version: 66.08
glider: 502
mission: 3
dive: 433
start: 12 31 110 12 44 39
data:
$ID,502
$MISSION,3
$DIVE,433
$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,-30687.031
$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,45
$R_STBD_OVSHOOT,24
$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
$GPS1,311210,123822,-7631.395,17937.568,14,2.4,33,118.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-69.4
$GPS2,311210,124413,-7631.331,17937.648,11,1.9,16,118.7
$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,320.9,9973,-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,16,-0.76,-146.0,0.0,0.0,0,101,0.00,0.00,-82.80,0.000,2,0.000,0.000,421,2627,3248,0,0,0,0,0,0
$GC,104,-0.76,-146.0,3.0,-1.3,12,128,8.98,1.95,-9.35,0.000,4,0.197,0.078,2803,3762,3560,0,0,0,0,0,0
$GC,298,-0.76,-146.0,35.1,-15.7,45,304,0.00,1.75,0.00,0.000,6,0.000,0.041,2803,2662,3563,0,0,0,0,0,0
$GC,439,-0.76,-146.0,58.3,-16.8,70,448,0.00,1.85,0.00,0.000,4,0.000,0.062,2795,3769,3563,0,0,0,0,0,0
$GC,484,-0.76,-146.0,66.1,-17.7,77,491,0.00,1.75,0.00,0.000,6,0.000,0.041,2794,2670,3564,0,0,0,0,0,0
$GC,626,-0.76,-146.0,90.4,-17.0,102,636,0.00,1.83,0.00,0.000,4,0.000,0.060,2786,3767,3564,0,0,0,0,0,0
$GC,653,-0.76,-146.0,95.5,-18.8,106,662,0.08,1.75,0.00,0.000,6,0.142,0.042,2812,2669,3563,0,0,0,0,0,0
$GC,798,-0.76,-146.0,119.2,-15.8,121,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2667,3564,0,0,0,0,0,0
$GC,926,-0.76,-146.0,140.0,-16.5,133,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2667,3564,0,0,0,0,0,0
$GC,1052,-0.76,-146.0,160.2,-15.7,145,1056,0.00,1.77,0.00,0.000,4,0.000,0.060,2805,3763,3564,0,0,0,0,0,0
$GC,1109,-0.76,-146.0,169.8,-17.6,150,1113,0.00,1.67,0.00,0.000,6,0.000,0.041,2805,2680,3564,0,0,0,0,0,0
$GC,1251,-0.76,-146.0,192.2,-15.5,163,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2678,3564,0,0,0,0,0,0
$GC,1378,-0.76,-146.0,213.0,-17.2,175,1381,0.00,1.77,0.00,0.000,4,0.000,0.061,2797,3771,3564,0,0,0,0,0,0
$GC,1412,-0.76,-146.0,219.1,-18.0,178,1416,0.00,1.70,0.00,0.000,6,0.000,0.042,2797,2678,3564,0,0,0,0,0,0
$GC,1554,-0.76,-146.0,242.8,-17.3,191,1562,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2677,3564,0,0,0,0,0,0
$GC,1689,-0.76,-146.0,250.3,-0.1,204,1692,0.00,1.77,0.00,0.000,4,0.000,0.063,2788,3764,3565,0,0,0,0,0,0
$STATE,1767,end dive,NO_VERTICAL_VELOCITY
$STATE,1767,begin apogee
$GC,1774,-0.27,0.0,250.4,0.0,211,1910,0.52,0.00,129.00,0.945,4,0.083,0.000,2978,2487,2960,0,0,0,0,0,0
$STATE,1911,end apogee,CONTROL_FINISHED_OK
$STATE,1911,begin climb
$GC,1913,0.76,146.0,250.3,0.0,223,2071,1.02,2.47,144.70,0.864,4,0.071,0.050,3311,1091,2363,0,0,0,0,0,0
$GC,2153,0.76,146.0,230.9,12.4,243,2162,0.00,2.60,0.00,0.000,6,0.000,0.054,3311,2495,2354,0,0,0,0,0,0
$GC,2290,0.77,148.7,217.0,9.9,256,2294,0.00,2.15,0.00,0.000,4,0.000,0.056,3310,3770,2352,0,0,0,0,0,0
$GC,2330,0.77,148.7,212.0,12.7,259,2334,0.00,2.08,0.00,0.000,6,0.000,0.041,3320,2494,2351,0,0,0,0,0,0
$GC,2468,0.77,148.7,196.6,11.5,271,2472,0.00,2.08,0.00,0.000,4,0.000,0.057,3320,3768,2350,0,0,0,0,0,0
