version: 66.08
glider: 502
mission: 3
dive: 36
start: 11 24 110 17 39 42
data:
$ID,502
$MISSION,3
$DIVE,36
$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,-13992.577
$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,22
$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,1.14
$_SM_ANGLEo,-12.8
$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,-175.2,0.0,0.0,0,168,0.00,0.00,-150.25,0.000,2,0.000,0.000,425,2610,3372,0,0,0,0,0,0
$GC,170,-0.84,-175.2,3.0,-1.8,23,198,9.32,2.38,-8.50,0.000,4,0.232,0.071,2788,1191,3680,0,0,0,0,0,0
$GC,226,-0.75,-175.2,14.8,-16.6,32,235,0.12,2.38,0.00,0.000,6,0.161,0.063,2818,2589,3681,0,0,0,0,0,0
$GC,368,-0.69,-175.2,37.2,-16.3,57,374,0.00,1.95,0.00,0.000,4,0.000,0.070,2810,3772,3681,0,0,0,0,0,0
$GC,408,-0.62,-175.2,43.6,-14.9,64,416,0.15,1.92,0.00,0.000,6,0.140,0.049,2860,2590,3681,0,0,0,0,0,0
$GC,550,-0.64,-175.2,60.7,-11.9,89,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2589,3681,0,0,0,0,0,0
$GC,686,-0.68,-175.2,76.7,-10.8,114,694,0.00,2.00,0.00,0.000,4,0.000,0.072,2854,3768,3681,0,0,0,0,0,0
$GC,733,-0.72,-175.2,82.3,-11.6,122,741,0.00,1.90,0.00,0.000,6,0.000,0.048,2854,2594,3682,0,0,0,0,0,0
$GC,874,-0.72,-175.2,98.5,-12.0,147,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2594,3681,0,0,0,0,0,0
$GC,1015,-0.72,-175.2,114.9,-11.5,161,1018,0.00,1.92,0.00,0.000,4,0.000,0.070,2845,3766,3681,0,0,0,0,0,0
$GC,1060,-0.75,-175.2,120.5,-12.8,165,1064,0.00,1.83,0.00,0.000,6,0.000,0.047,2845,2603,3681,0,0,0,0,0,0
$GC,1200,-0.75,-175.2,137.8,-12.6,178,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2600,3681,0,0,0,0,0,0
$GC,1328,-0.75,-175.2,153.5,-12.2,190,1331,0.00,1.95,0.00,0.000,4,0.000,0.073,2841,3770,3681,0,0,0,0,0,0
$GC,1362,-0.75,-175.2,157.7,-13.0,193,1366,0.00,1.85,0.00,0.000,6,0.000,0.048,2841,2591,3681,0,0,0,0,0,0
$GC,1504,-0.75,-175.2,175.0,-12.3,206,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2590,3681,0,0,0,0,0,0
$GC,1630,-0.75,-175.2,190.7,-12.2,218,1633,0.00,1.92,0.00,0.000,4,0.000,0.071,2833,3765,3681,0,0,0,0,0,0
$GC,1666,-0.75,-175.2,195.8,-13.3,221,1675,0.00,1.88,0.00,0.000,6,0.000,0.048,2832,2596,3681,0,0,0,0,0,0
$GC,1801,-0.75,-175.2,212.3,-12.1,234,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2596,3681,0,0,0,0,0,0
$GC,1928,-0.75,-175.2,227.9,-12.1,246,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2596,3681,0,0,0,0,0,0
$GC,2056,-0.75,-175.2,243.5,-12.4,258,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2596,3681,0,0,0,0,0,0
