version: 66.08
glider: 502
mission: 3
dive: 439
start: 12 31 110 20 21 22
data:
$ID,502
$MISSION,3
$DIVE,439
$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,-30694.576
$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,35
$R_STBD_OVSHOOT,22
$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
$GPS1,311210,201507,-7628.394,17946.588,31,0.8,31,118.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-73.7
$GPS2,311210,202056,-7628.336,17946.492,12,1.2,12,118.3
$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,44.5,6603,-17.5,-10.000
$D_GRID,386
$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,14,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,108,0.00,0.00,-89.07,0.000,2,0.000,0.000,419,2654,3410,0,0,0,0,0,0
$GC,111,-0.76,-146.0,3.5,-1.9,13,134,8.88,1.85,-3.90,0.000,4,0.198,0.075,2802,3766,3561,0,0,0,0,0,0
$GC,206,-0.76,-146.0,23.6,-18.7,29,213,0.00,1.77,0.00,0.000,6,0.000,0.042,2802,2631,3564,0,0,0,0,0,0
$GC,344,-0.76,-146.0,47.6,-17.8,54,351,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2628,3565,0,0,0,0,0,0
$GC,485,-0.76,-146.0,72.6,-17.8,79,492,0.00,1.85,0.00,0.000,4,0.000,0.061,2793,3764,3565,0,0,0,0,0,0
$GC,548,-0.76,-146.0,84.8,-19.1,90,557,0.00,1.77,0.00,0.000,6,0.000,0.042,2793,2646,3565,0,0,0,0,0,0
$GC,689,-0.76,-146.0,109.4,-17.7,110,692,0.00,1.83,0.00,0.000,4,0.000,0.061,2785,3771,3565,0,0,0,0,0,0
$GC,793,-0.76,-146.0,127.3,-16.9,119,802,0.08,1.75,0.00,0.000,6,0.139,0.042,2810,2673,3565,0,0,0,0,0,0
$GC,930,-0.76,-146.0,147.5,-16.7,132,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2671,3565,0,0,0,0,0,0
$GC,1065,-0.76,-146.0,174.3,-19.5,145,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2671,3565,0,0,0,0,0,0
$GC,1193,-0.76,-146.0,196.2,-17.0,157,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2671,3565,0,0,0,0,0,0
$GC,1319,-0.76,-146.0,218.4,-17.4,169,1323,0.00,1.77,0.00,0.000,4,0.000,0.060,2803,3769,3565,0,0,0,0,0,0
$GC,1345,-0.76,-146.0,223.6,-17.5,171,1355,0.00,1.73,0.00,0.000,6,0.000,0.041,2803,2684,3564,0,0,0,0,0,0
$GC,1483,-0.76,-146.0,244.2,-15.7,184,1487,0.00,2.30,0.00,0.000,4,0.000,0.053,2803,1233,3565,0,0,0,0,0,0
$GC,1529,-0.76,-146.0,250.6,-12.9,187,1538,0.00,2.38,0.00,0.000,6,0.000,0.054,2793,2669,3565,0,0,0,0,0,0
$GC,1663,-0.76,-146.0,257.6,0.1,200,1667,0.00,2.25,0.00,0.000,4,0.000,0.045,2793,1236,3565,0,0,0,0,0,0
$STATE,1738,end dive,NO_VERTICAL_VELOCITY
$STATE,1738,begin apogee
$GC,1745,-0.27,0.0,257.7,0.0,206,1885,0.50,0.00,128.73,0.947,4,0.092,0.000,2972,2505,2959,0,0,0,0,0,0
$STATE,1885,end apogee,CONTROL_FINISHED_OK
$STATE,1886,begin climb
$GC,1888,0.76,146.0,257.6,0.0,219,2042,1.08,2.30,144.98,0.871,4,0.086,0.063,3307,3767,2364,0,0,0,0,0,0
$GC,2256,0.76,146.0,207.5,16.4,251,2265,0.00,2.12,0.00,0.000,6,0.000,0.040,3316,2507,2352,0,0,0,0,0,0
