version: 66.08
glider: 502
mission: 3
dive: 40
start: 11 25 110 1 0 59
data:
$ID,502
$MISSION,3
$DIVE,40
$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,-15456.258
$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,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,-12.7
$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,13,begin dive
$GC,14,-0.84,-175.2,0.0,0.0,0,172,0.00,0.00,-154.98,0.000,2,0.000,0.000,428,2602,3426,0,0,0,0,0,0
$GC,175,-0.84,-175.2,3.5,-3.2,24,196,9.23,0.00,-6.50,0.000,6,0.230,0.000,2788,2604,3679,0,0,0,0,0,0
$GC,329,-0.69,-175.2,34.9,-18.8,51,336,0.17,0.00,0.00,0.000,6,0.177,0.000,2837,2603,3681,0,0,0,0,0,0
$GC,467,-0.65,-175.2,55.4,-13.9,76,474,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2604,3682,0,0,0,0,0,0
$GC,607,-0.60,-175.2,74.8,-14.0,101,614,0.12,1.92,0.00,0.000,4,0.170,0.072,2866,3763,3682,0,0,0,0,0,0
$GC,644,-0.63,-175.2,79.8,-13.0,107,651,0.00,1.85,0.00,0.000,6,0.000,0.047,2866,2593,3681,0,0,0,0,0,0
$GC,782,-0.65,-175.2,95.9,-11.5,132,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2591,3681,0,0,0,0,0,0
$GC,927,-0.67,-175.2,112.2,-11.6,148,931,0.00,1.92,0.00,0.000,4,0.000,0.071,2858,3762,3681,0,0,0,0,0,0
$GC,963,-0.67,-175.2,116.6,-12.1,151,966,0.00,1.83,0.00,0.000,6,0.000,0.047,2858,2600,3682,0,0,0,0,0,0
$GC,1104,-0.67,-175.2,133.3,-11.9,164,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2597,3682,0,0,0,0,0,0
$GC,1230,-0.67,-175.2,148.3,-11.8,176,1234,0.00,1.92,0.00,0.000,4,0.000,0.071,2854,3771,3682,0,0,0,0,0,0
$GC,1264,-0.67,-175.2,152.5,-12.3,179,1268,0.00,1.85,0.00,0.000,6,0.000,0.048,2854,2592,3682,0,0,0,0,0,0
$GC,1406,-0.67,-175.2,169.4,-12.1,192,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2590,3682,0,0,0,0,0,0
$GC,1532,-0.67,-175.2,184.8,-12.3,204,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2590,3682,0,0,0,0,0,0
$GC,1659,-0.67,-175.2,200.3,-12.6,216,1663,0.00,1.92,0.00,0.000,4,0.000,0.071,2846,3764,3682,0,0,0,0,0,0
$GC,1695,-0.67,-175.2,204.7,-12.6,219,1698,0.00,1.83,0.00,0.000,6,0.000,0.048,2845,2600,3681,0,0,0,0,0,0
$GC,1835,-0.67,-175.2,222.7,-12.7,232,1836,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2597,3681,0,0,0,0,0,0
$GC,1962,-0.67,-175.2,238.7,-12.5,244,1966,0.00,1.92,0.00,0.000,4,0.000,0.072,2839,3774,3681,0,0,0,0,0,0
$GC,2007,-0.67,-175.2,244.6,-13.0,248,2011,0.00,1.85,0.00,0.000,6,0.000,0.050,2839,2597,3681,0,0,0,0,0,0
$GC,2146,-0.65,-175.2,263.0,-13.3,261,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2594,3681,0,0,0,0,0,0
$STATE,2295,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2295,begin apogee
$GC,2299,-0.17,0.0,282.8,13.4,275,2455,0.52,0.00,151.52,0.991,6,0.137,0.000,3007,2387,2961,0,0,0,0,0,0
$STATE,2456,end apogee,CONTROL_FINISHED_OK
$STATE,2456,begin climb
$GC,2457,0.84,175.2,289.8,0.0,289,2626,1.00,2.50,160.35,0.920,4,0.085,0.055,3337,1006,2247,0,0,0,0,0,0
$GC,2676,0.73,175.2,269.2,14.4,308,2684,0.15,2.47,0.00,0.000,6,0.163,0.057,3301,2405,2237,0,0,0,0,0,0
$GC,2876,0.64,175.2,242.1,14.0,327,2880,0.12,2.30,0.00,0.000,4,0.183,0.065,3271,3768,2231,0,0,0,0,0,0
$GC,2982,0.55,175.2,227.6,13.7,336,2987,0.15,2.22,0.00,0.000,6,0.174,0.047,3242,2407,2229,0,0,0,0,0,0
