version: 66.08
glider: 502
mission: 3
dive: 436
start: 12 31 110 16 34 10
data:
$ID,502
$MISSION,3
$DIVE,436
$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,-30690.801
$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,33
$R_STBD_OVSHOOT,30
$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
$GPS1,311210,162755,-7629.623,17947.041,41,1.1,41,118.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-72.1
$GPS2,311210,163344,-7629.555,17946.869,13,1.1,13,118.4
$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,24.9,5736,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,106,0.00,0.00,-87.30,0.000,2,0.000,0.000,427,2662,3353,0,0,0,0,0,0
$GC,109,-0.76,-146.0,3.3,-1.7,13,131,9.02,1.80,-5.57,0.000,4,0.201,0.075,2801,3757,3560,0,0,0,0,0,0
$GC,206,-0.76,-146.0,23.0,-18.1,29,213,0.00,1.75,0.00,0.000,6,0.000,0.041,2801,2632,3562,0,0,0,0,0,0
$GC,348,-0.76,-146.0,48.7,-17.3,54,357,0.00,2.22,0.00,0.000,4,0.000,0.050,2800,1251,3563,0,0,0,0,0,0
$GC,431,-0.76,-146.0,62.3,-15.8,68,439,0.00,2.30,0.00,0.000,6,0.000,0.056,2790,2635,3563,0,0,0,0,0,0
$GC,577,-0.76,-146.0,87.6,-18.0,93,584,0.00,1.85,0.00,0.000,4,0.000,0.060,2782,3764,3562,0,0,0,0,0,0
$GC,615,-0.76,-146.0,94.8,-19.5,99,622,0.12,1.77,0.00,0.000,6,0.158,0.041,2816,2630,3563,0,0,0,0,0,0
$GC,755,-0.76,-146.0,117.4,-15.5,114,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2628,3563,0,0,0,0,0,0
$GC,891,-0.76,-146.0,139.0,-16.1,127,895,0.00,1.85,0.00,0.000,4,0.000,0.061,2808,3764,3563,0,0,0,0,0,0
$GC,937,-0.76,-146.0,146.6,-16.5,131,941,0.00,1.73,0.00,0.000,6,0.000,0.041,2808,2652,3563,0,0,0,0,0,0
$GC,1080,-0.76,-146.0,169.8,-15.9,144,1083,0.00,1.83,0.00,0.000,4,0.000,0.062,2799,3764,3563,0,0,0,0,0,0
$GC,1104,-0.76,-146.0,174.0,-16.2,146,1108,0.00,1.70,0.00,0.000,6,0.000,0.041,2800,2670,3563,0,0,0,0,0,0
$GC,1245,-0.76,-146.0,197.6,-16.3,159,1249,0.00,2.25,0.00,0.000,4,0.000,0.050,2799,1240,3563,0,0,0,0,0,0
$GC,1266,-0.76,-146.0,200.6,-15.5,160,1270,0.00,2.33,0.00,0.000,6,0.000,0.057,2789,2666,3563,0,0,0,0,0,0
$GC,1401,-0.76,-146.0,220.8,-14.5,172,1406,0.10,1.77,0.00,0.000,4,0.173,0.060,2808,3765,3563,0,0,0,0,0,0
$GC,1436,-0.76,-146.0,226.4,-15.6,175,1440,0.00,1.67,0.00,0.000,6,0.000,0.041,2808,2679,3563,0,0,0,0,0,0
$GC,1577,-0.76,-146.0,248.2,-13.3,188,1581,0.00,1.77,0.00,0.000,4,0.000,0.060,2799,3773,3563,0,0,0,0,0,0
$GC,1594,-0.76,-146.0,250.1,-13.7,189,1598,0.00,1.65,0.00,0.000,6,0.000,0.042,2799,2703,3563,0,0,0,0,0,0
$STATE,1764,end dive,NO_VERTICAL_VELOCITY
$STATE,1764,begin apogee
$GC,1769,-0.27,0.0,251.9,0.0,205,1904,0.47,0.00,128.85,0.949,4,0.073,0.000,2983,2488,2960,0,0,0,0,0,0
$STATE,1905,end apogee,CONTROL_FINISHED_OK
$STATE,1905,begin climb
$GC,1907,0.76,146.0,251.8,0.0,217,2060,1.00,2.45,144.10,0.869,4,0.064,0.048,3313,1104,2365,0,0,0,0,0,0
$GC,2200,0.80,177.8,225.3,8.5,241,2237,0.00,2.53,31.38,0.848,6,0.000,0.054,3314,2499,2235,0,0,0,0,0,0
$GC,2375,0.80,177.8,205.4,11.4,257,2379,0.00,2.35,0.00,0.000,4,0.000,0.050,3324,1103,2228,0,0,0,0,0,0
