version: 66.08
glider: 502
mission: 3
dive: 454
start: 1 1 111 15 22 59
data:
$ID,502
$MISSION,3
$DIVE,454
$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,-30713.445
$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,33
$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
$GPS1,010111,151636,-7630.904,-17959.750,41,0.9,41,118.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-72.4
$GPS2,010111,152232,-7630.849,-17959.521,14,1.2,14,118.2
$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,16.8,9078944,-27.2,-10.000
$D_GRID,435
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.99,-63.0,0.0,0.0,0,107,0.00,0.00,-81.97,0.000,6,0.000,0.000,416,2669,3217,0,0,0,0,0,0
$GC,110,-1.09,-146.0,3.3,-0.9,13,139,8.45,2.35,-10.05,0.000,4,0.195,0.063,2707,1244,3560,0,0,0,0,0,0
$GC,250,-1.09,-146.0,32.3,-20.2,37,257,0.00,2.30,0.00,0.000,6,0.000,0.057,2698,2645,3563,0,0,0,0,0,0
$GC,387,-1.09,-146.0,64.0,-23.1,62,395,0.00,1.83,0.00,0.000,4,0.000,0.060,2689,3761,3564,0,0,0,0,0,0
$GC,466,-1.09,-146.0,83.6,-26.3,76,474,0.00,1.77,0.00,0.000,6,0.000,0.043,2689,2649,3564,0,0,0,0,0,0
$GC,610,-1.09,-146.0,117.7,-22.7,95,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2648,3564,0,0,0,0,0,0
$GC,736,-1.09,-146.0,144.3,-21.1,107,740,0.00,1.83,0.00,0.000,4,0.000,0.060,2680,3773,3564,0,0,0,0,0,0
$GC,763,-1.09,-146.0,151.4,-23.0,109,772,0.10,1.80,0.00,0.000,6,0.163,0.043,2711,2649,3564,0,0,0,0,0,0
$GC,900,-1.09,-146.0,179.5,-21.1,122,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2649,3564,0,0,0,0,0,0
$GC,1026,-1.09,-146.0,206.7,-22.1,134,1029,0.00,1.80,0.00,0.000,4,0.000,0.060,2703,3764,3564,0,0,0,0,0,0
$GC,1086,-1.09,-146.0,219.0,-19.7,139,1096,0.00,1.75,0.00,0.000,6,0.000,0.041,2703,2670,3564,0,0,0,0,0,0
$GC,1224,-1.09,-146.0,246.6,-19.4,152,1229,0.00,2.28,0.00,0.000,4,0.000,0.050,2703,1230,3564,0,0,0,0,0,0
$GC,1257,-1.09,-146.0,255.0,-21.5,154,1264,0.00,2.38,0.00,0.000,6,0.000,0.057,2692,2659,3564,0,0,0,0,0,0
$GC,1457,-1.09,-146.0,299.9,-24.2,173,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2659,3564,0,0,0,0,0,0
$GC,1646,-1.09,-146.0,341.6,-24.4,191,1649,0.00,1.77,0.00,0.000,4,0.000,0.058,2683,3778,3564,0,0,0,0,0,0
$GC,1704,-1.09,-146.0,354.4,-23.3,196,1708,0.12,1.75,0.00,0.000,6,0.188,0.042,2713,2651,3564,0,0,0,0,0,0
$STATE,1809,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1809,begin apogee
$GC,1815,-0.27,0.0,379.4,22.6,206,1953,0.85,0.00,131.70,1.037,4,0.152,0.000,2971,2484,2961,0,0,0,0,0,0
$STATE,1954,end apogee,CONTROL_FINISHED_OK
$STATE,1954,begin climb
$GC,1956,1.09,146.0,389.5,0.0,218,2117,1.45,2.50,148.88,0.960,4,0.087,0.047,3409,1102,2364,0,0,0,0,0,0
$GC,2264,1.09,146.0,349.8,19.4,245,2268,0.00,2.47,0.00,0.000,6,0.000,0.050,3409,2504,2354,0,0,0,0,0,0
