version: 66.08
glider: 502
mission: 3
dive: 467
start: 1 2 111 9 39 16
data:
$ID,502
$MISSION,3
$DIVE,467
$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,-30729.818
$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,28
$R_STBD_OVSHOOT,23
$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
$GPS1,020111,093308,-7630.445,17947.408,11,1.7,11,118.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-70.6
$GPS2,020111,093850,-7630.460,17947.615,16,1.6,16,118.5
$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,196.7,254052,-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,15,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,100,0.00,0.00,-80.32,0.000,2,0.000,0.000,404,2649,3198,0,0,0,0,0,0
$GC,103,-0.76,-146.0,3.0,-1.2,12,132,9.00,2.35,-11.55,0.000,4,0.195,0.065,2810,1230,3560,0,0,0,0,0,0
$GC,287,-0.76,-146.0,29.9,-15.3,43,294,0.00,2.35,0.00,0.000,6,0.000,0.057,2801,2656,3562,0,0,0,0,0,0
$GC,429,-0.76,-146.0,52.3,-15.8,68,437,0.00,1.83,0.00,0.000,4,0.000,0.060,2793,3763,3562,0,0,0,0,0,0
$GC,478,-0.76,-146.0,60.8,-17.4,76,486,0.00,1.77,0.00,0.000,6,0.000,0.042,2793,2649,3562,0,0,0,0,0,0
$GC,623,-0.76,-146.0,84.1,-15.8,101,629,0.00,2.22,0.00,0.000,4,0.000,0.051,2792,1248,3562,0,0,0,0,0,0
$GC,649,-0.76,-146.0,88.3,-16.4,105,656,0.12,2.33,0.00,0.000,6,0.158,0.058,2818,2656,3562,0,0,0,0,0,0
$GC,791,-0.76,-146.0,107.8,-13.2,125,795,0.00,1.77,0.00,0.000,4,0.000,0.060,2811,3766,3562,0,0,0,0,0,0
$GC,860,-0.76,-146.0,117.5,-14.1,131,864,0.00,1.73,0.00,0.000,6,0.000,0.041,2811,2656,3563,0,0,0,0,0,0
$GC,1003,-0.76,-146.0,136.9,-13.7,144,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2653,3562,0,0,0,0,0,0
$GC,1138,-0.76,-146.0,155.4,-13.1,157,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2653,3562,0,0,0,0,0,0
$GC,1265,-0.76,-146.0,172.5,-13.1,169,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2653,3562,0,0,0,0,0,0
$GC,1393,-0.76,-146.0,188.6,-12.7,181,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2654,3562,0,0,0,0,0,0
$GC,1520,-0.76,-146.0,204.4,-11.1,193,1524,0.00,2.25,0.00,0.000,4,0.000,0.053,2811,1237,3562,0,0,0,0,0,0
$GC,1561,-0.76,-146.0,208.9,-10.9,196,1566,0.00,2.35,0.00,0.000,6,0.000,0.057,2800,2671,3562,0,0,0,0,0,0
$GC,1698,-0.76,-146.0,225.4,-12.7,208,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2672,3562,0,0,0,0,0,0
$GC,1835,-0.76,-146.0,241.6,-9.4,221,1836,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2672,3562,0,0,0,0,0,0
$GC,1961,-0.76,-146.0,241.6,-0.1,233,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2672,3562,0,0,0,0,0,0
$STATE,1990,end dive,NO_VERTICAL_VELOCITY
$STATE,1991,begin apogee
$GC,1996,-0.27,0.0,241.6,0.0,236,2137,0.50,0.00,127.65,0.942,4,0.108,0.000,2973,2485,2959,0,0,0,0,0,0
$STATE,2137,end apogee,CONTROL_FINISHED_OK
$STATE,2137,begin climb
$GC,2139,0.76,146.0,241.6,0.0,247,2293,1.08,2.35,144.48,0.855,4,0.088,0.061,3306,3761,2365,0,0,0,0,0,0
