version: 66.08
glider: 502
mission: 3
dive: 44
start: 11 25 110 7 6 37
data:
$ID,502
$MISSION,3
$DIVE,44
$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,-16188.967
$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,27
$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
$GPS1,251110,053932,-7721.495,16437.059,181,99.0,181,144.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-12.6
$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,-155.20,0.000,2,0.000,0.000,427,2587,3398,0,0,0,0,0,0
$GC,176,-0.84,-175.2,3.3,-3.0,24,198,9.18,2.03,-7.53,0.000,4,0.229,0.084,2779,3764,3678,0,0,0,0,0,0
$GC,428,-0.68,-175.2,54.2,-19.4,69,436,0.22,1.85,0.00,0.000,6,0.162,0.047,2843,2594,3681,0,0,0,0,0,0
$GC,568,-0.65,-175.2,74.3,-13.8,94,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2594,3682,0,0,0,0,0,0
$GC,708,-0.62,-175.2,93.0,-12.9,119,715,0.00,1.92,0.00,0.000,4,0.000,0.070,2836,3764,3682,0,0,0,0,0,0
$GC,737,-0.59,-175.2,97.3,-13.9,124,746,0.10,1.88,0.00,0.000,6,0.144,0.046,2869,2593,3682,0,0,0,0,0,0
$GC,881,-0.62,-175.2,113.2,-10.9,139,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2593,3682,0,0,0,0,0,0
$GC,1009,-0.65,-175.2,127.0,-10.9,151,1013,0.00,1.92,0.00,0.000,4,0.000,0.070,2867,3771,3682,0,0,0,0,0,0
$GC,1055,-0.70,-175.2,132.2,-11.0,155,1059,0.00,1.83,0.00,0.000,6,0.000,0.046,2867,2600,3681,0,0,0,0,0,0
$GC,1196,-0.73,-175.2,147.4,-11.1,168,1200,0.10,1.92,0.00,0.000,4,0.108,0.070,2806,3767,3681,0,0,0,0,0,0
$GC,1221,-0.67,-175.2,151.2,-14.7,170,1231,0.10,1.85,0.00,0.000,6,0.153,0.047,2839,2607,3682,0,0,0,0,0,0
$GC,1357,-0.64,-175.2,169.1,-13.6,183,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2606,3681,0,0,0,0,0,0
$GC,1484,-0.61,-175.2,186.6,-14.0,195,1488,0.10,1.90,0.00,0.000,4,0.180,0.070,2860,3764,3681,0,0,0,0,0,0
$GC,1521,-0.63,-175.2,191.9,-12.5,198,1530,0.00,1.85,0.00,0.000,6,0.000,0.046,2860,2597,3681,0,0,0,0,0,0
$GC,1658,-0.63,-175.2,208.2,-12.3,211,1661,0.00,1.90,0.00,0.000,4,0.000,0.070,2855,3764,3681,0,0,0,0,0,0
$GC,1693,-0.63,-175.2,212.6,-12.7,214,1697,0.00,1.83,0.00,0.000,6,0.000,0.046,2854,2590,3681,0,0,0,0,0,0
$GC,1835,-0.63,-175.2,229.7,-12.0,227,1838,0.00,1.92,0.00,0.000,4,0.000,0.070,2845,3768,3681,0,0,0,0,0,0
$GC,1860,-0.63,-175.2,233.4,-13.1,229,1870,0.00,1.85,0.00,0.000,6,0.000,0.046,2845,2609,3681,0,0,0,0,0,0
$GC,1996,-0.63,-175.2,250.0,-12.4,242,1997,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2609,3681,0,0,0,0,0,0
$STATE,2009,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2010,begin apogee
$GC,2013,-0.17,0.0,251.2,12.7,243,2170,0.50,0.00,150.57,0.967,6,0.135,0.000,3007,2386,2960,0,0,0,0,0,0
$STATE,2170,end apogee,CONTROL_FINISHED_OK
$STATE,2170,begin climb
$GC,2172,0.84,175.2,258.5,0.0,257,2345,1.00,2.55,159.32,0.896,4,0.085,0.052,3338,994,2242,0,0,0,0,0,0
$GC,2415,0.74,175.2,233.8,14.5,279,2424,0.10,2.50,0.00,0.000,6,0.145,0.057,3308,2400,2233,0,0,0,0,0,0
$GC,2552,0.63,175.2,215.5,13.8,292,2557,0.15,2.33,0.00,0.000,4,0.174,0.064,3271,3763,2230,0,0,0,0,0,0
$GC,2646,0.55,175.2,202.5,13.6,300,2651,0.15,2.22,0.00,0.000,6,0.173,0.047,3242,2404,2227,0,0,0,0,0,0
