version: 66.08
glider: 502
mission: 3
dive: 445
start: 1 1 111 3 54 52
data:
$ID,502
$MISSION,3
$DIVE,445
$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,-30702.131
$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,31
$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
$GPS1,010111,034850,-7631.620,17934.705,12,1.7,12,118.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-71.6
$GPS2,010111,035426,-7631.710,17934.742,15,1.4,15,118.8
$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,270.0,11370,-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,14,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,108,0.00,0.00,-88.75,0.000,2,0.000,0.000,410,2661,3392,0,0,0,0,0,0
$GC,110,-0.76,-146.0,3.3,-1.5,13,133,8.98,2.33,-4.43,0.000,4,0.196,0.062,2808,1230,3558,0,0,0,0,0,0
$GC,324,-0.76,-146.0,38.6,-14.6,51,333,0.00,2.33,0.00,0.000,6,0.000,0.057,2799,2649,3560,0,0,0,0,0,0
$GC,464,-0.76,-146.0,61.3,-15.8,76,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2649,3561,0,0,0,0,0,0
$GC,605,-0.76,-146.0,83.4,-15.6,101,611,0.00,1.80,0.00,0.000,4,0.000,0.060,2791,3769,3560,0,0,0,0,0,0
$GC,633,-0.76,-146.0,88.7,-16.4,106,641,0.00,1.80,0.00,0.000,6,0.000,0.043,2790,2640,3561,0,0,0,0,0,0
$GC,771,-0.76,-146.0,110.2,-15.6,125,775,0.00,1.85,0.00,0.000,4,0.000,0.061,2782,3773,3561,0,0,0,0,0,0
$GC,798,-0.76,-146.0,114.9,-17.3,127,808,0.10,1.77,0.00,0.000,6,0.136,0.043,2815,2663,3561,0,0,0,0,0,0
$GC,935,-0.76,-146.0,133.8,-13.9,140,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2663,3561,0,0,0,0,0,0
$GC,1070,-0.76,-146.0,152.7,-13.8,153,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2663,3560,0,0,0,0,0,0
$GC,1198,-0.76,-146.0,171.0,-14.3,165,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2663,3561,0,0,0,0,0,0
$GC,1324,-0.76,-146.0,188.5,-13.7,177,1328,0.00,2.25,0.00,0.000,4,0.000,0.050,2815,1240,3561,0,0,0,0,0,0
$GC,1365,-0.76,-146.0,194.5,-16.1,180,1369,0.00,2.33,0.00,0.000,6,0.000,0.057,2806,2665,3561,0,0,0,0,0,0
$GC,1503,-0.76,-146.0,214.1,-14.1,192,1507,0.00,2.28,0.00,0.000,4,0.000,0.049,2806,1234,3561,0,0,0,0,0,0
$GC,1532,-0.76,-146.0,218.9,-14.9,194,1536,0.00,2.33,0.00,0.000,6,0.000,0.058,2798,2650,3561,0,0,0,0,0,0
$GC,1669,-0.76,-146.0,240.3,-14.5,206,1673,0.00,2.25,0.00,0.000,4,0.000,0.049,2798,1237,3561,0,0,0,0,0,0
$GC,1710,-0.76,-146.0,247.5,-18.2,209,1714,0.00,2.30,0.00,0.000,6,0.000,0.055,2798,2651,3562,0,0,0,0,0,0
$GC,1846,-0.76,-146.0,248.3,0.2,221,1847,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2651,3560,0,0,0,0,0,0
$STATE,1886,end dive,NO_VERTICAL_VELOCITY
$STATE,1886,begin apogee
$GC,1891,-0.27,0.0,248.3,0.0,225,2031,0.47,0.00,127.68,0.952,4,0.073,0.000,2983,2479,2961,0,0,0,0,0,0
$STATE,2032,end apogee,CONTROL_FINISHED_OK
$STATE,2032,begin climb
$GC,2034,0.76,146.0,248.3,0.0,236,2187,0.98,0.00,145.60,0.873,6,0.076,0.000,3306,2478,2364,0,0,0,0,0,0
$GC,2315,0.76,146.0,221.4,13.1,260,2319,0.00,2.30,0.00,0.000,4,0.000,0.057,3306,3763,2354,0,0,0,0,0,0
