version: 66.08
glider: 502
mission: 3
dive: 463
start: 1 2 111 4 26 16
data:
$ID,502
$MISSION,3
$DIVE,463
$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,-30724.779
$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,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
$GPS1,020111,042013,-7629.019,17948.738,8,1.3,12,118.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-68.8
$GPS2,020111,042550,-7629.056,17948.684,15,1.3,15,118.3
$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,196.3,254518,-17.5,-10.000
$D_GRID,383
$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,15,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,101,0.00,0.00,-81.95,0.000,2,0.000,0.000,403,2665,3240,0,0,0,0,0,0
$GC,104,-0.76,-146.0,3.3,-2.5,12,128,9.02,2.38,-9.52,0.000,4,0.197,0.063,2806,1240,3559,0,0,0,0,0,0
$GC,372,-0.76,-146.0,43.6,-15.1,60,380,0.00,2.33,0.00,0.000,6,0.000,0.057,2798,2637,3563,0,0,0,0,0,0
$GC,510,-0.76,-146.0,65.7,-16.4,85,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2637,3563,0,0,0,0,0,0
$GC,649,-0.76,-146.0,87.8,-16.1,110,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2637,3563,0,0,0,0,0,0
$GC,792,-0.76,-146.0,111.0,-16.5,130,796,0.00,1.80,0.00,0.000,4,0.000,0.060,2789,3764,3563,0,0,0,0,0,0
$GC,840,-0.76,-146.0,119.9,-17.2,134,849,0.00,1.77,0.00,0.000,6,0.000,0.041,2789,2648,3563,0,0,0,0,0,0
$GC,977,-0.76,-146.0,141.9,-16.3,147,981,0.00,2.22,0.00,0.000,4,0.000,0.051,2789,1243,3563,0,0,0,0,0,0
$GC,1008,-0.76,-146.0,147.7,-16.4,149,1018,0.10,2.33,0.00,0.000,6,0.128,0.057,2814,2639,3564,0,0,0,0,0,0
$GC,1145,-0.76,-146.0,166.5,-14.3,162,1149,0.00,1.80,0.00,0.000,4,0.000,0.061,2807,3761,3563,0,0,0,0,0,0
$GC,1194,-0.76,-146.0,174.4,-15.1,166,1202,0.00,1.75,0.00,0.000,6,0.000,0.041,2807,2660,3563,0,0,0,0,0,0
$GC,1329,-0.76,-146.0,193.3,-14.1,179,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2660,3564,0,0,0,0,0,0
$GC,1457,-0.76,-146.0,210.5,-13.3,191,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2660,3563,0,0,0,0,0,0
$GC,1585,-0.76,-146.0,228.4,-14.1,203,1588,0.00,1.80,0.00,0.000,4,0.000,0.062,2799,3767,3563,0,0,0,0,0,0
$GC,1655,-0.76,-146.0,239.5,-15.3,209,1665,0.00,1.77,0.00,0.000,6,0.000,0.042,2799,2659,3563,0,0,0,0,0,0
$GC,1790,-0.76,-146.0,254.2,-0.8,222,1793,0.00,1.83,0.00,0.000,4,0.000,0.067,2798,3767,3564,0,0,0,0,0,0
$STATE,1905,end dive,NO_VERTICAL_VELOCITY
$STATE,1905,begin apogee
$GC,1912,-0.27,0.0,254.4,0.0,232,2047,0.47,0.00,128.62,0.954,4,0.080,0.000,2975,2480,2961,0,0,0,0,0,0
$STATE,2048,end apogee,CONTROL_FINISHED_OK
$STATE,2048,begin climb
$GC,2050,0.76,146.0,254.4,0.0,244,2207,1.05,2.50,144.40,0.865,4,0.070,0.052,3314,1092,2364,0,0,0,0,0,0
$GC,2353,0.78,163.7,227.9,9.2,270,2379,0.00,2.47,17.27,0.842,6,0.000,0.050,3314,2497,2291,0,0,0,0,0,0
