version: 66.08
glider: 502
mission: 3
dive: 39
start: 11 24 110 23 20 48
data:
$ID,502
$MISSION,3
$DIVE,39
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$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,1
$SURFACE_URGENCY_TRY,2
$SURFACE_URGENCY_FORCE,2
$T_DIVE,125
$T_MISSION,150
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-1
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.0049999999
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51763
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,10
$TGT_DEFAULT_LAT,-7715
$TGT_DEFAULT_LON,16530
$TGT_AUTO_DEFAULT,0
$SM_CC,623.29712
$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,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-15090.072
$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,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,241110,061114,-7725.182,16528.590,181,99.0,181,143.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-12.5
$GPS2,241110,061114,-7725.182,16528.590,181,99.0,181,143.7
$SPEED_LIMITS,0.208,0.300
$TGT_NAME,SOUND2
$TGT_LATLONG,-7723.000,16505.000
$TGT_RADIUS,2000.000
$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,149.2,10363,-18.7,-12.000
$D_GRID,640
$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,14,-0.84,-175.2,0.0,0.0,0,173,0.00,0.00,-155.90,0.000,2,0.000,0.000,426,2593,3455,0,0,0,0,0,0
$GC,176,-0.84,-175.2,3.5,-3.4,24,198,9.27,1.95,-5.62,0.000,4,0.230,0.082,2784,3764,3679,0,0,0,0,0,0
$GC,288,-0.70,-175.2,28.8,-19.3,43,295,0.20,1.88,0.00,0.000,6,0.168,0.049,2839,2594,3681,0,0,0,0,0,0
$GC,426,-0.65,-175.2,49.8,-14.6,68,433,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2593,3682,0,0,0,0,0,0
$GC,566,-0.61,-175.2,69.8,-14.3,93,573,0.00,1.95,0.00,0.000,4,0.000,0.070,2832,3766,3682,0,0,0,0,0,0
$GC,595,-0.56,-175.2,74.3,-14.6,98,604,0.15,1.90,0.00,0.000,6,0.138,0.049,2882,2596,3682,0,0,0,0,0,0
$GC,737,-0.61,-175.2,89.3,-10.1,123,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2595,3683,0,0,0,0,0,0
$GC,875,-0.66,-175.2,103.2,-9.9,145,878,0.00,1.92,0.00,0.000,4,0.000,0.070,2875,3765,3683,0,0,0,0,0,0
$GC,923,-0.73,-175.2,108.6,-10.3,149,932,0.10,1.88,0.00,0.000,6,0.061,0.048,2814,2596,3682,0,0,0,0,0,0
$GC,1058,-0.65,-175.2,128.2,-15.9,162,1060,0.15,0.00,0.00,0.000,6,0.176,0.000,2855,2596,3682,0,0,0,0,0,0
$GC,1185,-0.65,-175.2,144.0,-11.8,174,1189,0.00,1.92,0.00,0.000,4,0.000,0.070,2849,3767,3682,0,0,0,0,0,0
$GC,1221,-0.65,-175.2,148.9,-12.3,177,1231,0.00,1.88,0.00,0.000,6,0.000,0.049,2849,2605,3682,0,0,0,0,0,0
$GC,1359,-0.65,-175.2,165.2,-12.5,190,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2605,3682,0,0,0,0,0,0
$GC,1485,-0.65,-175.2,180.8,-12.3,202,1488,0.00,1.90,0.00,0.000,4,0.000,0.072,2842,3763,3682,0,0,0,0,0,0
$GC,1521,-0.65,-175.2,185.9,-13.1,205,1530,0.00,1.88,0.00,0.000,6,0.000,0.049,2842,2597,3682,0,0,0,0,0,0
$GC,1658,-0.62,-175.2,202.8,-12.8,218,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2597,3682,0,0,0,0,0,0
$GC,1784,-0.60,-175.2,219.4,-13.1,230,1788,0.00,1.90,0.00,0.000,4,0.000,0.070,2833,3763,3682,0,0,0,0,0,0
$GC,1819,-0.57,-175.2,224.2,-13.9,233,1823,0.17,1.85,0.00,0.000,6,0.155,0.049,2883,2584,3682,0,0,0,0,0,0
$GC,1961,-0.64,-175.2,238.5,-9.7,246,1964,0.00,1.95,0.00,0.000,4,0.000,0.071,2877,3770,3683,0,0,0,0,0,0
$GC,1987,-0.71,-175.2,241.5,-10.0,248,1996,0.10,1.88,0.00,0.000,6,0.060,0.049,2815,2601,3682,0,0,0,0,0,0
$GC,2121,-0.63,-175.2,260.6,-15.3,261,2123,0.15,0.00,0.00,0.000,6,0.173,0.000,2857,2600,3682,0,0,0,0,0,0
$GC,2312,-0.63,-175.2,283.6,-11.3,279,2316,0.00,1.90,0.00,0.000,4,0.000,0.071,2851,3763,3682,0,0,0,0,0,0
$GC,2349,-0.63,-175.2,288.4,-12.7,282,2358,0.00,1.85,0.00,0.000,6,0.000,0.048,2850,2606,3682,0,0,0,0,0,0
$STATE,2525,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2526,begin apogee
