version: 66.08
glider: 502
mission: 3
dive: 42
start: 11 25 110 4 9 30
data:
$ID,502
$MISSION,3
$DIVE,42
$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,-15822.698
$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,24
$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
$GPS1,251110,035324,-7721.271,16435.160,25,1.0,43,144.9
$_CALLS,3
$_XMS_NAKs,9
$_XMS_TOUTs,9
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-51.6
$GPS2,251110,040908,-7721.292,16435.281,14,1.7,14,144.9
$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,319.8,12431,-18.7,-12.000
$D_GRID,375
$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,15,-0.84,-175.2,0.0,0.0,0,194,0.00,0.00,-175.20,0.000,2,0.000,0.000,427,2609,3561,0,0,0,0,0,0
$GC,196,-0.84,-175.2,3.3,-6.3,27,217,9.27,2.38,-2.72,0.000,4,0.229,0.067,2787,1186,3680,0,0,0,0,0,0
$GC,424,-0.75,-175.2,49.4,-16.9,68,433,0.12,2.38,0.00,0.000,6,0.160,0.062,2817,2593,3684,0,0,0,0,0,0
$GC,566,-0.68,-175.2,71.2,-15.6,93,574,0.00,1.92,0.00,0.000,4,0.000,0.070,2810,3769,3684,0,0,0,0,0,0
$GC,628,-0.60,-175.2,81.4,-16.7,104,637,0.17,1.90,0.00,0.000,6,0.138,0.050,2867,2598,3684,0,0,0,0,0,0
$GC,770,-0.63,-175.2,98.0,-10.5,129,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2597,3684,0,0,0,0,0,0
$GC,907,-0.65,-175.2,112.8,-10.9,143,911,0.00,1.92,0.00,0.000,4,0.000,0.070,2861,3767,3684,0,0,0,0,0,0
$GC,933,-0.68,-175.2,116.0,-11.8,145,942,0.00,1.88,0.00,0.000,6,0.000,0.047,2861,2597,3683,0,0,0,0,0,0
$GC,1069,-0.68,-175.2,131.3,-11.7,158,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2597,3683,0,0,0,0,0,0
$GC,1196,-0.68,-175.2,146.3,-11.8,170,1200,0.00,1.92,0.00,0.000,4,0.000,0.070,2854,3773,3684,0,0,0,0,0,0
$GC,1240,-0.68,-175.2,151.9,-12.2,174,1244,0.00,1.85,0.00,0.000,6,0.000,0.047,2854,2593,3683,0,0,0,0,0,0
$GC,1381,-0.68,-175.2,168.5,-11.9,187,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2592,3683,0,0,0,0,0,0
$GC,1509,-0.68,-175.2,183.2,-11.4,199,1512,0.00,1.92,0.00,0.000,4,0.000,0.068,2845,3773,3683,0,0,0,0,0,0
$GC,1545,-0.68,-175.2,188.1,-12.2,202,1554,0.00,1.88,0.00,0.000,6,0.000,0.047,2845,2600,3683,0,0,0,0,0,0
$GC,1680,-0.68,-175.2,204.8,-12.7,215,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2598,3683,0,0,0,0,0,0
$GC,1808,-0.68,-175.2,221.1,-13.1,227,1811,0.00,1.90,0.00,0.000,4,0.000,0.068,2836,3768,3683,0,0,0,0,0,0
$GC,1843,-0.68,-175.2,226.5,-13.5,230,1853,0.00,1.88,0.00,0.000,6,0.000,0.047,2836,2592,3683,0,0,0,0,0,0
$GC,1980,-0.65,-175.2,244.9,-14.1,243,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2592,3683,0,0,0,0,0,0
$GC,2106,-0.63,-175.2,262.6,-14.0,255,2110,0.00,1.98,0.00,0.000,4,0.000,0.070,2826,3770,3683,0,0,0,0,0,0
$STATE,2131,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2131,begin apogee
$GC,2136,-0.17,0.0,266.9,14.8,257,2295,0.55,0.00,151.98,0.987,6,0.131,0.000,3005,2393,2960,0,0,0,0,0,0
$STATE,2295,end apogee,CONTROL_FINISHED_OK
$STATE,2295,begin climb
$GC,2297,0.84,175.2,274.1,0.0,272,2466,1.00,2.53,160.85,0.924,4,0.085,0.052,3328,988,2243,0,0,0,0,0,0
$GC,2549,0.76,175.2,248.4,14.5,294,2558,0.00,2.50,0.00,0.000,6,0.000,0.056,3328,2397,2232,0,0,0,0,0,0
$GC,2685,0.62,175.2,228.3,15.2,307,2690,0.22,2.33,0.00,0.000,4,0.164,0.062,3270,3767,2229,0,0,0,0,0,0
