version: 66.08
glider: 502
mission: 3
dive: 431
start: 12 31 110 10 12 34
data:
$ID,502
$MISSION,3
$DIVE,431
$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,-30684.518
$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,35
$R_STBD_OVSHOOT,31
$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
$GPS1,311210,100630,-7632.406,17929.789,37,1.9,37,119.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-69.0
$GPS2,311210,101208,-7632.388,17929.953,13,1.7,13,119.0
$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,267.2,13723,-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,14,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,104,0.00,0.00,-85.75,0.000,2,0.000,0.000,403,2664,3331,0,0,0,0,0,0
$GC,107,-0.76,-146.0,3.3,-2.1,13,130,9.10,1.88,-6.50,0.000,4,0.200,0.076,2805,3767,3561,0,0,0,0,0,0
$GC,377,-0.76,-146.0,49.4,-16.2,61,383,0.00,1.77,0.00,0.000,6,0.000,0.041,2805,2632,3564,0,0,0,0,0,0
$GC,512,-0.76,-146.0,70.6,-15.1,86,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2630,3564,0,0,0,0,0,0
$GC,652,-0.76,-146.0,91.6,-14.2,111,660,0.00,1.85,0.00,0.000,4,0.000,0.063,2797,3759,3564,0,0,0,0,0,0
$GC,689,-0.76,-146.0,98.1,-17.5,117,696,0.00,1.75,0.00,0.000,6,0.000,0.041,2797,2659,3564,0,0,0,0,0,0
$GC,832,-0.76,-146.0,121.5,-16.8,131,835,0.00,1.77,0.00,0.000,4,0.000,0.060,2788,3755,3565,0,0,0,0,0,0
$GC,857,-0.76,-146.0,125.7,-17.0,133,861,0.00,1.70,0.00,0.000,6,0.000,0.041,2788,2659,3564,0,0,0,0,0,0
$GC,998,-0.76,-146.0,149.5,-17.0,146,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2657,3565,0,0,0,0,0,0
$GC,1125,-0.76,-146.0,170.6,-15.7,158,1127,0.10,0.00,0.00,0.000,6,0.174,0.000,2814,2656,3565,0,0,0,0,0,0
$GC,1253,-0.76,-146.0,188.7,-14.2,170,1256,0.00,1.77,0.00,0.000,4,0.000,0.062,2807,3755,3565,0,0,0,0,0,0
$GC,1301,-0.76,-146.0,196.6,-15.5,174,1309,0.00,1.73,0.00,0.000,6,0.000,0.041,2807,2669,3564,0,0,0,0,0,0
$GC,1439,-0.76,-146.0,217.5,-15.9,187,1443,0.00,1.77,0.00,0.000,4,0.000,0.060,2798,3765,3564,0,0,0,0,0,0
$GC,1477,-0.76,-146.0,223.9,-17.5,190,1480,0.00,1.67,0.00,0.000,6,0.000,0.041,2799,2681,3565,0,0,0,0,0,0
$GC,1619,-0.76,-146.0,248.3,-16.6,203,1623,0.00,2.30,0.00,0.000,4,0.000,0.054,2799,1246,3564,0,0,0,0,0,0
$STATE,1796,end dive,NO_VERTICAL_VELOCITY
$STATE,1796,begin apogee
$GC,1803,-0.27,0.0,254.4,0.0,218,1943,0.47,0.00,129.32,0.947,4,0.080,0.000,2976,2492,2960,0,0,0,0,0,0
$STATE,1944,end apogee,CONTROL_FINISHED_OK
$STATE,1944,begin climb
$GC,1946,0.76,146.0,254.0,0.0,231,2105,1.08,2.33,145.40,0.866,4,0.087,0.059,3306,3768,2363,0,0,0,0,0,0
$GC,2252,0.76,146.0,217.1,13.1,257,2261,0.00,2.20,0.00,0.000,6,0.000,0.039,3316,2500,2353,0,0,0,0,0,0
$GC,2388,0.76,146.0,201.3,12.1,270,2392,0.00,2.12,0.00,0.000,4,0.000,0.057,3315,3767,2349,0,0,0,0,0,0
$GC,2419,0.76,146.0,197.3,14.5,272,2423,0.00,2.03,0.00,0.000,6,0.000,0.039,3325,2495,2349,0,0,0,0,0,0
