version: 66.08
glider: 502
mission: 3
dive: 465
start: 1 2 111 7 4 16
data:
$ID,502
$MISSION,3
$DIVE,465
$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,-30727.297
$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,32
$R_STBD_OVSHOOT,32
$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
$GPS1,020111,065736,-7629.918,17945.986,13,1.4,29,118.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-67.9
$GPS2,020111,070350,-7629.937,17946.041,14,1.3,14,118.5
$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,196.5,253369,-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,15,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,106,0.00,0.00,-86.88,0.000,2,0.000,0.000,400,2679,3363,0,0,0,0,0,0
$GC,109,-0.76,-146.0,3.3,-1.7,13,132,8.93,2.33,-5.30,0.000,4,0.197,0.060,2811,1230,3557,0,0,0,0,0,0
$GC,349,-0.76,-146.0,43.5,-14.5,56,358,0.00,2.35,0.00,0.000,6,0.000,0.058,2803,2640,3561,0,0,0,0,0,0
$GC,490,-0.76,-146.0,65.4,-15.4,81,497,0.00,1.83,0.00,0.000,4,0.000,0.062,2794,3771,3561,0,0,0,0,0,0
$GC,532,-0.76,-146.0,72.6,-16.7,88,540,0.00,1.80,0.00,0.000,6,0.000,0.043,2794,2644,3561,0,0,0,0,0,0
$GC,672,-0.76,-146.0,95.0,-16.4,113,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2644,3561,0,0,0,0,0,0
$GC,814,-0.76,-146.0,117.0,-15.4,129,817,0.00,1.83,0.00,0.000,4,0.000,0.062,2785,3767,3561,0,0,0,0,0,0
$GC,852,-0.76,-146.0,123.9,-16.9,132,861,0.08,1.77,0.00,0.000,6,0.141,0.042,2811,2654,3561,0,0,0,0,0,0
$GC,989,-0.76,-146.0,142.9,-14.1,145,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2652,3561,0,0,0,0,0,0
$GC,1125,-0.76,-146.0,162.3,-14.4,158,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2652,3561,0,0,0,0,0,0
$GC,1253,-0.76,-146.0,180.5,-14.1,170,1254,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2652,3562,0,0,0,0,0,0
$GC,1379,-0.76,-146.0,198.7,-14.1,182,1383,0.00,2.25,0.00,0.000,4,0.000,0.051,2811,1237,3561,0,0,0,0,0,0
$GC,1453,-0.76,-146.0,208.9,-13.8,188,1457,0.00,2.35,0.00,0.000,6,0.000,0.058,2801,2669,3561,0,0,0,0,0,0
$GC,1589,-0.76,-146.0,229.1,-14.8,200,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2669,3561,0,0,0,0,0,0
$GC,1716,-0.76,-146.0,246.9,-11.7,212,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2668,3561,0,0,0,0,0,0
$GC,1842,-0.76,-146.0,252.1,0.1,224,1845,0.00,1.80,0.00,0.000,4,0.000,0.063,2801,3773,3562,0,0,0,0,0,0
$STATE,1908,end dive,NO_VERTICAL_VELOCITY
$STATE,1908,begin apogee
$GC,1916,-0.27,0.0,252.1,0.0,230,2051,0.47,0.00,127.30,0.943,4,0.078,0.000,2981,2490,2960,0,0,0,0,0,0
$STATE,2052,end apogee,CONTROL_FINISHED_OK
$STATE,2052,begin climb
$GC,2055,0.76,146.0,251.9,0.0,242,2214,1.02,2.47,143.43,0.861,4,0.076,0.050,3309,1092,2362,0,0,0,0,0,0
$GC,2284,0.76,146.0,232.2,12.5,261,2288,0.00,2.58,0.00,0.000,6,0.000,0.054,3309,2498,2355,0,0,0,0,0,0
$GC,2419,0.76,146.0,214.3,12.8,273,2423,0.00,2.17,0.00,0.000,4,0.000,0.056,3309,3770,2353,0,0,0,0,0,0
$GC,2537,0.76,146.0,197.8,14.9,283,2541,0.00,1.98,0.00,0.000,6,0.000,0.041,3319,2540,2351,0,0,0,0,0,0
