version: 66.08
glider: 502
mission: 3
dive: 501
start: 1 4 111 7 12 32
data:
$ID,502
$MISSION,3
$DIVE,501
$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,-30771.322
$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,28
$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
$GPS1,040111,070002,-7629.171,17854.645,13,1.9,13,119.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-68.2
$GPS2,040111,071204,-7629.260,17854.709,16,2.8,35,119.6
$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,195.1,231180,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,166,0.00,0.00,-148.00,0.000,2,0.000,0.000,420,2657,3341,0,0,0,0,0,0
$GC,171,-0.76,-146.0,3.4,-2.4,22,194,8.93,1.83,-5.68,0.000,4,0.195,0.074,2800,3759,3560,0,0,0,0,0,0
$GC,234,-0.76,-146.0,17.7,-17.9,32,243,0.00,1.80,0.00,0.000,6,0.000,0.042,2800,2635,3562,0,0,0,0,0,0
$GC,380,-0.76,-146.0,42.5,-17.3,57,386,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2634,3563,0,0,0,0,0,0
$GC,520,-0.76,-146.0,67.0,-17.2,82,528,0.00,1.90,0.00,0.000,4,0.000,0.062,2791,3762,3563,0,0,0,0,0,0
$GC,566,-0.76,-146.0,74.8,-18.4,89,572,0.00,1.77,0.00,0.000,6,0.000,0.042,2791,2631,3563,0,0,0,0,0,0
$GC,706,-0.76,-146.0,99.8,-17.3,114,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2630,3564,0,0,0,0,0,0
$GC,841,-0.76,-146.0,123.4,-17.7,127,845,0.00,1.85,0.00,0.000,4,0.000,0.063,2784,3757,3563,0,0,0,0,0,0
$GC,890,-0.76,-146.0,133.0,-18.9,131,898,0.08,1.75,0.00,0.000,6,0.138,0.042,2810,2656,3563,0,0,0,0,0,0
$GC,1027,-0.76,-146.0,154.2,-15.3,144,1030,0.00,1.80,0.00,0.000,4,0.000,0.063,2802,3757,3563,0,0,0,0,0,0
$GC,1053,-0.76,-146.0,159.2,-15.7,146,1062,0.00,1.73,0.00,0.000,6,0.000,0.041,2802,2676,3564,0,0,0,0,0,0
$GC,1190,-0.76,-146.0,180.3,-16.0,159,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2675,3563,0,0,0,0,0,0
$GC,1316,-0.76,-146.0,200.3,-15.8,171,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2676,3563,0,0,0,0,0,0
$GC,1444,-0.76,-146.0,220.3,-15.2,183,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2676,3563,0,0,0,0,0,0
$GC,1571,-0.76,-146.0,239.6,-15.1,195,1575,0.00,1.77,0.00,0.000,4,0.000,0.063,2795,3760,3563,0,0,0,0,0,0
$GC,1597,-0.76,-146.0,244.6,-17.0,197,1607,0.00,1.75,0.00,0.000,6,0.000,0.042,2795,2663,3563,0,0,0,0,0,0
$GC,1731,-0.76,-146.0,265.8,-16.5,210,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2662,3563,0,0,0,0,0,0
$GC,1923,-0.76,-146.0,296.1,-16.4,228,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2662,3563,0,0,0,0,0,0
$STATE,1955,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1955,begin apogee
$GC,1961,-0.27,0.0,300.8,14.8,231,2098,0.55,0.00,129.60,0.995,4,0.130,0.000,2970,2480,2961,0,0,0,0,0,0
$STATE,2099,end apogee,CONTROL_FINISHED_OK
$STATE,2099,begin climb
$GC,2101,0.76,146.0,305.8,0.0,243,2261,1.05,2.50,147.40,0.913,4,0.066,0.049,3309,1104,2364,0,0,0,0,0,0
$GC,2423,0.76,146.0,277.2,11.9,271,2430,0.00,2.47,0.00,0.000,6,0.000,0.051,3310,2498,2353,0,0,0,0,0,0
$GC,2623,0.76,146.0,254.7,11.9,290,2627,0.00,2.28,0.00,0.000,4,0.000,0.050,3315,1094,2350,0,0,0,0,0,0
$GC,2767,0.76,146.0,237.8,11.7,302,2775,0.00,2.35,0.00,0.000,6,0.000,0.053,3315,2516,2348,0,0,0,0,0,0
$GC,2902,0.76,146.0,221.9,11.9,315,2906,0.00,2.00,0.00,0.000,4,0.000,0.059,3315,3767,2348,0,0,0,0,0,0
