version: 66.08
glider: 502
mission: 3
dive: 437
start: 12 31 110 17 48 36
data:
$ID,502
$MISSION,3
$DIVE,437
$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,-30692.059
$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,32
$R_STBD_OVSHOOT,35
$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
$GPS1,311210,174210,-7629.026,17947.729,12,2.1,31,118.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-73.2
$GPS2,311210,174810,-7628.983,17947.658,13,2.2,32,118.4
$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,36.0,5659,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,107,0.00,0.00,-87.50,0.000,2,0.000,0.000,422,2668,3365,0,0,0,0,0,0
$GC,110,-0.76,-146.0,3.3,-1.9,13,132,9.00,1.80,-5.30,0.000,4,0.198,0.075,2801,3762,3558,0,0,0,0,0,0
$GC,183,-0.76,-146.0,19.6,-19.3,25,190,0.00,1.77,0.00,0.000,6,0.000,0.042,2801,2630,3561,0,0,0,0,0,0
$GC,318,-0.76,-146.0,42.3,-15.7,50,326,0.00,2.22,0.00,0.000,4,0.000,0.051,2801,1246,3562,0,0,0,0,0,0
$GC,362,-0.76,-146.0,49.2,-15.3,57,369,0.00,2.28,0.00,0.000,6,0.000,0.058,2790,2634,3562,0,0,0,0,0,0
$GC,499,-0.76,-146.0,71.8,-17.6,82,507,0.00,1.83,0.00,0.000,4,0.000,0.059,2782,3756,3562,0,0,0,0,0,0
$GC,554,-0.76,-146.0,82.1,-19.2,91,562,0.12,1.77,0.00,0.000,6,0.158,0.042,2815,2623,3562,0,0,0,0,0,0
$GC,694,-0.76,-146.0,103.5,-15.1,114,698,0.00,1.85,0.00,0.000,4,0.000,0.060,2808,3764,3562,0,0,0,0,0,0
$GC,763,-0.76,-146.0,114.8,-16.2,120,767,0.00,1.73,0.00,0.000,6,0.000,0.041,2808,2652,3563,0,0,0,0,0,0
$GC,906,-0.76,-146.0,138.4,-16.5,133,909,0.00,1.80,0.00,0.000,4,0.000,0.062,2799,3763,3563,0,0,0,0,0,0
$GC,919,-0.76,-146.0,140.7,-16.6,134,923,0.00,1.75,0.00,0.000,6,0.000,0.041,2799,2666,3563,0,0,0,0,0,0
$GC,1060,-0.76,-146.0,164.1,-16.2,147,1064,0.00,2.25,0.00,0.000,4,0.000,0.050,2799,1235,3563,0,0,0,0,0,0
$GC,1112,-0.76,-146.0,172.4,-14.8,151,1116,0.00,2.33,0.00,0.000,6,0.000,0.056,2789,2663,3563,0,0,0,0,0,0
$GC,1247,-0.76,-146.0,195.4,-17.9,163,1249,0.10,0.00,0.00,0.000,6,0.174,0.000,2815,2663,3563,0,0,0,0,0,0
$GC,1374,-0.76,-146.0,215.7,-14.8,175,1375,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2663,3563,0,0,0,0,0,0
$GC,1500,-0.76,-146.0,233.9,-15.7,187,1505,0.00,2.25,0.00,0.000,4,0.000,0.050,2815,1245,3563,0,0,0,0,0,0
$GC,1520,-0.76,-146.0,237.0,-16.6,188,1524,0.00,2.30,0.00,0.000,6,0.000,0.057,2806,2657,3563,0,0,0,0,0,0
$GC,1655,-0.76,-146.0,253.7,-6.6,200,1658,0.00,1.77,0.00,0.000,4,0.000,0.063,2806,3762,3563,0,0,0,0,0,0
$STATE,1788,end dive,NO_VERTICAL_VELOCITY
$STATE,1790,begin apogee
$GC,1797,-0.27,0.0,253.8,0.0,212,1931,0.47,0.00,128.40,0.952,4,0.083,0.000,2977,2487,2961,0,0,0,0,0,0
$STATE,1932,end apogee,CONTROL_FINISHED_OK
$STATE,1932,begin climb
$GC,1934,0.76,146.0,253.7,0.0,224,2091,1.02,2.47,144.70,0.870,4,0.073,0.049,3308,1100,2363,0,0,0,0,0,0
$GC,2228,0.76,146.0,226.0,10.1,249,2237,0.00,2.53,0.00,0.000,6,0.000,0.052,3308,2500,2353,0,0,0,0,0,0
$GC,2366,0.76,146.0,211.9,10.7,262,2370,0.00,2.33,0.00,0.000,4,0.000,0.050,3317,1097,2351,0,0,0,0,0,0
