version: 66.08
glider: 502
mission: 3
dive: 43
start: 11 25 110 5 39 54
data:
$ID,502
$MISSION,3
$DIVE,43
$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,-15823.956
$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,34
$R_STBD_OVSHOOT,20
$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
$GPS1,251110,052804,-7721.498,16437.141,13,6.6,32,144.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-66.3
$GPS2,251110,053932,-7721.495,16437.059,16,1.1,16,144.9
$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,318.9,11641,-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,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,-155.52,0.000,2,0.000,0.000,423,2583,3338,0,0,0,0,0,0
$GC,175,-0.84,-175.2,3.1,-2.2,24,203,9.35,2.33,-9.55,0.000,4,0.224,0.069,2790,1197,3680,0,0,0,0,0,0
$GC,410,-0.76,-175.2,43.2,-16.5,66,419,0.10,2.40,0.00,0.000,6,0.161,0.064,2813,2603,3682,0,0,0,0,0,0
$GC,552,-0.66,-175.2,65.7,-16.3,91,559,0.12,1.95,0.00,0.000,4,0.181,0.070,2840,3773,3682,0,0,0,0,0,0
$GC,603,-0.64,-175.2,73.8,-14.5,100,611,0.00,1.90,0.00,0.000,6,0.000,0.047,2840,2602,3682,0,0,0,0,0,0
$GC,744,-0.61,-175.2,93.0,-13.7,125,751,0.00,1.95,0.00,0.000,4,0.000,0.070,2831,3774,3682,0,0,0,0,0,0
$GC,762,-0.57,-175.2,95.8,-13.3,128,771,0.12,1.90,0.00,0.000,6,0.142,0.047,2873,2600,3682,0,0,0,0,0,0
$GC,909,-0.61,-175.2,111.9,-10.8,144,912,0.00,1.95,0.00,0.000,4,0.000,0.070,2867,3774,3682,0,0,0,0,0,0
$GC,935,-0.64,-175.2,115.3,-11.4,146,944,0.00,1.88,0.00,0.000,6,0.000,0.047,2867,2607,3682,0,0,0,0,0,0
$GC,1071,-0.67,-175.2,130.4,-11.3,159,1075,0.00,1.92,0.00,0.000,4,0.000,0.071,2860,3774,3682,0,0,0,0,0,0
$GC,1105,-0.67,-175.2,134.4,-12.0,162,1109,0.00,1.85,0.00,0.000,6,0.000,0.047,2860,2597,3682,0,0,0,0,0,0
$GC,1247,-0.67,-175.2,150.8,-11.8,175,1251,0.00,1.92,0.00,0.000,4,0.000,0.070,2853,3767,3682,0,0,0,0,0,0
$GC,1283,-0.67,-175.2,155.1,-12.5,178,1286,0.00,1.83,0.00,0.000,6,0.000,0.046,2853,2600,3682,0,0,0,0,0,0
$GC,1424,-0.67,-175.2,172.2,-12.0,191,1428,0.00,1.92,0.00,0.000,4,0.000,0.070,2844,3773,3682,0,0,0,0,0,0
$GC,1447,-0.67,-175.2,175.3,-12.4,193,1451,0.00,1.85,0.00,0.000,6,0.000,0.046,2844,2590,3682,0,0,0,0,0,0
$GC,1588,-0.67,-175.2,192.7,-12.3,206,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2589,3682,0,0,0,0,0,0
$GC,1715,-0.67,-175.2,208.7,-12.7,218,1718,0.00,1.92,0.00,0.000,4,0.000,0.070,2835,3767,3682,0,0,0,0,0,0
$GC,1772,-0.67,-175.2,216.9,-13.3,223,1782,0.00,1.88,0.00,0.000,6,0.000,0.046,2835,2594,3682,0,0,0,0,0,0
$GC,1910,-0.63,-175.2,234.7,-13.3,236,1914,0.00,1.92,0.00,0.000,4,0.000,0.071,2827,3769,3682,0,0,0,0,0,0
$GC,1936,-0.59,-175.2,239.1,-14.1,238,1946,0.12,1.88,0.00,0.000,6,0.135,0.047,2870,2592,3682,0,0,0,0,0,0
$GC,2070,-0.64,-175.2,253.5,-10.6,251,2074,0.00,1.92,0.00,0.000,4,0.000,0.070,2867,3768,3682,0,0,0,0,0,0
$STATE,2084,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2084,begin apogee
$GC,2090,-0.17,0.0,255.7,10.8,252,2248,0.43,0.00,151.50,0.978,6,0.129,0.000,3005,2402,2960,0,0,0,0,0,0
$STATE,2249,end apogee,CONTROL_FINISHED_OK
$STATE,2249,begin climb
$GC,2251,0.84,175.2,262.4,0.0,267,2419,1.00,2.53,160.23,0.913,4,0.084,0.052,3336,992,2244,0,0,0,0,0,0
