version: 66.08
glider: 502
mission: 3
dive: 41
start: 11 25 110 2 35 37
data:
$ID,502
$MISSION,3
$DIVE,41
$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,-15821.44
$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,28
$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,1.18
$_SM_ANGLEo,-12.6
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.84,-175.2,0.0,0.0,0,172,0.00,0.00,-155.35,0.000,2,0.000,0.000,429,2584,3441,0,0,0,0,0,0
$GC,175,-0.84,-175.2,3.5,-3.4,24,197,9.18,1.98,-6.07,0.000,4,0.228,0.083,2781,3771,3679,0,0,0,0,0,0
$GC,243,-0.68,-175.2,20.1,-19.5,35,251,0.22,1.90,0.00,0.000,6,0.163,0.049,2844,2583,3680,0,0,0,0,0,0
$GC,384,-0.65,-175.2,40.4,-13.9,60,391,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2581,3682,0,0,0,0,0,0
$GC,524,-0.62,-175.2,59.4,-13.2,85,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2581,3682,0,0,0,0,0,0
$GC,660,-0.59,-175.2,78.1,-13.3,110,668,0.00,1.98,0.00,0.000,4,0.000,0.070,2837,3755,3682,0,0,0,0,0,0
$GC,703,-0.57,-175.2,84.1,-14.4,117,711,0.15,1.83,0.00,0.000,6,0.155,0.047,2880,2597,3682,0,0,0,0,0,0
$GC,844,-0.62,-175.2,99.5,-11.5,142,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2597,3682,0,0,0,0,0,0
$GC,980,-0.67,-175.2,113.7,-10.4,155,983,0.00,1.92,0.00,0.000,4,0.000,0.070,2873,3771,3682,0,0,0,0,0,0
$GC,1006,-0.71,-175.2,117.0,-11.3,157,1015,0.08,1.88,0.00,0.000,6,0.067,0.046,2823,2600,3682,0,0,0,0,0,0
$GC,1141,-0.65,-175.2,136.3,-15.6,170,1143,0.12,0.00,0.00,0.000,6,0.176,0.000,2857,2599,3682,0,0,0,0,0,0
$GC,1267,-0.65,-175.2,152.5,-12.1,182,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2599,3682,0,0,0,0,0,0
$GC,1395,-0.65,-175.2,168.2,-12.4,194,1399,0.00,1.90,0.00,0.000,4,0.000,0.069,2850,3764,3681,0,0,0,0,0,0
$GC,1440,-0.65,-175.2,173.9,-12.8,198,1444,0.00,1.83,0.00,0.000,6,0.000,0.046,2850,2595,3682,0,0,0,0,0,0
$GC,1582,-0.65,-175.2,191.3,-12.1,211,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2593,3682,0,0,0,0,0,0
$GC,1708,-0.65,-175.2,207.1,-12.2,223,1712,0.00,1.90,0.00,0.000,4,0.000,0.069,2841,3763,3682,0,0,0,0,0,0
$GC,1754,-0.65,-175.2,213.6,-12.4,227,1764,0.00,1.85,0.00,0.000,6,0.000,0.046,2841,2604,3681,0,0,0,0,0,0
$GC,1891,-0.62,-175.2,230.3,-12.7,240,1892,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2603,3681,0,0,0,0,0,0
$GC,2018,-0.62,-175.2,246.5,-12.5,252,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2603,3681,0,0,0,0,0,0
$STATE,2143,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2143,begin apogee
$GC,2147,-0.17,0.0,262.4,12.8,264,2303,0.50,0.00,151.32,0.978,6,0.138,0.000,3002,2381,2961,0,0,0,0,0,0
$STATE,2304,end apogee,CONTROL_FINISHED_OK
$STATE,2304,begin climb
$GC,2305,0.84,175.2,268.9,0.0,278,2474,1.02,2.47,160.57,0.910,4,0.087,0.053,3340,1002,2244,0,0,0,0,0,0
$GC,2533,0.74,175.2,248.4,13.4,298,2538,0.15,2.45,0.00,0.000,6,0.161,0.057,3303,2400,2234,0,0,0,0,0,0
$GC,2670,0.65,175.2,230.7,13.0,310,2674,0.00,2.33,0.00,0.000,4,0.000,0.064,3304,3764,2230,0,0,0,0,0,0
