version: 66.08
glider: 502
mission: 3
dive: 438
start: 12 31 110 19 5 46
data:
$ID,502
$MISSION,3
$DIVE,438
$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,-30693.314
$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,34
$R_STBD_OVSHOOT,28
$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
$GPS1,311210,185925,-7628.582,17947.354,9,1.3,9,118.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-73.2
$GPS2,311210,190520,-7628.545,17947.303,14,1.2,14,118.3
$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,42.8,6115,-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,17,-0.76,-146.0,0.0,0.0,0,105,0.00,0.00,-86.38,0.000,2,0.000,0.000,428,2657,3342,0,0,0,0,0,0
$GC,108,-0.76,-146.0,3.2,-1.3,13,131,8.95,1.88,-6.05,0.000,4,0.197,0.076,2801,3762,3560,0,0,0,0,0,0
$GC,242,-0.76,-146.0,29.4,-18.8,36,250,0.00,1.77,0.00,0.000,6,0.000,0.042,2801,2648,3563,0,0,0,0,0,0
$GC,381,-0.76,-146.0,53.7,-17.4,61,387,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2646,3563,0,0,0,0,0,0
$GC,518,-0.76,-146.0,79.2,-17.7,86,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2647,3563,0,0,0,0,0,0
$GC,657,-0.76,-146.0,102.4,-16.3,110,661,0.00,1.83,0.00,0.000,4,0.000,0.062,2793,3768,3564,0,0,0,0,0,0
$GC,759,-0.76,-146.0,120.5,-16.6,119,762,0.00,1.75,0.00,0.000,6,0.000,0.042,2793,2641,3563,0,0,0,0,0,0
$GC,902,-0.76,-146.0,144.1,-17.4,132,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2638,3563,0,0,0,0,0,0
$GC,1037,-0.76,-146.0,167.7,-17.2,145,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2638,3564,0,0,0,0,0,0
$GC,1165,-0.76,-146.0,189.5,-16.1,157,1168,0.00,1.83,0.00,0.000,4,0.000,0.060,2784,3768,3564,0,0,0,0,0,0
$GC,1178,-0.76,-146.0,191.3,-14.9,158,1182,0.12,1.75,0.00,0.000,6,0.161,0.042,2817,2640,3564,0,0,0,0,0,0
$GC,1319,-0.76,-146.0,210.5,-14.5,171,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2637,3564,0,0,0,0,0,0
$GC,1445,-0.76,-146.0,227.9,-13.7,183,1449,0.00,2.20,0.00,0.000,4,0.000,0.050,2817,1243,3564,0,0,0,0,0,0
$GC,1488,-0.76,-146.0,233.6,-11.8,186,1496,0.00,2.35,0.00,0.000,6,0.000,0.057,2808,2656,3564,0,0,0,0,0,0
$GC,1623,-0.76,-146.0,253.0,-14.5,199,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2656,3564,0,0,0,0,0,0
$STATE,1812,end dive,NO_VERTICAL_VELOCITY
$STATE,1812,begin apogee
$GC,1817,-0.27,0.0,255.9,0.0,217,1954,0.45,0.00,129.10,0.952,4,0.090,0.000,2974,2484,2960,0,0,0,0,0,0
$STATE,1955,end apogee,CONTROL_FINISHED_OK
$STATE,1955,begin climb
$GC,1957,0.76,146.0,256.0,0.0,229,2107,1.00,0.00,145.27,0.873,6,0.073,0.000,3308,2484,2364,0,0,0,0,0,0
$GC,2243,0.76,146.0,227.5,14.0,255,2247,0.00,2.40,0.00,0.000,4,0.000,0.048,3315,1100,2352,0,0,0,0,0,0
$GC,2274,0.76,146.0,224.2,10.2,257,2278,0.00,2.47,0.00,0.000,6,0.000,0.052,3315,2512,2350,0,0,0,0,0,0
$GC,2410,0.76,146.0,206.8,14.2,269,2413,0.00,2.08,0.00,0.000,4,0.000,0.057,3315,3774,2349,0,0,0,0,0,0
$GC,2450,0.76,146.0,201.5,13.4,272,2454,0.00,1.98,0.00,0.000,6,0.000,0.041,3324,2529,2348,0,0,0,0,0,0