$GC,2783,0.65,231.9,189.4,9.4,312,2837,0.00,2.40,49.30,0.877,4,0.000,0.065,3242,3764,2015,0,0,0,0,0,0
$GC,2864,0.70,253.0,181.2,11.0,318,2890,0.10,2.33,20.60,0.827,6,0.052,0.048,3303,2405,1928,0,0,0,0,0,0
$GC,3021,0.66,253.0,159.4,14.7,332,3025,0.00,2.33,0.00,0.000,4,0.000,0.066,3303,3764,1918,0,0,0,0,0,0
$GC,3061,0.58,253.0,152.6,17.0,335,3066,0.22,2.25,0.00,0.000,6,0.159,0.047,3253,2402,1918,0,0,0,0,0,0
$GC,3196,0.68,287.2,137.6,10.4,347,3234,0.00,2.38,29.88,0.848,4,0.000,0.063,3252,3770,1788,0,0,0,0,0,0
$GC,3259,0.74,290.9,130.8,11.8,352,3273,0.12,2.28,4.20,0.586,6,0.086,0.047,3316,2396,1775,0,0,0,0,0,0
$GC,3400,0.69,290.9,108.9,16.1,365,3404,0.00,2.30,0.00,0.000,4,0.000,0.064,3316,3767,1771,0,0,0,0,0,0
$GC,3429,0.62,290.9,103.4,18.3,367,3434,0.22,2.22,0.00,0.000,6,0.154,0.047,3265,2402,1771,0,0,0,0,0,0
$GC,3566,0.69,294.7,86.5,11.8,389,3581,0.00,2.35,3.88,0.591,4,0.000,0.065,3265,3768,1759,0,0,0,0,0,0
$GC,3594,0.73,294.7,83.0,12.2,393,3601,0.00,2.22,0.00,0.000,6,0.000,0.047,3273,2397,1759,0,0,0,0,0,0
$GC,3732,0.78,294.7,65.8,12.2,418,3741,0.12,2.33,0.00,0.000,4,0.086,0.067,3330,3764,1757,0,0,0,0,0,0
$GC,3758,0.74,294.7,61.8,15.7,422,3767,0.10,2.22,0.00,0.000,6,0.150,0.048,3309,2406,1757,0,0,0,0,0,0
$GC,3900,0.72,294.7,39.9,15.3,447,3907,0.00,2.25,0.00,0.000,4,0.000,0.065,3309,3767,1756,0,0,0,0,0,0
$GC,3929,0.67,294.7,34.8,16.8,452,3938,0.10,2.22,0.00,0.000,6,0.143,0.048,3286,2400,1755,0,0,0,0,0,0
$GC,4071,0.69,294.7,16.0,13.3,477,4078,0.00,2.25,0.00,0.000,4,0.000,0.064,3285,3768,1755,0,0,0,0,0,0
$GC,4100,0.69,294.7,11.6,14.5,482,4108,0.00,2.22,0.00,0.000,6,0.000,0.048,3294,2400,1755,0,0,0,0,0,0
$FREEZE,8.99,-1.849,-1.908,2,2,2
$FREEZE,8.20,-1.849,-1.907,2,2,2
$FREEZE,7.51,-1.849,-1.907,2,2,2
$FREEZE,6.80,-1.850,-1.906,2,2,2
$FREEZE,6.07,-1.850,-1.906,2,2,2
$FREEZE,5.15,-1.850,-1.905,2,2,2
$FREEZE,4.39,-1.850,-1.904,2,2,2
$FREEZE,3.56,-1.850,-1.904,2,2,2
$FREEZE,2.86,-1.851,-1.903,2,2,2
$STATE,4166,end climb,SURFACE_DEPTH_REACHED
$STATE,4166,begin surface coast
$FREEZE,1.89,-1.850,-1.902,2,2,2
$FREEZE,1.19,-1.854,-1.902,2,2,2
$FREEZE,0.90,-1.857,-1.894,2,2,2
$FREEZE,0.90,-1.856,-1.894,2,2,2
$FINISH,0.9,1.027778
$STATE,4191,end surface coast,CONTROL_FINISHED_OK
$STATE,4191,begin surface
$SM_CCo,4206,191.20,0.727,2,0,420,623.30
$SM_GC,1.14,0.00,0.00,191.20,0.000,0.000,0.727,423,2613,420,-8.26,0.37,623.30
$IRIDIUM_FIX,-7630.39,16427.50,251110,050514
$TT8_MAMPS,0.028462
$HUMID,50.15
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,19.1
$ALTIM_BOTTOM_PING,251.2,8.6
$24V_AH,22.1,18.674
$10V_AH,10.0,10.222
$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,20.350,73.275,417.750,191.200,0.000,99.043,17.706,0.000,1.250,0.000,181.505,1178.194,1270.350,717.835,1646.411,130.830,0.000,1330.121,0.000,848.256,0.000,7.068,0.000
$DEVICE_MAMPS,228.735,84.150,966.960,726.750,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,345.359,735.840,953.321,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276044
$DATA_FILE_SIZE,33692,497
$CAP_FILE_SIZE,84583,0
$CFSIZE,260165632,251228160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,251110,053932,-7721.495,16437.059,181,99.0,181,144.9