$GC,2500,0.74,175.2,236.6,15.2,289,2510,0.08,2.50,0.00,0.000,6,0.147,0.056,3314,2404,2232,0,0,0,0,0,0
$GC,2636,0.63,175.2,217.1,14.2,302,2641,0.17,2.30,0.00,0.000,4,0.171,0.063,3269,3764,2229,0,0,0,0,0,0
$GC,2721,0.55,175.2,205.4,13.5,309,2731,0.10,2.28,0.00,0.000,6,0.158,0.047,3248,2406,2227,0,0,0,0,0,0
$GC,2857,0.63,237.9,192.5,9.1,322,2920,0.00,2.40,54.55,0.886,4,0.000,0.065,3248,3763,1990,0,0,0,0,0,0
$GC,2966,0.65,258.4,181.8,11.1,331,2992,0.00,2.30,19.77,0.835,6,0.000,0.048,3249,2393,1905,0,0,0,0,0,0
$GC,3120,0.78,310.3,166.8,9.6,345,3174,0.20,2.50,46.05,0.843,4,0.065,0.063,3331,3758,1694,0,0,0,0,0,0
$GC,3225,0.66,310.3,148.3,21.4,354,3230,0.22,2.33,0.00,0.000,6,0.157,0.047,3284,2394,1688,0,0,0,0,0,0
$GC,3361,0.69,310.3,128.7,13.2,366,3365,0.00,2.35,0.00,0.000,4,0.000,0.064,3284,3765,1683,0,0,0,0,0,0
$GC,3389,0.69,310.3,124.4,15.2,368,3393,0.00,2.28,0.00,0.000,6,0.000,0.049,3287,2396,1683,0,0,0,0,0,0
$GC,3525,0.69,310.3,106.0,13.6,380,3529,0.00,2.30,0.00,0.000,4,0.000,0.065,3287,3767,1681,0,0,0,0,0,0
$GC,3564,0.69,310.3,100.0,15.0,383,3568,0.00,2.22,0.00,0.000,6,0.000,0.047,3297,2397,1681,0,0,0,0,0,0
$GC,3702,0.69,310.3,80.2,14.3,407,3709,0.00,2.30,0.00,0.000,4,0.000,0.065,3297,3774,1679,0,0,0,0,0,0
$GC,3731,0.66,310.3,75.4,15.8,412,3739,0.00,2.28,0.00,0.000,6,0.000,0.048,3307,2394,1680,0,0,0,0,0,0
$GC,3871,0.63,310.3,53.5,15.9,437,3879,0.12,2.28,0.00,0.000,4,0.167,0.064,3274,3772,1678,0,0,0,0,0,0
$GC,3901,0.63,310.3,48.6,15.2,442,3909,0.00,2.25,0.00,0.000,6,0.000,0.047,3283,2395,1678,0,0,0,0,0,0
$GC,4042,0.67,310.3,30.6,12.6,467,4049,0.00,2.28,0.00,0.000,4,0.000,0.065,3283,3773,1678,0,0,0,0,0,0
$GC,4071,0.67,310.3,26.2,14.3,472,4079,0.00,2.22,0.00,0.000,6,0.000,0.047,3292,2406,1677,0,0,0,0,0,0
$FREEZE,8.48,-1.689,-1.908,2,1,0
$FREEZE,7.67,-1.673,-1.907,2,1,0
$FREEZE,6.97,-1.706,-1.906,2,1,0
$GC,4213,0.67,310.3,7.0,13.7,497,4220,0.00,2.22,0.00,0.000,4,0.000,0.064,3292,3765,1676,0,0,0,0,0,0
$FREEZE,4.73,-1.706,-1.905,2,1,0
$FREEZE,3.91,-1.706,-1.904,2,1,0
$FREEZE,3.11,-1.706,-1.903,2,1,0
$FREEZE,2.10,-1.707,-1.902,2,1,0
$STATE,4243,end climb,SURFACE_DEPTH_REACHED
$STATE,4243,begin surface coast
$FREEZE,1.20,-1.707,-1.902,2,1,0
$FINISH,1.2,1.027873
$STATE,4251,end surface coast,CONTROL_FINISHED_OK
$STATE,4252,begin surface
$SM_CCo,4267,173.40,0.752,1,0,420,623.30
$SM_GC,1.14,0.00,0.00,173.40,0.000,0.000,0.752,427,2586,420,-8.25,-0.37,623.30
$IRIDIUM_FIX,-7630.39,16424.87,251110,040450
$TT8_MAMPS,0.028462
$HUMID,50.31
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,18.8
$ALTIM_BOTTOM_PING,250.3,19.7
$24V_AH,22.1,18.525
$10V_AH,10.0,10.138
$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,19.775,85.300,432.100,173.400,0.000,29.907,35.874,536.640,1.250,0.000,17.164,1185.449,1154.415,712.299,1995.580,96.052,0.000,1341.935,0.000,874.798,0.000,7.101,0.000
$DEVICE_MAMPS,224.145,71.145,978.435,751.995,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,349.366,740.463,953.329,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276068
$DATA_FILE_SIZE,33846,503
$CAP_FILE_SIZE,93309,0
$CFSIZE,260165632,251265024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,251110,053932,-7721.495,16437.059,181,99.0,181,144.9