$GC,3116,0.62,234.2,214.2,9.3,348,3179,0.00,2.45,52.10,0.903,4,0.000,0.066,3242,3760,2004,0,0,0,0,0,0
$GC,3226,0.66,246.5,203.1,11.4,357,3243,0.00,2.28,12.02,0.825,6,0.000,0.047,3248,2396,1956,0,0,0,0,0,0
$GC,3375,0.78,291.9,188.1,9.9,370,3426,0.20,2.47,41.35,0.877,4,0.067,0.064,3334,3761,1770,0,0,0,0,0,0
$GC,3472,0.64,291.9,171.2,20.1,378,3477,0.25,2.30,0.00,0.000,6,0.161,0.047,3278,2400,1765,0,0,0,0,0,0
$GC,3607,0.67,291.9,152.3,12.6,390,3611,0.00,2.33,0.00,0.000,4,0.000,0.065,3278,3765,1760,0,0,0,0,0,0
$GC,3637,0.67,291.9,147.6,14.5,392,3647,0.00,2.30,0.00,0.000,6,0.000,0.048,3287,2402,1760,0,0,0,0,0,0
$GC,3774,0.67,291.9,129.2,14.0,405,3778,0.00,2.30,0.00,0.000,4,0.000,0.067,3287,3772,1758,0,0,0,0,0,0
$GC,3805,0.64,291.9,123.9,15.2,407,3815,0.00,2.28,0.00,0.000,6,0.000,0.049,3297,2399,1758,0,0,0,0,0,0
$GC,3941,0.64,291.9,104.2,14.6,420,3945,0.00,2.28,0.00,0.000,4,0.000,0.066,3297,3768,1756,0,0,0,0,0,0
$GC,3979,0.59,291.9,97.9,16.5,424,3988,0.15,2.25,0.00,0.000,6,0.138,0.050,3260,2402,1755,0,0,0,0,0,0
$GC,4122,0.69,316.1,81.8,10.9,449,4150,0.00,2.30,20.35,0.846,4,0.000,0.064,3259,3761,1670,0,0,0,0,0,0
$GC,4177,0.75,316.1,75.2,12.4,458,4186,0.10,2.28,0.00,0.000,6,0.053,0.049,3318,2396,1668,0,0,0,0,0,0
$GC,4319,0.71,316.1,53.6,15.9,483,4326,0.00,2.30,0.00,0.000,4,0.000,0.065,3318,3773,1665,0,0,0,0,0,0
$GC,4355,0.63,316.1,47.1,18.5,489,4363,0.20,2.25,0.00,0.000,6,0.155,0.049,3273,2388,1664,0,0,0,0,0,0
$GC,4496,0.72,334.7,29.7,11.1,514,4518,0.00,2.40,16.92,0.815,4,0.000,0.065,3273,3768,1595,0,0,0,0,0,0
$GC,4546,0.76,334.7,23.1,13.6,522,4555,0.00,2.28,0.00,0.000,6,0.000,0.049,3282,2403,1592,0,0,0,0,0,0
$FREEZE,8.99,-1.860,-1.908,2,12,2
$FREEZE,8.30,-1.863,-1.907,2,12,2
$FREEZE,7.62,-1.864,-1.907,2,12,2
$FREEZE,6.99,-1.862,-1.906,2,12,2
$FREEZE,6.10,-1.859,-1.905,2,12,2
$FREEZE,5.59,-1.859,-1.905,2,12,2
$GC,4690,0.82,334.7,5.6,12.6,547,4697,0.12,2.30,0.00,0.000,4,0.087,0.068,3339,3763,1589,0,0,0,0,0,0
$FREEZE,3.33,-1.844,-1.903,2,12,2
$FREEZE,2.11,-1.845,-1.902,2,12,2
$STATE,4709,end climb,SURFACE_DEPTH_REACHED
$STATE,4709,begin surface coast
$FREEZE,1.11,-1.844,-1.902,2,12,2
$FREEZE,0.90,-1.838,-1.683,2,12,2
$FINISH,0.9,1.024763
$STATE,4723,end surface coast,CONTROL_FINISHED_OK
$STATE,4723,begin surface
$SM_CCo,4740,171.98,0.741,2,0,419,623.30
$SM_GC,1.20,0.00,0.00,171.98,0.000,0.000,0.741,428,2584,419,-8.24,-0.45,623.30
$IRIDIUM_FIX,-7639.69,16521.92,241110,060614
$TT8_MAMPS,0.028462
$HUMID,50.55
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,19.2
$ALTIM_BOTTOM_PING,250.5,46.0
$24V_AH,22.1,17.996
$10V_AH,10.0,9.888
$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,20.375,69.900,454.625,171.975,0.000,98.885,16.996,0.000,1.250,0.000,182.603,1290.874,1562.817,715.277,1747.423,140.143,0.000,1367.945,0.000,933.385,0.000,7.172,0.000
$DEVICE_MAMPS,229.500,71.910,990.675,741.285,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,384.219,787.324,970.051,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37095,552
$CAP_FILE_SIZE,86094,0
$CFSIZE,260165632,251400192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,241110,061114,-7725.182,16528.590,181,99.0,181,143.7