version: 66.08
glider: 502
mission: 3
dive: 447
start: 1 1 111 6 28 29
data:
$ID,502
$MISSION,3
$DIVE,447
$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,-30704.646
$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,38
$R_STBD_OVSHOOT,31
$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
$GPS1,010111,062131,-7632.997,17937.020,13,1.5,30,118.9
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-73.1
$GPS2,010111,062802,-7633.049,17937.309,16,1.6,16,118.9
$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,256.2,11319,-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,13,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,98,0.00,0.00,-80.12,0.000,2,0.000,0.000,411,2667,3192,0,0,0,0,0,0
$GC,101,-0.76,-146.0,3.0,-1.2,12,131,8.93,2.33,-12.12,0.000,4,0.194,0.063,2808,1240,3559,0,0,0,0,0,0
$GC,385,-0.76,-146.0,45.3,-15.8,61,392,0.00,2.30,0.00,0.000,6,0.000,0.057,2799,2643,3562,0,0,0,0,0,0
$GC,527,-0.76,-146.0,69.6,-17.0,86,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2643,3562,0,0,0,0,0,0
$GC,670,-0.76,-146.0,93.8,-16.5,111,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2643,3562,0,0,0,0,0,0
$GC,808,-0.76,-146.0,116.1,-16.1,127,812,0.00,1.80,0.00,0.000,4,0.000,0.060,2790,3764,3562,0,0,0,0,0,0
$GC,866,-0.76,-146.0,126.2,-17.5,132,870,0.00,1.73,0.00,0.000,6,0.000,0.042,2791,2654,3562,0,0,0,0,0,0
$GC,1009,-0.76,-146.0,150.0,-16.0,145,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2653,3562,0,0,0,0,0,0
$GC,1144,-0.76,-146.0,172.8,-16.9,158,1148,0.00,1.83,0.00,0.000,4,0.000,0.062,2783,3771,3563,0,0,0,0,0,0
$GC,1180,-0.76,-146.0,178.9,-17.6,161,1184,0.12,1.73,0.00,0.000,6,0.158,0.043,2816,2663,3562,0,0,0,0,0,0
$GC,1320,-0.76,-146.0,200.1,-14.4,174,1324,0.00,2.22,0.00,0.000,4,0.000,0.049,2817,1246,3563,0,0,0,0,0,0
$GC,1385,-0.76,-146.0,209.1,-12.5,179,1393,0.00,2.35,0.00,0.000,6,0.000,0.057,2807,2658,3563,0,0,0,0,0,0
$GC,1521,-0.76,-146.0,228.8,-15.1,192,1522,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2658,3563,0,0,0,0,0,0
$GC,1648,-0.76,-146.0,241.9,-0.6,204,1652,0.00,2.28,0.00,0.000,4,0.000,0.050,2807,1241,3562,0,0,0,0,0,0
$STATE,1765,end dive,NO_VERTICAL_VELOCITY
$STATE,1767,begin apogee
$GC,1774,-0.27,0.0,241.9,0.0,214,1908,0.47,0.00,128.85,0.950,4,0.086,0.000,2981,2502,2961,0,0,0,0,0,0
$STATE,1909,end apogee,CONTROL_FINISHED_OK
$STATE,1909,begin climb
$GC,1911,0.76,146.0,241.8,0.0,225,2067,1.02,2.30,145.85,0.867,4,0.076,0.060,3306,3761,2365,0,0,0,0,0,0
$GC,2305,0.76,146.0,191.7,15.4,258,2314,0.00,2.10,0.00,0.000,6,0.000,0.040,3316,2502,2351,0,0,0,0,0,0
$GC,2441,0.76,146.0,174.7,13.2,271,2445,0.00,2.28,0.00,0.000,4,0.000,0.054,3316,1086,2349,0,0,0,0,0,0