$GC,2567,0.76,146.0,187.2,13.7,282,2575,0.00,2.00,0.00,0.000,6,0.000,0.041,3315,2516,2350,0,0,0,0,0,0
$GC,2702,0.76,146.0,170.9,11.7,295,2706,0.00,2.03,0.00,0.000,4,0.000,0.057,3315,3765,2348,0,0,0,0,0,0
$GC,2806,0.76,146.0,155.8,14.3,304,2815,0.00,1.98,0.00,0.000,6,0.000,0.039,3325,2518,2348,0,0,0,0,0,0
$GC,2944,0.76,146.0,138.8,12.3,317,2952,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2517,2347,0,0,0,0,0,0
$GC,3080,0.76,146.0,121.9,12.0,330,3083,0.00,2.03,0.00,0.000,4,0.000,0.058,3324,3770,2347,0,0,0,0,0,0
$GC,3129,0.76,146.0,114.6,14.4,334,3137,0.00,1.98,0.00,0.000,6,0.000,0.041,3334,2526,2347,0,0,0,0,0,0
$GC,3265,0.76,146.0,96.7,13.1,349,3272,0.00,2.00,0.00,0.000,4,0.000,0.057,3334,3762,2346,0,0,0,0,0,0
$GC,3306,0.76,146.0,90.7,14.5,356,3315,0.08,1.95,0.00,0.000,6,0.142,0.041,3317,2541,2346,0,0,0,0,0,0
$GC,3447,0.76,146.0,74.1,11.6,381,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2539,2346,0,0,0,0,0,0
$GC,3583,0.76,146.0,57.9,11.4,406,3591,0.00,2.03,0.00,0.000,4,0.000,0.057,3318,3763,2345,0,0,0,0,0,0
$GC,3619,0.76,146.0,53.3,13.2,412,3627,0.00,1.95,0.00,0.000,6,0.000,0.041,3325,2536,2345,0,0,0,0,0,0
$GC,3761,0.76,146.0,36.4,11.5,437,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2536,2345,0,0,0,0,0,0
$GC,3896,0.76,146.0,19.7,11.8,462,3905,0.00,2.03,0.00,0.000,4,0.000,0.057,3325,3762,2344,0,0,0,0,0,0
$GC,3961,0.76,146.0,10.8,14.7,473,3968,0.00,1.92,0.00,0.000,6,0.000,0.041,3334,2529,2345,0,0,0,0,0,0
$FREEZE,8.61,-1.070,-1.897,2,1,0
$FREEZE,7.87,-1.059,-1.897,2,1,0
$FREEZE,7.11,-1.058,-1.896,2,1,0
$FREEZE,6.24,-1.081,-1.896,2,1,0
$FREEZE,5.58,-1.064,-1.896,2,1,0
$FREEZE,4.70,-1.061,-1.895,2,1,0
$FREEZE,3.94,-1.066,-1.895,2,1,0
$FREEZE,3.17,-1.065,-1.894,2,1,0
$FREEZE,2.55,-1.063,-1.894,2,1,0
$STATE,4021,end climb,SURFACE_DEPTH_REACHED
$STATE,4022,begin surface coast
$FREEZE,1.74,-1.070,-1.893,2,1,0
$FREEZE,1.35,-1.066,-1.893,2,1,0
$FREEZE,1.17,-1.074,-1.011,2,1,0
$FINISH,1.2,1.014921
$STATE,4041,end surface coast,FINISH_DEPTH_REACHED
$STATE,4041,begin surface
$SM_CCo,4058,80.45,0.730,1,0,1736,300.24
$SM_GC,2.03,0.00,0.00,80.45,0.000,0.000,0.730,411,2662,1736,-8.29,0.34,300.24
$IRIDIUM_FIX,-7545.40,17932.43,010111,020211
$TT8_MAMPS,0.028462
$HUMID,52.52
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,19.0
$24V_AH,20.3,68.949
$10V_AH,9.7,46.783
$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,18.225,50.250,273.275,80.450,0.000,28.301,35.856,158.990,0.750,0.000,16.284,1233.472,1093.750,437.002,1563.252,162.029,0.000,992.406,0.000,817.129,0.000,2.624,0.000
$DEVICE_MAMPS,195.840,79.560,951.660,729.810,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,340.618,740.013,998.865,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33656,486
$CAP_FILE_SIZE,70737,0
$CFSIZE,260165632,227561472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.480,181.6,1
$GPS,010111,050450,-7632.375,17935.084,16,1.6,16,118.9