$GC,2507,0.78,163.7,210.1,13.2,284,2511,0.00,2.35,0.00,0.000,4,0.000,0.049,3324,1092,2286,0,0,0,0,0,0
$GC,2694,0.78,163.7,186.9,12.0,300,2703,0.00,2.38,0.00,0.000,6,0.000,0.054,3324,2519,2282,0,0,0,0,0,0
$GC,2830,0.78,163.7,170.3,12.8,313,2833,0.00,2.00,0.00,0.000,4,0.000,0.057,3324,3774,2282,0,0,0,0,0,0
$GC,2888,0.78,163.7,162.3,14.3,318,2892,0.00,1.95,0.00,0.000,6,0.000,0.041,3333,2529,2281,0,0,0,0,0,0
$GC,3029,0.78,163.7,143.4,12.8,331,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2526,2281,0,0,0,0,0,0
$GC,3156,0.78,163.7,127.2,12.9,343,3157,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2526,2281,0,0,0,0,0,0
$GC,3284,0.78,163.7,110.4,13.0,355,3285,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2526,2280,0,0,0,0,0,0
$GC,3411,0.78,163.7,94.1,12.4,371,3418,0.00,2.03,0.00,0.000,4,0.000,0.059,3333,3771,2279,0,0,0,0,0,0
$GC,3451,0.78,163.7,88.1,15.0,378,3460,0.00,1.98,0.00,0.000,6,0.000,0.041,3343,2535,2280,0,0,0,0,0,0
$GC,3592,0.78,163.7,69.1,13.5,403,3598,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,2534,2279,0,0,0,0,0,0
$GC,3729,0.78,163.7,50.6,13.1,428,3736,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,2534,2279,0,0,0,0,0,0
$GC,3869,0.78,163.7,32.0,13.8,453,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,2534,2279,0,0,0,0,0,0
$GC,4007,0.78,163.7,13.8,13.5,478,4015,0.00,2.05,0.00,0.000,4,0.000,0.057,3343,3771,2278,0,0,0,0,0,0
$FREEZE,8.74,-0.886,-1.897,2,1,0
$FREEZE,7.88,-0.866,-1.896,2,1,0
$FREEZE,6.92,-0.863,-1.895,2,1,0
$FREEZE,6.14,-0.857,-1.895,2,1,0
$FREEZE,5.22,-0.860,-1.894,2,1,0
$GC,4069,0.78,163.7,5.2,15.1,488,4077,0.10,1.98,0.00,0.000,6,0.145,0.041,3320,2535,2278,0,0,0,0,0,0
$FREEZE,2.55,-0.847,-1.892,2,1,0
$STATE,4084,end climb,SURFACE_DEPTH_REACHED
$STATE,4084,begin surface coast
$FREEZE,1.84,-0.846,-1.892,2,1,0
$FREEZE,1.18,-0.856,-1.891,2,1,0
$FREEZE,1.26,-0.904,-1.894,2,1,0
$FINISH,1.3,1.027739
$STATE,4103,end surface coast,CONTROL_FINISHED_OK
$STATE,4103,begin surface
$SM_CCo,4120,72.25,0.718,1,0,1736,300.24
$SM_GC,2.06,0.00,0.00,72.25,0.000,0.000,0.718,414,2679,1736,-8.28,0.82,300.24
$IRIDIUM_FIX,-7545.40,18000.00,020111,030346
$TT8_MAMPS,0.028462
$HUMID,52.71
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,19.5
$24V_AH,20.3,70.696
$10V_AH,9.6,48.086
$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,18.350,45.725,290.300,72.250,0.000,27.814,38.115,160.175,1.250,0.000,16.084,1242.397,1125.128,445.051,1574.036,158.583,0.000,994.720,0.000,850.819,0.000,6.930,0.000
$DEVICE_MAMPS,197.370,69.615,953.955,718.335,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,345.521,724.902,925.673,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33711,493
$CAP_FILE_SIZE,70287,0
$CFSIZE,260165632,226758656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.336,186.9,1
$GPS,020111,053702,-7629.507,17946.906,10,1.6,10,118.4