$GC,2573,0.76,146.0,189.0,10.1,280,2577,0.00,2.30,0.00,0.000,6,0.000,0.053,3316,2518,2348,0,0,0,0,0,0
$GC,2710,0.76,146.0,173.5,11.8,292,2714,0.00,1.98,0.00,0.000,4,0.000,0.057,3317,3763,2348,0,0,0,0,0,0
$GC,2745,0.76,146.0,168.2,15.3,295,2749,0.00,1.92,0.00,0.000,6,0.000,0.040,3326,2519,2348,0,0,0,0,0,0
$GC,2888,0.76,146.0,150.7,12.4,308,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2516,2347,0,0,0,0,0,0
$GC,3024,0.76,146.0,133.4,12.8,321,3025,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2516,2347,0,0,0,0,0,0
$GC,3150,0.76,146.0,118.1,11.3,333,3154,0.00,2.03,0.00,0.000,4,0.000,0.058,3327,3772,2346,0,0,0,0,0,0
$GC,3196,0.76,146.0,112.3,12.8,337,3200,0.00,1.95,0.00,0.000,6,0.000,0.041,3336,2519,2347,0,0,0,0,0,0
$GC,3332,0.76,146.0,95.4,12.4,352,3340,0.00,2.05,0.00,0.000,4,0.000,0.057,3336,3760,2346,0,0,0,0,0,0
$GC,3375,0.76,146.0,89.2,14.9,359,3383,0.12,1.90,0.00,0.000,6,0.164,0.041,3312,2543,2347,0,0,0,0,0,0
$GC,3517,0.76,146.0,73.6,11.0,384,3525,0.00,2.03,0.00,0.000,4,0.000,0.058,3312,3768,2346,0,0,0,0,0,0
$GC,3553,0.76,146.0,68.8,13.2,390,3561,0.00,1.92,0.00,0.000,6,0.000,0.041,3320,2556,2346,0,0,0,0,0,0
$GC,3693,0.76,146.0,52.4,12.2,415,3701,0.00,1.98,0.00,0.000,4,0.000,0.058,3320,3770,2346,0,0,0,0,0,0
$GC,3742,0.76,146.0,46.1,13.3,423,3749,0.00,1.90,0.00,0.000,6,0.000,0.041,3329,2559,2346,0,0,0,0,0,0
$GC,3880,0.76,146.0,29.0,12.6,448,3887,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2557,2346,0,0,0,0,0,0
$GC,4020,0.76,146.0,11.4,11.7,473,4027,0.00,1.98,0.00,0.000,4,0.000,0.059,3329,3771,2346,0,0,0,0,0,0
$FREEZE,8.75,-0.969,-1.897,2,1,0
$FREEZE,8.01,-0.976,-1.897,2,1,0
$GC,4047,0.76,146.0,8.0,13.4,477,4053,0.00,1.88,0.00,0.000,6,0.000,0.041,3338,2569,2346,0,0,0,0,0,0
$FREEZE,5.66,-0.939,-1.895,2,1,0
$FREEZE,4.90,-0.914,-1.894,2,1,0
$FREEZE,4.17,-0.897,-1.893,2,1,0
$FREEZE,3.37,-0.850,-1.892,2,1,0
$FREEZE,2.68,-0.849,-1.892,2,1,0
$STATE,4083,end climb,SURFACE_DEPTH_REACHED
$STATE,4083,begin surface coast
$FREEZE,1.86,-0.850,-1.891,2,1,0
$FREEZE,1.15,-0.870,-1.892,2,1,0
$FREEZE,1.31,-0.863,-1.892,2,1,0
$FREEZE,1.17,-0.847,-1.891,2,1,0
$FINISH,1.2,1.027690
$STATE,4109,end surface coast,CONTROL_FINISHED_OK
$STATE,4109,begin surface
$SM_CCo,4126,75.65,0.099,0,0,1737,300.24
$SM_GC,2.08,0.00,0.00,75.65,0.000,0.000,0.099,431,2656,1737,-8.23,0.17,300.24
$IRIDIUM_FIX,-7545.40,17950.78,311210,161633
$TT8_MAMPS,0.026964
$HUMID,52.83
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,17.8
$24V_AH,20.3,68.207
$10V_AH,9.7,46.210
$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,18.475,65.000,273.100,75.650,0.000,23.433,41.782,167.391,1.000,0.000,34.445,1248.498,1133.815,439.852,1583.758,167.174,0.000,990.107,0.000,844.034,0.000,7.164,0.000
$DEVICE_MAMPS,198.135,94.095,951.660,99.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,341.146,716.337,914.320,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33805,487
$CAP_FILE_SIZE,74792,0
$CFSIZE,260165632,227885056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.377,341.7,1
$GPS,311210,185925,-7628.582,17947.354,9,1.3,9,118.3