version: 66.08
glider: 502
mission: 3
dive: 452
start: 1 1 111 12 22 29
data:
$ID,502
$MISSION,3
$DIVE,452
$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,-30710.928
$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,27
$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
$GPS1,010111,121630,-7631.922,17956.229,36,0.9,41,118.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-74.0
$GPS2,010111,122202,-7631.921,17956.449,13,1.7,13,118.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,POLYNYA1
$TGT_LATLONG,-7630.000,17000.000
$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,123.7,257894,-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,13,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,107,0.00,0.00,-87.72,0.000,2,0.000,0.000,414,2654,3353,0,0,0,0,0,0
$GC,110,-0.76,-146.0,3.2,-1.4,13,132,9.00,1.83,-5.75,0.000,4,0.197,0.074,2802,3763,3558,0,0,0,0,0,0
$GC,360,-0.76,-146.0,47.4,-16.7,58,368,0.00,1.77,0.00,0.000,6,0.000,0.043,2802,2652,3562,0,0,0,0,0,0
$GC,500,-0.76,-146.0,68.3,-14.6,83,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2651,3562,0,0,0,0,0,0
$GC,639,-0.76,-146.0,88.1,-12.4,108,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2651,3562,0,0,0,0,0,0
$GC,783,-0.76,-146.0,110.5,-15.9,128,787,0.00,1.80,0.00,0.000,4,0.000,0.062,2793,3760,3562,0,0,0,0,0,0
$GC,831,-0.76,-146.0,119.5,-18.1,132,840,0.00,1.75,0.00,0.000,6,0.000,0.041,2793,2657,3562,0,0,0,0,0,0
$GC,969,-0.76,-146.0,141.2,-16.1,145,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2656,3562,0,0,0,0,0,0
$GC,1105,-0.76,-146.0,162.9,-16.0,158,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2656,3562,0,0,0,0,0,0
$GC,1232,-0.76,-146.0,183.3,-15.9,170,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2656,3562,0,0,0,0,0,0
$GC,1360,-0.76,-146.0,202.6,-14.1,182,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2656,3563,0,0,0,0,0,0
$GC,1486,-0.76,-146.0,221.5,-15.4,194,1490,0.00,2.22,0.00,0.000,4,0.000,0.051,2793,1247,3562,0,0,0,0,0,0
$GC,1549,-0.76,-146.0,231.2,-14.9,199,1554,0.12,2.30,0.00,0.000,6,0.154,0.058,2817,2653,3562,0,0,0,0,0,0
$GC,1687,-0.76,-146.0,249.3,-13.4,211,1691,0.00,1.77,0.00,0.000,4,0.000,0.060,2810,3765,3562,0,0,0,0,0,0
$GC,1725,-0.76,-146.0,255.5,-14.0,214,1732,0.00,1.75,0.00,0.000,6,0.000,0.041,2810,2666,3562,0,0,0,0,0,0
$GC,1926,-0.76,-146.0,283.0,-15.0,233,1930,0.00,2.25,0.00,0.000,4,0.000,0.052,2810,1244,3562,0,0,0,0,0,0
$GC,1988,-0.76,-146.0,293.6,-15.7,238,1993,0.00,2.33,0.00,0.000,6,0.000,0.057,2800,2665,3562,0,0,0,0,0,0
$STATE,2131,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2131,begin apogee
$GC,2137,-0.27,0.0,316.1,16.4,251,2274,0.52,0.00,130.15,1.002,4,0.130,0.000,2968,2480,2961,0,0,0,0,0,0
$STATE,2275,end apogee,CONTROL_FINISHED_OK
$STATE,2275,begin climb
$GC,2277,0.76,146.0,327.3,0.0,263,2439,1.05,2.50,147.88,0.927,4,0.067,0.049,3308,1096,2363,0,0,0,0,0,0
$GC,2585,0.79,168.4,312.3,9.0,290,2612,0.00,2.50,21.95,0.900,6,0.000,0.053,3308,2502,2274,0,0,0,0,0,0
$GC,2804,0.79,168.4,288.4,10.4,310,2808,0.00,2.33,0.00,0.000,4,0.000,0.050,3318,1091,2266,0,0,0,0,0,0
$GC,2925,0.79,168.4,275.0,10.9,320,2934,0.00,2.35,0.00,0.000,6,0.000,0.054,3318,2520,2264,0,0,0,0,0,0
$GC,3124,0.79,168.4,251.5,12.1,339,3127,0.00,1.98,0.00,0.000,4,0.000,0.057,3318,3764,2264,0,0,0,0,0,0