$GC,2182,-0.75,-175.2,259.2,-12.6,270,2186,0.00,1.92,0.00,0.000,4,0.000,0.071,2832,3769,3681,0,0,0,0,0,0
$GC,2233,-0.75,-175.2,265.5,-11.8,274,2240,0.00,1.85,0.00,0.000,6,0.000,0.049,2832,2599,3681,0,0,0,0,0,0
$GC,2430,-0.75,-175.2,289.7,-12.4,293,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2597,3681,0,0,0,0,0,0
$GC,2621,-0.75,-175.2,313.7,-12.2,311,2625,0.00,1.95,0.00,0.000,4,0.000,0.071,2823,3763,3681,0,0,0,0,0,0
$GC,2680,-0.75,-175.2,321.8,-13.0,316,2689,0.00,1.85,0.00,0.000,6,0.000,0.048,2823,2604,3681,0,0,0,0,0,0
$GC,2881,-0.71,-175.2,346.9,-12.9,335,2884,0.00,1.90,0.00,0.000,4,0.000,0.072,2814,3765,3681,0,0,0,0,0,0
$GC,2917,-0.67,-175.2,352.2,-14.1,338,2922,0.12,1.83,0.00,0.000,6,0.173,0.049,2848,2597,3681,0,0,0,0,0,0
$GC,3121,-0.70,-175.2,374.0,-10.4,357,3125,0.00,1.95,0.00,0.000,4,0.000,0.071,2841,3759,3681,0,0,0,0,0,0
$GC,3161,-0.73,-175.2,378.6,-11.8,360,3168,0.00,1.83,0.00,0.000,6,0.000,0.048,2840,2599,3681,0,0,0,0,0,0
$GC,3358,-0.73,-175.2,400.8,-11.1,379,3362,0.00,1.92,0.00,0.000,4,0.000,0.072,2832,3773,3681,0,0,0,0,0,0
$STATE,3370,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3370,begin apogee
$GC,3376,-0.17,0.0,402.1,11.0,380,3540,0.52,0.00,154.82,1.071,6,0.134,0.000,3001,2398,2960,0,0,0,0,0,0
$STATE,3541,end apogee,CONTROL_FINISHED_OK
$STATE,3541,begin climb
$GC,3542,0.84,175.2,408.8,0.0,395,3717,1.00,2.58,163.60,1.011,4,0.083,0.056,3335,989,2243,0,0,0,0,0,0
$GC,3786,0.72,175.2,382.3,16.1,417,3791,0.15,2.47,0.00,0.000,6,0.165,0.057,3299,2403,2233,0,0,0,0,0,0
$GC,3984,0.60,175.2,352.3,14.8,435,3988,0.15,2.30,0.00,0.000,4,0.182,0.063,3262,3761,2229,0,0,0,0,0,0
$GC,4115,0.51,175.2,333.9,13.8,446,4120,0.15,2.22,0.00,0.000,6,0.174,0.048,3232,2401,2227,0,0,0,0,0,0
$GC,4312,0.60,225.9,314.0,9.7,464,4367,0.00,2.47,44.72,0.981,4,0.000,0.067,3231,3765,2038,0,0,0,0,0,0
$GC,4425,0.62,243.8,302.2,11.2,474,4448,0.00,2.28,17.15,0.926,6,0.000,0.048,3235,2397,1967,0,0,0,0,0,0
$GC,4640,0.74,293.8,280.9,9.7,494,4696,0.20,2.47,45.80,0.945,4,0.068,0.065,3322,3757,1761,0,0,0,0,0,0
$GC,4756,0.63,293.8,260.0,19.6,504,4765,0.20,2.33,0.00,0.000,6,0.143,0.049,3274,2410,1754,0,0,0,0,0,0
$GC,4956,0.63,293.8,233.3,13.4,523,4960,0.00,2.30,0.00,0.000,4,0.000,0.066,3274,3768,1750,0,0,0,0,0,0
$GC,4986,0.63,293.8,228.6,14.7,525,4996,0.00,2.30,0.00,0.000,6,0.000,0.050,3283,2400,1749,0,0,0,0,0,0
$GC,5124,0.63,293.8,210.0,14.0,538,5128,0.00,2.28,0.00,0.000,4,0.000,0.066,3283,3762,1746,0,0,0,0,0,0
$GC,5164,0.59,293.8,203.8,16.1,541,5168,0.15,2.22,0.00,0.000,6,0.165,0.050,3253,2392,1746,0,0,0,0,0,0