$GC,2781,0.54,175.2,214.9,12.9,315,2791,0.10,2.28,0.00,0.000,6,0.157,0.047,3247,2402,2226,0,0,0,0,0,0
$GC,2919,0.61,230.3,201.7,9.5,328,2972,0.00,2.42,48.17,0.894,4,0.000,0.066,3248,3769,2020,0,0,0,0,0,0
$GC,3013,0.64,253.3,192.0,10.9,336,3039,0.00,2.30,21.55,0.853,6,0.000,0.047,3256,2391,1928,0,0,0,0,0,0
$GC,3166,0.73,288.1,176.2,10.4,350,3205,0.12,2.50,31.77,0.864,4,0.085,0.063,3314,3762,1785,0,0,0,0,0,0
$GC,3254,0.64,288.1,161.6,17.7,357,3263,0.15,2.33,0.00,0.000,6,0.136,0.047,3279,2411,1779,0,0,0,0,0,0
$GC,3391,0.66,288.1,144.4,12.2,370,3395,0.00,2.30,0.00,0.000,4,0.000,0.065,3280,3763,1775,0,0,0,0,0,0
$GC,3410,0.66,288.1,141.1,13.5,371,3420,0.00,2.28,0.00,0.000,6,0.000,0.047,3287,2403,1775,0,0,0,0,0,0
$GC,3547,0.66,288.1,123.8,13.0,384,3551,0.00,2.28,0.00,0.000,4,0.000,0.064,3287,3764,1773,0,0,0,0,0,0
$GC,3578,0.66,288.1,118.9,15.0,386,3588,0.00,2.25,0.00,0.000,6,0.000,0.047,3297,2399,1773,0,0,0,0,0,0
$GC,3714,0.66,288.1,100.3,13.5,399,3718,0.00,2.28,0.00,0.000,4,0.000,0.065,3297,3771,1772,0,0,0,0,0,0
$GC,3747,0.62,288.1,95.1,15.7,404,3755,0.12,2.28,0.00,0.000,6,0.138,0.050,3267,2391,1771,0,0,0,0,0,0
$GC,3889,0.69,303.8,78.6,11.3,429,3909,0.00,2.33,12.90,0.828,4,0.000,0.067,3267,3763,1720,0,0,0,0,0,0
$GC,3931,0.73,303.8,73.2,13.1,436,3940,0.00,2.25,0.00,0.000,6,0.000,0.048,3275,2402,1718,0,0,0,0,0,0
$GC,4073,0.80,317.3,56.6,11.4,461,4095,0.12,2.33,13.10,0.814,4,0.086,0.066,3333,3770,1666,0,0,0,0,0,0
$GC,4113,0.73,317.3,50.2,17.2,467,4121,0.15,2.25,0.00,0.000,6,0.164,0.048,3304,2396,1663,0,0,0,0,0,0
$GC,4252,0.73,317.3,28.5,14.5,492,4259,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,2394,1661,0,0,0,0,0,0
$FREEZE,8.89,-1.804,-1.908,2,14,2
$FREEZE,7.93,-1.805,-1.907,2,14,2
$GC,4393,0.73,317.3,7.9,14.6,517,4400,0.00,2.28,0.00,0.000,4,0.000,0.066,3304,3764,1659,0,0,0,0,0,0
$FREEZE,5.48,-1.814,-1.905,2,14,2
$FREEZE,4.46,-1.816,-1.904,2,14,2
$FREEZE,3.63,-1.824,-1.904,2,14,2
$FREEZE,2.73,-1.831,-1.903,2,14,2
$STATE,4423,end climb,SURFACE_DEPTH_REACHED
$STATE,4423,begin surface coast
$FREEZE,1.88,-1.833,-1.902,2,14,2
$FREEZE,0.88,-1.835,-1.902,2,14,2
$FREEZE,0.90,-1.982,-1.912,2,14,2
$FINISH,0.9,1.028024
$STATE,4442,end surface coast,CONTROL_FINISHED_OK
$STATE,4442,begin surface
$SM_CCo,4458,177.20,0.751,2,0,420,623.30
$SM_GC,1.57,0.00,0.00,177.20,0.000,0.000,0.751,422,2582,420,-8.26,-0.51,623.30
$IRIDIUM_FIX,-7630.39,16446.41,251110,030316
$TT8_MAMPS,0.028462
$HUMID,50.03
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,14.00
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.3,18.1
$ALTIM_BOTTOM_PING,250.8,30.4
$24V_AH,22.1,18.340
$10V_AH,10.0,10.057
$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,19.700,74.100,440.325,177.200,0.000,87.642,124.562,445.934,1.750,0.000,15.489,1208.947,1389.460,738.215,2136.029,128.218,0.000,1378.062,0.000,892.499,0.000,7.130,0.000
$DEVICE_MAMPS,228.735,70.380,986.850,751.230,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,364.380,763.193,972.891,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276096
$DATA_FILE_SIZE,33569,525
$CAP_FILE_SIZE,93822,0
$CFSIZE,260165632,251236352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,251110,052804,-7721.498,16437.141,13,6.6,32,144.9