version: 66.08
glider: 502
mission: 3
dive: 45
start: 11 25 110 8 32 41
data:
$ID,502
$MISSION,3
$DIVE,45
$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,-16553.994
$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,28
$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,1.16
$_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,-155.38,0.000,2,0.000,0.000,422,2614,3429,0,0,0,0,0,0
$GC,176,-0.84,-175.2,3.5,-3.4,24,198,9.20,2.33,-6.47,0.000,4,0.228,0.069,2789,1182,3678,0,0,0,0,0,0
$GC,407,-0.76,-175.2,45.0,-15.5,65,414,0.15,2.35,0.00,0.000,6,0.181,0.064,2819,2592,3681,0,0,0,0,0,0
$GC,547,-0.67,-175.2,66.3,-14.8,90,555,0.00,1.95,0.00,0.000,4,0.000,0.070,2812,3762,3681,0,0,0,0,0,0
$GC,601,-0.60,-175.2,74.8,-15.6,99,608,0.20,1.85,0.00,0.000,6,0.155,0.048,2870,2592,3682,0,0,0,0,0,0
$GC,742,-0.62,-175.2,91.0,-10.5,124,750,0.00,1.98,0.00,0.000,4,0.000,0.072,2867,3763,3681,0,0,0,0,0,0
$GC,774,-0.65,-175.2,94.8,-11.3,129,781,0.00,1.85,0.00,0.000,6,0.000,0.047,2867,2591,3681,0,0,0,0,0,0
$GC,917,-0.68,-175.2,110.7,-10.9,146,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2590,3681,0,0,0,0,0,0
$GC,1044,-0.70,-175.2,124.7,-11.1,158,1048,0.00,1.92,0.00,0.000,4,0.000,0.071,2859,3764,3681,0,0,0,0,0,0
$GC,1091,-0.74,-175.2,130.6,-12.2,162,1101,0.00,1.88,0.00,0.000,6,0.000,0.047,2859,2599,3681,0,0,0,0,0,0
$GC,1227,-0.74,-175.2,145.9,-11.6,175,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2598,3681,0,0,0,0,0,0
$GC,1355,-0.74,-175.2,160.8,-11.5,187,1358,0.00,1.92,0.00,0.000,4,0.000,0.071,2854,3773,3681,0,0,0,0,0,0
$GC,1402,-0.76,-175.2,166.9,-12.0,191,1412,0.08,1.88,0.00,0.000,6,0.063,0.048,2800,2598,3681,0,0,0,0,0,0
$GC,1538,-0.65,-175.2,187.8,-16.4,204,1540,0.17,0.00,0.00,0.000,6,0.171,0.000,2849,2597,3681,0,0,0,0,0,0
$GC,1664,-0.65,-175.2,203.8,-11.9,216,1668,0.00,1.90,0.00,0.000,4,0.000,0.070,2841,3764,3681,0,0,0,0,0,0
$GC,1700,-0.65,-175.2,208.9,-13.7,219,1709,0.00,1.85,0.00,0.000,6,0.000,0.047,2841,2607,3680,0,0,0,0,0,0
$GC,1836,-0.63,-175.2,225.9,-13.0,232,1840,0.00,1.90,0.00,0.000,4,0.000,0.072,2832,3767,3680,0,0,0,0,0,0
$GC,1862,-0.60,-175.2,229.7,-14.1,234,1871,0.10,1.88,0.00,0.000,6,0.145,0.048,2866,2596,3681,0,0,0,0,0,0
$GC,1999,-0.63,-175.2,245.0,-10.8,247,2007,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2596,3681,0,0,0,0,0,0
$GC,2133,-0.98,-175.2,253.8,-0.0,260,2137,0.30,1.92,0.00,0.000,4,0.073,0.068,2743,3769,3681,0,0,0,0,0,0
$STATE,2242,end dive,NO_VERTICAL_VELOCITY
$STATE,2242,begin apogee
$GC,2248,-0.17,0.0,253.8,0.0,269,2406,0.73,0.00,150.60,0.968,6,0.082,0.000,3008,2398,2960,0,0,0,0,0,0
$STATE,2407,end apogee,CONTROL_FINISHED_OK
$STATE,2407,begin climb
$GC,2408,0.84,175.2,253.9,0.0,284,2577,0.98,2.42,160.80,0.914,4,0.080,0.063,3326,3770,2244,0,0,0,0,0,0
$GC,2614,0.64,175.2,234.1,17.3,302,2624,0.20,2.40,0.00,0.000,6,0.154,0.047,3281,2413,2236,0,0,0,0,0,0
$GC,2749,0.59,175.2,217.1,12.3,315,2754,0.00,2.35,0.00,0.000,4,0.000,0.065,3281,3772,2231,0,0,0,0,0,0
$GC,2800,0.48,175.2,210.2,14.4,319,2805,0.25,2.30,0.00,0.000,6,0.161,0.047,3222,2388,2230,0,0,0,0,0,0
