version: 66.08
glider: 502
mission: 3
dive: 471
start: 1 2 111 14 27 6
data:
$ID,502
$MISSION,3
$DIVE,471
$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,-30733.594
$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,45
$R_STBD_OVSHOOT,23
$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
$GPS1,020111,131650,-7629.973,17953.469,10,1.9,10,118.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-0.7
$GPS2,020111,131650,-7629.973,17953.469,10,1.9,10,118.3
$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,196.7,256581,-17.5,-10.000
$D_GRID,386
$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,16,-0.76,-146.0,0.0,0.0,0,58,0.00,1.83,-38.17,0.000,6,0.000,0.060,3056,2652,3556,0,0,0,0,0,0
$GC,61,-0.76,-146.0,1.2,-0.2,6,70,0.62,2.25,0.00,0.000,4,0.073,0.046,2823,1240,3560,0,0,0,0,0,0
$GC,283,-0.76,-146.0,25.6,-14.2,46,291,0.00,2.35,0.00,0.000,6,0.000,0.060,2812,2648,3561,0,0,0,0,0,0
$GC,423,-0.76,-146.0,48.2,-17.0,71,430,0.00,1.80,0.00,0.000,4,0.000,0.062,2804,3766,3560,0,0,0,0,0,0
$GC,476,-0.76,-146.0,57.6,-17.0,80,484,0.00,1.75,0.00,0.000,6,0.000,0.042,2804,2669,3561,0,0,0,0,0,0
$GC,615,-0.76,-146.0,81.3,-18.9,105,622,0.00,1.80,0.00,0.000,4,0.000,0.063,2795,3767,3561,0,0,0,0,0,0
$GC,652,-0.76,-146.0,88.5,-19.8,111,658,0.00,1.73,0.00,0.000,6,0.000,0.042,2795,2687,3560,0,0,0,0,0,0
$GC,796,-0.76,-146.0,117.3,-20.0,129,799,0.00,1.75,0.00,0.000,4,0.000,0.063,2787,3764,3560,0,0,0,0,0,0
$GC,842,-0.76,-146.0,127.0,-20.4,133,846,0.12,1.65,0.00,0.000,6,0.163,0.041,2820,2694,3561,0,0,0,0,0,0
$GC,983,-0.76,-146.0,151.2,-16.9,146,987,0.00,1.75,0.00,0.000,4,0.000,0.062,2813,3767,3560,0,0,0,0,0,0
$GC,1063,-0.76,-146.0,166.4,-18.6,153,1067,0.00,1.65,0.00,0.000,6,0.000,0.042,2813,2703,3561,0,0,0,0,0,0
$GC,1206,-0.76,-146.0,191.8,-17.7,166,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2701,3561,0,0,0,0,0,0
$GC,1342,-0.76,-146.0,216.1,-17.7,179,1346,0.00,2.30,0.00,0.000,4,0.000,0.050,2813,1247,3560,0,0,0,0,0,0
$GC,1384,-0.76,-146.0,223.8,-16.6,182,1393,0.00,2.45,0.00,0.000,6,0.000,0.058,2802,2716,3560,0,0,0,0,0,0
$GC,1521,-0.76,-146.0,245.7,-19.9,195,1522,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2716,3561,0,0,0,0,0,0
$GC,1647,-0.76,-146.0,254.5,-0.2,207,1651,0.00,2.38,0.00,0.000,4,0.000,0.052,2802,1238,3561,0,0,0,0,0,0
$STATE,1735,end dive,NO_VERTICAL_VELOCITY
$STATE,1735,begin apogee
$GC,1743,-0.27,0.0,254.5,0.0,215,1877,0.47,0.00,127.22,0.952,4,0.067,0.000,2988,2506,2961,0,0,0,0,0,0
$STATE,1878,end apogee,CONTROL_FINISHED_OK
$STATE,1878,begin climb
$GC,1880,0.76,146.0,254.8,0.0,227,2038,1.02,2.30,144.73,0.870,4,0.085,0.060,3307,3764,2364,0,0,0,0,0,0
$GC,2130,0.76,146.0,226.0,13.0,248,2134,0.00,2.20,0.00,0.000,6,0.000,0.039,3316,2511,2356,0,0,0,0,0,0
$GC,2265,0.77,152.6,212.8,9.7,260,2276,0.00,0.00,5.40,0.697,6,0.000,0.000,3316,2508,2338,0,0,0,0,0,0
$GC,2405,0.77,153.0,199.3,10.0,273,2409,0.00,2.08,0.00,0.000,4,0.000,0.058,3316,3768,2335,0,0,0,0,0,0
