version: 66.08
glider: 502
mission: 3
dive: 38
start: 11 24 110 21 35 7
data:
$ID,502
$MISSION,3
$DIVE,38
$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,-14724.893
$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,24
$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,1.19
$_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,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,-155.60,0.000,2,0.000,0.000,425,2611,3492,0,0,0,0,0,0
$GC,176,-0.84,-175.2,3.7,-4.3,24,198,9.27,1.95,-4.55,0.000,4,0.230,0.080,2782,3769,3679,0,0,0,0,0,0
$GC,269,-0.69,-175.2,26.7,-19.3,40,278,0.17,1.92,0.00,0.000,6,0.153,0.050,2837,2593,3680,0,0,0,0,0,0
$GC,411,-0.64,-175.2,47.8,-15.1,65,417,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2593,3681,0,0,0,0,0,0
$GC,548,-0.60,-175.2,67.7,-14.2,90,556,0.12,0.00,0.00,0.000,6,0.167,0.000,2872,2593,3681,0,0,0,0,0,0
$GC,689,-0.62,-175.2,83.7,-11.2,115,696,0.00,1.95,0.00,0.000,4,0.000,0.071,2867,3765,3681,0,0,0,0,0,0
$GC,729,-0.66,-175.2,88.6,-11.6,122,737,0.00,1.90,0.00,0.000,6,0.000,0.048,2867,2592,3681,0,0,0,0,0,0
$GC,875,-0.66,-175.2,105.0,-11.5,144,879,0.00,1.92,0.00,0.000,4,0.000,0.070,2859,3763,3682,0,0,0,0,0,0
$GC,900,-0.66,-175.2,108.7,-12.4,146,910,0.00,1.88,0.00,0.000,6,0.000,0.047,2860,2600,3681,0,0,0,0,0,0
$GC,1036,-0.66,-175.2,124.7,-12.2,159,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2600,3682,0,0,0,0,0,0
$GC,1164,-0.66,-175.2,140.3,-11.9,171,1168,0.00,1.95,0.00,0.000,4,0.000,0.072,2853,3771,3681,0,0,0,0,0,0
$GC,1199,-0.66,-175.2,144.6,-12.7,174,1202,0.00,1.85,0.00,0.000,6,0.000,0.049,2853,2597,3681,0,0,0,0,0,0
$GC,1340,-0.66,-175.2,162.5,-12.6,187,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2594,3682,0,0,0,0,0,0
$GC,1466,-0.66,-175.2,178.6,-12.7,199,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2594,3682,0,0,0,0,0,0
$GC,1593,-0.66,-175.2,194.7,-12.8,211,1597,0.00,1.92,0.00,0.000,4,0.000,0.071,2843,3768,3682,0,0,0,0,0,0
$GC,1638,-0.66,-175.2,200.5,-13.2,215,1642,0.00,1.85,0.00,0.000,6,0.000,0.050,2843,2593,3682,0,0,0,0,0,0
$GC,1779,-0.64,-175.2,218.3,-13.0,228,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2591,3681,0,0,0,0,0,0
$GC,1906,-0.62,-175.2,235.1,-13.0,240,1910,0.00,1.92,0.00,0.000,4,0.000,0.072,2842,3763,3682,0,0,0,0,0,0
$GC,1941,-0.62,-175.2,239.9,-13.4,243,1944,0.00,1.83,0.00,0.000,6,0.000,0.049,2842,2599,3681,0,0,0,0,0,0
$GC,2080,-0.59,-175.2,258.2,-13.3,256,2082,0.12,0.00,0.00,0.000,6,0.171,0.000,2876,2596,3681,0,0,0,0,0,0
$GC,2271,-0.64,-175.2,278.5,-10.6,274,2275,0.00,1.90,0.00,0.000,4,0.000,0.070,2869,3762,3681,0,0,0,0,0,0
$GC,2317,-0.70,-175.2,283.5,-11.0,278,2321,0.00,1.88,0.00,0.000,6,0.000,0.048,2869,2596,3681,0,0,0,0,0,0
$GC,2520,-0.74,-175.2,304.7,-10.4,297,2524,0.12,1.95,0.00,0.000,4,0.096,0.071,2798,3773,3681,0,0,0,0,0,0
$GC,2577,-0.65,-175.2,313.3,-16.0,302,2581,0.20,1.85,0.00,0.000,6,0.157,0.050,2857,2595,3681,0,0,0,0,0,0
$STATE,2698,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2698,begin apogee
$GC,2702,-0.17,0.0,328.2,11.4,313,2859,0.45,0.00,152.32,1.021,6,0.132,0.000,3004,2387,2961,0,0,0,0,0,0
$STATE,2860,end apogee,CONTROL_FINISHED_OK
$STATE,2860,begin climb
$GC,2861,0.84,175.2,334.7,0.0,327,3037,1.00,2.58,161.95,0.956,4,0.085,0.056,3327,1003,2242,0,0,0,0,0,0
$GC,3098,0.75,175.2,312.3,13.1,348,3105,0.00,2.47,0.00,0.000,6,0.000,0.057,3328,2408,2233,0,0,0,0,0,0
