version: 66.08
glider: 502
mission: 3
dive: 469
start: 1 2 111 12 6 58
data:
$ID,502
$MISSION,3
$DIVE,469
$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,-30732.334
$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,35
$R_STBD_OVSHOOT,22
$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
$GPS1,020111,120055,-7630.256,17951.459,8,1.1,13,118.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-70.5
$GPS2,020111,120632,-7630.235,17951.773,16,1.0,16,118.3
$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,153.3,255848,-17.5,-10.000
$D_GRID,385
$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,13,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,107,0.00,0.00,-88.12,0.000,2,0.000,0.000,400,2638,3376,0,0,0,0,0,0
$GC,110,-0.76,-146.0,3.2,-1.5,13,132,8.85,2.25,-4.97,0.000,4,0.194,0.063,2806,1244,3559,0,0,0,0,0,0
$GC,249,-0.76,-146.0,27.4,-14.6,37,255,0.00,2.33,0.00,0.000,6,0.000,0.059,2798,2654,3562,0,0,0,0,0,0
$GC,386,-0.76,-146.0,49.6,-17.0,62,394,0.00,1.83,0.00,0.000,4,0.000,0.061,2790,3763,3562,0,0,0,0,0,0
$GC,419,-0.76,-146.0,55.4,-18.0,67,427,0.00,1.77,0.00,0.000,6,0.000,0.041,2790,2628,3562,0,0,0,0,0,0
$GC,562,-0.76,-146.0,80.4,-18.4,92,570,0.00,1.90,0.00,0.000,4,0.000,0.063,2781,3761,3562,0,0,0,0,0,0
$GC,609,-0.76,-146.0,89.6,-19.1,100,618,0.10,1.75,0.00,0.000,6,0.135,0.042,2815,2662,3563,0,0,0,0,0,0
$GC,748,-0.76,-146.0,112.3,-16.2,118,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2661,3563,0,0,0,0,0,0
$GC,876,-0.76,-146.0,132.1,-15.5,130,880,0.00,1.80,0.00,0.000,4,0.000,0.061,2807,3770,3563,0,0,0,0,0,0
$GC,903,-0.76,-146.0,137.2,-17.1,132,911,0.00,1.77,0.00,0.000,6,0.000,0.042,2807,2656,3562,0,0,0,0,0,0
$GC,1038,-0.76,-146.0,159.2,-16.8,145,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2656,3562,0,0,0,0,0,0
$GC,1166,-0.76,-146.0,179.5,-15.9,157,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2655,3562,0,0,0,0,0,0
$GC,1292,-0.76,-146.0,198.8,-14.8,169,1296,0.00,2.22,0.00,0.000,4,0.000,0.049,2807,1236,3562,0,0,0,0,0,0
$GC,1345,-0.76,-146.0,206.4,-13.6,173,1349,0.00,2.35,0.00,0.000,6,0.000,0.060,2797,2663,3563,0,0,0,0,0,0
$GC,1481,-0.76,-146.0,222.3,-1.6,185,1485,0.00,1.77,0.00,0.000,4,0.000,0.063,2797,3767,3563,0,0,0,0,0,0
$GC,1584,-0.76,-146.0,222.3,-0.3,194,1588,0.00,1.75,0.00,0.000,6,0.000,0.042,2797,2638,3563,0,0,0,0,0,0
$STATE,1617,end dive,NO_VERTICAL_VELOCITY
$STATE,1617,begin apogee
$GC,1623,-0.27,0.0,222.3,0.0,197,1762,0.50,0.00,126.88,0.927,4,0.094,0.000,2975,2487,2960,0,0,0,0,0,0
$STATE,1763,end apogee,CONTROL_FINISHED_OK
$STATE,1763,begin climb
$GC,1765,0.76,146.0,221.8,0.0,208,1919,1.08,2.35,142.90,0.847,4,0.089,0.062,3309,3761,2365,0,0,0,0,0,0
$GC,2167,0.76,146.0,178.2,14.7,242,2175,0.00,2.10,0.00,0.000,6,0.000,0.041,3318,2506,2352,0,0,0,0,0,0
