version: 66.08
glider: 502
mission: 3
dive: 470
start: 1 2 111 13 17 17
data:
$ID,502
$MISSION,3
$DIVE,470
$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,33
$R_STBD_OVSHOOT,33
$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
$GPS1,020111,131114,-7630.020,17953.197,14,1.8,14,118.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-70.5
$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,123.2,256581,-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,12,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,100,0.00,0.00,-81.72,0.000,2,0.000,0.000,406,2675,3233,0,0,0,0,0,0
$GC,102,-0.76,-146.0,3.1,-1.8,12,127,8.82,2.38,-10.10,0.000,4,0.194,0.063,2808,1240,3560,0,0,0,0,0,0
$GC,211,-0.76,-146.0,20.1,-14.8,30,220,0.00,2.33,0.00,0.000,6,0.000,0.058,2799,2638,3563,0,0,0,0,0,0
$GC,358,-0.76,-146.0,44.8,-17.1,55,365,0.00,1.85,0.00,0.000,4,0.000,0.063,2791,3761,3563,0,0,0,0,0,0
$GC,429,-0.76,-146.0,57.7,-18.1,67,436,0.00,1.77,0.00,0.000,6,0.000,0.041,2791,2628,3563,0,0,0,0,0,0
$GC,571,-0.76,-146.0,84.1,-19.2,92,579,0.00,2.22,0.00,0.000,4,0.000,0.051,2791,1247,3563,0,0,0,0,0,0
$GC,608,-0.76,-146.0,91.0,-18.3,98,618,0.08,2.35,0.00,0.000,6,0.135,0.058,2811,2653,3563,0,0,0,0,0,0
$GC,750,-0.76,-146.0,115.2,-17.2,115,754,0.00,1.77,0.00,0.000,4,0.000,0.062,2803,3767,3563,0,0,0,0,0,0
$GC,786,-0.76,-146.0,121.9,-18.8,118,790,0.00,1.73,0.00,0.000,6,0.000,0.042,2804,2659,3563,0,0,0,0,0,0
$GC,929,-0.76,-146.0,147.4,-18.0,131,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2657,3563,0,0,0,0,0,0
$GC,1064,-0.76,-146.0,171.5,-17.5,144,1068,0.00,1.83,0.00,0.000,4,0.000,0.063,2797,3774,3563,0,0,0,0,0,0
$GC,1102,-0.76,-146.0,179.2,-19.8,147,1111,0.00,1.75,0.00,0.000,6,0.000,0.042,2797,2678,3564,0,0,0,0,0,0
$GC,1238,-0.76,-146.0,203.2,-18.2,160,1242,0.00,2.28,0.00,0.000,4,0.000,0.052,2797,1243,3564,0,0,0,0,0,0
$GC,1267,-0.76,-146.0,208.5,-17.6,162,1272,0.12,2.35,0.00,0.000,6,0.151,0.058,2819,2679,3564,0,0,0,0,0,0
$GC,1404,-0.76,-146.0,230.0,-17.7,174,1412,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2679,3564,0,0,0,0,0,0
$GC,1541,-0.76,-146.0,249.2,-8.4,187,1545,0.00,1.75,0.00,0.000,4,0.000,0.064,2819,3762,3565,0,0,0,0,0,0
$STATE,1677,end dive,NO_VERTICAL_VELOCITY
$STATE,1677,begin apogee
$GC,1684,-0.27,0.0,249.3,0.0,199,1817,0.43,0.00,128.10,0.946,4,0.080,0.000,2979,2490,2961,0,0,0,0,0,0
$STATE,1818,end apogee,CONTROL_FINISHED_OK
$STATE,1818,begin climb
$GC,1820,0.76,146.0,249.2,0.0,210,1974,1.00,2.47,143.62,0.866,4,0.063,0.050,3311,1095,2365,0,0,0,0,0,0
$GC,2067,0.80,174.2,228.7,8.7,230,2102,0.00,2.60,28.65,0.837,6,0.000,0.053,3311,2497,2249,0,0,0,0,0,0
$GC,2231,0.81,187.0,213.2,9.4,245,2257,0.00,2.47,13.65,0.818,4,0.000,0.049,3317,1101,2195,0,0,0,0,0,0
$GC,2363,0.81,187.0,199.4,10.5,256,2371,0.00,2.47,0.00,0.000,6,0.000,0.056,3316,2523,2191,0,0,0,0,0,0