$GC,3296,0.61,175.2,282.2,15.6,367,3301,0.25,2.30,0.00,0.000,4,0.163,0.063,3256,3763,2229,0,0,0,0,0,0
$GC,3407,0.54,175.2,267.9,12.0,376,3414,0.00,2.25,0.00,0.000,6,0.000,0.049,3266,2414,2226,0,0,0,0,0,0
$GC,3606,0.55,202.0,246.0,10.8,395,3635,0.00,2.38,22.58,0.923,4,0.000,0.067,3266,3764,2136,0,0,0,0,0,0
$GC,3700,0.49,202.0,233.9,12.9,403,3709,0.15,2.28,0.00,0.000,6,0.143,0.049,3229,2403,2132,0,0,0,0,0,0
$GC,3837,0.65,278.3,221.9,8.5,416,3912,0.15,2.50,69.80,0.921,4,0.078,0.066,3298,3760,1825,0,0,0,0,0,0
$GC,3961,0.59,278.3,203.7,16.6,426,3971,0.17,2.38,0.00,0.000,6,0.142,0.049,3257,2387,1818,0,0,0,0,0,0
$GC,4098,0.70,313.0,188.8,10.4,439,4136,0.00,2.42,30.12,0.884,4,0.000,0.065,3257,3759,1683,0,0,0,0,0,0
$GC,4172,0.76,313.0,180.7,12.2,445,4176,0.15,2.30,0.00,0.000,6,0.076,0.049,3326,2400,1678,0,0,0,0,0,0
$GC,4308,0.69,313.0,158.7,17.6,457,4316,0.15,0.00,0.00,0.000,6,0.158,0.000,3287,2398,1674,0,0,0,0,0,0
$GC,4443,0.71,313.0,139.9,13.2,470,4447,0.00,2.33,0.00,0.000,4,0.000,0.067,3287,3772,1673,0,0,0,0,0,0
$GC,4504,0.71,313.0,130.9,14.9,475,4508,0.00,2.25,0.00,0.000,6,0.000,0.050,3296,2395,1671,0,0,0,0,0,0
$GC,4640,0.71,313.0,112.2,13.9,487,4644,0.00,2.28,0.00,0.000,4,0.000,0.067,3296,3761,1671,0,0,0,0,0,0
$GC,4680,0.69,313.0,106.1,16.1,490,4684,0.00,2.20,0.00,0.000,6,0.000,0.050,3305,2400,1670,0,0,0,0,0,0
$GC,4813,0.69,313.0,85.8,14.8,510,4821,0.00,2.30,0.00,0.000,4,0.000,0.067,3306,3761,1669,0,0,0,0,0,0
$GC,4845,0.64,313.0,80.7,16.8,515,4853,0.15,2.20,0.00,0.000,6,0.161,0.050,3275,2399,1669,0,0,0,0,0,0
$GC,4987,0.72,323.4,63.1,11.5,540,5002,0.00,2.30,8.23,0.793,4,0.000,0.065,3275,3765,1641,0,0,0,0,0,0
$GC,5031,0.75,323.4,57.3,13.4,547,5038,0.00,2.22,0.00,0.000,6,0.000,0.050,3283,2396,1640,0,0,0,0,0,0
$GC,5169,0.80,323.4,40.1,13.1,572,5177,0.12,0.00,0.00,0.000,6,0.089,0.000,3341,2392,1639,0,0,0,0,0,0
$GC,5309,0.70,323.4,14.4,20.6,597,5317,0.17,2.28,0.00,0.000,4,0.158,0.064,3292,3762,1638,0,0,0,0,0,0
$FREEZE,8.47,-1.587,-1.907,2,10,2
$FREEZE,7.63,-1.584,-1.907,2,10,2
$FREEZE,6.68,-1.582,-1.906,2,10,2
$FREEZE,5.83,-1.580,-1.905,2,10,2
$FREEZE,4.95,-1.581,-1.905,2,10,2
$FREEZE,4.14,-1.573,-1.904,2,10,2
$FREEZE,3.18,-1.573,-1.903,2,10,2
$FREEZE,2.33,-1.566,-1.902,2,10,2
$STATE,5379,end climb,SURFACE_DEPTH_REACHED
$STATE,5379,begin surface coast
$FREEZE,1.17,-1.562,-1.901,2,10,2
$FINISH,1.2,1.027864
$STATE,5387,end surface coast,CONTROL_FINISHED_OK
$STATE,5387,begin surface
$SM_CCo,5403,176.75,0.764,1,0,419,623.30
$SM_GC,1.19,0.00,0.00,176.75,0.000,0.000,0.764,426,2592,419,-8.25,-0.23,623.30
$IRIDIUM_FIX,-7639.69,16521.92,241110,060614
$TT8_MAMPS,0.028462
$HUMID,51.69
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,18.7
$ALTIM_BOTTOM_PING,300.3,41.8
$24V_AH,22.0,17.676
$10V_AH,10.0,9.712
$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,20.675,76.850,445.000,176.750,0.000,98.762,17.693,0.000,1.500,0.000,181.578,1439.502,1969.901,720.699,1849.030,137.943,0.000,1427.090,0.000,1042.654,0.000,8.876,0.000
$DEVICE_MAMPS,230.265,80.325,1021.275,764.235,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,425.654,820.214,950.547,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40386,610
$CAP_FILE_SIZE,94289,0
$CFSIZE,260165632,251494400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,241110,061114,-7725.182,16528.590,181,99.0,181,143.7