$GC,2559,0.76,146.0,160.8,11.4,281,2563,0.00,2.35,0.00,0.000,6,0.000,0.054,3316,2534,2346,0,0,0,0,0,0
$GC,2695,0.76,146.0,145.6,11.1,293,2698,0.00,1.98,0.00,0.000,4,0.000,0.059,3316,3770,2345,0,0,0,0,0,0
$GC,2752,0.76,146.0,138.0,13.9,298,2756,0.00,1.92,0.00,0.000,6,0.000,0.041,3325,2532,2345,0,0,0,0,0,0
$GC,2895,0.76,146.0,120.6,12.2,311,2903,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2529,2344,0,0,0,0,0,0
$GC,3031,0.76,146.0,104.0,12.2,324,3034,0.00,2.00,0.00,0.000,4,0.000,0.059,3325,3768,2344,0,0,0,0,0,0
$GC,3099,0.76,146.0,94.3,14.0,333,3105,0.00,1.90,0.00,0.000,6,0.000,0.041,3335,2551,2344,0,0,0,0,0,0
$GC,3242,0.76,146.0,75.8,12.5,358,3250,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2549,2343,0,0,0,0,0,0
$GC,3386,0.76,146.0,57.6,13.0,383,3393,0.00,1.98,0.00,0.000,4,0.000,0.058,3335,3767,2343,0,0,0,0,0,0
$GC,3413,0.76,146.0,54.1,13.4,387,3420,0.12,1.90,0.00,0.000,6,0.164,0.040,3311,2552,2343,0,0,0,0,0,0
$GC,3555,0.76,146.0,37.8,10.9,412,3564,0.00,2.35,0.00,0.000,4,0.000,0.051,3320,1088,2342,0,0,0,0,0,0
$GC,3592,0.76,146.0,33.5,11.0,418,3601,0.00,2.40,0.00,0.000,6,0.000,0.054,3320,2547,2341,0,0,0,0,0,0
$GC,3741,0.76,146.0,16.1,12.3,443,3748,0.00,1.95,0.00,0.000,4,0.000,0.057,3320,3766,2341,0,0,0,0,0,0
$FREEZE,8.47,-1.121,-1.898,2,1,0
$FREEZE,7.85,-1.121,-1.898,2,1,0
$FREEZE,6.93,-1.121,-1.897,2,1,0
$FREEZE,6.21,-1.121,-1.897,2,1,0
$FREEZE,5.31,-1.121,-1.896,2,1,0
$FREEZE,4.55,-1.123,-1.896,2,1,0
$GC,3824,0.76,146.0,4.6,14.1,457,3831,0.00,1.90,0.00,0.000,6,0.000,0.040,3329,2566,2341,0,0,0,0,0,0
$FREEZE,2.36,-1.124,-1.894,2,1,0
$STATE,3839,end climb,SURFACE_DEPTH_REACHED
$STATE,3839,begin surface coast
$FREEZE,1.43,-1.123,-1.893,2,1,0
$FREEZE,1.13,-1.127,-1.893,2,1,0
$FREEZE,1.11,-1.175,-1.896,2,1,0
$FREEZE,1.07,-1.149,-0.452,2,1,0
$FINISH,1.1,1.006529
$STATE,3864,end surface coast,FINISH_DEPTH_REACHED
$STATE,3865,begin surface
$SM_CCo,3882,75.35,0.100,0,0,1736,300.24
$SM_GC,2.00,0.00,0.00,75.35,0.000,0.000,0.100,415,2662,1736,-8.28,0.34,300.24
$IRIDIUM_FIX,-7545.40,17941.57,010111,050521
$TT8_MAMPS,0.027713
$HUMID,52.48
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,18.8
$24V_AH,20.3,69.123
$10V_AH,9.7,46.932
$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,18.250,50.100,274.700,75.350,0.000,25.735,39.727,215.329,0.500,0.000,16.821,1174.844,1022.104,412.623,1587.760,163.001,0.000,950.888,0.000,806.119,0.000,2.622,0.000
$DEVICE_MAMPS,193.545,85.680,950.130,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,324.478,705.393,942.655,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30354,463
$CAP_FILE_SIZE,68096,0
$CFSIZE,260165632,227487744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.411,143.5,1
$GPS,010111,073514,-7633.360,17939.891,9,1.3,9,118.8