version: 66.08
glider: 502
mission: 3
dive: 51
start: 11 25 110 16 38 1
data:
$ID,502
$MISSION,3
$DIVE,51
$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,-18017.217
$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,25
$R_STBD_OVSHOOT,25
$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
$GPS1,251110,053932,-7721.495,16437.059,181,99.0,181,144.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-12.3
$GPS2,251110,053932,-7721.495,16437.059,181,99.0,181,144.9
$SPEED_LIMITS,0.208,0.300
$TGT_NAME,SOUND1
$TGT_LATLONG,-7728.000,16520.000
$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,340.0,21047,-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,-175.2,0.0,0.0,0,173,0.00,0.00,-155.30,0.000,2,0.000,0.000,422,2619,3452,0,0,0,0,0,0
$GC,176,-0.84,-175.2,3.6,-4.1,24,199,9.10,2.33,-5.78,0.000,4,0.225,0.070,2787,1185,3679,0,0,0,0,0,0
$GC,432,-0.76,-175.2,47.8,-15.8,70,441,0.10,2.38,0.00,0.000,6,0.161,0.062,2810,2599,3682,0,0,0,0,0,0
$GC,574,-0.69,-175.2,70.1,-16.3,95,581,0.10,1.92,0.00,0.000,4,0.194,0.070,2830,3765,3682,0,0,0,0,0,0
$GC,605,-0.64,-175.2,75.3,-16.0,100,613,0.00,1.90,0.00,0.000,6,0.000,0.048,2830,2589,3682,0,0,0,0,0,0
$GC,746,-0.60,-175.2,94.2,-13.9,125,753,0.15,0.00,0.00,0.000,6,0.166,0.000,2872,2589,3682,0,0,0,0,0,0
$GC,889,-0.65,-175.2,108.9,-10.1,143,893,0.00,1.95,0.00,0.000,4,0.000,0.072,2867,3773,3682,0,0,0,0,0,0
$GC,936,-0.71,-175.2,114.1,-11.0,147,939,0.00,1.85,0.00,0.000,6,0.000,0.048,2866,2594,3682,0,0,0,0,0,0
$GC,1076,-0.75,-175.2,127.6,-10.1,160,1078,0.12,0.00,0.00,0.000,6,0.096,0.000,2803,2592,3682,0,0,0,0,0,0
$GC,1203,-0.66,-175.2,147.7,-17.2,172,1208,0.17,1.95,0.00,0.000,4,0.170,0.070,2844,3773,3682,0,0,0,0,0,0
$GC,1223,-0.62,-175.2,151.5,-16.3,173,1232,0.00,1.88,0.00,0.000,6,0.000,0.048,2844,2605,3682,0,0,0,0,0,0
$GC,1359,-0.62,-175.2,168.7,-12.8,186,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2605,3682,0,0,0,0,0,0
$GC,1486,-0.62,-175.2,184.4,-12.2,198,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2605,3682,0,0,0,0,0,0
$GC,1614,-0.62,-175.2,199.9,-12.2,210,1617,0.00,1.90,0.00,0.000,4,0.000,0.070,2837,3769,3682,0,0,0,0,0,0
$GC,1649,-0.62,-175.2,204.4,-13.1,213,1653,0.00,1.85,0.00,0.000,6,0.000,0.049,2837,2590,3682,0,0,0,0,0,0
$GC,1791,-0.62,-175.2,222.1,-12.8,226,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2588,3682,0,0,0,0,0,0
$GC,1916,-0.62,-175.2,238.3,-12.7,238,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2588,3682,0,0,0,0,0,0
$GC,2041,-0.62,-175.2,254.7,-12.9,250,2045,0.00,1.92,0.00,0.000,4,0.000,0.070,2828,3766,3682,0,0,0,0,0,0
$GC,2075,-0.62,-175.2,259.2,-14.0,253,2079,0.12,1.83,0.00,0.000,6,0.165,0.049,2862,2599,3681,0,0,0,0,0,0
$GC,2278,-0.66,-175.2,281.4,-11.0,272,2279,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2596,3682,0,0,0,0,0,0
$STATE,2414,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2414,begin apogee
$GC,2418,-0.17,0.0,296.3,10.5,285,2575,0.43,0.00,152.35,1.001,6,0.129,0.000,3004,2388,2961,0,0,0,0,0,0
$STATE,2576,end apogee,CONTROL_FINISHED_OK
$STATE,2576,begin climb
$GC,2577,0.84,175.2,302.4,0.0,299,2752,1.00,2.58,161.55,0.933,4,0.083,0.055,3335,1002,2242,0,0,0,0,0,0
$GC,2820,0.75,175.2,278.3,14.4,321,2825,0.00,2.45,0.00,0.000,6,0.000,0.057,3335,2401,2233,0,0,0,0,0,0
$GC,3019,0.61,175.2,247.6,15.8,339,3024,0.25,2.30,0.00,0.000,4,0.164,0.063,3264,3764,2229,0,0,0,0,0,0