$GC,2352,0.76,146.0,216.4,16.4,264,2356,0.00,2.22,0.00,0.000,6,0.000,0.040,3315,2517,2357,0,0,0,0,0,0
$GC,2488,0.76,146.0,195.9,15.3,276,2493,0.00,2.45,0.00,0.000,4,0.000,0.052,3316,1084,2350,0,0,0,0,0,0
$GC,2552,0.76,146.0,186.3,14.6,281,2556,0.00,2.38,0.00,0.000,6,0.000,0.053,3316,2482,2348,0,0,0,0,0,0
$GC,2687,0.76,146.0,165.6,15.2,293,2691,0.00,2.08,0.00,0.000,4,0.000,0.058,3317,3763,2347,0,0,0,0,0,0
$GC,2727,0.76,146.0,158.7,17.1,296,2731,0.00,2.03,0.00,0.000,6,0.000,0.041,3325,2477,2347,0,0,0,0,0,0
$GC,2869,0.76,146.0,136.2,15.4,309,2870,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2474,2346,0,0,0,0,0,0
$GC,2996,0.76,146.0,116.2,15.6,321,2999,0.00,2.10,0.00,0.000,4,0.000,0.059,3325,3768,2345,0,0,0,0,0,0
$GC,3048,0.76,146.0,107.8,17.0,325,3051,0.00,2.00,0.00,0.000,6,0.000,0.041,3335,2489,2345,0,0,0,0,0,0
$GC,3187,0.76,146.0,86.2,15.0,345,3194,0.00,2.08,0.00,0.000,4,0.000,0.057,3335,3764,2345,0,0,0,0,0,0
$GC,3247,0.76,146.0,76.2,17.3,355,3255,0.10,2.00,0.00,0.000,6,0.135,0.041,3312,2510,2344,0,0,0,0,0,0
$GC,3392,0.76,146.0,57.7,12.2,380,3399,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2508,2344,0,0,0,0,0,0
$GC,3535,0.76,146.0,40.8,12.0,405,3541,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2508,2343,0,0,0,0,0,0
$GC,3675,0.76,146.0,23.7,12.4,430,3685,0.00,2.08,0.00,0.000,4,0.000,0.060,3312,3758,2343,0,0,0,0,0,0
$FREEZE,8.62,-1.075,-1.898,2,1,0
$FREEZE,7.81,-1.074,-1.898,2,1,0
$FREEZE,7.13,-1.075,-1.897,2,1,0
$GC,3803,0.76,146.0,7.1,12.4,451,3810,0.00,2.00,0.00,0.000,6,0.000,0.042,3320,2491,2343,0,0,0,0,0,0
$FREEZE,4.88,-1.079,-1.896,2,1,0
$FREEZE,4.25,-1.078,-1.895,2,1,0
$FREEZE,3.74,-1.078,-1.895,2,1,0
$FREEZE,3.01,-1.080,-1.894,2,1,0
$FREEZE,2.42,-1.082,-1.894,2,1,0
$STATE,3840,end climb,SURFACE_DEPTH_REACHED
$STATE,3840,begin surface coast
$FREEZE,1.66,-1.081,-1.893,2,1,0
$FREEZE,1.22,-1.084,-1.893,2,1,0
$FREEZE,1.19,-1.129,-1.828,2,1,0
$FREEZE,1.15,-1.115,-1.779,2,1,0
$FREEZE,1.15,-1.103,-1.032,2,1,0
$FINISH,1.1,1.015234
$STATE,3875,end surface coast,FINISH_DEPTH_REACHED
$STATE,3875,begin surface
$SM_CCo,3891,76.47,0.100,0,0,1736,300.24
$SM_GC,2.12,0.00,0.00,76.47,0.000,0.000,0.100,414,2654,1736,-8.27,0.11,300.24
$IRIDIUM_FIX,-7545.40,17950.78,020111,080819
$TT8_MAMPS,0.028462
$HUMID,53.54
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.4,17.9
$24V_AH,20.3,71.054
$10V_AH,9.6,48.382
$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,18.400,47.250,272.125,76.475,0.000,28.130,36.559,165.208,0.750,0.000,17.202,1179.325,1085.608,406.764,1482.072,166.445,0.000,924.698,0.000,755.598,0.000,2.620,0.000
$DEVICE_MAMPS,195.075,78.795,941.715,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,324.034,703.720,941.315,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267044
$DATA_FILE_SIZE,30420,462
$CAP_FILE_SIZE,67992,0
$CFSIZE,260165632,226603008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.357,109.6,1
$GPS,020111,104637,-7630.378,17949.045,34,0.9,34,118.4