$GC,2562,0.76,146.0,178.5,13.8,285,2566,0.00,2.08,0.00,0.000,4,0.000,0.056,3325,3774,2348,0,0,0,0,0,0
$GC,2605,0.76,146.0,171.2,16.0,288,2614,0.00,2.00,0.00,0.000,6,0.000,0.041,3335,2523,2347,0,0,0,0,0,0
$GC,2742,0.76,146.0,152.9,13.0,301,2746,0.00,2.00,0.00,0.000,4,0.000,0.058,3335,3764,2346,0,0,0,0,0,0
$GC,2800,0.76,146.0,144.0,15.7,306,2804,0.12,1.90,0.00,0.000,6,0.165,0.039,3312,2539,2347,0,0,0,0,0,0
$GC,2941,0.76,146.0,126.7,11.3,319,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2537,2346,0,0,0,0,0,0
$GC,3077,0.76,146.0,111.3,11.9,332,3081,0.00,1.98,0.00,0.000,4,0.000,0.058,3311,3764,2345,0,0,0,0,0,0
$GC,3127,0.76,146.0,104.5,13.4,336,3135,0.00,1.92,0.00,0.000,6,0.000,0.040,3319,2547,2345,0,0,0,0,0,0
$GC,3261,0.76,146.0,88.6,11.6,358,3269,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2546,2344,0,0,0,0,0,0
$GC,3402,0.76,146.0,72.3,10.9,383,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2545,2344,0,0,0,0,0,0
$GC,3538,0.76,146.0,56.8,11.5,408,3546,0.00,2.03,0.00,0.000,4,0.000,0.059,3319,3764,2343,0,0,0,0,0,0
$GC,3586,0.76,146.0,50.5,13.2,416,3594,0.00,1.92,0.00,0.000,6,0.000,0.040,3329,2552,2343,0,0,0,0,0,0
$GC,3726,0.76,146.0,33.3,12.2,441,3733,0.00,1.98,0.00,0.000,4,0.000,0.058,3329,3766,2343,0,0,0,0,0,0
$GC,3776,0.76,146.0,25.8,14.2,450,3785,0.00,1.90,0.00,0.000,6,0.000,0.039,3338,2565,2343,0,0,0,0,0,0
$FREEZE,8.34,-0.762,-1.897,2,1,0
$FREEZE,7.56,-0.755,-1.897,2,1,0
$FREEZE,6.77,-0.752,-1.896,2,1,0
$GC,3919,0.76,146.0,6.8,13.1,475,3926,0.00,1.95,0.00,0.000,4,0.000,0.058,3339,3767,2342,0,0,0,0,0,0
$FREEZE,4.43,-0.752,-1.895,2,1,0
$FREEZE,3.57,-0.753,-1.894,2,1,0
$FREEZE,2.79,-0.752,-1.893,2,1,0
$STATE,3945,end climb,SURFACE_DEPTH_REACHED
$STATE,3945,begin surface coast
$FREEZE,1.66,-0.753,-1.893,2,1,0
$FREEZE,1.15,-0.758,-1.892,2,1,0
$FREEZE,1.24,-0.768,-1.892,2,1,0
$FREEZE,1.10,-0.802,-1.469,2,1,0
$FINISH,1.1,1.021648
$STATE,3969,end surface coast,CONTROL_FINISHED_OK
$STATE,3970,begin surface
$SM_CCo,3988,75.10,0.099,0,0,1738,300.24
$SM_GC,2.04,0.00,0.00,75.10,0.000,0.000,0.099,425,2627,1738,-8.24,-0.68,300.24
$IRIDIUM_FIX,-7545.40,17923.13,311210,080846
$TT8_MAMPS,0.028462
$HUMID,52.52
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,20.0,18.8
$24V_AH,20.3,67.674
$10V_AH,9.6,45.771
$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,18.450,54.175,274.725,75.100,0.000,27.993,38.106,165.306,1.000,0.000,14.503,1221.716,1068.012,439.659,1523.654,159.707,0.000,980.499,0.000,826.039,0.000,4.339,0.000
$DEVICE_MAMPS,199.665,75.735,947.070,99.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,338.219,711.249,896.095,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267044
$DATA_FILE_SIZE,33645,483
$CAP_FILE_SIZE,70577,0
$CFSIZE,260165632,228134912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.286, 94.4,1
$GPS,311210,112108,-7632.003,17933.438,12,1.5,12,118.9