$GC,2462,1.09,146.0,313.2,17.0,263,2466,0.00,2.30,0.00,0.000,4,0.000,0.050,3420,1089,2352,0,0,0,0,0,0
$GC,2645,1.09,146.0,279.9,19.6,279,2654,0.00,2.35,0.00,0.000,6,0.000,0.054,3420,2515,2349,0,0,0,0,0,0
$GC,2845,1.09,146.0,242.6,21.0,298,2849,0.00,1.98,0.00,0.000,4,0.000,0.054,3419,3767,2349,0,0,0,0,0,0
$GC,2881,1.09,146.0,234.3,24.0,301,2884,0.00,1.92,0.00,0.000,6,0.000,0.041,3429,2534,2349,0,0,0,0,0,0
$GC,3022,1.09,146.0,204.3,23.0,314,3023,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2531,2348,0,0,0,0,0,0
$GC,3150,1.09,146.0,178.5,20.7,326,3153,0.00,1.98,0.00,0.000,4,0.000,0.056,3429,3765,2348,0,0,0,0,0,0
$GC,3207,1.09,146.0,165.7,23.1,331,3211,0.00,1.92,0.00,0.000,6,0.000,0.040,3438,2526,2348,0,0,0,0,0,0
$GC,3349,1.09,146.0,135.5,21.7,344,3352,0.00,2.00,0.00,0.000,4,0.000,0.057,3439,3766,2348,0,0,0,0,0,0
$GC,3428,1.09,146.0,117.3,23.4,351,3432,0.12,1.88,0.00,0.000,6,0.202,0.040,3419,2556,2348,0,0,0,0,0,0
$GC,3564,1.09,146.0,91.5,16.8,367,3572,0.00,1.98,0.00,0.000,4,0.000,0.056,3419,3773,2348,0,0,0,0,0,0
$GC,3650,1.09,146.0,73.8,22.2,382,3658,0.00,1.90,0.00,0.000,6,0.000,0.043,3427,2578,2348,0,0,0,0,0,0
$GC,3788,1.09,146.0,49.0,18.1,407,3795,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,2577,2346,0,0,0,0,0,0
$GC,3928,1.09,146.0,24.7,17.4,432,3936,0.00,1.95,0.00,0.000,4,0.000,0.057,3427,3764,2346,0,0,0,0,0,0
$FREEZE,8.43,-1.086,-1.898,2,1,0
$FREEZE,7.33,-1.077,-1.897,2,1,0
$GC,4015,1.09,146.0,7.3,22.0,447,4022,0.00,1.85,0.00,0.000,6,0.000,0.040,3436,2580,2347,0,0,0,0,0,0
$FREEZE,3.79,-1.070,-1.895,2,1,0
$FREEZE,2.56,-1.069,-1.894,2,1,0
$STATE,4034,end climb,SURFACE_DEPTH_REACHED
$STATE,4034,begin surface coast
$FREEZE,1.42,-1.066,-1.893,2,1,0
$FREEZE,1.16,-1.095,-0.942,2,1,0
$FINISH,1.2,1.013895
$STATE,4048,end surface coast,FINISH_DEPTH_REACHED
$STATE,4048,begin surface
$SM_CCo,4065,76.05,0.100,0,0,1737,300.24
$SM_GC,2.05,0.00,0.00,76.05,0.000,0.000,0.100,412,2660,1737,-8.29,0.25,300.24
$IRIDIUM_FIX,-7545.40,18000.00,010111,131304
$TT8_MAMPS,0.028462
$HUMID,53.50
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.4,17.9
$ALTIM_BOTTOM_PING,350.2,42.4
$24V_AH,20.1,69.810
$10V_AH,9.7,47.411
$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,18.975,52.925,280.575,76.050,0.000,31.070,39.762,173.045,2.250,0.000,15.552,1146.619,1391.077,438.720,1374.881,156.000,0.000,948.325,0.000,790.776,0.000,13.523,0.000
$DEVICE_MAMPS,201.960,93.330,1037.340,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,316.260,579.681,616.695,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30433,452
$CAP_FILE_SIZE,69193,0
$CFSIZE,260165632,227184640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.462, 21.4,1
$GPS,010111,163250,-7630.218,-17956.395,12,1.1,12,118.1