$GC,2591,0.76,146.0,181.5,18.0,285,2595,0.00,2.03,0.00,0.000,4,0.000,0.060,3324,3774,2347,0,0,0,0,0,0
$GC,2607,0.76,146.0,178.7,15.8,286,2615,0.00,2.00,0.00,0.000,6,0.000,0.041,3334,2516,2347,0,0,0,0,0,0
$GC,2744,0.76,146.0,158.6,14.6,299,2747,0.00,2.03,0.00,0.000,4,0.000,0.057,3334,3772,2346,0,0,0,0,0,0
$GC,2768,0.76,146.0,155.1,13.4,301,2773,0.12,1.95,0.00,0.000,6,0.164,0.041,3310,2516,2346,0,0,0,0,0,0
$GC,2904,0.76,146.0,137.9,12.6,313,2905,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2514,2346,0,0,0,0,0,0
$GC,3030,0.76,146.0,121.8,12.6,325,3034,0.00,2.03,0.00,0.000,4,0.000,0.058,3310,3771,2346,0,0,0,0,0,0
$GC,3065,0.76,146.0,116.6,15.7,328,3069,0.00,1.92,0.00,0.000,6,0.000,0.041,3318,2534,2345,0,0,0,0,0,0
$GC,3207,0.76,146.0,100.1,10.1,341,3210,0.00,2.00,0.00,0.000,4,0.000,0.057,3318,3774,2345,0,0,0,0,0,0
$GC,3281,0.76,146.0,90.5,13.6,354,3290,0.00,1.98,0.00,0.000,6,0.000,0.042,3328,2540,2344,0,0,0,0,0,0
$GC,3422,0.76,146.0,73.8,11.7,379,3430,0.00,2.00,0.00,0.000,4,0.000,0.057,3328,3777,2344,0,0,0,0,0,0
$GC,3514,0.76,146.0,61.1,13.5,395,3522,0.00,1.92,0.00,0.000,6,0.000,0.041,3337,2547,2344,0,0,0,0,0,0
$GC,3655,0.76,146.0,42.4,14.6,420,3663,0.00,2.03,0.00,0.000,4,0.000,0.059,3338,3771,2344,0,0,0,0,0,0
$GC,3688,0.76,146.0,36.8,17.1,425,3696,0.12,1.90,0.00,0.000,6,0.164,0.041,3313,2556,2344,0,0,0,0,0,0
$GC,3827,0.76,146.0,18.9,10.6,450,3835,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2554,2344,0,0,0,0,0,0
$FREEZE,8.54,-1.014,-1.898,2,1,0
$FREEZE,7.91,-1.005,-1.898,2,1,0
$FREEZE,7.11,-0.994,-1.897,2,1,0
$FREEZE,6.50,-0.953,-1.897,2,1,0
$FREEZE,5.68,-1.024,-1.897,2,1,0
$FREEZE,4.99,-0.992,-1.896,2,1,0
$FREEZE,4.10,-1.003,-1.895,2,1,0
$FREEZE,3.51,-0.819,-1.892,2,1,0
$FREEZE,2.65,-0.920,-1.894,2,1,0
$STATE,3964,end climb,SURFACE_DEPTH_REACHED
$STATE,3964,begin surface coast
$FREEZE,1.51,-0.807,-1.891,2,1,0
$FREEZE,1.14,-0.858,-1.881,2,1,0
$FREEZE,1.13,-0.901,-1.871,2,1,0
$FREEZE,1.20,-1.004,-1.853,2,1,0
$FINISH,1.2,1.027155
$STATE,3988,end surface coast,CONTROL_FINISHED_OK
$STATE,3989,begin surface
$SM_CCo,4005,81.05,0.724,1,0,1736,300.24
$SM_GC,2.13,0.00,0.00,81.05,0.000,0.000,0.724,420,2652,1736,-8.27,0.06,300.24
$IRIDIUM_FIX,-7545.40,17913.92,311210,171744
$TT8_MAMPS,0.027713
$HUMID,52.75
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,18.0
$24V_AH,20.3,68.307
$10V_AH,9.6,46.280
$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,18.300,48.475,274.375,81.050,0.000,27.598,42.986,174.984,1.000,0.000,15.612,1214.357,1153.614,428.100,1498.699,162.348,0.000,941.458,0.000,782.461,0.000,8.324,0.000
$DEVICE_MAMPS,197.370,89.505,951.660,724.455,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,335.033,697.600,884.204,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33740,478
$CAP_FILE_SIZE,69502,0
$CFSIZE,260165632,227852288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.332,331.4,1
$GPS,311210,201507,-7628.394,17946.588,31,0.8,31,118.3