version: 66.08
glider: 502
mission: 3
dive: 432
start: 12 31 110 11 30 17
data:
$ID,502
$MISSION,3
$DIVE,432
$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,-30685.771
$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,48
$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
$GPS1,311210,112108,-7632.003,17933.438,12,1.5,12,118.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-69.6
$GPS2,311210,112950,-7631.942,17933.625,15,1.5,15,118.9
$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,289.3,11957,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,88,0.00,0.00,-69.95,0.000,2,0.000,0.000,419,2627,2988,0,0,0,0,0,0
$GC,90,-0.76,-146.0,3.0,-2.8,10,133,8.95,1.95,-23.98,0.000,4,0.196,0.077,2798,3764,3560,0,0,0,0,0,0
$GC,310,-0.76,-146.0,34.2,-16.6,47,317,0.00,1.75,0.00,0.000,6,0.000,0.041,2798,2667,3562,0,0,0,0,0,0
$GC,451,-0.76,-146.0,57.0,-15.8,72,460,0.00,1.83,0.00,0.000,4,0.000,0.061,2790,3763,3562,0,0,0,0,0,0
$GC,519,-0.76,-146.0,68.5,-17.0,83,526,0.00,1.73,0.00,0.000,6,0.000,0.041,2790,2679,3562,0,0,0,0,0,0
$GC,661,-0.76,-146.0,92.8,-16.6,108,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2678,3562,0,0,0,0,0,0
$GC,800,-0.76,-146.0,116.5,-16.6,124,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2678,3563,0,0,0,0,0,0
$GC,928,-0.76,-146.0,138.3,-17.2,136,932,0.00,1.77,0.00,0.000,4,0.000,0.062,2782,3770,3563,0,0,0,0,0,0
$GC,944,-0.76,-146.0,141.7,-17.6,137,955,0.10,1.75,0.00,0.000,6,0.139,0.041,2814,2673,3563,0,0,0,0,0,0
$GC,1080,-0.76,-146.0,161.2,-14.2,150,1083,0.00,1.77,0.00,0.000,4,0.000,0.060,2807,3769,3563,0,0,0,0,0,0
$GC,1126,-0.76,-146.0,168.7,-16.6,154,1130,0.00,1.67,0.00,0.000,6,0.000,0.041,2807,2686,3563,0,0,0,0,0,0
$GC,1267,-0.76,-146.0,190.9,-15.5,167,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2684,3563,0,0,0,0,0,0
$GC,1395,-0.76,-146.0,210.3,-16.2,179,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2684,3563,0,0,0,0,0,0
$GC,1523,-0.76,-146.0,229.2,-13.7,191,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2684,3563,0,0,0,0,0,0
$GC,1649,-0.76,-146.0,248.6,-16.2,203,1654,0.00,2.28,0.00,0.000,4,0.000,0.050,2807,1245,3563,0,0,0,0,0,0
$STATE,1791,end dive,NO_VERTICAL_VELOCITY
$STATE,1791,begin apogee
$GC,1798,-0.27,0.0,248.7,0.0,215,1932,0.45,0.00,128.90,0.944,4,0.076,0.000,2979,2504,2961,0,0,0,0,0,0
$STATE,1933,end apogee,CONTROL_FINISHED_OK
$STATE,1933,begin climb
$GC,1935,0.76,146.0,248.7,0.0,226,2090,1.05,2.30,145.12,0.862,4,0.076,0.061,3309,3765,2364,0,0,0,0,0,0
$GC,2149,0.76,146.0,225.7,13.5,243,2158,0.00,2.28,0.00,0.000,6,0.000,0.039,3318,2504,2356,0,0,0,0,0,0
$GC,2286,0.76,146.0,208.8,11.8,256,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2503,2351,0,0,0,0,0,0
$GC,2412,0.76,146.0,191.8,14.3,268,2416,0.00,2.08,0.00,0.000,4,0.000,0.057,3318,3762,2350,0,0,0,0,0,0