$GC,5298,0.67,311.8,187.8,11.2,553,5319,0.00,0.00,14.90,0.903,6,0.000,0.000,3253,2389,1687,0,0,0,0,0,0
$GC,5448,0.79,342.9,171.9,10.6,567,5486,0.20,2.42,29.17,0.900,4,0.067,0.064,3337,3764,1559,0,0,0,0,0,0
$GC,5555,0.68,342.9,151.1,21.6,576,5559,0.22,2.25,0.00,0.000,6,0.159,0.050,3286,2400,1554,0,0,0,0,0,0
$GC,5689,0.71,342.9,129.9,14.2,588,5690,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,2397,1551,0,0,0,0,0,0
$GC,5817,0.73,342.9,112.3,13.6,600,5821,0.00,2.28,0.00,0.000,4,0.000,0.066,3286,3765,1550,0,0,0,0,0,0
$GC,5867,0.73,342.9,104.4,16.7,604,5871,0.00,2.22,0.00,0.000,6,0.000,0.050,3294,2389,1550,0,0,0,0,0,0
$GC,6003,0.73,342.9,83.5,14.9,625,6009,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,2386,1549,0,0,0,0,0,0
$GC,6139,0.73,342.9,63.0,14.9,650,6147,0.00,2.30,0.00,0.000,4,0.000,0.066,3294,3757,1548,0,0,0,0,0,0
$GC,6196,0.73,342.9,53.8,16.0,660,6204,0.00,2.22,0.00,0.000,6,0.000,0.050,3303,2400,1548,0,0,0,0,0,0
$GC,6336,0.73,342.9,32.0,16.1,685,6343,0.00,2.25,0.00,0.000,4,0.000,0.067,3303,3762,1547,0,0,0,0,0,0
$GC,6365,0.70,342.9,26.8,17.0,690,6373,0.00,2.22,0.00,0.000,6,0.000,0.050,3313,2401,1547,0,0,0,0,0,0
$FREEZE,8.53,-1.736,-1.908,2,8,2
$FREEZE,7.51,-1.733,-1.907,2,8,2
$FREEZE,6.69,-1.737,-1.906,2,8,2
$FREEZE,5.60,-1.733,-1.906,2,8,2
$FREEZE,4.72,-1.732,-1.905,2,8,2
$FREEZE,3.78,-1.736,-1.904,2,8,2
$FREEZE,2.87,-1.735,-1.904,2,8,2
$STATE,6507,end climb,SURFACE_DEPTH_REACHED
$STATE,6507,begin surface coast
$FREEZE,1.69,-1.733,-1.902,2,8,2
$FREEZE,0.94,-1.751,-1.671,2,8,2
$FREEZE,0.98,-1.758,-1.675,2,8,2
$FINISH,1.0,1.024643
$STATE,6526,end surface coast,CONTROL_FINISHED_OK
$STATE,6526,begin surface
$SM_CCo,6540,167.60,0.758,1,0,419,623.30
$SM_GC,1.17,0.00,0.00,167.60,0.000,0.000,0.758,430,2600,419,-8.23,0.00,623.30
$IRIDIUM_FIX,-7639.69,16521.92,241110,060614
$TT8_MAMPS,0.028462
$HUMID,51.14
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,18.4
$ALTIM_BOTTOM_PING,350.2,66.4
$24V_AH,22.0,17.346
$10V_AH,10.0,9.528
$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,20.400,89.850,470.175,167.600,0.000,98.594,17.984,0.000,2.000,0.000,181.563,1691.338,2601.190,763.071,2036.224,147.946,0.000,1558.602,0.000,1219.413,0.000,10.661,0.000
$DEVICE_MAMPS,231.795,79.560,1071.000,758.115,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,501.678,904.428,948.039,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47135,718
$CAP_FILE_SIZE,106666,0
$CFSIZE,260165632,251576320
$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