$GC,3148,0.54,175.2,230.3,13.1,350,3152,0.12,2.20,0.00,0.000,6,0.177,0.047,3241,2409,2227,0,0,0,0,0,0
$GC,3283,0.66,239.5,216.9,9.0,362,3347,0.10,2.47,56.58,0.905,4,0.100,0.066,3294,3768,1983,0,0,0,0,0,0
$GC,3404,0.59,239.5,200.3,15.1,372,3409,0.17,2.30,0.00,0.000,6,0.158,0.047,3259,2393,1976,0,0,0,0,0,0
$GC,3540,0.67,270.7,185.0,10.6,384,3578,0.00,2.45,28.05,0.878,4,0.000,0.066,3259,3761,1855,0,0,0,0,0,0
$GC,3626,0.67,270.7,174.7,12.2,391,3635,0.00,2.30,0.00,0.000,6,0.000,0.047,3267,2402,1851,0,0,0,0,0,0
$GC,3764,0.71,281.3,160.6,11.5,404,3781,0.00,2.40,9.68,0.814,4,0.000,0.066,3267,3767,1813,0,0,0,0,0,0
$GC,3821,0.71,281.3,152.6,13.8,409,3825,0.00,2.25,0.00,0.000,6,0.000,0.049,3276,2395,1811,0,0,0,0,0,0
$GC,3956,0.74,281.3,134.9,13.4,421,3960,0.00,2.30,0.00,0.000,4,0.000,0.066,3276,3765,1808,0,0,0,0,0,0
$GC,3996,0.74,281.3,128.5,14.2,424,4006,0.00,2.25,0.00,0.000,6,0.000,0.046,3286,2397,1808,0,0,0,0,0,0
$GC,4133,0.74,281.3,110.3,13.5,437,4137,0.00,2.25,0.00,0.000,4,0.000,0.065,3286,3765,1806,0,0,0,0,0,0
$GC,4173,0.71,281.3,104.6,15.2,440,4177,0.00,2.20,0.00,0.000,6,0.000,0.048,3288,2394,1806,0,0,0,0,0,0
$GC,4309,0.71,281.3,86.7,12.7,461,4316,0.00,2.28,0.00,0.000,4,0.000,0.066,3288,3768,1805,0,0,0,0,0,0
$GC,4356,0.69,281.3,80.8,13.8,469,4363,0.00,2.20,0.00,0.000,6,0.000,0.048,3298,2399,1805,0,0,0,0,0,0
$GC,4493,0.69,281.3,61.0,14.8,494,4501,0.00,2.28,0.00,0.000,4,0.000,0.067,3298,3758,1804,0,0,0,0,0,0
$GC,4540,0.65,281.3,53.3,16.7,502,4548,0.10,2.20,0.00,0.000,6,0.138,0.049,3275,2404,1804,0,0,0,0,0,0
$GC,4681,0.72,302.2,35.7,11.0,527,4709,0.00,2.35,18.52,0.830,4,0.000,0.067,3275,3770,1727,0,0,0,0,0,0
$GC,4744,0.74,302.2,27.8,14.0,537,4750,0.00,2.22,0.00,0.000,6,0.000,0.050,3283,2400,1725,0,0,0,0,0,0
$GC,4883,0.78,302.2,10.4,12.6,562,4891,0.00,2.30,0.00,0.000,4,0.000,0.067,3283,3761,1721,0,0,0,0,0,0
$FREEZE,8.32,-1.898,-1.907,2,9,0
$FREEZE,7.47,-1.898,-1.907,2,9,0
$FREEZE,6.67,-1.898,-1.906,2,9,0
$FREEZE,5.83,-1.898,-1.905,2,9,0
$FREEZE,4.88,-1.898,-1.905,2,9,0
$FREEZE,4.14,-1.898,-1.904,2,9,0
$GC,4927,0.78,302.2,4.1,15.3,569,4934,0.00,2.20,0.00,0.000,6,0.000,0.049,3293,2395,1722,0,0,0,0,0,0
$FREEZE,1.98,-1.899,-1.903,2,9,0
$STATE,4941,end climb,FINISH_DEPTH_REACHED
$STATE,4941,begin subsurface finish
$FINISH1,2.0,1.027883,-19
$GC,4946,-0.02,-18.8,2.0,-15.0,571,5038,0.62,0.00,-88.07,0.000,6,0.067,0.000,3051,2391,3038,0,0,0,0,0,0
$FINISH2,0.9
$STATE,5039,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5039,begin surface
$IRIDIUM_FIX,-7630.39,16427.50,251110,050514
$TT8_MAMPS,0.028462
$HUMID,52.59
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,13.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,18.9
$ALTIM_BOTTOM_PING,250.7,59.5
$24V_AH,22.0,19.627
$10V_AH,10.0,10.789
$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,12.675,74.675,426.725,0.000,0.000,99.256,17.360,0.000,1.250,0.000,181.532,1331.517,1706.005,570.624,1821.318,140.651,0.000,1266.306,0.000,989.107,0.000,7.207,0.000
$DEVICE_MAMPS,224.910,71.910,1001.385,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,406.528,820.499,992.402,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276020
$DATA_FILE_SIZE,40146,585
$CAP_FILE_SIZE,88187,0
$CFSIZE,260165632,250925056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,251110,053932,-7721.495,16437.059,181,99.0,181,144.9