version: 66.08
glider: 502
mission: 3
dive: 440
start: 12 31 110 21 33 40
data:
$ID,502
$MISSION,3
$DIVE,440
$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,-30695.838
$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,37
$R_STBD_OVSHOOT,24
$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
$GPS1,311210,212732,-7628.587,17944.613,11,1.4,11,118.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-73.8
$GPS2,311210,213314,-7628.591,17944.227,13,1.8,13,118.4
$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,349.1,7301,-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,13,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,106,0.00,0.00,-87.78,0.000,2,0.000,0.000,409,2657,3373,0,0,0,0,0,0
$GC,109,-0.76,-146.0,3.3,-1.5,13,131,9.00,1.83,-5.10,0.000,4,0.197,0.073,2812,3770,3556,0,0,0,0,0,0
$GC,376,-0.76,-146.0,49.8,-17.8,61,383,0.00,1.77,0.00,0.000,6,0.000,0.042,2812,2635,3559,0,0,0,0,0,0
$GC,514,-0.76,-146.0,72.2,-16.7,86,522,0.00,1.88,0.00,0.000,4,0.000,0.060,2804,3761,3560,0,0,0,0,0,0
$GC,561,-0.76,-146.0,80.3,-17.6,94,569,0.00,1.75,0.00,0.000,6,0.000,0.041,2803,2661,3559,0,0,0,0,0,0
$GC,701,-0.76,-146.0,104.1,-17.0,117,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2661,3559,0,0,0,0,0,0
$GC,836,-0.76,-146.0,128.5,-18.1,130,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2661,3559,0,0,0,0,0,0
$GC,964,-0.76,-146.0,150.1,-15.8,142,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2661,3559,0,0,0,0,0,0
$GC,1090,-0.76,-146.0,168.7,-14.3,154,1094,0.00,2.22,0.00,0.000,4,0.000,0.049,2803,1243,3559,0,0,0,0,0,0
$GC,1142,-0.76,-146.0,176.0,-16.3,158,1147,0.00,2.33,0.00,0.000,6,0.000,0.060,2795,2661,3560,0,0,0,0,0,0
$GC,1278,-0.76,-146.0,199.1,-18.9,170,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2662,3560,0,0,0,0,0,0
$GC,1404,-0.76,-146.0,221.2,-18.6,182,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2662,3560,0,0,0,0,0,0
$GC,1532,-0.76,-146.0,242.3,-16.4,194,1536,0.00,2.25,0.00,0.000,4,0.000,0.050,2794,1245,3560,0,0,0,0,0,0
$GC,1587,-0.76,-146.0,251.8,-17.0,198,1595,0.12,2.30,0.00,0.000,6,0.155,0.055,2817,2653,3560,0,0,0,0,0,0
$STATE,1786,end dive,NO_VERTICAL_VELOCITY
$STATE,1786,begin apogee
$GC,1792,-0.27,0.0,254.9,0.0,217,1926,0.43,0.00,127.85,0.951,4,0.079,0.000,2982,2480,2960,0,0,0,0,0,0
$STATE,1927,end apogee,CONTROL_FINISHED_OK
$STATE,1927,begin climb
$GC,1929,0.76,146.0,254.9,0.0,229,2088,1.05,2.35,144.85,0.871,4,0.087,0.059,3307,3759,2364,0,0,0,0,0,0
$GC,2216,0.76,146.0,220.4,12.7,253,2224,0.00,2.17,0.00,0.000,6,0.000,0.040,3316,2519,2355,0,0,0,0,0,0
$GC,2351,0.76,146.0,203.1,13.5,266,2355,0.00,2.38,0.00,0.000,4,0.000,0.051,3316,1079,2351,0,0,0,0,0,0
$GC,2527,0.79,169.4,185.8,8.9,281,2553,0.00,2.33,19.52,0.865,6,0.000,0.054,3316,2511,2270,0,0,0,0,0,0
