version: 66.08
glider: 502
mission: 3
dive: 498
start: 1 4 111 2 24 28
data:
$ID,502
$MISSION,3
$DIVE,498
$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,623.29712
$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,-30767.549
$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,36
$R_STBD_OVSHOOT,22
$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
$GPS1,040111,021432,-7628.204,17903.000,13,1.3,13,119.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-72.7
$GPS2,040111,022402,-7628.248,17902.818,17,1.2,17,119.4
$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,175.1,234705,-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,14,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,-84.82,0.000,2,0.000,0.000,420,2630,3283,0,0,0,0,0,0
$GC,107,-0.76,-146.0,3.1,-1.1,12,131,9.05,1.88,-8.02,0.000,4,0.198,0.076,2804,3764,3559,0,0,0,0,0,0
$GC,180,-0.76,-146.0,16.5,-15.6,24,188,0.00,1.77,0.00,0.000,6,0.000,0.041,2805,2654,3561,0,0,0,0,0,0
$GC,319,-0.76,-146.0,39.1,-16.8,49,326,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2653,3562,0,0,0,0,0,0
$GC,458,-0.76,-146.0,61.5,-15.4,74,466,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2653,3563,0,0,0,0,0,0
$GC,598,-0.76,-146.0,82.8,-14.4,99,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2653,3563,0,0,0,0,0,0
$GC,734,-0.76,-146.0,103.2,-15.0,122,738,0.00,1.83,0.00,0.000,4,0.000,0.063,2797,3764,3563,0,0,0,0,0,0
$GC,772,-0.76,-146.0,109.7,-15.8,125,781,0.00,1.77,0.00,0.000,6,0.000,0.042,2797,2652,3563,0,0,0,0,0,0
$GC,911,-0.76,-146.0,130.5,-16.2,138,915,0.00,2.22,0.00,0.000,4,0.000,0.050,2797,1243,3563,0,0,0,0,0,0
$GC,940,-0.76,-146.0,135.8,-16.8,140,945,0.12,2.30,0.00,0.000,6,0.155,0.057,2820,2649,3563,0,0,0,0,0,0
$GC,1078,-0.76,-146.0,155.5,-14.6,152,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2649,3563,0,0,0,0,0,0
$GC,1213,-0.76,-146.0,175.0,-13.7,165,1217,0.00,1.80,0.00,0.000,4,0.000,0.061,2813,3767,3563,0,0,0,0,0,0
$GC,1292,-0.76,-146.0,186.5,-14.6,172,1296,0.00,1.75,0.00,0.000,6,0.000,0.042,2813,2645,3563,0,0,0,0,0,0
$GC,1435,-0.76,-146.0,206.9,-14.8,185,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2643,3563,0,0,0,0,0,0
$GC,1571,-0.76,-146.0,226.2,-13.7,198,1574,0.00,1.85,0.00,0.000,4,0.000,0.062,2804,3772,3563,0,0,0,0,0,0
$GC,1597,-0.76,-146.0,230.8,-15.0,200,1606,0.00,1.77,0.00,0.000,6,0.000,0.042,2804,2664,3563,0,0,0,0,0,0
$GC,1736,-0.76,-146.0,250.2,-14.6,213,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2664,3563,0,0,0,0,0,0
$GC,1935,-0.76,-146.0,281.9,-17.2,232,1937,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2664,3563,0,0,0,0,0,0
$STATE,1985,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1985,begin apogee
$GC,1991,-0.27,0.0,290.0,15.3,237,2129,0.52,0.00,129.43,0.991,4,0.129,0.000,2972,2479,2960,0,0,0,0,0,0
$STATE,2130,end apogee,CONTROL_FINISHED_OK
$STATE,2130,begin climb
$GC,2132,0.76,146.0,297.5,0.0,249,2292,1.08,2.45,147.23,0.913,4,0.076,0.047,3310,1107,2364,0,0,0,0,0,0
$GC,2297,0.77,152.7,288.8,9.7,263,2316,0.00,2.67,8.07,0.747,6,0.000,0.050,3310,2501,2338,0,0,0,0,0,0
$GC,2509,0.77,152.7,264.4,10.6,283,2513,0.00,2.20,0.00,0.000,4,0.000,0.057,3310,3770,2329,0,0,0,0,0,0
$GC,2630,0.77,152.7,247.6,14.4,293,2640,0.00,2.05,0.00,0.000,6,0.000,0.041,3320,2530,2327,0,0,0,0,0,0
