version: 66.08
glider: 502
mission: 3
dive: 482
start: 1 3 111 4 13 21
data:
$ID,502
$MISSION,3
$DIVE,482
$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,-30747.439
$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,29
$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
$GPS1,030111,040702,-7628.152,17920.945,9,1.4,9,118.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-72.7
$GPS2,030111,041255,-7628.229,17920.896,20,1.4,25,118.9
$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,195.3,242521,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,105,0.00,0.00,-85.43,0.000,2,0.000,0.000,411,2660,3322,0,0,0,0,0,0
$GC,108,-0.76,-146.0,3.2,-1.6,13,131,8.85,2.38,-6.82,0.000,4,0.196,0.063,2807,1226,3561,0,0,0,0,0,0
$GC,297,-0.76,-146.0,35.2,-13.6,46,305,0.00,2.38,0.00,0.000,6,0.000,0.059,2798,2645,3564,0,0,0,0,0,0
$GC,436,-0.76,-146.0,60.9,-20.1,71,444,0.00,1.85,0.00,0.000,4,0.000,0.062,2789,3767,3565,0,0,0,0,0,0
$GC,478,-0.76,-146.0,69.1,-19.8,78,486,0.00,1.77,0.00,0.000,6,0.000,0.042,2789,2653,3564,0,0,0,0,0,0
$GC,618,-0.76,-146.0,94.2,-18.6,103,626,0.00,1.85,0.00,0.000,4,0.000,0.063,2782,3774,3564,0,0,0,0,0,0
$GC,669,-0.76,-146.0,105.0,-20.5,110,678,0.10,1.77,0.00,0.000,6,0.133,0.042,2815,2666,3564,0,0,0,0,0,0
$GC,806,-0.76,-146.0,127.3,-16.6,123,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2664,3564,0,0,0,0,0,0
$GC,943,-0.76,-146.0,150.7,-17.4,136,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2664,3564,0,0,0,0,0,0
$GC,1079,-0.76,-146.0,173.9,-17.0,149,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2665,3564,0,0,0,0,0,0
$GC,1206,-0.76,-146.0,193.0,-15.5,161,1210,0.00,2.28,0.00,0.000,4,0.000,0.050,2815,1239,3564,0,0,0,0,0,0
$GC,1248,-0.76,-146.0,199.7,-15.7,164,1252,0.00,2.35,0.00,0.000,6,0.000,0.057,2805,2678,3564,0,0,0,0,0,0
$GC,1384,-0.76,-146.0,220.2,-16.0,176,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2678,3564,0,0,0,0,0,0
$GC,1511,-0.76,-146.0,241.0,-16.6,188,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2678,3564,0,0,0,0,0,0
$GC,1644,-0.76,-146.0,262.2,-15.1,201,1648,0.00,1.75,0.00,0.000,4,0.000,0.061,2798,3769,3564,0,0,0,0,0,0
$GC,1689,-0.76,-146.0,268.5,-15.2,205,1693,0.00,1.73,0.00,0.000,6,0.000,0.042,2798,2663,3564,0,0,0,0,0,0
$GC,1894,-0.76,-146.0,290.7,0.1,224,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2659,3565,0,0,0,0,0,0
$STATE,2008,end dive,NO_VERTICAL_VELOCITY
$STATE,2008,begin apogee
$GC,2013,-0.27,0.0,290.8,0.0,235,2150,0.50,0.00,129.48,0.974,4,0.087,0.000,2980,2490,2960,0,0,0,0,0,0
$STATE,2151,end apogee,CONTROL_FINISHED_OK
$STATE,2151,begin climb
$GC,2153,0.76,146.0,290.4,0.0,247,2308,1.00,2.35,146.80,0.896,4,0.063,0.060,3309,3757,2365,0,0,0,0,0,0
$GC,2473,0.76,146.0,257.9,14.1,276,2477,0.00,2.15,0.00,0.000,6,0.000,0.040,3316,2506,2353,0,0,0,0,0,0
$GC,2674,0.76,146.0,234.8,13.9,294,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2503,2348,0,0,0,0,0,0