$GC,2680,0.79,169.4,167.2,13.6,295,2684,0.00,2.00,0.00,0.000,4,0.000,0.058,3316,3763,2265,0,0,0,0,0,0
$GC,2718,0.79,169.4,161.0,15.8,298,2726,0.00,2.03,0.00,0.000,6,0.000,0.041,3325,2494,2264,0,0,0,0,0,0
$GC,2855,0.79,169.4,142.8,11.8,311,2859,0.00,2.20,0.00,0.000,4,0.000,0.051,3335,1091,2263,0,0,0,0,0,0
$GC,2875,0.79,169.4,140.3,12.4,312,2879,0.00,2.28,0.00,0.000,6,0.000,0.053,3335,2503,2262,0,0,0,0,0,0
$GC,3011,0.79,169.4,122.2,12.5,324,3015,0.00,2.03,0.00,0.000,4,0.000,0.058,3335,3773,2262,0,0,0,0,0,0
$GC,3060,0.79,169.4,115.3,12.9,328,3068,0.00,2.00,0.00,0.000,6,0.000,0.043,3345,2517,2262,0,0,0,0,0,0
$GC,3196,0.79,171.5,97.7,9.9,343,3203,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,2515,2262,0,0,0,0,0,0
$GC,3336,0.79,171.5,83.9,11.5,368,3344,0.00,2.05,0.00,0.000,4,0.000,0.058,3345,3759,2261,0,0,0,0,0,0
$GC,3372,0.79,171.5,78.9,14.1,374,3381,0.10,1.98,0.00,0.000,6,0.141,0.041,3321,2517,2261,0,0,0,0,0,0
$GC,3514,0.81,182.3,62.8,9.5,399,3536,0.00,2.10,12.43,0.819,4,0.000,0.058,3321,3760,2217,0,0,0,0,0,0
$GC,3598,0.81,182.3,51.9,14.7,413,3605,0.00,1.95,0.00,0.000,6,0.000,0.041,3329,2546,2216,0,0,0,0,0,0
$GC,3735,0.81,182.3,31.7,14.0,438,3744,0.00,2.00,0.00,0.000,4,0.000,0.059,3329,3755,2214,0,0,0,0,0,0
$GC,3788,0.81,182.3,23.8,14.5,447,3796,0.00,1.88,0.00,0.000,6,0.000,0.042,3338,2559,2214,0,0,0,0,0,0
$FREEZE,8.70,-1.243,-1.900,2,1,0
$FREEZE,7.76,-1.244,-1.899,2,1,0
$FREEZE,6.90,-1.245,-1.898,2,1,0
$FREEZE,5.91,-1.246,-1.898,2,1,0
$FREEZE,4.88,-1.243,-1.897,2,1,0
$FREEZE,3.89,-1.241,-1.896,2,1,0
$FREEZE,3.28,-1.243,-1.895,2,1,0
$FREEZE,2.39,-1.221,-1.894,2,1,0
$STATE,3932,end climb,SURFACE_DEPTH_REACHED
$STATE,3932,begin surface coast
$FREEZE,1.46,-1.198,-1.894,2,1,0
$FREEZE,1.19,-1.211,-1.894,2,1,0
$FREEZE,1.23,-1.208,-1.231,2,1,0
$FINISH,1.2,1.018171
$STATE,3951,end surface coast,FINISH_DEPTH_REACHED
$STATE,3951,begin surface
$SM_CCo,3967,63.85,0.705,1,0,1736,300.24
$SM_GC,2.18,0.00,0.00,63.85,0.000,0.000,0.705,430,2662,1736,-8.23,0.34,300.24
$IRIDIUM_FIX,-7545.40,17941.62,311210,202044
$TT8_MAMPS,0.028462
$HUMID,52.59
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,20.0,19.0
$24V_AH,20.3,68.496
$10V_AH,9.7,46.419
$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,18.300,50.450,304.650,63.850,0.000,30.429,37.861,167.557,1.000,0.000,14.693,1193.335,1084.401,444.751,1507.538,160.083,0.000,975.993,0.000,800.470,0.000,4.341,0.000
$DEVICE_MAMPS,196.605,82.620,950.895,704.565,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,332.322,696.012,881.922,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33666,475
$CAP_FILE_SIZE,68951,0
$CFSIZE,260165632,227770368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.435,254.4,1
$GPS,311210,224206,-7628.998,17941.801,15,0.8,31,118.5