version: 66.08
glider: 502
mission: 3
dive: 464
start: 1 2 111 5 46 22
data:
$ID,502
$MISSION,3
$DIVE,464
$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,-30726.039
$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,32
$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
$GPS1,020111,053702,-7629.507,17946.906,10,1.6,10,118.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-69.7
$GPS2,020111,054554,-7629.542,17946.898,38,1.1,38,118.4
$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,196.4,253742,-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,13,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,106,0.00,0.00,-88.55,0.000,2,0.000,0.000,403,2679,3378,0,0,0,0,0,0
$GC,109,-0.76,-146.0,3.1,-1.4,13,131,8.82,2.35,-5.30,0.000,4,0.194,0.064,2805,1236,3562,0,0,0,0,0,0
$GC,324,-0.76,-146.0,39.3,-15.5,50,333,0.00,2.35,0.00,0.000,6,0.000,0.058,2797,2642,3564,0,0,0,0,0,0
$GC,469,-0.76,-146.0,62.9,-16.6,75,475,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2642,3565,0,0,0,0,0,0
$GC,610,-0.76,-146.0,85.7,-15.9,100,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2642,3565,0,0,0,0,0,0
$GC,756,-0.76,-146.0,108.8,-15.9,121,760,0.00,1.80,0.00,0.000,4,0.000,0.061,2789,3766,3565,0,0,0,0,0,0
$GC,783,-0.76,-146.0,113.7,-16.7,123,791,0.00,1.77,0.00,0.000,6,0.000,0.042,2789,2649,3565,0,0,0,0,0,0
$GC,919,-0.76,-146.0,135.0,-16.2,136,921,0.10,0.00,0.00,0.000,6,0.171,0.000,2816,2648,3565,0,0,0,0,0,0
$GC,1046,-0.76,-146.0,153.6,-14.0,148,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2647,3565,0,0,0,0,0,0
$GC,1173,-0.76,-146.0,171.8,-14.2,160,1177,0.00,2.22,0.00,0.000,4,0.000,0.051,2815,1245,3565,0,0,0,0,0,0
$GC,1204,-0.76,-146.0,176.2,-14.9,162,1208,0.00,2.30,0.00,0.000,6,0.000,0.057,2806,2651,3565,0,0,0,0,0,0
$GC,1339,-0.76,-146.0,196.2,-14.9,174,1343,0.00,1.80,0.00,0.000,4,0.000,0.061,2798,3773,3565,0,0,0,0,0,0
$GC,1366,-0.76,-146.0,201.0,-15.8,176,1374,0.00,1.77,0.00,0.000,6,0.000,0.042,2798,2655,3565,0,0,0,0,0,0
$GC,1503,-0.76,-146.0,221.8,-16.2,189,1507,0.00,2.22,0.00,0.000,4,0.000,0.049,2798,1244,3565,0,0,0,0,0,0
$GC,1521,-0.76,-146.0,224.7,-14.4,190,1526,0.10,2.33,0.00,0.000,6,0.162,0.058,2813,2660,3565,0,0,0,0,0,0
$GC,1658,-0.76,-146.0,244.7,-16.1,202,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2660,3565,0,0,0,0,0,0
$GC,1795,-0.76,-146.0,255.3,0.1,215,1798,0.00,1.80,0.00,0.000,4,0.000,0.067,2813,3762,3565,0,0,0,0,0,0
$STATE,1898,end dive,NO_VERTICAL_VELOCITY
$STATE,1898,begin apogee
$GC,1905,-0.27,0.0,255.4,0.0,224,2045,0.45,0.00,128.57,0.949,4,0.082,0.000,2981,2484,2960,0,0,0,0,0,0
$STATE,2046,end apogee,CONTROL_FINISHED_OK
$STATE,2046,begin climb
$GC,2048,0.76,146.0,255.3,0.0,237,2204,1.02,2.47,143.75,0.864,4,0.074,0.050,3310,1099,2363,0,0,0,0,0,0
$GC,2275,0.76,146.0,235.5,12.8,256,2284,0.00,2.60,0.00,0.000,6,0.000,0.052,3310,2490,2356,0,0,0,0,0,0
$GC,2412,0.76,146.0,217.8,11.2,269,2416,0.00,2.20,0.00,0.000,4,0.000,0.059,3310,3767,2353,0,0,0,0,0,0