$GC,3171,0.79,168.4,245.1,13.8,343,3174,0.00,1.92,0.00,0.000,6,0.000,0.041,3327,2530,2264,0,0,0,0,0,0
$GC,3312,0.79,168.4,226.2,13.9,356,3316,0.00,2.00,0.00,0.000,4,0.000,0.059,3328,3764,2263,0,0,0,0,0,0
$GC,3339,0.79,168.4,221.9,14.2,358,3348,0.00,1.95,0.00,0.000,6,0.000,0.041,3337,2536,2263,0,0,0,0,0,0
$GC,3475,0.79,168.4,202.7,14.3,371,3479,0.00,2.28,0.00,0.000,4,0.000,0.051,3346,1092,2262,0,0,0,0,0,0
$GC,3495,0.79,168.4,199.2,14.9,372,3505,0.00,2.40,0.00,0.000,6,0.000,0.053,3347,2552,2262,0,0,0,0,0,0
$GC,3632,0.79,168.4,179.4,15.2,385,3636,0.00,1.92,0.00,0.000,4,0.000,0.059,3347,3762,2262,0,0,0,0,0,0
$GC,3658,0.79,168.4,174.4,16.7,387,3667,0.10,1.95,0.00,0.000,6,0.146,0.040,3324,2535,2262,0,0,0,0,0,0
$GC,3794,0.79,168.4,155.4,12.0,400,3798,0.00,2.00,0.00,0.000,4,0.000,0.059,3324,3773,2262,0,0,0,0,0,0
$GC,3841,0.79,168.4,148.5,15.6,404,3845,0.00,1.90,0.00,0.000,6,0.000,0.041,3332,2552,2262,0,0,0,0,0,0
$GC,3982,0.79,168.4,129.0,13.2,417,3986,0.00,1.98,0.00,0.000,4,0.000,0.059,3332,3771,2261,0,0,0,0,0,0
$GC,4041,0.79,168.4,120.0,15.4,422,4044,0.00,1.85,0.00,0.000,6,0.000,0.041,3341,2577,2261,0,0,0,0,0,0
$GC,4184,0.79,168.4,100.1,14.0,435,4187,0.00,1.92,0.00,0.000,4,0.000,0.058,3341,3768,2261,0,0,0,0,0,0
$GC,4236,0.79,168.4,91.9,16.3,443,4243,0.12,1.83,0.00,0.000,6,0.164,0.040,3316,2589,2261,0,0,0,0,0,0
$GC,4382,0.79,168.4,73.8,11.3,468,4391,0.00,1.95,0.00,0.000,4,0.000,0.060,3316,3764,2261,0,0,0,0,0,0
$GC,4407,0.79,168.4,70.4,11.6,472,4417,0.00,1.83,0.00,0.000,6,0.000,0.041,3323,2613,2261,0,0,0,0,0,0
$GC,4554,0.79,168.4,52.7,13.1,497,4560,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2612,2261,0,0,0,0,0,0
$GC,4696,0.79,168.4,34.3,13.4,522,4704,0.00,1.90,0.00,0.000,4,0.000,0.059,3323,3755,2260,0,0,0,0,0,0
$GC,4785,0.79,168.4,21.3,15.1,537,4792,0.00,1.80,0.00,0.000,6,0.000,0.041,3332,2606,2260,0,0,0,0,0,0
$FREEZE,8.45,-1.081,-1.898,2,1,0
$FREEZE,7.55,-1.061,-1.897,2,1,0
$FREEZE,7.02,-1.053,-1.897,2,1,0
$FREEZE,6.26,-1.048,-1.896,2,1,0
$FREEZE,5.57,-1.053,-1.896,2,1,0
$FREEZE,4.33,-1.045,-1.895,2,1,0
$FREEZE,3.85,-1.044,-1.894,2,1,0
$FREEZE,3.03,-1.041,-1.894,2,1,0
$FREEZE,2.27,-1.043,-1.893,2,1,0
$STATE,4927,end climb,SURFACE_DEPTH_REACHED
$STATE,4927,begin surface coast
$FREEZE,1.21,-1.042,-1.893,2,1,0
$FREEZE,1.18,-1.121,-1.893,2,1,0
$FREEZE,1.10,-1.090,-1.864,2,1,0
$FREEZE,1.17,-1.074,-1.015,2,1,0
$FINISH,1.2,1.014978
$STATE,4953,end surface coast,FINISH_DEPTH_REACHED
$STATE,4954,begin surface
$SM_CCo,4970,69.95,0.728,1,0,1737,300.24
$SM_GC,1.99,0.00,0.00,69.95,0.000,0.000,0.728,425,2661,1737,-8.26,0.31,300.24
$IRIDIUM_FIX,-7545.40,17941.52,010111,111116
$TT8_MAMPS,0.028462
$HUMID,52.99
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.0,17.5
$ALTIM_BOTTOM_PING,301.3,29.2
$24V_AH,20.1,69.604
$10V_AH,9.7,47.279
$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,18.500,65.175,299.975,69.950,0.000,30.643,36.575,157.500,1.000,0.000,14.289,1440.950,1631.287,475.151,1663.679,179.188,0.000,1083.296,0.000,963.193,0.000,8.833,0.000
$DEVICE_MAMPS,196.605,112.455,1002.150,728.280,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,396.417,762.453,876.310,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40457,565
$CAP_FILE_SIZE,82178,0
$CFSIZE,260165632,227258368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.441, 56.5,1
$GPS,010111,134726,-7631.530,17958.365,12,1.5,12,118.3