$GC,2392,0.76,146.0,185.9,16.7,264,2396,0.00,2.08,0.00,0.000,4,0.000,0.056,3316,3775,2349,0,0,0,0,0,0
$GC,2446,0.76,146.0,178.0,12.0,268,2455,0.00,2.03,0.00,0.000,6,0.000,0.041,3325,2506,2349,0,0,0,0,0,0
$GC,2584,0.76,146.0,158.4,15.3,281,2588,0.00,2.03,0.00,0.000,4,0.000,0.057,3325,3765,2347,0,0,0,0,0,0
$GC,2621,0.76,146.0,152.5,17.4,284,2625,0.00,1.92,0.00,0.000,6,0.000,0.040,3335,2526,2347,0,0,0,0,0,0
$GC,2763,0.76,146.0,129.9,15.1,297,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2522,2346,0,0,0,0,0,0
$GC,2899,0.76,146.0,109.9,14.2,310,2903,0.00,2.00,0.00,0.000,4,0.000,0.057,3335,3765,2345,0,0,0,0,0,0
$GC,2956,0.76,146.0,101.2,15.3,315,2961,0.12,1.90,0.00,0.000,6,0.167,0.040,3311,2542,2345,0,0,0,0,0,0
$GC,3092,0.76,146.0,85.7,11.1,339,3099,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2539,2345,0,0,0,0,0,0
$GC,3231,0.77,149.8,71.9,9.8,364,3239,0.00,2.03,0.00,0.000,4,0.000,0.059,3311,3767,2344,0,0,0,0,0,0
$GC,3263,0.77,149.8,68.1,11.5,369,3270,0.00,1.92,0.00,0.000,6,0.000,0.040,3319,2532,2344,0,0,0,0,0,0
$GC,3405,0.77,149.8,52.4,11.0,394,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2530,2344,0,0,0,0,0,0
$GC,3545,0.77,149.8,35.5,13.3,419,3551,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2530,2343,0,0,0,0,0,0
$GC,3683,0.77,149.8,18.3,12.4,444,3691,0.00,2.03,0.00,0.000,4,0.000,0.056,3319,3762,2343,0,0,0,0,0,0
$GC,3751,0.77,149.8,9.5,11.9,456,3759,0.00,1.92,0.00,0.000,6,0.000,0.042,3329,2556,2343,0,0,0,0,0,0
$FREEZE,7.65,-1.286,-1.899,2,1,0
$FREEZE,7.06,-1.279,-1.899,2,1,0
$FREEZE,6.28,-1.272,-1.898,2,1,0
$FREEZE,5.45,-1.236,-1.897,2,1,0
$FREEZE,4.55,-1.244,-1.897,2,1,0
$FREEZE,3.78,-1.241,-1.896,2,1,0
$FREEZE,2.96,-1.200,-1.895,2,1,0
$STATE,3800,end climb,SURFACE_DEPTH_REACHED
$STATE,3800,begin surface coast
$FREEZE,2.12,-1.224,-1.895,2,1,0
$FREEZE,1.29,-1.202,-1.894,2,1,0
$FREEZE,1.17,-1.227,-1.892,2,1,0
$FREEZE,1.17,-1.225,-1.851,2,1,0
$FINISH,1.2,1.027145
$STATE,3828,end surface coast,CONTROL_FINISHED_OK
$STATE,3828,begin surface
$SM_CCo,3845,75.47,0.099,0,0,1736,300.24
$SM_GC,1.95,0.00,0.00,75.47,0.000,0.000,0.099,412,2655,1736,-8.29,0.14,300.24
$IRIDIUM_FIX,-7545.40,17950.81,311210,191903
$TT8_MAMPS,0.028462
$HUMID,52.59
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,19.6
$24V_AH,20.3,68.393
$10V_AH,9.6,46.349
$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,18.250,47.825,273.700,75.475,0.000,31.041,37.472,174.304,1.000,0.000,12.928,1177.319,1000.520,448.853,1496.207,157.732,0.000,976.698,0.000,802.552,0.000,6.947,0.000
$DEVICE_MAMPS,198.135,84.150,947.070,99.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,327.150,681.999,842.369,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33697,468
$CAP_FILE_SIZE,68236,0
$CFSIZE,260165632,227811328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.304,287.9,1
$GPS,311210,212732,-7628.587,17944.613,11,1.4,11,118.4