version: 66.08
glider: 502
mission: 3
dive: 46
start: 11 25 110 10 1 28
data:
$ID,502
$MISSION,3
$DIVE,46
$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,-16920.053
$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,25
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.84,-175.2,0.0,0.0,0,172,0.00,0.00,-154.82,0.000,2,0.000,0.000,429,2608,3430,0,0,0,0,0,0
$GC,175,-0.84,-175.2,3.4,-3.2,24,197,9.15,1.90,-6.47,0.000,4,0.227,0.082,2783,3764,3679,0,0,0,0,0,0
$GC,441,-0.69,-175.2,57.2,-21.0,72,450,0.17,1.90,0.00,0.000,6,0.151,0.049,2838,2593,3681,0,0,0,0,0,0
$GC,583,-0.65,-175.2,77.9,-14.5,97,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2592,3681,0,0,0,0,0,0
$GC,720,-0.61,-175.2,97.1,-13.5,122,728,0.00,1.98,0.00,0.000,4,0.000,0.071,2831,3763,3681,0,0,0,0,0,0
$GC,759,-0.57,-175.2,103.1,-14.2,127,769,0.12,1.88,0.00,0.000,6,0.139,0.048,2873,2594,3681,0,0,0,0,0,0
$GC,896,-0.61,-175.2,118.0,-10.9,140,899,0.00,1.92,0.00,0.000,4,0.000,0.071,2867,3764,3681,0,0,0,0,0,0
$GC,922,-0.65,-175.2,121.3,-11.4,142,931,0.00,1.88,0.00,0.000,6,0.000,0.047,2867,2598,3682,0,0,0,0,0,0
$GC,1058,-0.67,-175.2,136.2,-11.3,155,1061,0.00,1.90,0.00,0.000,4,0.000,0.071,2860,3759,3681,0,0,0,0,0,0
$GC,1083,-0.67,-175.2,139.8,-12.0,157,1093,0.00,1.85,0.00,0.000,6,0.000,0.047,2860,2604,3681,0,0,0,0,0,0
$GC,1219,-0.67,-175.2,155.7,-12.1,170,1222,0.00,1.90,0.00,0.000,4,0.000,0.071,2852,3763,3681,0,0,0,0,0,0
$GC,1254,-0.67,-175.2,159.9,-12.6,173,1258,0.00,1.83,0.00,0.000,6,0.000,0.048,2852,2598,3681,0,0,0,0,0,0
$GC,1396,-0.67,-175.2,177.0,-11.9,186,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2596,3681,0,0,0,0,0,0
$GC,1522,-0.67,-175.2,192.9,-12.8,198,1525,0.00,1.90,0.00,0.000,4,0.000,0.070,2843,3760,3681,0,0,0,0,0,0
$GC,1568,-0.67,-175.2,199.7,-13.5,202,1578,0.00,1.85,0.00,0.000,6,0.000,0.047,2843,2604,3681,0,0,0,0,0,0
$GC,1704,-0.67,-175.2,216.9,-12.8,215,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2605,3681,0,0,0,0,0,0
$GC,1832,-0.67,-175.2,232.9,-12.3,227,1835,0.00,1.90,0.00,0.000,4,0.000,0.070,2834,3767,3681,0,0,0,0,0,0
$GC,1876,-0.67,-175.2,238.9,-13.3,231,1880,0.00,1.83,0.00,0.000,6,0.000,0.048,2834,2601,3681,0,0,0,0,0,0
$GC,2018,-1.04,-175.2,239.3,0.2,244,2020,0.28,0.00,0.00,0.000,6,0.080,0.000,2728,2597,3681,0,0,0,0,0,0
$STATE,2047,end dive,NO_VERTICAL_VELOCITY
$STATE,2047,begin apogee
$GC,2051,-0.17,0.0,239.4,0.0,247,2212,0.75,0.00,150.80,0.961,6,0.072,0.000,3014,2388,2960,0,0,0,0,0,0
$STATE,2213,end apogee,CONTROL_FINISHED_OK
$STATE,2213,begin climb
$GC,2214,0.84,175.2,239.4,0.0,260,2388,0.95,2.60,160.60,0.903,4,0.076,0.063,3326,3757,2244,0,0,0,0,0,0
$GC,2434,0.64,175.2,217.3,18.3,280,2439,0.25,2.33,0.00,0.000,6,0.166,0.047,3275,2409,2236,0,0,0,0,0,0
