version: 66.08
glider: 502
mission: 3
dive: 209
start: 12 12 110 2 45 31
data:
$ID,502
$MISSION,3
$DIVE,209
$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,-1
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.025
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51763
$NAV_MODE,0
$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,400
$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,-28601.615
$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,18
$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
$GPS1,121210,023206,-7640.061,16724.121,191,1.3,191,137.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-72.2
$GPS2,121210,024507,-7640.002,16723.963,34,0.8,34,137.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,POLYNYA
$TGT_LATLONG,-7640.000,17000.000
$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,312.1,66643,-17.5,-10.000
$D_GRID,575
$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
$STATE,13,begin dive
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$STATE,3942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3943,begin apogee
$GC,3948,-0.17,0.0,578.2,14.6,389,4087,0.68,0.00,134.40,1.163,4,0.134,0.000,3006,2483,2961,0,0,0,0,0,0
$STATE,4087,end apogee,CONTROL_FINISHED_OK
$STATE,4087,begin climb
$GC,4089,0.76,146.0,583.4,0.0,393,4245,0.95,2.53,147.27,1.082,4,0.072,0.051,3307,1101,2365,0,0,0,0,0,0
$GC,4345,0.76,146.0,561.4,11.7,401,4350,0.00,2.50,0.00,0.000,6,0.000,0.054,3307,2501,2354,0,0,0,0,0,0
$GC,4541,0.76,146.0,537.0,12.8,408,4545,0.00,2.33,0.00,0.000,4,0.000,0.053,3318,1095,2350,0,0,0,0,0,0
$GC,4669,0.76,146.0,520.7,12.4,411,4677,0.00,2.35,0.00,0.000,6,0.000,0.056,3318,2506,2347,0,0,0,0,0,0
$GC,4861,0.76,146.0,495.3,13.4,420,4865,0.00,2.03,0.00,0.000,4,0.000,0.061,3318,3768,2346,0,0,0,0,0,0
$GC,4932,0.76,146.0,484.0,15.3,426,4941,0.00,1.98,0.00,0.000,6,0.000,0.044,3328,2535,2346,0,0,0,0,0,0
$GC,5133,0.76,146.0,455.7,14.4,445,5136,0.00,1.98,0.00,0.000,4,0.000,0.060,3327,3765,2344,0,0,0,0,0,0
$GC,5178,0.76,146.0,448.1,16.5,449,5182,0.00,1.92,0.00,0.000,6,0.000,0.044,3337,2530,2345,0,0,0,0,0,0
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$GC,8218,0.76,146.0,26.6,10.4,778,8226,0.00,1.95,0.00,0.000,4,0.000,0.063,3311,3768,2340,0,0,0,0,0,0
$GC,8277,0.76,146.0,18.9,13.6,788,8284,0.00,1.85,0.00,0.000,6,0.000,0.044,3319,2605,2340,0,0,0,0,0,0
$STATE,8340,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,8340,begin subsurface finish
$FINISH1,11.1,1.027702,-10
$GC,8346,-0.01,-9.9,11.1,-12.0,799,8374,0.77,2.17,-18.23,0.000,4,0.135,0.080,3069,3767,3007,0,0,0,0,0,0
$FINISH2,8.9
$STATE,8375,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8375,begin surface
$IRIDIUM_FIX,-7554.21,16719.18,121210,020248
$TT8_MAMPS,0.028462
$HUMID,53.15
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,13.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,12.9
$24V_AH,20.7,42.904
$10V_AH,9.9,26.303
$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,12.050,102.500,281.675,0.000,0.000,59.788,74.868,422.768,2.500,0.000,35.264,1992.122,4064.144,418.418,2486.390,195.299,0.000,1270.209,0.000,1385.361,0.000,14.637,0.000
$DEVICE_MAMPS,206.550,84.150,1162.800,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,566.852,979.981,879.734,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276640
$DATA_FILE_SIZE,53771,803
$CAP_FILE_SIZE,123501,0
$CFSIZE,260165632,240738304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121210,024507,-7640.002,16723.963,34,0.8,34,137.9