$GC,2448,0.77,153.0,193.9,11.5,276,2457,0.00,2.03,0.00,0.000,6,0.000,0.041,3325,2512,2335,0,0,0,0,0,0
$GC,2585,0.77,153.0,180.8,10.0,289,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2510,2333,0,0,0,0,0,0
$GC,2722,0.78,162.6,167.8,9.6,302,2736,0.00,2.12,9.82,0.833,4,0.000,0.058,3325,3763,2298,0,0,0,0,0,0
$GC,2827,0.78,162.6,155.0,12.8,311,2831,0.00,1.95,0.00,0.000,6,0.000,0.041,3335,2515,2296,0,0,0,0,0,0
$GC,2971,0.79,168.8,140.2,9.7,324,2984,0.00,2.08,6.82,0.776,4,0.000,0.057,3335,3771,2272,0,0,0,0,0,0
$GC,3012,0.79,168.8,134.9,12.2,327,3021,0.00,2.00,0.00,0.000,6,0.000,0.042,3344,2526,2272,0,0,0,0,0,0
$GC,3150,0.79,168.8,121.3,10.2,340,3154,0.00,2.00,0.00,0.000,4,0.000,0.059,3344,3764,2270,0,0,0,0,0,0
$GC,3197,0.79,168.8,115.4,13.5,344,3201,0.12,1.92,0.00,0.000,6,0.168,0.041,3321,2531,2270,0,0,0,0,0,0
$GC,3338,0.80,179.7,101.2,9.5,357,3360,0.00,2.38,11.77,0.832,4,0.000,0.050,3328,1086,2227,0,0,0,0,0,0
$GC,3374,0.82,188.6,97.7,9.6,361,3390,0.00,2.38,10.60,0.793,6,0.000,0.054,3328,2536,2191,0,0,0,0,0,0
$GC,3524,0.82,188.6,81.9,10.9,387,3531,0.00,1.98,0.00,0.000,4,0.000,0.060,3328,3763,2186,0,0,0,0,0,0
$GC,3614,0.82,188.6,70.1,14.3,403,3621,0.00,1.95,0.00,0.000,6,0.000,0.042,3337,2547,2187,0,0,0,0,0,0
$GC,3752,0.82,188.6,51.7,13.4,428,3759,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2545,2186,0,0,0,0,0,0
$GC,3891,0.82,188.6,33.3,13.2,453,3898,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2545,2185,0,0,0,0,0,0
$GC,4030,0.82,188.6,13.5,14.0,478,4039,0.00,2.03,0.00,0.000,4,0.000,0.060,3337,3762,2185,0,0,0,0,0,0
$FREEZE,8.78,-0.909,-1.898,2,2,0
$FREEZE,7.79,-0.909,-1.897,2,2,0
$FREEZE,6.88,-0.907,-1.897,2,2,0
$FREEZE,5.83,-0.906,-1.896,2,2,0
$GC,4080,0.82,188.6,5.8,16.7,486,4089,0.00,1.95,0.00,0.000,6,0.000,0.042,3346,2547,2184,0,0,0,0,0,0
$FREEZE,3.23,-0.905,-1.894,2,2,0
$FREEZE,2.18,-0.905,-1.893,2,2,0
$STATE,4101,end climb,SURFACE_DEPTH_REACHED
$STATE,4101,begin surface coast
$FREEZE,1.37,-0.908,-1.893,2,2,0
$FREEZE,1.17,-0.958,-1.895,2,2,0
$FREEZE,1.20,-0.973,-1.046,2,2,0
$FINISH,1.2,1.015452
$STATE,4119,end surface coast,CONTROL_FINISHED_OK
$STATE,4119,begin surface
$SM_CCo,4136,60.55,0.699,1,0,1736,300.24
$SM_GC,1.99,0.00,0.00,60.55,0.000,0.000,0.699,414,2669,1736,-8.28,0.54,300.24
$IRIDIUM_FIX,-7545.40,17950.81,020111,121228
$TT8_MAMPS,0.029211
$HUMID,53.34
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,18.2
$24V_AH,20.3,71.455
$10V_AH,9.7,48.666
$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,10.025,63.050,316.375,60.550,0.000,0.000,0.000,0.000,1.000,0.000,0.000,1262.990,1135.884,425.314,1314.610,120.829,0.000,974.495,0.000,833.960,0.000,7.159,0.000
$DEVICE_MAMPS,168.300,76.500,952.425,699.210,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,344.628,722.212,924.330,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33765,492
$CAP_FILE_SIZE,67951,0
$CFSIZE,260165632,226435072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.635, 37.3,1
$GPS,020111,153831,-7628.474,17955.418,44,1.8,45,118.1