$GC,2548,0.80,177.8,184.9,13.1,272,2552,0.00,2.30,0.00,0.000,6,0.000,0.054,3324,2511,2225,0,0,0,0,0,0
$GC,2685,0.80,177.8,167.0,12.9,284,2689,0.00,2.00,0.00,0.000,4,0.000,0.058,3323,3764,2225,0,0,0,0,0,0
$GC,2744,0.80,177.8,157.8,14.7,289,2753,0.00,1.98,0.00,0.000,6,0.000,0.041,3333,2519,2225,0,0,0,0,0,0
$GC,2882,0.80,177.8,140.0,12.9,302,2890,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2518,2223,0,0,0,0,0,0
$GC,3018,0.80,177.8,123.3,11.4,315,3021,0.00,2.03,0.00,0.000,4,0.000,0.058,3333,3773,2223,0,0,0,0,0,0
$GC,3033,0.80,177.8,121.0,12.1,316,3042,0.00,2.03,0.00,0.000,6,0.000,0.041,3342,2503,2224,0,0,0,0,0,0
$GC,3169,0.80,177.8,105.0,11.8,329,3173,0.00,2.05,0.00,0.000,4,0.000,0.057,3342,3774,2224,0,0,0,0,0,0
$GC,3201,0.80,177.8,99.9,15.1,331,3210,0.00,2.00,0.00,0.000,6,0.000,0.041,3352,2518,2223,0,0,0,0,0,0
$GC,3346,0.80,177.8,79.7,15.1,356,3354,0.00,2.05,0.00,0.000,4,0.000,0.058,3352,3760,2222,0,0,0,0,0,0
$GC,3368,0.80,177.8,76.1,16.1,359,3376,0.15,1.92,0.00,0.000,6,0.162,0.041,3320,2536,2222,0,0,0,0,0,0
$GC,3514,0.80,177.8,56.1,13.1,384,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2533,2222,0,0,0,0,0,0
$GC,3657,0.80,177.8,36.8,13.1,409,3664,0.00,2.03,0.00,0.000,4,0.000,0.057,3320,3764,2222,0,0,0,0,0,0
$GC,3706,0.80,177.8,29.7,14.4,417,3713,0.00,1.92,0.00,0.000,6,0.000,0.041,3328,2557,2222,0,0,0,0,0,0
$GC,3849,0.80,177.8,10.6,13.7,442,3857,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2555,2221,0,0,0,0,0,0
$FREEZE,8.51,-0.957,-1.897,2,1,0
$FREEZE,7.84,-0.940,-1.896,2,1,0
$FREEZE,7.16,-0.890,-1.895,2,1,0
$FREEZE,6.43,-0.917,-1.896,2,1,0
$FREEZE,5.60,-0.856,-1.894,2,1,0
$FREEZE,4.84,-0.853,-1.893,2,1,0
$FREEZE,4.10,-0.841,-1.893,2,1,0
$FREEZE,3.28,-0.835,-1.892,2,1,0
$FREEZE,2.48,-0.837,-1.892,2,1,0
$STATE,3909,end climb,SURFACE_DEPTH_REACHED
$STATE,3910,begin surface coast
$FREEZE,1.61,-0.836,-1.891,2,1,0
$FREEZE,1.33,-0.846,-1.891,2,1,0
$FREEZE,1.03,-0.904,-0.173,2,1,0
$FINISH,1.0,1.002326
$STATE,3931,end surface coast,FINISH_DEPTH_REACHED
$STATE,3931,begin surface
$SM_CCo,3948,61.90,0.101,0,0,1737,300.24
$SM_GC,2.12,0.00,0.00,61.90,0.000,0.000,0.101,425,2666,1737,-8.26,0.45,300.24
$IRIDIUM_FIX,-7545.40,17950.78,311210,151548
$TT8_MAMPS,0.028462
$HUMID,52.48
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,17.8
$24V_AH,20.3,68.121
$10V_AH,9.7,46.136
$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,18.425,60.350,304.325,61.900,0.000,31.134,40.264,172.343,1.250,0.000,13.836,1159.006,1119.992,440.245,1488.373,162.140,0.000,975.782,0.000,783.496,0.000,7.163,0.000
$DEVICE_MAMPS,201.195,79.560,948.600,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,318.089,669.105,868.805,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30389,455
$CAP_FILE_SIZE,71721,0
$CFSIZE,260165632,227934208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.403,355.4,1
$GPS,311210,174210,-7629.026,17947.729,12,2.1,31,118.4