$GC,2768,0.77,152.7,230.6,12.5,306,2771,0.00,2.03,0.00,0.000,4,0.000,0.058,3319,3772,2326,0,0,0,0,0,0
$GC,2805,0.77,152.7,225.5,14.1,309,2809,0.00,1.98,0.00,0.000,6,0.000,0.042,3328,2515,2325,0,0,0,0,0,0
$GC,2948,0.77,152.7,206.9,12.7,322,2955,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2512,2324,0,0,0,0,0,0
$GC,3083,0.77,152.7,189.0,13.3,335,3087,0.00,2.05,0.00,0.000,4,0.000,0.059,3328,3778,2324,0,0,0,0,0,0
$GC,3153,0.77,152.7,178.2,15.1,341,3163,0.00,1.98,0.00,0.000,6,0.000,0.041,3338,2542,2323,0,0,0,0,0,0
$GC,3291,0.77,152.7,159.9,13.3,354,3298,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2540,2323,0,0,0,0,0,0
$GC,3426,0.77,152.7,141.1,13.6,367,3430,0.00,2.00,0.00,0.000,4,0.000,0.060,3338,3772,2322,0,0,0,0,0,0
$GC,3473,0.77,152.7,134.0,15.8,371,3478,0.12,1.95,0.00,0.000,6,0.162,0.041,3314,2526,2322,0,0,0,0,0,0
$GC,3609,0.77,152.7,116.8,12.0,383,3610,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2523,2322,0,0,0,0,0,0
$GC,3735,0.77,152.7,102.0,11.6,395,3739,0.00,2.03,0.00,0.000,4,0.000,0.060,3314,3770,2322,0,0,0,0,0,0
$GC,3785,0.77,152.7,95.7,13.1,402,3794,0.00,1.95,0.00,0.000,6,0.000,0.041,3322,2552,2322,0,0,0,0,0,0
$GC,3923,0.77,152.7,78.8,11.8,427,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2550,2321,0,0,0,0,0,0
$GC,4059,0.77,152.7,62.3,12.2,452,4066,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2550,2321,0,0,0,0,0,0
$GC,4200,0.77,152.7,44.7,12.8,477,4207,0.00,2.00,0.00,0.000,4,0.000,0.059,3322,3774,2321,0,0,0,0,0,0
$GC,4248,0.77,152.7,38.1,14.2,485,4255,0.00,1.92,0.00,0.000,6,0.000,0.041,3331,2553,2320,0,0,0,0,0,0
$GC,4386,0.77,152.7,19.9,13.2,510,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2551,2321,0,0,0,0,0,0
$FREEZE,8.42,-0.936,-1.896,2,2,0
$FREEZE,7.61,-0.876,-1.895,2,2,0
$FREEZE,6.91,-0.860,-1.895,2,2,0
$FREEZE,6.18,-0.854,-1.894,2,2,0
$FREEZE,5.44,-0.850,-1.894,2,2,0
$FREEZE,4.66,-0.833,-1.893,2,2,0
$FREEZE,3.98,-0.828,-1.893,2,2,0
$FREEZE,3.17,-0.791,-1.892,2,2,0
$FREEZE,2.47,-0.784,-1.892,2,2,0
$STATE,4520,end climb,SURFACE_DEPTH_REACHED
$STATE,4520,begin surface coast
$FREEZE,1.29,-0.801,-1.891,2,2,0
$FREEZE,1.09,-0.838,-1.882,2,2,0
$FREEZE,1.26,-0.821,-1.893,2,2,0
$FREEZE,1.20,-0.846,-1.895,2,2,0
$FINISH,1.2,1.027746
$STATE,4545,end surface coast,CONTROL_FINISHED_OK
$STATE,4545,begin surface
$SM_CCo,4562,304.83,0.721,7,0,419,623.30
$SM_GC,1.81,0.00,0.00,304.83,0.000,0.000,0.721,418,2668,419,-8.27,0.51,623.30
$IRIDIUM_FIX,-7545.40,17846.28,040111,020208
$TT8_MAMPS,0.028462
$HUMID,49.92
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,19.3
$ALTIM_BOTTOM_PING,250.2,54.7
$24V_AH,20.2,74.077
$10V_AH,9.6,50.655
$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,18.525,48.650,284.725,304.825,0.000,89.413,225.326,0.000,1.250,0.000,18.052,1349.143,1502.364,738.110,1702.344,189.661,0.000,1310.728,0.000,887.030,0.000,7.200,0.000
$DEVICE_MAMPS,198.135,78.795,990.675,721.395,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,376.222,756.579,919.576,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267156
$DATA_FILE_SIZE,37065,537
$CAP_FILE_SIZE,73400,0
$CFSIZE,260165632,225292288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$CURRENT,0.252,217.3,1
$GPS,040111,034731,-7628.524,17858.494,41,1.2,41,119.5