2811,3756,3562,0,0,0,0,0,0
$GC,1252,-0.76,-146.0,228.4,-18.5,162,1256,0.00,1.67,0.00,0.000,6,0.000,0.042,2811,2680,3563,0,0,0,0,0,0
$GC,1392,-0.76,-146.0,253.9,-17.9,175,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2677,3563,0,0,0,0,0,0
$GC,1584,-0.76,-146.0,284.3,-15.5,193,1588,0.00,2.28,0.00,0.000,6,0.000,0.053,2810,1244,3563,0,0,0,0,0,0
$STATE,1589,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1589,begin apogee
$GC,1596,-0.27,0.0,285.4,15.4,193,1732,0.52,0.00,129.48,0.976,4,0.128,0.000,2970,2493,2961,0,0,0,0,0,0
$STATE,1732,end apogee,CONTROL_FINISHED_OK
$STATE,1733,begin climb
$GC,1734,0.76,146.0,295.4,0.0,205,1893,1.08,2.33,146.75,0.903,4,0.081,0.060,3305,3766,2364,0,0,0,0,0,0
$GC,2143,0.76,146.0,250.8,13.6,241,2150,0.00,2.12,0.00,0.000,6,0.000,0.040,3315,2498,2352,0,0,0,0,0,0
$GC,2343,0.76,146.0,227.4,12.1,260,2347,0.00,2.25,0.00,0.000,4,0.000,0.053,3315,1084,2349,0,0,0,0,0,0
$GC,2529,0.76,146.0,207.6,10.1,276,2533,0.00,2.30,0.00,0.000,6,0.000,0.054,3315,2505,2346,0,0,0,0,0,0
$GC,2665,0.76,146.0,192.8,10.8,288,2668,0.00,2.03,0.00,0.000,4,0.000,0.059,3315,3771,2346,0,0,0,0,0,0
$GC,2755,0.76,146.0,181.2,13.3,296,2759,0.00,1.98,0.00,0.000,6,0.000,0.041,3325,2502,2346,0,0,0,0,0,0
$GC,2898,0.76,146.0,164.2,12.0,309,2901,0.00,2.05,0.00,0.000,4,0.000,0.059,3325,3767,2346,0,0,0,0,0,0
$GC,2977,0.76,146.0,153.0,15.1,316,2981,0.00,1.92,0.00,0.000,6,0.000,0.040,3334,2528,2346,0,0,0,0,0,0
$GC,3120,0.76,146.0,134.9,12.3,329,3124,0.00,2.00,0.00,0.000,4,0.000,0.059,3334,3764,2345,0,0,0,0,0,0
$GC,3179,0.76,146.0,125.9,14.9,334,3188,0.08,1.95,0.00,0.000,6,0.145,0.041,3318,2539,2345,0,0,0,0,0,0
$GC,3317,0.76,146.0,110.5,11.3,347,3321,0.00,1.98,0.00,0.000,4,0.000,0.057,3318,3764,2344,0,0,0,0,0,0
$GC,3342,0.76,146.0,107.2,12.3,349,3345,0.00,1.90,0.00,0.000,6,0.000,0.039,3326,2541,2344,0,0,0,0,0,0
$GC,3477,0.76,146.0,89.8,12.5,369,3483,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2539,2345,0,0,0,0,0,0
$GC,3614,0.76,146.0,72.5,13.4,394,3622,0.00,2.03,0.00,0.000,4,0.000,0.057,3326,3764,2344,0,0,0,0,0,0
$GC,3700,0.76,146.0,59.8,16.0,409,3707,0.00,1.90,0.00,0.000,6,0.000,0.041,3335,2552,2344,0,0,0,0,0,0
$GC,3838,0.76,146.0,40.3,14.5,434,3846,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2549,2343,0,0,0,0,0,0
$GC,3977,0.76,146.0,20.5,14.8,459,3987,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2549,2343,0,0,0,0,0,0
$FREEZE,8.78,-1.078,-1.898,2,1,0
$FREEZE,8.07,-1.051,-1.897,2,1,0
$FREEZE,7.20,-1.038,-1.897,2,1,0
$FREEZE,6.43,-1.039,-1.896,2,1,0
$FREEZE,5.44,-1.032,-1.895,2,1,0
$FREEZE,4.70,-1.025,-1.895,2,1,0
$FREEZE,3.76,-1.009,-1.894,2,1,0
$FREEZE,2.84,-1.013,-1.893,2,1,0
$STATE,4106,end climb,SURFACE_DEPTH_REACHED
$STATE,4106,begin surface coast
$FREEZE,1.89,-1.007,-1.892,2,1,0
$FREEZE,1.28,-1.007,-1.892,2,1,0
$FREEZE,1.07,-1.043,-1.865,2,1,0
$FREEZE,1.09,-1.047,-0.926,2,1,0
$FINISH,1.1,1.013669
$STATE,4131,end surface coast,FINISH_DEPTH_REACHED
$STATE,4131,begin surface
$SM_CCo,4148,75.15,0.100,0,0,1737,300.24
$SM_GC,1.96,0.00,0.00,75.15,0.000,0.000,0.100,415,2654,1737,-8.28,0.11,300.24
$IRIDIUM_FIX,-7545.40,17950.78,010111,090946
$TT8_MAMPS,0.028462
$HUMID,52.59
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,18.6
$ALTIM_BOTTOM_PING,250.1,50.3
$24V_AH,20.2,69.496
$10V_AH,9.6,47.202
$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,18.225,47.375,276.225,75.150,0.000,28.068,45.963,164.453,1.250,0.000,12.532,1243.584,1202.390,425.784,1547.823,160.877,0.000,965.150,0.000,870.656,0.000,7.181,0.000
$DEVICE_MAMPS,193.545,84.915,976.140,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,340.159,686.600,833.917,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33737,485
$CAP_FILE_SIZE,70298,0
$CFSIZE,260165632,227315712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.455, 74.8,1
$GPS,010111,121630,-7631.922,17956.229,36,0.9,41,118.3