$GC,2775,0.51,175.2,214.6,15.4,319,2780,0.30,2.25,0.00,0.000,6,0.161,0.048,3230,2413,2227,0,0,0,0,0,0
$GC,2910,0.65,251.5,202.1,8.5,331,2985,0.12,2.42,67.00,0.894,4,0.086,0.064,3291,3764,1935,0,0,0,0,0,0
$GC,3045,0.58,251.5,184.1,15.4,342,3055,0.15,2.35,0.00,0.000,6,0.145,0.049,3256,2401,1929,0,0,0,0,0,0
$GC,3181,0.68,289.9,169.7,10.2,355,3221,0.00,2.42,34.72,0.870,4,0.000,0.064,3256,3765,1777,0,0,0,0,0,0
$GC,3247,0.75,303.2,162.2,11.4,360,3270,0.10,2.35,12.85,0.809,6,0.052,0.046,3315,2401,1722,0,0,0,0,0,0
$GC,3397,0.70,303.2,140.9,15.4,374,3401,0.00,2.35,0.00,0.000,4,0.000,0.064,3315,3771,1714,0,0,0,0,0,0
$GC,3437,0.64,303.2,133.9,17.5,377,3442,0.20,2.30,0.00,0.000,6,0.151,0.048,3272,2384,1712,0,0,0,0,0,0
$GC,3572,0.71,315.5,117.1,11.4,389,3584,0.00,0.00,10.50,0.806,6,0.000,0.000,3272,2382,1674,0,0,0,0,0,0
$GC,3711,0.77,321.3,101.3,11.7,402,3725,0.12,2.35,6.65,0.741,4,0.084,0.065,3330,3768,1649,0,0,0,0,0,0
$GC,3782,0.69,321.3,88.5,20.1,413,3790,0.17,2.25,0.00,0.000,6,0.158,0.050,3293,2399,1647,0,0,0,0,0,0
$GC,3920,0.69,321.3,68.4,13.5,438,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2396,1645,0,0,0,0,0,0
$GC,4061,0.72,321.3,49.1,13.2,463,4067,0.00,2.28,0.00,0.000,4,0.000,0.065,3294,3767,1644,0,0,0,0,0,0
$GC,4111,0.72,321.3,41.3,15.5,472,4119,0.00,2.25,0.00,0.000,6,0.000,0.050,3300,2397,1644,0,0,0,0,0,0
$GC,4251,0.72,321.3,21.2,14.3,497,4258,0.00,2.28,0.00,0.000,4,0.000,0.066,3301,3773,1643,0,0,0,0,0,0
$GC,4288,0.69,321.3,15.3,16.4,503,4295,0.00,2.22,0.00,0.000,6,0.000,0.049,3310,2389,1643,0,0,0,0,0,0
$FREEZE,8.82,-1.887,-1.907,2,13,0
$FREEZE,8.04,-1.880,-1.907,2,13,0
$FREEZE,7.17,-1.860,-1.906,2,13,0
$FREEZE,6.44,-1.859,-1.906,2,13,0
$FREEZE,5.38,-1.862,-1.905,2,13,0
$FREEZE,4.63,-1.875,-1.904,2,13,0
$FREEZE,3.68,-1.890,-1.904,2,13,0
$FREEZE,2.82,-1.869,-1.903,2,13,0
$STATE,4367,end climb,SURFACE_DEPTH_REACHED
$STATE,4367,begin surface coast
$FREEZE,1.78,-1.841,-1.902,2,13,0
$FREEZE,1.09,-1.839,-1.901,2,13,0
$FREEZE,1.00,-1.944,-1.907,2,13,0
$FINISH,1.0,1.027964
$STATE,4386,end surface coast,FINISH_DEPTH_REACHED
$STATE,4386,begin surface
$SM_CCo,4400,175.93,0.751,2,0,420,623.30
$SM_GC,1.60,0.00,0.00,175.93,0.000,0.000,0.751,427,2608,420,-8.25,0.23,623.30
$IRIDIUM_FIX,-7639.69,16521.92,241110,060614
$TT8_MAMPS,0.028462
$HUMID,50.39
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,14.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.2,18.0
$ALTIM_BOTTOM_PING,250.4,26.2
$24V_AH,22.1,18.151
$10V_AH,10.0,9.973
$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,20.175,56.975,443.625,175.925,0.000,99.096,17.719,0.000,1.000,0.000,181.601,1210.989,1378.820,710.359,1691.354,129.625,0.000,1326.217,0.000,875.646,0.000,7.116,0.000
$DEVICE_MAMPS,227.970,82.620,977.670,751.230,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,361.867,759.777,970.119,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33683,520
$CAP_FILE_SIZE,81118,0
$CFSIZE,260165632,251367424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,251110,035324,-7721.271,16435.160,25,1.0,43,144.9