version: 66.08
glider: 502
mission: 3
dive: 460
start: 1 2 111 1 0 47
data:
$ID,502
$MISSION,3
$DIVE,460
$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,-30721.004
$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,29
$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
$GPS1,020111,005407,-7628.351,17959.752,27,0.9,27,118.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-71.7
$GPS2,020111,010019,-7628.388,17959.430,13,2.0,30,118.0
$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,196.3,259175,-27.2,-10.000
$D_GRID,418
$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,-0.99,-63.0,0.0,0.0,0,102,0.00,0.00,-81.82,0.000,6,0.000,0.000,425,2665,3220,0,0,0,0,0,0
$GC,105,-1.08,-139.6,3.1,-1.9,12,129,8.62,2.38,-9.88,0.000,4,0.197,0.063,2714,1240,3533,0,0,0,0,0,0
$GC,302,-1.08,-139.6,42.0,-19.0,46,311,0.00,2.33,0.00,0.000,6,0.000,0.057,2704,2638,3535,0,0,0,0,0,0
$GC,448,-1.08,-139.6,73.1,-22.3,71,454,0.00,1.83,0.00,0.000,4,0.000,0.060,2695,3774,3536,0,0,0,0,0,0
$GC,489,-1.08,-139.6,83.3,-23.2,78,498,0.00,1.77,0.00,0.000,6,0.000,0.043,2695,2663,3536,0,0,0,0,0,0
$GC,632,-1.08,-139.6,115.3,-22.5,97,635,0.00,1.80,0.00,0.000,4,0.000,0.060,2686,3774,3536,0,0,0,0,0,0
$GC,669,-1.08,-139.6,125.2,-24.1,100,679,0.08,1.77,0.00,0.000,6,0.164,0.042,2709,2663,3536,0,0,0,0,0,0
$GC,807,-1.08,-139.6,154.3,-21.7,113,811,0.00,1.77,0.00,0.000,4,0.000,0.060,2701,3764,3536,0,0,0,0,0,0
$GC,853,-1.08,-139.6,165.2,-22.6,117,857,0.00,1.70,0.00,0.000,6,0.000,0.041,2701,2668,3536,0,0,0,0,0,0
$GC,994,-1.08,-139.6,195.6,-21.4,130,998,0.00,1.77,0.00,0.000,4,0.000,0.060,2693,3765,3536,0,0,0,0,0,0
$GC,1041,-1.08,-139.6,206.4,-23.5,134,1044,0.00,1.70,0.00,0.000,6,0.000,0.042,2693,2674,3536,0,0,0,0,0,0
$GC,1183,-1.08,-139.6,238.3,-22.2,147,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2671,3536,0,0,0,0,0,0
$GC,1308,-1.08,-139.6,266.6,-21.8,159,1311,0.00,1.77,0.00,0.000,4,0.000,0.060,2685,3768,3536,0,0,0,0,0,0
$STATE,1340,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1340,begin apogee
$GC,1348,-0.27,0.0,274.6,22.5,162,1477,0.98,0.00,122.95,0.969,4,0.161,0.000,2970,2493,2961,0,0,0,0,0,0
$STATE,1478,end apogee,CONTROL_FINISHED_OK
$STATE,1478,begin climb
$GC,1480,1.08,139.6,283.2,0.0,173,1629,1.40,2.50,138.52,0.886,4,0.080,0.050,3409,1095,2390,0,0,0,0,0,0
$GC,1801,1.08,139.6,238.2,18.3,201,1810,0.00,2.50,0.00,0.000,6,0.000,0.052,3409,2494,2378,0,0,0,0,0,0
$GC,1939,1.08,139.6,212.9,19.0,214,1943,0.00,2.30,0.00,0.000,4,0.000,0.048,3420,1085,2377,0,0,0,0,0,0
$GC,2114,1.08,139.6,179.8,18.2,229,2122,0.00,2.35,0.00,0.000,6,0.000,0.054,3420,2509,2374,0,0,0,0,0,0
$GC,2251,1.08,139.6,153.6,19.3,242,2254,0.00,2.03,0.00,0.000,4,0.000,0.057,3420,3775,2374,0,0,0,0,0,0
$GC,2376,1.08,139.6,125.6,21.8,253,2385,0.00,2.00,0.00,0.000,6,0.000,0.041,3429,2516,2374,0,0,0,0,0,0
$GC,2514,1.08,139.6,98.9,19.9,266,2523,0.00,2.05,0.00,0.000,4,0.000,0.057,3429,3760,2372,0,0,0,0,0,0
$GC,2581,1.08,139.6,84.1,22.1,277,2587,0.00,1.92,0.00,0.000,6,0.000,0.040,3439,2529,2373,0,0,0,0,0,0
$GC,2724,1.08,139.6,55.6,20.1,302,2733,0.00,2.03,0.00,0.000,4,0.000,0.057,3439,3762,2371,0,0,0,0,0,0
$GC,2828,1.08,139.6,32.3,22.1,320,2837,0.10,1.92,0.00,0.000,6,0.180,0.039,3419,2550,2372,0,0,0,0,0,0
$FREEZE,8.17,-0.650,-1.897,2,1,0
$FREEZE,7.32,-0.502,-1.892,2,1,0
$FREEZE,6.19,-0.522,-1.893,2,1,0
$FREEZE,5.41,-0.496,-1.893,2,1,0
$GC,2976,1.08,139.6,5.4,17.5,345,2982,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,2547,2372,0,0,0,0,0,0
$FREEZE,2.68,-0.471,-1.891,2,1,0
$STATE,2991,end climb,SURFACE_DEPTH_REACHED
$STATE,2991,begin surface coast
$FREEZE,1.30,-0.483,-1.890,2,1,0
$FREEZE,1.18,-0.604,-0.603,2,1,0
$FINISH,1.2,1.008836
$STATE,3004,end surface coast,FINISH_DEPTH_REACHED
$STATE,3005,begin surface
$SM_CCo,3021,84.15,0.717,1,0,1737,300.24
$SM_GC,2.04,0.00,0.00,84.15,0.000,0.000,0.717,432,2657,1737,-8.23,0.17,300.24
$IRIDIUM_FIX,-7545.40,17950.81,010111,232300
$TT8_MAMPS,0.028462
$HUMID,52.36
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.4
$ALTIM_BOTTOM_PING,250.1,38.5
$24V_AH,20.2,70.428
$10V_AH,9.7,47.867
$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,19.025,44.425,261.475,84.150,0.000,36.751,39.351,167.419,0.750,0.000,31.476,896.802,817.186,423.801,1220.096,136.556,0.000,848.446,0.000,636.161,0.000,7.153,0.000
$DEVICE_MAMPS,196.605,81.855,969.255,716.805,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,243.173,498.154,613.120,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23818,349
$CAP_FILE_SIZE,57152,0
$CFSIZE,260165632,226910208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.319,250.9,1
$GPS,020111,015326,-7628.341,17956.191,10,1.4,10,118.1