version: 66.08
glider: 502
mission: 3
dive: 444
start: 1 1 111 2 37 58
data:
$ID,502
$MISSION,3
$DIVE,444
$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,-30700.871
$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,28
$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
$GPS1,010111,023136,-7630.763,17935.180,31,0.9,31,118.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-73.2
$GPS2,010111,023732,-7630.869,17935.086,16,0.9,16,118.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,POLYNYA2
$TGT_LATLONG,-7630.000,18000.000
$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,277.7,10891,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,105,0.00,0.00,-86.88,0.000,2,0.000,0.000,420,2661,3354,0,0,0,0,0,0
$GC,108,-0.76,-146.0,3.2,-1.5,13,131,8.95,2.30,-5.75,0.000,4,0.197,0.061,2809,1246,3559,0,0,0,0,0,0
$GC,227,-0.76,-146.0,23.3,-14.7,33,234,0.00,2.30,0.00,0.000,6,0.000,0.057,2800,2646,3563,0,0,0,0,0,0
$GC,363,-0.76,-146.0,45.0,-15.1,58,371,0.00,1.83,0.00,0.000,4,0.000,0.061,2792,3758,3563,0,0,0,0,0,0
$GC,464,-0.76,-146.0,61.9,-16.7,76,473,0.00,1.73,0.00,0.000,6,0.000,0.042,2792,2678,3562,0,0,0,0,0,0
$GC,605,-0.76,-146.0,84.0,-15.8,101,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2677,3562,0,0,0,0,0,0
$GC,747,-0.76,-146.0,107.0,-16.0,123,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2677,3563,0,0,0,0,0,0
$GC,875,-0.76,-146.0,127.7,-16.6,135,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2677,3563,0,0,0,0,0,0
$GC,1001,-0.76,-146.0,148.6,-16.8,147,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2677,3563,0,0,0,0,0,0
$GC,1129,-0.76,-146.0,170.3,-16.0,159,1133,0.00,2.30,0.00,0.000,4,0.000,0.054,2792,1235,3563,0,0,0,0,0,0
$GC,1159,-0.76,-146.0,175.3,-16.9,161,1164,0.12,2.38,0.00,0.000,6,0.158,0.059,2816,2684,3563,0,0,0,0,0,0
$GC,1295,-0.76,-146.0,195.5,-14.8,173,1296,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2684,3563,0,0,0,0,0,0
$GC,1421,-0.76,-146.0,214.5,-13.5,185,1425,0.00,2.30,0.00,0.000,4,0.000,0.050,2816,1238,3563,0,0,0,0,0,0
$GC,1453,-0.76,-146.0,219.4,-14.7,187,1463,0.00,2.40,0.00,0.000,6,0.000,0.057,2807,2682,3563,0,0,0,0,0,0
$GC,1591,-0.76,-146.0,239.5,-16.2,200,1596,0.00,2.30,0.00,0.000,4,0.000,0.050,2806,1238,3563,0,0,0,0,0,0
$GC,1634,-0.76,-146.0,245.4,-13.3,203,1644,0.00,2.38,0.00,0.000,6,0.000,0.056,2798,2665,3563,0,0,0,0,0,0
$GC,1770,-0.76,-146.0,252.6,-0.1,216,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2665,3564,0,0,0,0,0,0
$STATE,1852,end dive,NO_VERTICAL_VELOCITY
$STATE,1852,begin apogee
$GC,1857,-0.27,0.0,252.6,0.0,224,1992,0.47,0.00,128.52,0.954,4,0.080,0.000,2976,2476,2961,0,0,0,0,0,0
$STATE,1993,end apogee,CONTROL_FINISHED_OK
$STATE,1993,begin climb
$GC,1996,0.76,146.0,252.6,0.0,236,2154,1.02,0.00,145.38,0.874,6,0.092,0.000,3301,2476,2362,0,0,0,0,0,0
$GC,2281,0.76,146.0,225.2,11.4,261,2285,0.00,2.30,0.00,0.000,4,0.000,0.059,3301,3764,2354,0,0,0,0,0,0
$GC,2290,0.76,146.0,223.7,11.0,261,2300,0.00,2.12,0.00,0.000,6,0.000,0.037,3311,2540,2354,0,0,0,0,0,0
$GC,2427,0.76,146.0,208.5,12.9,274,2431,0.00,2.40,0.00,0.000,4,0.000,0.052,3319,1084,2351,0,0,0,0,0,0