$GC,2680,0.76,146.0,180.2,12.3,296,2684,0.00,2.30,0.00,0.000,4,0.000,0.051,3328,1088,2350,0,0,0,0,0,0
$GC,2721,0.76,146.0,175.1,12.1,299,2725,0.00,2.35,0.00,0.000,6,0.000,0.054,3328,2535,2348,0,0,0,0,0,0
$GC,2856,0.76,146.0,157.9,12.5,311,2860,0.00,1.98,0.00,0.000,4,0.000,0.058,3328,3772,2348,0,0,0,0,0,0
$GC,2905,0.76,146.0,150.2,15.0,315,2914,0.00,1.98,0.00,0.000,6,0.000,0.041,3337,2536,2348,0,0,0,0,0,0
$GC,3040,0.76,146.0,132.3,12.8,328,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2536,2348,0,0,0,0,0,0
$GC,3167,0.76,146.0,115.5,13.3,340,3168,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2536,2347,0,0,0,0,0,0
$GC,3295,0.76,146.0,99.0,13.0,352,3302,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2536,2346,0,0,0,0,0,0
$GC,3433,0.76,146.0,80.6,13.1,377,3440,0.00,2.00,0.00,0.000,4,0.000,0.058,3337,3764,2347,0,0,0,0,0,0
$GC,3495,0.76,146.0,71.5,14.8,388,3504,0.10,1.98,0.00,0.000,6,0.136,0.041,3313,2531,2347,0,0,0,0,0,0
$GC,3634,0.76,146.0,54.8,11.0,413,3640,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2530,2346,0,0,0,0,0,0
$GC,3772,0.76,146.0,39.2,10.5,438,3780,0.00,2.05,0.00,0.000,4,0.000,0.058,3314,3764,2346,0,0,0,0,0,0
$GC,3816,0.76,146.0,34.1,12.4,445,3823,0.00,1.95,0.00,0.000,6,0.000,0.041,3321,2543,2346,0,0,0,0,0,0
$GC,3953,0.76,146.0,18.7,11.1,470,3961,0.00,2.03,0.00,0.000,4,0.000,0.059,3321,3761,2346,0,0,0,0,0,0
$GC,4002,0.76,146.0,12.7,13.2,478,4010,0.00,1.92,0.00,0.000,6,0.000,0.041,3331,2551,2346,0,0,0,0,0,0
$FREEZE,8.71,-0.975,-1.898,2,1,0
$FREEZE,8.35,-0.976,-1.897,2,1,0
$FREEZE,7.72,-0.970,-1.897,2,1,0
$FREEZE,7.12,-0.972,-1.896,2,1,0
$FREEZE,6.54,-0.971,-1.896,2,1,0
$FREEZE,6.10,-0.969,-1.896,2,1,0
$FREEZE,5.51,-0.972,-1.895,2,1,0
$FREEZE,5.18,-0.975,-1.895,2,1,0
$FREEZE,4.45,-0.980,-1.895,2,1,0
$FREEZE,3.88,-0.981,-1.894,2,1,0
$FREEZE,3.05,-0.968,-1.893,2,1,0
$FREEZE,2.12,-0.976,-1.893,2,1,0
$STATE,4102,end climb,SURFACE_DEPTH_REACHED
$STATE,4102,begin surface coast
$FREEZE,1.51,-0.984,-1.892,2,1,0
$FREEZE,1.07,-1.009,-1.833,2,1,0
$FREEZE,1.28,-0.977,-1.892,2,1,0
$FREEZE,1.13,-0.997,-1.039,2,1,0
$FINISH,1.1,1.015342
$STATE,4127,end surface coast,CONTROL_FINISHED_OK
$STATE,4127,begin surface
$SM_CCo,4144,75.57,0.099,0,0,1736,300.24
$SM_GC,2.12,0.00,0.00,75.57,0.000,0.000,0.099,413,2660,1736,-8.28,0.28,300.24
$IRIDIUM_FIX,-7545.40,17941.62,020111,050513
$TT8_MAMPS,0.028462
$HUMID,53.42
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,17.8
$24V_AH,20.3,70.885
$10V_AH,9.7,48.234
$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,18.150,50.250,270.725,75.575,0.000,30.568,38.633,193.996,0.750,0.000,15.699,1263.115,1155.190,429.440,1581.906,176.098,0.000,968.246,0.000,825.118,0.000,4.338,0.000
$DEVICE_MAMPS,196.605,78.795,943.245,98.685,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,349.911,735.636,935.686,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267112
$DATA_FILE_SIZE,33664,499
$CAP_FILE_SIZE,71538,0
$CFSIZE,260165632,226676736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.325,145.4,1
$GPS,020111,081546,-7630.212,17946.164,10,2.4,29,118.5