$GC,2809,0.76,146.0,215.5,12.0,307,2813,0.00,2.08,0.00,0.000,4,0.000,0.060,3316,3772,2347,0,0,0,0,0,0
$GC,2928,0.76,146.0,197.0,15.6,317,2932,0.00,1.98,0.00,0.000,6,0.000,0.041,3325,2509,2346,0,0,0,0,0,0
$GC,3072,0.76,146.0,178.9,11.9,330,3079,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2506,2345,0,0,0,0,0,0
$GC,3207,0.76,146.0,161.1,12.8,343,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2506,2345,0,0,0,0,0,0
$GC,3334,0.76,146.0,145.0,13.0,355,3338,0.00,2.05,0.00,0.000,4,0.000,0.059,3326,3767,2344,0,0,0,0,0,0
$GC,3370,0.76,146.0,139.8,15.3,358,3374,0.00,1.92,0.00,0.000,6,0.000,0.040,3335,2530,2344,0,0,0,0,0,0
$GC,3511,0.76,146.0,118.3,15.0,371,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2527,2344,0,0,0,0,0,0
$GC,3638,0.76,146.0,99.1,15.1,383,3645,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2527,2344,0,0,0,0,0,0
$GC,3777,0.76,146.0,78.7,15.3,408,3785,0.00,2.05,0.00,0.000,4,0.000,0.058,3335,3760,2343,0,0,0,0,0,0
$GC,3875,0.76,146.0,62.5,15.9,425,3883,0.12,1.95,0.00,0.000,6,0.165,0.041,3312,2519,2343,0,0,0,0,0,0
$GC,4013,0.76,146.0,44.8,12.4,450,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2517,2343,0,0,0,0,0,0
$GC,4152,0.76,146.0,28.3,11.6,475,4159,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2517,2342,0,0,0,0,0,0
$GC,4290,0.76,146.0,12.3,11.5,500,4299,0.00,2.08,0.00,0.000,4,0.000,0.060,3311,3759,2342,0,0,0,0,0,0
$FREEZE,8.35,-0.749,-1.898,2,1,0
$FREEZE,7.60,-0.747,-1.897,2,1,0
$FREEZE,6.98,-0.734,-1.897,2,1,0
$FREEZE,6.16,-0.727,-1.896,2,1,0
$GC,4340,0.76,146.0,6.2,12.4,508,4348,0.00,1.95,0.00,0.000,6,0.000,0.041,3319,2539,2341,0,0,0,0,0,0
$FREEZE,3.85,-0.712,-1.894,2,1,0
$FREEZE,3.33,-0.713,-1.894,2,1,0
$FREEZE,2.52,-0.713,-1.894,2,1,0
$STATE,4366,end climb,SURFACE_DEPTH_REACHED
$STATE,4366,begin surface coast
$FREEZE,1.85,-0.715,-1.893,2,1,0
$FREEZE,1.15,-0.720,-1.893,2,1,0
$FREEZE,1.22,-0.778,-1.837,2,1,0
$FREEZE,1.14,-0.751,-0.847,2,1,0
$FINISH,1.1,1.012494
$STATE,4392,end surface coast,CONTROL_FINISHED_OK
$STATE,4392,begin surface
$SM_CCo,4409,76.07,0.100,0,0,1736,300.24
$SM_GC,1.89,0.00,0.00,76.07,0.000,0.000,0.100,421,2659,1736,-8.26,0.25,300.24
$IRIDIUM_FIX,-7545.40,17759.91,030111,020218
$TT8_MAMPS,0.027713
$HUMID,53.30
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,18.6
$24V_AH,20.2,72.488
$10V_AH,9.7,49.449
$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,18.125,41.075,276.275,76.075,0.000,24.340,38.846,167.142,1.000,0.000,26.463,1286.849,1395.791,440.844,1553.057,171.592,0.000,983.642,0.000,846.497,0.000,7.018,0.000
$DEVICE_MAMPS,195.840,75.735,973.845,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,361.355,718.953,860.998,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267076
$DATA_FILE_SIZE,37140,516
$CAP_FILE_SIZE,71420,0
$CFSIZE,260165632,225976320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,5
$CURRENT,0.431,183.4,1
$GPS,030111,052855,-7628.879,17918.547,10,1.6,10,119.0