version: 66.08
glider: 502
mission: 3
dive: 479
start: 1 3 111 0 23 0
data:
$ID,502
$MISSION,3
$DIVE,479
$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,-30743.666
$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,29
$R_STBD_OVSHOOT,26
$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
$GPS1,030111,001408,-7626.640,17934.691,13,2.0,13,118.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-72.4
$GPS2,030111,002232,-7626.674,17934.227,15,1.7,15,118.5
$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,175.4,248338,-17.5,-10.000
$D_GRID,375
$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,15,-0.76,-146.0,0.0,0.0,0,105,0.00,0.00,-86.97,0.000,2,0.000,0.000,407,2664,3352,0,0,0,0,0,0
$GC,108,-0.76,-146.0,3.2,-1.2,13,130,8.85,2.33,-5.82,0.000,4,0.195,0.063,2808,1223,3560,0,0,0,0,0,0
$GC,285,-0.76,-146.0,36.8,-17.2,44,293,0.00,2.38,0.00,0.000,6,0.000,0.058,2799,2645,3563,0,0,0,0,0,0
$GC,424,-0.76,-146.0,65.2,-21.7,69,431,0.00,2.25,0.00,0.000,4,0.000,0.049,2799,1232,3564,0,0,0,0,0,0
$GC,441,-0.76,-146.0,68.8,-21.4,71,449,0.00,2.33,0.00,0.000,6,0.000,0.057,2789,2649,3564,0,0,0,0,0,0
$GC,581,-0.76,-146.0,97.6,-20.5,96,590,0.10,1.85,0.00,0.000,4,0.174,0.062,2807,3758,3564,0,0,0,0,0,0
$GC,642,-0.76,-146.0,110.5,-20.2,102,646,0.00,1.75,0.00,0.000,6,0.000,0.042,2808,2632,3564,0,0,0,0,0,0
$GC,784,-0.76,-146.0,138.7,-19.1,115,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2630,3564,0,0,0,0,0,0
$GC,910,-0.76,-146.0,162.2,-17.8,127,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2630,3564,0,0,0,0,0,0
$GC,1038,-0.76,-146.0,184.1,-17.1,139,1042,0.00,1.85,0.00,0.000,4,0.000,0.063,2799,3761,3564,0,0,0,0,0,0
$GC,1085,-0.76,-146.0,191.8,-17.4,143,1088,0.00,1.73,0.00,0.000,6,0.000,0.041,2798,2652,3564,0,0,0,0,0,0
$GC,1228,-0.76,-146.0,216.4,-17.1,156,1231,0.00,1.85,0.00,0.000,4,0.000,0.061,2790,3773,3564,0,0,0,0,0,0
$GC,1264,-0.76,-146.0,222.4,-16.6,159,1268,0.00,1.73,0.00,0.000,6,0.000,0.042,2790,2666,3564,0,0,0,0,0,0
$GC,1408,-0.76,-146.0,245.6,-16.4,172,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2663,3564,0,0,0,0,0,0
$STATE,1507,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1507,begin apogee
$GC,1513,-0.27,0.0,262.9,17.0,182,1652,0.55,0.00,128.00,0.959,4,0.122,0.000,2970,2482,2960,0,0,0,0,0,0
$STATE,1653,end apogee,CONTROL_FINISHED_OK
$STATE,1653,begin climb
$GC,1655,0.76,146.0,269.4,0.0,194,1807,1.08,2.45,144.35,0.881,4,0.079,0.050,3310,1103,2365,0,0,0,0,0,0
$GC,1992,0.76,146.0,240.3,12.1,223,2002,0.00,2.47,0.00,0.000,6,0.000,0.051,3310,2494,2353,0,0,0,0,0,0
$GC,2130,0.76,146.0,223.7,12.2,236,2134,0.00,2.28,0.00,0.000,4,0.000,0.049,3316,1097,2351,0,0,0,0,0,0
$GC,2291,0.76,146.0,205.4,10.8,250,2295,0.00,2.33,0.00,0.000,6,0.000,0.054,3316,2527,2349,0,0,0,0,0,0
$GC,2428,0.76,146.0,191.8,10.3,262,2431,0.00,1.98,0.00,0.000,4,0.000,0.059,3316,3764,2349,0,0,0,0,0,0
