version: 66.08
glider: 502
mission: 3
dive: 472
start: 1 2 111 15 49 47
data:
$ID,502
$MISSION,3
$DIVE,472
$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,-30734.854
$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,27
$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
$GPS1,020111,153831,-7628.474,17955.418,44,1.8,45,118.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-72.8
$GPS2,020111,154920,-7628.302,17955.621,15,1.4,15,118.1
$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,106.2,257530,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,100,0.00,0.00,-81.95,0.000,2,0.000,0.000,408,2669,3240,0,0,0,0,0,0
$GC,103,-0.76,-146.0,3.0,-1.5,12,127,8.77,2.40,-9.98,0.000,4,0.190,0.063,2810,1226,3559,0,0,0,0,0,0
$GC,194,-0.76,-146.0,17.1,-14.4,27,201,0.00,2.35,0.00,0.000,6,0.000,0.058,2802,2653,3563,0,0,0,0,0,0
$GC,331,-0.76,-146.0,39.6,-16.3,52,339,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2653,3563,0,0,0,0,0,0
$GC,472,-0.76,-146.0,62.0,-16.3,77,479,0.00,1.80,0.00,0.000,4,0.000,0.061,2793,3770,3563,0,0,0,0,0,0
$GC,503,-0.76,-146.0,67.7,-17.7,82,511,0.00,1.80,0.00,0.000,6,0.000,0.042,2793,2640,3563,0,0,0,0,0,0
$GC,642,-0.76,-146.0,91.5,-18.1,107,649,0.00,2.22,0.00,0.000,4,0.000,0.052,2793,1236,3563,0,0,0,0,0,0
$GC,713,-0.76,-146.0,103.9,-17.6,117,718,0.12,2.30,0.00,0.000,6,0.156,0.057,2817,2645,3563,0,0,0,0,0,0
$GC,849,-0.76,-146.0,125.7,-16.4,129,852,0.00,1.80,0.00,0.000,4,0.000,0.061,2810,3767,3563,0,0,0,0,0,0
$GC,896,-0.76,-146.0,133.9,-17.3,133,899,0.00,1.77,0.00,0.000,6,0.000,0.042,2810,2627,3563,0,0,0,0,0,0
$GC,1037,-0.76,-146.0,157.5,-16.9,146,1040,0.00,1.88,0.00,0.000,4,0.000,0.062,2801,3770,3563,0,0,0,0,0,0
$GC,1063,-0.76,-146.0,162.9,-18.5,148,1072,0.00,1.80,0.00,0.000,6,0.000,0.041,2801,2637,3563,0,0,0,0,0,0
$GC,1200,-0.76,-146.0,186.9,-18.2,161,1204,0.00,2.20,0.00,0.000,4,0.000,0.051,2801,1244,3563,0,0,0,0,0,0
$GC,1265,-0.76,-146.0,199.5,-17.4,166,1273,0.00,2.33,0.00,0.000,6,0.000,0.058,2794,2635,3563,0,0,0,0,0,0
$GC,1401,-0.76,-146.0,222.0,-16.6,179,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2635,3563,0,0,0,0,0,0
$GC,1527,-0.76,-146.0,242.4,-15.2,191,1531,0.00,1.83,0.00,0.000,4,0.000,0.062,2786,3773,3564,0,0,0,0,0,0
$GC,1553,-0.76,-146.0,245.1,-12.3,193,1557,0.10,1.80,0.00,0.000,6,0.124,0.041,2821,2618,3565,0,0,0,0,0,0
$GC,1696,-0.76,-146.0,245.2,-0.1,206,1699,0.00,1.90,0.00,0.000,4,0.000,0.065,2821,3769,3565,0,0,0,0,0,0
$STATE,1707,end dive,NO_VERTICAL_VELOCITY
$STATE,1707,begin apogee
$GC,1715,-0.27,0.0,245.1,0.0,207,1854,0.40,0.00,127.62,0.940,4,0.068,0.000,2985,2483,2960,0,0,0,0,0,0
$STATE,1854,end apogee,CONTROL_FINISHED_OK
$STATE,1855,begin climb
$GC,1857,0.76,146.0,245.0,0.0,218,2010,0.98,0.00,143.68,0.862,6,0.085,0.000,3302,2483,2364,0,0,0,0,0,0
$GC,2137,0.77,151.7,217.9,9.7,242,2146,0.00,0.00,4.85,0.633,6,0.000,0.000,3302,2483,2342,0,0,0,0,0,0
