version: 66.08
glider: 502
mission: 3
dive: 430
start: 12 31 110 8 58 9
data:
$ID,502
$MISSION,3
$DIVE,430
$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,-30683.258
$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,36
$R_STBD_OVSHOOT,22
$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
$GPS1,311210,084802,-7632.543,17925.877,12,1.0,12,119.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-71.0
$GPS2,311210,085743,-7632.578,17926.127,11,1.2,16,119.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,POLYNYA2
$TGT_LATLONG,-7630.000,18000.000
$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,267.8,15403,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,95,0.00,0.00,-77.07,0.000,2,0.000,0.000,410,2645,3135,0,0,0,0,0,0
$GC,98,-0.76,-146.0,3.1,-3.2,11,127,8.98,1.92,-14.45,0.000,4,0.200,0.078,2800,3767,3559,0,0,0,0,0,0
$GC,308,-0.76,-146.0,36.4,-17.2,47,315,0.00,1.77,0.00,0.000,6,0.000,0.042,2800,2651,3561,0,0,0,0,0,0
$GC,449,-0.76,-146.0,59.5,-15.9,72,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2650,3562,0,0,0,0,0,0
$GC,594,-0.76,-146.0,82.1,-15.5,97,601,0.00,1.85,0.00,0.000,4,0.000,0.062,2791,3770,3563,0,0,0,0,0,0
$GC,624,-0.76,-146.0,87.6,-16.6,102,632,0.00,1.77,0.00,0.000,6,0.000,0.042,2791,2655,3562,0,0,0,0,0,0
$GC,772,-0.76,-146.0,111.2,-16.4,122,775,0.00,1.80,0.00,0.000,4,0.000,0.062,2784,3764,3562,0,0,0,0,0,0
$GC,797,-0.76,-146.0,116.3,-17.3,124,808,0.08,1.75,0.00,0.000,6,0.140,0.041,2809,2659,3562,0,0,0,0,0,0
$GC,935,-0.76,-146.0,135.9,-14.7,137,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2659,3563,0,0,0,0,0,0
$GC,1070,-0.76,-146.0,156.7,-15.2,150,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2659,3563,0,0,0,0,0,0
$GC,1197,-0.76,-146.0,175.7,-14.6,162,1201,0.00,1.80,0.00,0.000,4,0.000,0.060,2802,3773,3563,0,0,0,0,0,0
$GC,1232,-0.76,-146.0,181.3,-16.5,165,1236,0.00,1.73,0.00,0.000,6,0.000,0.041,2802,2656,3563,0,0,0,0,0,0
$GC,1373,-0.76,-146.0,203.0,-15.6,178,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2653,3563,0,0,0,0,0,0
$GC,1500,-0.76,-146.0,223.3,-16.3,190,1504,0.00,1.80,0.00,0.000,4,0.000,0.062,2793,3764,3563,0,0,0,0,0,0
$GC,1547,-0.76,-146.0,231.2,-17.4,194,1551,0.00,1.70,0.00,0.000,6,0.000,0.041,2793,2667,3563,0,0,0,0,0,0
$STATE,1670,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1670,begin apogee
$GC,1675,-0.27,0.0,250.5,17.4,205,1814,0.55,0.00,128.40,0.942,4,0.130,0.000,2969,2486,2959,0,0,0,0,0,0
$STATE,1814,end apogee,CONTROL_FINISHED_OK
$STATE,1814,begin climb
$GC,1816,0.76,146.0,260.3,0.0,217,1966,1.05,0.00,144.65,0.865,6,0.088,0.000,3304,2486,2365,0,0,0,0,0,0
$GC,2167,0.76,146.0,229.0,11.6,249,2171,0.00,2.22,0.00,0.000,4,0.000,0.056,3304,3771,2353,0,0,0,0,0,0
$GC,2240,0.76,146.0,219.0,13.8,255,2244,0.00,2.03,0.00,0.000,6,0.000,0.040,3314,2524,2352,0,0,0,0,0,0
$GC,2382,0.76,146.0,201.2,11.7,268,2385,0.00,2.05,0.00,0.000,4,0.000,0.058,3314,3774,2350,0,0,0,0,0,0
$GC,2408,0.76,146.0,197.4,13.2,270,2417,0.00,1.98,0.00,0.000,6,0.000,0.041,3323,2536,2349,0,0,0,0,0,0