$GC,2530,0.76,146.0,179.2,13.3,271,2533,0.00,1.88,0.00,0.000,6,0.000,0.040,3325,2553,2349,0,0,0,0,0,0
$GC,2673,0.76,146.0,163.4,10.6,284,2680,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2550,2348,0,0,0,0,0,0
$GC,2808,0.76,146.0,148.0,11.2,297,2812,0.00,1.98,0.00,0.000,4,0.000,0.060,3325,3773,2347,0,0,0,0,0,0
$GC,2844,0.76,146.0,142.7,16.6,300,2848,0.00,1.90,0.00,0.000,6,0.000,0.041,3334,2556,2347,0,0,0,0,0,0
$GC,2985,0.76,146.0,123.2,13.7,313,2988,0.00,1.95,0.00,0.000,4,0.000,0.058,3334,3764,2347,0,0,0,0,0,0
$GC,3023,0.76,146.0,117.0,15.8,316,3032,0.08,1.90,0.00,0.000,6,0.142,0.041,3318,2569,2347,0,0,0,0,0,0
$GC,3161,0.76,146.0,99.1,13.0,329,3168,0.00,2.33,0.00,0.000,4,0.000,0.050,3327,1101,2347,0,0,0,0,0,0
$GC,3189,0.76,146.0,95.3,12.0,334,3197,0.00,2.40,0.00,0.000,6,0.000,0.054,3326,2559,2346,0,0,0,0,0,0
$GC,3331,0.76,146.0,78.2,12.0,359,3339,0.00,1.92,0.00,0.000,4,0.000,0.054,3327,3768,2346,0,0,0,0,0,0
$GC,3436,0.76,146.0,61.7,17.2,378,3444,0.00,1.88,0.00,0.000,6,0.000,0.037,3336,2581,2346,0,0,0,0,0,0
$GC,3577,0.76,146.0,39.5,15.3,403,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2580,2347,0,0,0,0,0,0
$GC,3715,0.76,146.0,20.1,12.6,428,3724,0.00,1.95,0.00,0.000,4,0.000,0.057,3336,3761,2346,0,0,0,0,0,0
$FREEZE,8.62,-1.222,-1.899,2,1,0
$FREEZE,7.64,-1.219,-1.898,2,1,0
$FREEZE,6.77,-1.219,-1.898,2,1,0
$FREEZE,5.83,-1.213,-1.897,2,1,0
$FREEZE,5.01,-1.196,-1.896,2,1,0
$GC,3818,0.76,146.0,5.0,15.1,445,3825,0.12,1.83,0.00,0.000,6,0.164,0.038,3312,2584,2346,0,0,0,0,0,0
$FREEZE,2.41,-1.112,-1.894,2,1,0
$STATE,3832,end climb,SURFACE_DEPTH_REACHED
$STATE,3832,begin surface coast
$FREEZE,1.68,-1.120,-1.893,2,1,0
$FREEZE,1.12,-1.150,-1.893,2,1,0
$FREEZE,1.19,-1.163,-1.828,2,1,0
$FREEZE,1.17,-1.172,-0.956,2,1,0
$FINISH,1.2,1.014112
$STATE,3857,end surface coast,FINISH_DEPTH_REACHED
$STATE,3859,begin surface
$SM_CCo,3876,76.28,0.101,0,0,1736,300.24
$SM_GC,2.00,0.00,0.00,76.28,0.000,0.000,0.101,409,2663,1736,-8.30,0.40,300.24
$IRIDIUM_FIX,-7536.68,17941.71,030111,000050
$TT8_MAMPS,0.028462
$HUMID,52.59
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.3,17.2
$ALTIM_BOTTOM_PING,251.2,26.0
$24V_AH,20.3,72.205
$10V_AH,9.6,49.232
$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,18.275,53.800,272.350,76.275,0.000,53.042,111.800,164.302,1.500,0.000,16.325,1158.463,1147.431,437.542,1559.484,165.166,0.000,946.428,0.000,784.389,0.000,7.110,0.000
$DEVICE_MAMPS,195.075,98.685,958.545,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,315.591,655.007,841.755,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267076
$DATA_FILE_SIZE,30288,451
$CAP_FILE_SIZE,69518,0
$CFSIZE,260165632,226111488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.419,234.9,1
$GPS,030111,012944,-7626.998,17929.131,13,1.8,13,118.7