version: 66.08
glider: 502
mission: 3
dive: 435
start: 12 31 110 15 18 4
data:
$ID,502
$MISSION,3
$DIVE,435
$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,-30689.543
$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,21
$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
$GPS1,311210,151108,-7630.256,17945.078,18,1.5,18,118.5
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-71.9
$GPS2,311210,151738,-7630.182,17945.100,12,1.5,12,118.5
$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,13.5,6451,-17.5,-10.000
$D_GRID,391
$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,-82.57,0.000,2,0.000,0.000,424,2623,3250,0,0,0,0,0,0
$GC,104,-0.76,-146.0,3.1,-1.2,12,128,8.98,1.95,-9.45,0.000,4,0.197,0.076,2797,3764,3560,0,0,0,0,0,0
$GC,172,-0.76,-146.0,15.0,-16.3,23,179,0.00,1.75,0.00,0.000,6,0.000,0.041,2797,2665,3562,0,0,0,0,0,0
$GC,310,-0.76,-146.0,38.2,-16.4,48,318,0.00,2.28,0.00,0.000,4,0.000,0.050,2798,1247,3563,0,0,0,0,0,0
$GC,376,-0.76,-146.0,48.2,-15.0,59,384,0.10,2.30,0.00,0.000,6,0.162,0.057,2813,2651,3563,0,0,0,0,0,0
$GC,515,-0.76,-146.0,68.9,-15.4,84,524,0.00,1.83,0.00,0.000,4,0.000,0.060,2806,3767,3563,0,0,0,0,0,0
$GC,560,-0.76,-146.0,76.3,-17.0,91,567,0.00,1.77,0.00,0.000,6,0.000,0.041,2806,2630,3563,0,0,0,0,0,0
$GC,698,-0.76,-146.0,98.2,-16.1,116,706,0.00,2.22,0.00,0.000,4,0.000,0.051,2806,1245,3563,0,0,0,0,0,0
$GC,736,-0.76,-146.0,103.9,-14.9,120,740,0.00,2.30,0.00,0.000,6,0.000,0.057,2796,2655,3563,0,0,0,0,0,0
$GC,873,-0.76,-146.0,125.0,-15.6,132,876,0.00,1.77,0.00,0.000,4,0.000,0.058,2787,3770,3563,0,0,0,0,0,0
$GC,932,-0.76,-146.0,135.9,-16.8,137,943,0.08,1.75,0.00,0.000,6,0.141,0.041,2812,2672,3563,0,0,0,0,0,0
$GC,1070,-0.76,-146.0,155.2,-13.9,150,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2670,3563,0,0,0,0,0,0
$GC,1206,-0.76,-146.0,176.2,-16.4,163,1209,0.00,1.77,0.00,0.000,4,0.000,0.061,2805,3767,3564,0,0,0,0,0,0
$GC,1252,-0.76,-146.0,184.8,-19.8,167,1255,0.00,1.70,0.00,0.000,6,0.000,0.042,2805,2668,3564,0,0,0,0,0,0
$GC,1395,-0.76,-146.0,208.2,-17.3,180,1398,0.00,1.77,0.00,0.000,4,0.000,0.062,2797,3763,3564,0,0,0,0,0,0
$GC,1441,-0.76,-146.0,216.8,-17.8,184,1445,0.00,1.67,0.00,0.000,6,0.000,0.041,2797,2679,3564,0,0,0,0,0,0
$GC,1582,-0.76,-146.0,239.6,-15.0,197,1586,0.00,1.77,0.00,0.000,4,0.000,0.061,2788,3772,3564,0,0,0,0,0,0
$STATE,1788,end dive,NO_VERTICAL_VELOCITY
$STATE,1788,begin apogee
$GC,1795,-0.27,0.0,251.4,0.0,215,1935,0.52,0.00,129.18,0.949,4,0.067,0.000,2990,2491,2959,0,0,0,0,0,0
$STATE,1935,end apogee,CONTROL_FINISHED_OK
$STATE,1936,begin climb
$GC,1937,0.76,146.0,251.5,0.0,228,2098,0.98,2.45,144.32,0.872,4,0.063,0.050,3315,1095,2363,0,0,0,0,0,0
$GC,2213,0.76,146.0,230.3,11.5,251,2217,0.00,2.50,0.00,0.000,6,0.000,0.051,3315,2500,2354,0,0,0,0,0,0
$GC,2348,0.79,170.3,217.1,8.9,263,2377,0.00,2.45,22.58,0.862,4,0.000,0.050,3325,1098,2265,0,0,0,0,0,0