$GC,2962,0.76,146.0,213.6,13.6,320,2971,0.00,1.95,0.00,0.000,6,0.000,0.041,3324,2546,2347,0,0,0,0,0,0
$GC,3097,0.76,146.0,197.9,11.5,333,3098,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2544,2346,0,0,0,0,0,0
$GC,3224,0.76,146.0,183.1,11.6,345,3227,0.00,2.00,0.00,0.000,4,0.000,0.060,3324,3772,2346,0,0,0,0,0,0
$GC,3283,0.76,146.0,174.8,14.0,350,3291,0.00,1.98,0.00,0.000,6,0.000,0.042,3333,2540,2346,0,0,0,0,0,0
$GC,3419,0.76,146.0,158.0,12.3,363,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2539,2346,0,0,0,0,0,0
$GC,3546,0.76,146.0,142.4,12.3,375,3550,0.00,2.00,0.00,0.000,4,0.000,0.060,3333,3767,2346,0,0,0,0,0,0
$GC,3582,0.76,146.0,137.5,14.3,378,3586,0.12,1.92,0.00,0.000,6,0.162,0.041,3310,2537,2345,0,0,0,0,0,0
$GC,3719,0.76,146.0,122.1,10.9,390,3723,0.00,2.00,0.00,0.000,4,0.000,0.059,3310,3768,2345,0,0,0,0,0,0
$GC,3756,0.76,146.0,117.0,12.5,393,3765,0.00,1.92,0.00,0.000,6,0.000,0.041,3318,2560,2344,0,0,0,0,0,0
$GC,3893,0.76,146.0,101.9,10.7,406,3894,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2559,2345,0,0,0,0,0,0
$GC,4024,0.76,146.0,87.0,11.6,428,4032,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2559,2344,0,0,0,0,0,0
$GC,4168,0.76,146.0,71.4,10.9,453,4175,0.00,1.98,0.00,0.000,4,0.000,0.060,3318,3764,2343,0,0,0,0,0,0
$GC,4232,0.76,146.0,63.3,12.5,464,4241,0.00,1.92,0.00,0.000,6,0.000,0.042,3327,2557,2343,0,0,0,0,0,0
$GC,4380,0.76,146.0,46.7,11.3,489,4386,0.00,1.98,0.00,0.000,4,0.000,0.060,3327,3764,2343,0,0,0,0,0,0
$GC,4421,0.76,146.0,41.1,13.6,496,4430,0.00,1.90,0.00,0.000,6,0.000,0.041,3336,2568,2343,0,0,0,0,0,0
$GC,4569,0.76,146.0,24.0,11.9,521,4575,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2567,2343,0,0,0,0,0,0
$FREEZE,8.39,-0.828,-1.897,2,1,0
$FREEZE,7.68,-0.824,-1.897,2,1,0
$FREEZE,7.00,-0.834,-1.897,2,1,0
$FREEZE,6.02,-0.825,-1.896,2,1,0
$GC,4715,0.76,146.0,6.0,12.6,546,4723,0.00,2.00,0.00,0.000,4,0.000,0.060,3336,3768,2342,0,0,0,0,0,0
$FREEZE,3.58,-0.809,-1.894,2,1,0
$FREEZE,2.96,-0.810,-1.894,2,1,0
$STATE,4737,end climb,SURFACE_DEPTH_REACHED
$STATE,4737,begin surface coast
$FREEZE,1.72,-0.810,-1.893,2,1,0
$FREEZE,1.19,-0.811,-1.892,2,1,0
$FINISH,1.2,1.027709
$STATE,4750,end surface coast,CONTROL_FINISHED_OK
$STATE,4750,begin surface
$SM_CCo,4768,73.22,0.097,0,0,1736,300.24
$SM_GC,2.05,0.00,0.00,73.22,0.000,0.000,0.097,416,2641,1736,-8.28,-0.25,300.24
$IRIDIUM_FIX,-7545.40,17846.48,040111,070713
$TT8_MAMPS,0.028462
$HUMID,53.11
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,18.0
$ALTIM_BOTTOM_PING,300.8,7.1
$24V_AH,20.2,74.377
$10V_AH,9.5,50.900
$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,18.375,55.175,277.000,73.225,0.000,55.725,112.392,322.146,2.000,0.000,37.453,1362.473,1553.487,500.663,1933.842,224.805,0.000,1103.678,0.000,919.468,0.000,11.508,0.000
$DEVICE_MAMPS,195.075,74.205,994.500,97.155,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,385.118,766.579,924.947,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267100
$DATA_FILE_SIZE,37021,551
$CAP_FILE_SIZE,81961,0
$CFSIZE,260165632,225140736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.240,151.2,1
$GPS,040111,083402,-7629.402,17854.193,10,1.2,10,119.6