$GC,2544,0.76,146.0,179.4,12.9,283,2548,0.00,2.00,0.00,0.000,4,0.000,0.057,3323,3771,2349,0,0,0,0,0,0
$GC,2581,0.76,146.0,174.0,14.9,286,2584,0.00,1.90,0.00,0.000,6,0.000,0.041,3333,2550,2349,0,0,0,0,0,0
$GC,2723,0.76,146.0,154.6,13.2,299,2727,0.00,1.98,0.00,0.000,4,0.000,0.057,3333,3772,2348,0,0,0,0,0,0
$GC,2760,0.76,146.0,148.5,15.3,302,2769,0.10,1.92,0.00,0.000,6,0.135,0.041,3309,2559,2348,0,0,0,0,0,0
$GC,2898,0.76,146.0,132.8,11.2,315,2902,0.00,2.30,0.00,0.000,4,0.000,0.050,3316,1093,2347,0,0,0,0,0,0
$GC,2928,0.76,146.0,129.6,10.3,317,2932,0.00,2.35,0.00,0.000,6,0.000,0.053,3316,2557,2346,0,0,0,0,0,0
$GC,3065,0.76,146.0,114.4,11.3,329,3068,0.00,1.92,0.00,0.000,4,0.000,0.058,3316,3768,2345,0,0,0,0,0,0
$GC,3145,0.76,146.0,103.6,13.9,336,3149,0.00,1.90,0.00,0.000,6,0.000,0.040,3325,2546,2345,0,0,0,0,0,0
$GC,3283,0.76,146.0,84.9,13.3,358,3291,0.00,2.03,0.00,0.000,4,0.000,0.058,3325,3767,2345,0,0,0,0,0,0
$GC,3310,0.76,146.0,81.1,14.8,362,3318,0.00,1.90,0.00,0.000,6,0.000,0.040,3334,2565,2345,0,0,0,0,0,0
$GC,3454,0.76,146.0,61.6,12.9,387,3460,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2563,2345,0,0,0,0,0,0
$GC,3594,0.76,146.0,43.0,13.1,412,3602,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2563,2345,0,0,0,0,0,0
$GC,3739,0.76,146.0,24.6,12.6,437,3746,0.00,1.95,0.00,0.000,4,0.000,0.057,3335,3767,2345,0,0,0,0,0,0
$GC,3792,0.76,146.0,16.5,15.1,446,3801,0.08,1.90,0.00,0.000,6,0.143,0.040,3318,2568,2344,0,0,0,0,0,0
$FREEZE,8.54,-0.781,-1.897,2,1,0
$FREEZE,7.82,-0.793,-1.897,2,1,0
$FREEZE,7.00,-0.796,-1.897,2,1,0
$FREEZE,6.50,-0.773,-1.896,2,1,0
$FREEZE,5.73,-0.773,-1.896,2,1,0
$FREEZE,5.28,-0.774,-1.895,2,1,0
$FREEZE,4.58,-0.773,-1.895,2,1,0
$FREEZE,3.92,-0.780,-1.895,2,1,0
$FREEZE,2.97,-0.772,-1.894,2,1,0
$STATE,3899,end climb,SURFACE_DEPTH_REACHED
$STATE,3899,begin surface coast
$FREEZE,2.25,-0.764,-1.893,2,1,0
$FREEZE,1.33,-0.771,-1.893,2,1,0
$FREEZE,1.10,-0.900,-1.740,2,1,0
$FREEZE,1.13,-0.909,-1.869,2,1,0
$FREEZE,1.23,-0.814,-1.889,2,1,0
$FINISH,1.2,1.027666
$STATE,3933,end surface coast,CONTROL_FINISHED_OK
$STATE,3933,begin surface
$SM_CCo,3949,75.62,0.099,0,0,1736,300.24
$SM_GC,2.00,0.00,0.00,75.62,0.000,0.000,0.099,410,2662,1736,-8.29,0.34,300.24
$IRIDIUM_FIX,-7545.40,17932.28,311210,080838
$TT8_MAMPS,0.026215
$HUMID,52.44
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,18.8
$ALTIM_BOTTOM_PING,250.5,12.4
$24V_AH,20.3,67.589
$10V_AH,9.6,45.699
$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,18.350,50.625,273.050,75.625,0.000,59.735,73.713,241.569,1.000,0.000,17.635,1199.548,1166.929,430.702,1649.241,170.527,0.000,942.479,0.000,779.576,0.000,7.082,0.000
$DEVICE_MAMPS,199.665,89.505,942.480,99.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,328.747,695.299,896.779,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267120
$DATA_FILE_SIZE,33800,469
$CAP_FILE_SIZE,74048,0
$CFSIZE,260165632,228171776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.309,117.9,1
$GPS,311210,100630,-7632.406,17929.789,37,1.9,37,119.0