$GC,2275,0.77,153.9,202.7,9.9,255,2279,0.00,2.20,0.00,0.000,4,0.000,0.060,3302,3764,2339,0,0,0,0,0,0
$GC,2326,0.77,153.9,196.1,12.3,259,2330,0.00,2.03,0.00,0.000,6,0.000,0.041,3312,2508,2339,0,0,0,0,0,0
$GC,2467,0.77,153.9,180.3,10.9,272,2471,0.00,2.25,0.00,0.000,4,0.000,0.052,3315,1091,2337,0,0,0,0,0,0
$GC,2499,0.81,184.3,177.7,8.6,274,2537,0.00,2.30,30.90,0.871,6,0.000,0.053,3316,2509,2209,0,0,0,0,0,0
$GC,2666,0.81,184.3,156.5,13.6,289,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2509,2203,0,0,0,0,0,0
$GC,2802,0.81,184.3,139.6,12.5,302,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2509,2201,0,0,0,0,0,0
$GC,2938,0.81,184.3,121.9,13.9,315,2941,0.00,2.00,0.00,0.000,4,0.000,0.059,3315,3763,2200,0,0,0,0,0,0
$GC,2986,0.81,184.3,114.1,15.4,319,2995,0.00,1.98,0.00,0.000,6,0.000,0.041,3324,2522,2200,0,0,0,0,0,0
$GC,3124,0.81,184.3,95.2,14.4,335,3131,0.00,2.03,0.00,0.000,4,0.000,0.059,3324,3763,2199,0,0,0,0,0,0
$GC,3175,0.81,184.3,86.7,15.5,344,3183,0.00,1.98,0.00,0.000,6,0.000,0.041,3334,2529,2199,0,0,0,0,0,0
$GC,3315,0.81,184.3,66.5,14.8,369,3323,0.00,2.03,0.00,0.000,4,0.000,0.059,3334,3770,2199,0,0,0,0,0,0
$GC,3374,0.81,184.3,56.8,16.2,379,3381,0.00,1.95,0.00,0.000,6,0.000,0.041,3343,2552,2199,0,0,0,0,0,0
$GC,3510,0.81,184.3,35.4,14.3,404,3518,0.00,2.00,0.00,0.000,4,0.000,0.057,3343,3762,2198,0,0,0,0,0,0
$GC,3558,0.81,184.3,27.7,17.0,412,3566,0.00,1.92,0.00,0.000,6,0.000,0.041,3352,2559,2198,0,0,0,0,0,0
$FREEZE,8.93,-1.005,-1.898,2,1,0
$FREEZE,7.88,-1.003,-1.897,2,1,0
$FREEZE,7.16,-1.002,-1.897,2,1,0
$FREEZE,6.15,-1.004,-1.896,2,1,0
$FREEZE,5.28,-1.004,-1.896,2,1,0
$GC,3702,0.81,184.3,5.3,15.0,437,3710,0.00,1.98,0.00,0.000,4,0.000,0.058,3352,3771,2197,0,0,0,0,0,0
$FREEZE,2.63,-1.006,-1.894,2,1,0
$STATE,3717,end climb,SURFACE_DEPTH_REACHED
$STATE,3717,begin surface coast
$FREEZE,1.43,-1.009,-1.893,2,1,0
$FINISH,1.4,1.027722
$STATE,3723,end surface coast,CONTROL_FINISHED_OK
$STATE,3723,begin surface
$SM_CCo,3742,61.33,0.702,1,0,1737,300.24
$SM_GC,2.06,0.00,0.00,61.33,0.000,0.000,0.702,411,2629,1737,-8.29,-0.59,300.24
$IRIDIUM_FIX,-7545.40,17950.78,020111,151533
$TT8_MAMPS,0.028462
$HUMID,52.91
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,18.2
$24V_AH,20.3,71.568
$10V_AH,9.6,48.739
$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,18.025,60.675,307.050,61.325,0.000,55.492,112.863,276.360,0.750,0.000,16.567,1119.536,1059.983,441.008,1646.268,202.434,0.000,968.872,0.000,728.677,0.000,2.624,0.000
$DEVICE_MAMPS,190.485,65.025,940.185,702.270,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,307.165,670.012,917.820,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267160
$DATA_FILE_SIZE,30378,440
$CAP_FILE_SIZE,72030,0
$CFSIZE,260165632,226394112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.441, 24.2,1
$GPS,020111,165402,-7627.866,17955.748,8,1.1,8,118.1