$GC,2937,0.67,262.9,198.1,8.0,331,3024,0.17,2.55,77.43,0.885,4,0.070,0.063,3300,3764,1889,0,0,0,0,0,0
$GC,3081,0.58,262.9,177.4,17.9,343,3086,0.20,2.33,0.00,0.000,6,0.157,0.047,3259,2405,1880,0,0,0,0,0,0
$GC,3218,0.66,288.9,161.5,10.8,355,3247,0.00,2.42,23.30,0.849,4,0.000,0.066,3260,3772,1781,0,0,0,0,0,0
$GC,3277,0.70,290.0,154.6,11.9,360,3281,0.00,2.33,0.00,0.000,6,0.000,0.048,3261,2398,1778,0,0,0,0,0,0
$GC,3414,0.79,315.5,139.7,10.8,372,3444,0.17,2.40,24.05,0.847,4,0.072,0.063,3333,3771,1673,0,0,0,0,0,0
$GC,3479,0.68,315.5,128.7,19.6,377,3484,0.22,2.30,0.00,0.000,6,0.159,0.047,3284,2396,1668,0,0,0,0,0,0
$GC,3615,0.71,315.5,109.9,13.0,389,3619,0.00,2.33,0.00,0.000,4,0.000,0.065,3284,3774,1664,0,0,0,0,0,0
$GC,3635,0.71,315.5,106.6,13.0,390,3644,0.00,2.28,0.00,0.000,6,0.000,0.047,3292,2407,1663,0,0,0,0,0,0
$GC,3770,0.71,315.5,88.4,14.0,410,3778,0.00,2.30,0.00,0.000,4,0.000,0.065,3292,3758,1661,0,0,0,0,0,0
$GC,3805,0.71,315.5,83.0,15.5,416,3814,0.00,2.25,0.00,0.000,6,0.000,0.047,3300,2394,1661,0,0,0,0,0,0
$GC,3946,0.71,315.5,62.6,14.5,441,3953,0.00,2.28,0.00,0.000,4,0.000,0.064,3300,3767,1660,0,0,0,0,0,0
$GC,3975,0.68,315.5,57.8,16.3,446,3983,0.00,2.25,0.00,0.000,6,0.000,0.048,3310,2395,1660,0,0,0,0,0,0
$GC,4116,0.66,315.5,35.8,16.6,471,4123,0.12,2.28,0.00,0.000,4,0.168,0.065,3277,3770,1660,0,0,0,0,0,0
$GC,4152,0.66,315.5,30.1,15.0,477,4159,0.00,2.20,0.00,0.000,6,0.000,0.047,3285,2399,1660,0,0,0,0,0,0
$GC,4293,0.69,315.5,11.5,13.3,502,4301,0.00,2.30,0.00,0.000,4,0.000,0.066,3285,3770,1659,0,0,0,0,0,0
$FREEZE,8.58,-1.884,-1.907,2,3,0
$FREEZE,7.66,-1.888,-1.907,2,3,0
$FREEZE,6.85,-1.884,-1.906,2,3,0
$GC,4327,0.69,315.5,6.9,13.9,507,4333,0.00,2.20,0.00,0.000,6,0.000,0.050,3294,2399,1659,0,0,0,0,0,0
$FREEZE,4.57,-1.885,-1.904,2,3,0
$FREEZE,3.86,-1.885,-1.904,2,3,0
$FREEZE,3.24,-1.885,-1.903,2,3,0
$FREEZE,2.30,-1.885,-1.903,2,3,0
$STATE,4356,end climb,SURFACE_DEPTH_REACHED
$STATE,4357,begin surface coast
$FREEZE,1.70,-1.885,-1.902,2,3,0
$FREEZE,0.98,-1.886,-1.902,2,3,0
$FREEZE,0.88,-1.888,-1.808,2,3,0
$FINISH,0.9,1.026550
$STATE,4376,end surface coast,FINISH_DEPTH_REACHED
$STATE,4376,begin surface
$SM_CCo,4391,174.12,0.760,1,0,419,623.30
$SM_GC,1.16,0.00,0.00,174.12,0.000,0.000,0.760,429,2608,419,-8.24,0.23,623.30
$IRIDIUM_FIX,-7630.39,16427.50,251110,050514
$TT8_MAMPS,0.027713
$HUMID,50.82
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,18.5
$24V_AH,22.1,18.828
$10V_AH,10.0,10.307
$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,20.925,78.350,436.175,174.125,0.000,99.156,17.702,0.000,1.250,0.000,181.519,1209.181,1353.091,718.914,1687.276,137.486,0.000,1352.414,0.000,875.919,0.000,6.930,0.000
$DEVICE_MAMPS,227.970,72.675,967.725,760.410,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,357.749,753.778,967.267,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33808,515
$CAP_FILE_SIZE,85296,0
$CFSIZE,260165632,251183104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,251110,053932,-7721.495,16437.059,181,99.0,181,144.9