$GC,2553,0.79,170.3,190.5,12.3,281,2563,0.00,2.35,0.00,0.000,6,0.000,0.054,3325,2511,2257,0,0,0,0,0,0
$GC,2691,0.79,170.3,173.6,12.7,294,2694,0.00,2.00,0.00,0.000,4,0.000,0.058,3325,3766,2256,0,0,0,0,0,0
$GC,2759,0.79,170.3,163.3,15.8,300,2762,0.00,1.92,0.00,0.000,6,0.000,0.041,3335,2529,2256,0,0,0,0,0,0
$GC,2899,0.79,170.3,144.9,12.3,313,2900,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2525,2256,0,0,0,0,0,0
$GC,3028,0.79,170.3,128.8,12.9,325,3031,0.00,2.00,0.00,0.000,4,0.000,0.058,3334,3766,2255,0,0,0,0,0,0
$GC,3099,0.79,170.3,117.7,15.1,331,3108,0.00,1.92,0.00,0.000,6,0.000,0.040,3344,2554,2255,0,0,0,0,0,0
$GC,3236,0.79,170.3,99.6,13.5,344,3244,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,2553,2254,0,0,0,0,0,0
$GC,3376,0.79,170.3,80.4,13.1,369,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,2553,2254,0,0,0,0,0,0
$GC,3514,0.79,170.3,62.5,12.8,394,3522,0.00,2.00,0.00,0.000,4,0.000,0.058,3344,3765,2254,0,0,0,0,0,0
$GC,3559,0.79,170.3,56.4,15.2,401,3567,0.12,1.88,0.00,0.000,6,0.164,0.040,3319,2558,2253,0,0,0,0,0,0
$GC,3699,0.79,170.3,39.5,11.1,426,3708,0.00,2.35,0.00,0.000,4,0.000,0.052,3329,1096,2253,0,0,0,0,0,0
$GC,3747,0.79,170.3,34.1,10.3,434,3755,0.00,2.40,0.00,0.000,6,0.000,0.054,3329,2556,2252,0,0,0,0,0,0
$GC,3886,0.79,170.3,17.7,12.2,459,3892,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2557,2252,0,0,0,0,0,0
$FREEZE,8.36,-0.803,-1.897,2,1,0
$FREEZE,7.66,-0.803,-1.896,2,1,0
$FREEZE,6.89,-0.803,-1.895,2,1,0
$FREEZE,6.24,-0.802,-1.895,2,1,0
$FREEZE,5.44,-0.801,-1.894,2,1,0
$FREEZE,4.72,-0.807,-1.894,2,1,0
$FREEZE,4.05,-0.807,-1.893,2,1,0
$FREEZE,3.24,-0.811,-1.893,2,1,0
$FREEZE,2.49,-0.809,-1.892,2,1,0
$STATE,4003,end climb,SURFACE_DEPTH_REACHED
$STATE,4003,begin surface coast
$FREEZE,1.47,-0.813,-1.891,2,1,0
$FREEZE,1.26,-0.817,-1.891,2,1,0
$FREEZE,1.14,-0.854,-1.081,2,1,0
$FREEZE,1.24,-0.855,-1.011,2,1,0
$FINISH,1.2,1.014922
$STATE,4029,end surface coast,CONTROL_FINISHED_OK
$STATE,4029,begin surface
$SM_CCo,4046,64.80,0.101,0,0,1737,300.24
$SM_GC,2.10,0.00,0.00,64.80,0.000,0.000,0.101,429,2661,1737,-8.24,0.31,300.24
$IRIDIUM_FIX,-7545.40,17941.62,311210,131340
$TT8_MAMPS,0.028462
$HUMID,52.67
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,19.4
$24V_AH,20.3,68.028
$10V_AH,9.7,46.066
$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,18.275,57.050,296.075,64.800,0.000,30.127,41.887,211.452,1.000,0.000,13.762,1229.729,1055.783,445.511,1615.221,165.415,0.000,1009.305,0.000,853.065,0.000,4.341,0.000
$DEVICE_MAMPS,197.370,89.505,948.600,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,338.564,714.591,910.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33712,484
$CAP_FILE_SIZE,71944,0
$CFSIZE,260165632,227975168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.402,  9.7,1
$GPS,311210,162755,-7629.623,17947.041,41,1.1,41,118.4