$GC,2498,0.81,187.0,185.0,11.0,269,2502,0.00,2.03,0.00,0.000,4,0.000,0.062,3316,3773,2191,0,0,0,0,0,0
$GC,2569,0.81,187.0,175.6,13.3,275,2578,0.00,1.98,0.00,0.000,6,0.000,0.042,3325,2540,2191,0,0,0,0,0,0
$GC,2707,0.81,187.0,160.5,10.9,288,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2538,2190,0,0,0,0,0,0
$GC,2842,0.81,187.0,145.6,10.9,301,2844,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2538,2189,0,0,0,0,0,0
$GC,2970,0.81,187.0,131.8,10.9,313,2971,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2539,2189,0,0,0,0,0,0
$GC,3097,0.83,200.5,119.0,9.4,325,3114,0.00,2.05,12.60,0.843,4,0.000,0.057,3324,3770,2143,0,0,0,0,0,0
$GC,3174,0.83,200.5,111.4,10.7,331,3178,0.00,1.92,0.00,0.000,6,0.000,0.041,3334,2546,2142,0,0,0,0,0,0
$GC,3310,0.84,209.8,98.0,9.6,345,3325,0.00,0.00,10.57,0.819,6,0.000,0.000,3334,2544,2104,0,0,0,0,0,0
$GC,3463,0.84,209.8,81.8,11.6,371,3470,0.00,2.33,0.00,0.000,4,0.000,0.051,3344,1080,2101,0,0,0,0,0,0
$GC,3482,0.84,209.8,79.0,11.4,374,3491,0.00,2.42,0.00,0.000,6,0.000,0.055,3344,2547,2100,0,0,0,0,0,0
$GC,3631,0.84,209.8,60.7,13.2,399,3638,0.00,1.95,0.00,0.000,4,0.000,0.059,3344,3764,2100,0,0,0,0,0,0
$GC,3680,0.84,209.8,53.3,15.3,407,3687,0.00,1.90,0.00,0.000,6,0.000,0.041,3353,2554,2100,0,0,0,0,0,0
$GC,3823,0.84,209.8,32.1,14.5,432,3831,0.00,2.00,0.00,0.000,4,0.000,0.058,3353,3760,2100,0,0,0,0,0,0
$GC,3857,0.84,209.8,26.9,15.7,437,3864,0.00,1.90,0.00,0.000,6,0.000,0.043,3362,2557,2100,0,0,0,0,0,0
$FREEZE,8.51,-1.074,-1.898,2,1,0
$FREEZE,7.50,-1.073,-1.898,2,1,0
$FREEZE,6.74,-1.072,-1.897,2,1,0
$FREEZE,5.39,-1.073,-1.896,2,1,0
$FREEZE,4.58,-1.076,-1.896,2,1,0
$FREEZE,3.61,-1.077,-1.895,2,1,0
$GC,4004,0.84,209.8,3.6,15.7,462,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,2555,2099,0,0,0,0,0,0
$FREEZE,1.12,-1.083,-0.399,2,1,0
$STATE,4019,end climb,FINISH_DEPTH_REACHED
$STATE,4020,begin subsurface finish
$FINISH1,1.1,1.005738,0
$GC,4027,0.00,0.0,1.1,-16.1,464,4092,0.77,2.15,-56.65,0.000,4,0.057,0.077,3056,3770,2962,0,0,0,0,0,0
$FINISH2,1.3
$STATE,4093,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4093,begin surface
$IRIDIUM_FIX,-7545.40,17950.81,020111,121228
$TT8_MAMPS,0.027713
$HUMID,53.07
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.1,17.4
$24V_AH,20.3,71.363
$10V_AH,9.7,48.597
$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,11.225,61.100,337.200,0.000,0.000,29.822,36.307,163.634,0.750,0.000,11.472,1165.966,1110.448,429.083,1557.897,170.837,0.000,1016.460,0.000,807.788,0.000,2.620,0.000
$DEVICE_MAMPS,194.310,115.515,946.305,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,329.319,720.764,995.555,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33805,473
$CAP_FILE_SIZE,70422,0
$CFSIZE,260165632,226471936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,24.846,241.0,1
$GPS,020111,131650,-7629.973,17953.469,10,1.9,10,118.3