$GC,2554,0.76,146.0,197.4,14.0,281,2558,0.00,1.98,0.00,0.000,6,0.000,0.040,3320,2523,2352,0,0,0,0,0,0
$GC,2695,0.76,146.0,179.2,12.7,294,2696,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2521,2350,0,0,0,0,0,0
$GC,2823,0.76,146.0,163.3,12.4,306,2824,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2521,2349,0,0,0,0,0,0
$GC,2949,0.76,146.0,147.9,12.4,318,2953,0.00,2.03,0.00,0.000,4,0.000,0.059,3320,3772,2348,0,0,0,0,0,0
$GC,2985,0.76,146.0,143.2,13.9,321,2988,0.00,1.98,0.00,0.000,6,0.000,0.041,3329,2508,2349,0,0,0,0,0,0
$GC,3126,0.76,146.0,125.2,12.7,334,3127,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2506,2348,0,0,0,0,0,0
$GC,3252,0.76,146.0,108.7,13.4,346,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2506,2348,0,0,0,0,0,0
$GC,3382,0.76,146.0,91.7,13.0,363,3389,0.00,2.05,0.00,0.000,4,0.000,0.057,3329,3768,2347,0,0,0,0,0,0
$GC,3424,0.76,146.0,85.5,14.4,370,3433,0.00,1.98,0.00,0.000,6,0.000,0.040,3339,2528,2347,0,0,0,0,0,0
$GC,3571,0.76,146.0,65.8,13.3,395,3578,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2528,2346,0,0,0,0,0,0
$GC,3713,0.76,146.0,46.7,12.3,420,3721,0.00,2.05,0.00,0.000,4,0.000,0.058,3339,3767,2346,0,0,0,0,0,0
$GC,3761,0.76,146.0,39.6,15.0,428,3770,0.10,1.98,0.00,0.000,6,0.138,0.040,3316,2527,2346,0,0,0,0,0,0
$GC,3907,0.76,146.0,22.9,10.4,453,3914,0.00,2.03,0.00,0.000,4,0.000,0.059,3316,3768,2345,0,0,0,0,0,0
$GC,3983,0.76,146.0,13.4,12.4,466,3993,0.00,1.95,0.00,0.000,6,0.000,0.041,3323,2549,2346,0,0,0,0,0,0
$FREEZE,8.93,-0.899,-1.897,2,1,0
$FREEZE,8.50,-0.899,-1.897,2,1,0
$FREEZE,8.09,-0.893,-1.896,2,1,0
$FREEZE,7.37,-0.895,-1.896,2,1,0
$FREEZE,6.80,-0.922,-1.896,2,1,0
$FREEZE,5.90,-0.912,-1.895,2,1,0
$FREEZE,5.22,-0.910,-1.895,2,1,0
$FREEZE,4.49,-0.898,-1.894,2,1,0
$FREEZE,3.97,-0.888,-1.893,2,1,0
$FREEZE,3.28,-0.885,-1.893,2,1,0
$FREEZE,2.47,-0.887,-1.892,2,1,0
$STATE,4088,end climb,SURFACE_DEPTH_REACHED
$STATE,4088,begin surface coast
$FREEZE,1.44,-0.891,-1.892,2,1,0
$FREEZE,1.13,-0.955,-0.950,2,1,0
$FINISH,1.1,1.014021
$STATE,4101,end surface coast,FINISH_DEPTH_REACHED
$STATE,4101,begin surface
$SM_CCo,4118,82.75,0.719,1,0,1735,300.24
$SM_GC,2.05,0.00,0.00,82.75,0.000,0.000,0.719,409,2678,1735,-8.30,0.79,300.24
$IRIDIUM_FIX,-7545.40,17950.83,020111,050541
$TT8_MAMPS,0.027713
$HUMID,52.95
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,18.0
$24V_AH,20.3,70.799
$10V_AH,9.6,48.160
$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,18.200,50.225,272.325,82.750,0.000,62.342,97.091,176.395,1.000,0.000,39.167,1226.574,1266.575,447.386,1642.767,167.715,0.000,975.445,0.000,807.485,0.000,6.929,0.000
$DEVICE_MAMPS,193.545,73.440,949.365,719.100,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,339.921,710.171,901.274,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33695,485
$CAP_FILE_SIZE,71585,0
$CFSIZE,260165632,226717696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.326,165.2,1
$GPS,020111,065736,-7629.918,17945.986,13,1.4,29,118.5