$GC,2304,0.76,146.0,162.8,10.7,255,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2505,2349,0,0,0,0,0,0
$GC,2440,0.76,146.0,148.0,10.4,268,2443,0.00,2.05,0.00,0.000,4,0.000,0.059,3318,3769,2347,0,0,0,0,0,0
$GC,2488,0.76,146.0,142.0,11.9,272,2497,0.00,2.03,0.00,0.000,6,0.000,0.041,3328,2506,2347,0,0,0,0,0,0
$GC,2626,0.76,146.0,126.6,11.4,285,2630,0.00,2.05,0.00,0.000,4,0.000,0.060,3328,3771,2346,0,0,0,0,0,0
$GC,2664,0.76,146.0,121.1,13.4,288,2673,0.00,2.00,0.00,0.000,6,0.000,0.041,3337,2517,2346,0,0,0,0,0,0
$GC,2802,0.76,146.0,105.0,11.5,301,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2517,2346,0,0,0,0,0,0
$GC,2935,0.76,146.0,89.0,11.6,322,2943,0.00,2.08,0.00,0.000,4,0.000,0.059,3337,3771,2346,0,0,0,0,0,0
$GC,2972,0.76,146.0,84.1,13.3,328,2981,0.10,2.00,0.00,0.000,6,0.142,0.043,3314,2522,2345,0,0,0,0,0,0
$GC,3114,0.76,146.0,69.0,10.4,353,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2520,2344,0,0,0,0,0,0
$GC,3250,0.76,146.0,54.6,10.7,378,3259,0.00,2.05,0.00,0.000,4,0.000,0.059,3313,3760,2344,0,0,0,0,0,0
$GC,3294,0.76,146.0,49.7,12.1,385,3300,0.00,1.92,0.00,0.000,6,0.000,0.041,3321,2533,2344,0,0,0,0,0,0
$GC,3434,0.76,146.0,33.7,11.5,410,3442,0.00,2.05,0.00,0.000,4,0.000,0.059,3321,3768,2343,0,0,0,0,0,0
$GC,3502,0.76,146.0,24.6,13.8,422,3511,0.00,1.92,0.00,0.000,6,0.000,0.041,3331,2564,2343,0,0,0,0,0,0
$FREEZE,8.67,-1.064,-1.899,2,1,0
$FREEZE,7.79,-1.065,-1.898,2,1,0
$FREEZE,6.97,-1.065,-1.897,2,1,0
$GC,3645,0.76,146.0,7.0,12.8,447,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2562,2343,0,0,0,0,0,0
$FREEZE,4.84,-1.064,-1.896,2,1,0
$FREEZE,4.09,-1.061,-1.895,2,1,0
$FREEZE,3.31,-1.062,-1.895,2,1,0
$FREEZE,2.40,-1.061,-1.894,2,1,0
$STATE,3676,end climb,SURFACE_DEPTH_REACHED
$STATE,3676,begin surface coast
$FREEZE,1.45,-1.059,-1.893,2,1,0
$FREEZE,1.08,-1.116,-1.269,2,1,0
$FREEZE,1.08,-1.126,-1.153,2,1,0
$FREEZE,1.12,-1.092,-1.891,2,1,0
$FINISH,1.1,1.027709
$STATE,3701,end surface coast,CONTROL_FINISHED_OK
$STATE,3701,begin surface
$SM_CCo,3718,80.55,0.722,1,0,1736,300.24
$SM_GC,2.09,0.00,0.00,80.55,0.000,0.000,0.722,409,2674,1736,-8.30,0.65,300.24
$IRIDIUM_FIX,-7545.40,17941.57,020111,101038
$TT8_MAMPS,0.028462
$HUMID,52.71
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,19.2
$24V_AH,20.3,71.266
$10V_AH,9.7,48.523
$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,18.150,48.475,269.775,80.550,0.000,27.055,38.465,159.770,1.000,0.000,17.070,1151.633,926.570,435.148,1477.389,162.210,0.000,968.864,0.000,767.879,0.000,2.626,0.000
$DEVICE_MAMPS,194.310,78.030,927.180,722.160,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,318.913,694.556,913.672,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30456,456
$CAP_FILE_SIZE,67091,0
$CFSIZE,260165632,226521088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.398, 71.8,1
$GPS,020111,131114,-7630.020,17953.197,14,1.8,14,118.3