$GC,2453,0.76,146.0,186.3,13.0,271,2457,0.00,2.00,0.00,0.000,6,0.000,0.041,3327,2497,2350,0,0,0,0,0,0
$GC,2594,0.76,146.0,167.0,13.6,284,2598,0.00,2.08,0.00,0.000,4,0.000,0.058,3327,3773,2348,0,0,0,0,0,0
$GC,2635,0.76,146.0,161.1,14.4,287,2638,0.00,1.95,0.00,0.000,6,0.000,0.041,3337,2523,2348,0,0,0,0,0,0
$GC,2776,0.76,146.0,141.5,14.1,300,2779,0.00,2.00,0.00,0.000,4,0.000,0.057,3337,3763,2347,0,0,0,0,0,0
$GC,2825,0.76,146.0,133.6,15.8,304,2834,0.10,1.92,0.00,0.000,6,0.139,0.041,3313,2552,2346,0,0,0,0,0,0
$GC,2960,0.76,146.0,117.7,11.4,317,2961,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2550,2346,0,0,0,0,0,0
$GC,3087,0.76,146.0,103.9,11.2,329,3090,0.00,1.95,0.00,0.000,4,0.000,0.058,3313,3763,2345,0,0,0,0,0,0
$GC,3113,0.76,146.0,100.3,12.5,331,3121,0.00,1.92,0.00,0.000,6,0.000,0.041,3321,2552,2345,0,0,0,0,0,0
$GC,3257,0.76,146.0,84.2,11.4,356,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2550,2345,0,0,0,0,0,0
$GC,3402,0.76,146.0,67.9,11.4,381,3408,0.00,1.98,0.00,0.000,4,0.000,0.059,3321,3767,2344,0,0,0,0,0,0
$GC,3489,0.76,146.0,56.4,13.2,396,3498,0.00,1.92,0.00,0.000,6,0.000,0.041,3330,2554,2344,0,0,0,0,0,0
$GC,3636,0.76,146.0,39.8,11.7,421,3642,0.00,1.98,0.00,0.000,4,0.000,0.058,3331,3767,2343,0,0,0,0,0,0
$GC,3701,0.76,146.0,30.2,14.3,432,3710,0.00,1.92,0.00,0.000,6,0.000,0.040,3340,2555,2343,0,0,0,0,0,0
$GC,3847,0.76,146.0,10.6,14.8,457,3854,0.00,2.00,0.00,0.000,4,0.000,0.058,3340,3763,2344,0,0,0,0,0,0
$FREEZE,8.16,-0.750,-1.898,2,1,0
$FREEZE,7.40,-0.740,-1.897,2,1,0
$FREEZE,6.65,-0.741,-1.896,2,1,0
$FREEZE,5.55,-0.735,-1.895,2,1,0
$FREEZE,4.86,-0.732,-1.895,2,1,0
$FREEZE,3.90,-0.734,-1.894,2,1,0
$FREEZE,3.04,-0.737,-1.894,2,1,0
$FREEZE,2.06,-0.741,-1.893,2,1,0
$STATE,3904,end climb,SURFACE_DEPTH_REACHED
$STATE,3904,begin surface coast
$FREEZE,1.14,-0.747,-1.892,2,1,0
$FREEZE,1.13,-0.788,-1.885,2,1,0
$FINISH,1.1,1.027601
$STATE,3918,end surface coast,CONTROL_FINISHED_OK
$STATE,3918,begin surface
$SM_CCo,3936,75.50,0.101,0,0,1736,300.24
$SM_GC,2.15,0.00,0.00,75.50,0.000,0.000,0.101,425,2629,1736,-8.25,-0.57,300.24
$IRIDIUM_FIX,-7545.40,17932.35,311210,111144
$TT8_MAMPS,0.028462
$HUMID,53.15
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,18.1
$24V_AH,20.3,67.764
$10V_AH,9.6,45.844
$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,18.275,50.675,274.025,75.500,0.000,55.222,111.257,184.226,0.750,0.000,16.256,1183.884,1145.808,416.354,1640.354,160.366,0.000,946.774,0.000,775.920,0.000,2.621,0.000
$DEVICE_MAMPS,195.840,77.265,944.010,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,328.071,713.194,960.002,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30418,468
$CAP_FILE_SIZE,68758,0
$CFSIZE,260165632,228106240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.284, 72.2,1
$GPS,311210,123822,-7631.395,17937.568,14,2.4,33,118.7