$GC,2499,0.77,148.7,191.9,13.1,273,2508,0.00,2.00,0.00,0.000,6,0.000,0.041,3328,2517,2350,0,0,0,0,0,0
$GC,2635,0.77,148.7,176.0,11.6,286,2639,0.00,2.03,0.00,0.000,4,0.000,0.059,3328,3768,2349,0,0,0,0,0,0
$GC,2681,0.77,148.7,170.2,13.0,290,2685,0.00,1.95,0.00,0.000,6,0.000,0.040,3338,2515,2349,0,0,0,0,0,0
$GC,2823,0.77,148.7,153.7,11.3,303,2827,0.00,2.03,0.00,0.000,4,0.000,0.058,3338,3768,2348,0,0,0,0,0,0
$GC,2860,0.77,148.7,148.3,13.9,306,2871,0.10,1.95,0.00,0.000,6,0.142,0.040,3314,2540,2348,0,0,0,0,0,0
$GC,2998,0.77,148.7,133.9,10.2,319,3001,0.00,2.00,0.00,0.000,4,0.000,0.059,3314,3777,2347,0,0,0,0,0,0
$GC,3034,0.77,148.7,129.7,11.9,322,3038,0.00,1.92,0.00,0.000,6,0.000,0.041,3321,2540,2347,0,0,0,0,0,0
$GC,3177,0.77,148.7,113.4,11.1,335,3185,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2537,2347,0,0,0,0,0,0
$GC,3313,0.77,148.7,98.0,10.8,349,3320,0.00,2.03,0.00,0.000,4,0.000,0.058,3322,3761,2346,0,0,0,0,0,0
$GC,3374,0.77,148.7,90.3,12.7,359,3381,0.00,1.90,0.00,0.000,6,0.000,0.041,3331,2548,2346,0,0,0,0,0,0
$GC,3518,0.77,148.7,72.7,12.0,384,3526,0.00,2.03,0.00,0.000,4,0.000,0.059,3330,3767,2346,0,0,0,0,0,0
$GC,3555,0.77,148.7,67.4,13.8,390,3564,0.00,1.90,0.00,0.000,6,0.000,0.040,3340,2566,2346,0,0,0,0,0,0
$GC,3702,0.77,148.7,49.8,11.6,415,3708,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2566,2346,0,0,0,0,0,0
$GC,3841,0.77,148.7,32.0,13.3,440,3849,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2566,2346,0,0,0,0,0,0
$GC,3986,0.77,148.7,12.3,12.7,465,3993,0.00,1.95,0.00,0.000,4,0.000,0.057,3340,3772,2345,0,0,0,0,0,0
$FREEZE,9.00,-0.703,-1.898,2,1,0
$FREEZE,8.23,-0.701,-1.897,2,1,0
$FREEZE,7.09,-0.701,-1.896,2,1,0
$FREEZE,6.22,-0.700,-1.896,2,1,0
$FREEZE,5.13,-0.701,-1.895,2,1,0
$FREEZE,4.38,-0.701,-1.894,2,1,0
$FREEZE,3.42,-0.701,-1.894,2,1,0
$FREEZE,2.52,-0.702,-1.893,2,1,0
$STATE,4047,end climb,SURFACE_DEPTH_REACHED
$STATE,4047,begin surface coast
$FREEZE,1.48,-0.710,-1.892,2,1,0
$FREEZE,1.12,-0.712,-1.892,2,1,0
$FINISH,1.1,1.027704
$STATE,4061,end surface coast,CONTROL_FINISHED_OK
$STATE,4061,begin surface
$SM_CCo,4080,75.78,0.100,0,0,1737,300.24
$SM_GC,2.08,0.00,0.00,75.78,0.000,0.000,0.100,424,2638,1737,-8.25,-0.37,300.24
$IRIDIUM_FIX,-7545.40,17932.28,311210,111125
$TT8_MAMPS,0.027713
$HUMID,52.91
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,18.9
$24V_AH,20.3,67.849
$10V_AH,9.7,45.917
$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,18.325,58.475,273.700,75.775,0.000,30.756,37.836,173.688,1.000,0.000,17.122,1211.700,1181.323,439.521,1523.518,161.907,0.000,974.628,0.000,793.609,0.000,4.340,0.000
$DEVICE_MAMPS,196.605,78.030,944.775,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,333.952,703.889,915.713,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267128
$DATA_FILE_SIZE,33812,477
$CAP_FILE_SIZE,71632,0
$CFSIZE,260165632,228052992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.297, 45.6,1
$GPS,311210,135504,-7630.799,17941.816,11,9.1,30,118.6