$GC,2530,-0.17,0.0,309.7,11.7,299,2687,0.47,0.00,152.05,1.011,6,0.134,0.000,3004,2386,2961,0,0,0,0,0,0
$STATE,2688,end apogee,CONTROL_FINISHED_OK
$STATE,2688,begin climb
$GC,2689,0.84,175.2,316.1,0.0,313,2864,1.00,2.58,161.23,0.949,4,0.086,0.056,3333,1000,2242,0,0,0,0,0,0
$GC,2921,0.74,175.2,293.4,14.6,334,2925,0.00,2.45,0.00,0.000,6,0.000,0.055,3333,2400,2234,0,0,0,0,0,0
$GC,3118,0.59,175.2,261.7,16.2,352,3123,0.25,2.30,0.00,0.000,4,0.165,0.063,3261,3761,2229,0,0,0,0,0,0
$GC,3218,0.52,175.2,248.2,12.7,360,3227,0.10,2.25,0.00,0.000,6,0.151,0.048,3238,2416,2227,0,0,0,0,0,0
$GC,3355,0.63,237.8,235.7,9.1,373,3418,0.00,2.40,55.42,0.916,4,0.000,0.064,3238,3769,1989,0,0,0,0,0,0
$GC,3464,0.70,259.7,225.3,11.0,382,3492,0.12,2.30,20.62,0.872,6,0.084,0.048,3302,2397,1902,0,0,0,0,0,0
$GC,3619,0.65,259.7,204.0,14.9,396,3623,0.00,2.35,0.00,0.000,4,0.000,0.065,3303,3766,1893,0,0,0,0,0,0
$GC,3659,0.56,259.7,197.1,16.6,399,3664,0.22,2.28,0.00,0.000,6,0.155,0.050,3252,2399,1892,0,0,0,0,0,0
$GC,3794,0.66,291.0,182.0,10.6,411,3832,0.00,2.42,27.80,0.884,4,0.000,0.067,3252,3753,1772,0,0,0,0,0,0
$GC,3856,0.74,307.8,175.4,11.2,416,3883,0.12,2.28,15.62,0.843,6,0.086,0.049,3315,2388,1705,0,0,0,0,0,0
$GC,4010,0.69,307.8,152.1,15.7,430,4014,0.00,2.33,0.00,0.000,4,0.000,0.065,3315,3761,1698,0,0,0,0,0,0
$GC,4050,0.61,307.8,144.9,18.1,433,4055,0.22,2.25,0.00,0.000,6,0.153,0.050,3263,2394,1696,0,0,0,0,0,0
$GC,4185,0.72,332.6,128.8,10.9,445,4214,0.00,2.42,22.55,0.860,4,0.000,0.066,3263,3764,1603,0,0,0,0,0,0
$GC,4244,0.78,334.2,122.3,11.9,450,4249,0.12,2.28,0.00,0.000,6,0.086,0.049,3327,2388,1600,0,0,0,0,0,0
$GC,4380,0.72,334.2,99.8,17.8,462,4387,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2386,1596,0,0,0,0,0,0
$GC,4520,0.66,334.2,73.8,17.9,487,4528,0.17,2.33,0.00,0.000,4,0.155,0.066,3280,3768,1596,0,0,0,0,0,0
$GC,4579,0.69,334.2,64.5,14.5,497,4586,0.00,2.22,0.00,0.000,6,0.000,0.050,3287,2402,1595,0,0,0,0,0,0
$GC,4717,0.73,334.2,46.0,12.7,522,4724,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,2400,1593,0,0,0,0,0,0
$GC,4856,0.77,334.2,28.1,13.0,547,4863,0.00,2.30,0.00,0.000,4,0.000,0.067,3287,3773,1593,0,0,0,0,0,0
$GC,4914,0.77,334.2,19.6,14.2,557,4921,0.00,2.22,0.00,0.000,6,0.000,0.048,3294,2389,1593,0,0,0,0,0,0
$FREEZE,8.49,-1.598,-1.907,2,11,0
$FREEZE,7.67,-1.586,-1.906,2,11,0
$FREEZE,6.98,-1.574,-1.906,2,11,0
$FREEZE,6.01,-1.576,-1.905,2,11,0
$FREEZE,5.26,-1.568,-1.904,2,11,0
$FREEZE,4.46,-1.552,-1.904,2,11,0
$FREEZE,3.66,-1.553,-1.903,2,11,0
$FREEZE,2.78,-1.544,-1.902,2,11,0
$STATE,5033,end climb,SURFACE_DEPTH_REACHED
$STATE,5033,begin surface coast
$FREEZE,2.08,-1.535,-1.902,2,11,0
$FREEZE,1.22,-1.533,-1.901,2,11,0
$FREEZE,0.90,-1.551,-1.724,2,11,0
$FREEZE,0.89,-1.553,-1.726,2,11,0
$FINISH,0.9,1.025365
$STATE,5058,end surface coast,CONTROL_FINISHED_OK
$STATE,5058,begin surface
$SM_CCo,5072,170.98,0.756,2,0,419,623.30
$SM_GC,1.22,0.00,0.00,170.98,0.000,0.000,0.756,428,2603,419,-8.24,0.08,623.30
$IRIDIUM_FIX,-7639.69,16521.92,241110,060614
$TT8_MAMPS,0.028462
$HUMID,51.33
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,18.5
$ALTIM_BOTTOM_PING,300.7,23.9
$24V_AH,22.0,17.838
$10V_AH,10.0,9.801
$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,20.800,73.025,455.300,170.975,0.000,99.080,17.699,0.000,1.500,0.000,181.598,1369.380,1742.546,735.968,1800.631,137.465,0.000,1423.563,0.000,989.076,0.000,8.830,0.000
$DEVICE_MAMPS,229.500,81.855,1011.330,755.820,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,405.539,804.980,964.470,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276124
$DATA_FILE_SIZE,40267,582
$CAP_FILE_SIZE,92783,0
$CFSIZE,260165632,251445248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,241110,061114,-7725.182,16528.590,181,99.0,181,143.7