$GC,2591,0.76,147.5,191.6,9.9,288,2595,0.00,2.38,0.00,0.000,6,0.000,0.054,3320,2545,2347,0,0,0,0,0,0
$GC,2728,0.76,147.5,176.4,10.6,300,2732,0.00,1.95,0.00,0.000,4,0.000,0.058,3320,3769,2347,0,0,0,0,0,0
$GC,2774,0.76,147.5,170.0,14.4,304,2778,0.00,1.90,0.00,0.000,6,0.000,0.041,3329,2548,2347,0,0,0,0,0,0
$GC,2915,0.76,147.5,152.0,12.1,317,2919,0.00,2.30,0.00,0.000,4,0.000,0.051,3339,1083,2346,0,0,0,0,0,0
$GC,2936,0.76,147.5,148.9,13.1,318,2945,0.00,2.40,0.00,0.000,6,0.000,0.054,3339,2543,2346,0,0,0,0,0,0
$GC,3072,0.76,147.5,131.4,12.9,331,3076,0.00,1.95,0.00,0.000,4,0.000,0.057,3340,3771,2346,0,0,0,0,0,0
$GC,3110,0.76,147.5,125.6,14.7,334,3119,0.10,1.95,0.00,0.000,6,0.141,0.041,3316,2548,2346,0,0,0,0,0,0
$GC,3247,0.76,147.5,108.9,12.1,347,3255,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2546,2346,0,0,0,0,0,0
$GC,3383,0.76,147.5,92.4,11.5,365,3390,0.00,1.98,0.00,0.000,4,0.000,0.058,3316,3764,2345,0,0,0,0,0,0
$GC,3431,0.76,147.5,86.1,14.1,373,3437,0.00,1.88,0.00,0.000,6,0.000,0.041,3323,2559,2345,0,0,0,0,0,0
$GC,3569,0.76,147.5,68.8,12.5,398,3576,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2557,2345,0,0,0,0,0,0
$GC,3709,0.76,147.5,51.0,13.0,423,3717,0.00,1.98,0.00,0.000,4,0.000,0.059,3323,3773,2345,0,0,0,0,0,0
$GC,3729,0.76,147.5,48.0,12.9,426,3737,0.00,1.90,0.00,0.000,6,0.000,0.042,3333,2576,2345,0,0,0,0,0,0
$GC,3869,0.76,147.5,30.2,12.3,451,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2575,2345,0,0,0,0,0,0
$GC,4006,0.76,147.5,12.7,13.0,476,4014,0.00,1.98,0.00,0.000,4,0.000,0.058,3333,3770,2344,0,0,0,0,0,0
$FREEZE,8.26,-1.109,-1.898,2,1,0
$FREEZE,7.25,-1.090,-1.897,2,1,0
$FREEZE,6.52,-1.083,-1.896,2,1,0
$FREEZE,5.54,-1.091,-1.895,2,1,0
$FREEZE,4.63,-1.074,-1.895,2,1,0
$FREEZE,3.79,-1.065,-1.894,2,1,0
$FREEZE,3.04,-1.062,-1.894,2,1,0
$GC,4074,0.76,147.5,3.0,15.0,487,4082,0.00,1.85,0.00,0.000,6,0.000,0.041,3342,2580,2344,0,0,0,0,0,0
$FREEZE,1.10,-1.058,-1.892,2,1,0
$STATE,4090,end climb,SURFACE_DEPTH_REACHED
$STATE,4090,begin surface coast
$FREEZE,1.12,-1.119,-1.786,2,1,0
$FREEZE,1.16,-1.142,-1.261,2,1,0
$FREEZE,1.13,-1.098,-0.933,2,1,0
$FINISH,1.1,1.013759
$STATE,4109,end surface coast,FINISH_DEPTH_REACHED
$STATE,4109,begin surface
$SM_CCo,4126,75.28,0.100,0,0,1737,300.24
$SM_GC,2.07,0.00,0.00,75.28,0.000,0.000,0.100,416,2661,1737,-8.27,0.31,300.24
$IRIDIUM_FIX,-7545.40,17932.35,010111,010100
$TT8_MAMPS,0.028462
$HUMID,53.18
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,18.3
$24V_AH,20.3,68.850
$10V_AH,9.7,46.708
$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,18.250,55.800,273.900,75.275,0.000,29.573,37.575,177.174,1.000,0.000,17.599,1240.736,1167.444,448.030,1545.998,166.433,0.000,989.822,0.000,809.809,0.000,4.341,0.000
$DEVICE_MAMPS,196.605,102.510,953.955,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,344.591,723.872,925.861,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33607,492
$CAP_FILE_SIZE,72989,0
$CFSIZE,260165632,227606528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.515,196.4,1
$GPS,010111,034850,-7631.620,17934.705,12,1.7,12,118.8