$GC,2569,0.62,192.6,200.3,11.2,292,2595,0.00,2.42,15.05,0.848,4,0.000,0.065,3275,3754,2174,0,0,0,0,0,0
$GC,2641,0.54,192.6,190.9,14.7,298,2646,0.17,2.28,0.00,0.000,6,0.160,0.047,3238,2397,2171,0,0,0,0,0,0
$GC,2776,0.63,236.4,177.1,10.0,310,2827,0.00,2.47,40.67,0.870,4,0.000,0.066,3239,3755,1995,0,0,0,0,0,0
$GC,2862,0.70,258.8,168.4,11.0,317,2890,0.12,2.30,21.40,0.832,6,0.083,0.047,3302,2389,1906,0,0,0,0,0,0
$GC,3016,0.66,258.8,146.8,14.8,331,3020,0.00,2.38,0.00,0.000,4,0.000,0.064,3302,3767,1896,0,0,0,0,0,0
$GC,3058,0.57,258.8,139.0,16.5,334,3068,0.20,2.30,0.00,0.000,6,0.141,0.048,3252,2409,1895,0,0,0,0,0,0
$GC,3196,0.68,290.9,124.0,10.5,347,3234,0.00,2.40,28.38,0.848,4,0.000,0.067,3253,3750,1772,0,0,0,0,0,0
$GC,3269,0.73,290.9,115.6,12.7,353,3274,0.12,2.28,0.00,0.000,6,0.085,0.048,3316,2381,1769,0,0,0,0,0,0
$GC,3402,0.68,290.9,94.4,16.4,368,3411,0.12,2.38,0.00,0.000,4,0.162,0.066,3284,3757,1765,0,0,0,0,0,0
$GC,3439,0.66,290.9,88.4,16.1,374,3447,0.00,2.25,0.00,0.000,6,0.000,0.050,3288,2408,1765,0,0,0,0,0,0
$GC,3579,0.66,290.9,69.0,14.1,399,3586,0.00,2.28,0.00,0.000,4,0.000,0.066,3288,3768,1763,0,0,0,0,0,0
$GC,3615,0.63,290.9,63.5,16.5,405,3622,0.00,2.22,0.00,0.000,6,0.000,0.049,3298,2399,1763,0,0,0,0,0,0
$GC,3752,0.63,290.9,42.9,14.7,430,3760,0.00,2.30,0.00,0.000,4,0.000,0.066,3298,3761,1762,0,0,0,0,0,0
$GC,3788,0.59,290.9,37.4,15.6,436,3796,0.15,2.22,0.00,0.000,6,0.141,0.050,3260,2404,1761,0,0,0,0,0,0
$GC,3929,0.73,341.4,22.5,9.7,461,3978,0.12,2.42,43.10,0.816,4,0.088,0.066,3318,3768,1568,0,0,0,0,0,0
$FREEZE,8.95,-1.900,-1.908,2,4,2
$FREEZE,7.75,-1.900,-1.907,2,4,2
$FREEZE,6.76,-1.900,-1.906,2,4,2
$GC,4031,0.68,341.4,6.8,18.4,477,4039,0.15,2.28,0.00,0.000,6,0.158,0.050,3287,2399,1562,0,0,0,0,0,0
$FREEZE,3.77,-1.899,-1.904,2,4,2
$FREEZE,2.92,-1.901,-1.903,2,4,2
$STATE,4050,end climb,SURFACE_DEPTH_REACHED
$STATE,4051,begin surface coast
$FREEZE,2.17,-1.900,-1.903,2,4,2
$FREEZE,1.47,-1.901,-1.902,2,4,2
$FREEZE,0.91,-1.901,-1.819,2,4,2
$FINISH,0.9,1.026712
$STATE,4070,end surface coast,CONTROL_FINISHED_OK
$STATE,4070,begin surface
$SM_CCo,4084,176.30,0.716,3,0,419,623.30
$SM_GC,1.24,0.00,0.00,176.30,0.000,0.000,0.716,430,2596,419,-8.24,-0.11,623.30
$IRIDIUM_FIX,-7630.39,16427.50,251110,050514
$TT8_MAMPS,0.027713
$HUMID,49.92
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.3,17.8
$24V_AH,22.1,18.984
$10V_AH,10.0,10.391
$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,20.700,69.150,460.000,176.300,0.000,98.971,17.088,0.000,0.750,0.000,182.535,1110.356,1221.495,720.223,1631.328,128.842,0.000,1347.793,0.000,805.099,0.000,2.619,0.000
$DEVICE_MAMPS,227.205,81.855,960.840,716.040,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,334.854,734.990,1004.023,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30401,483
$CAP_FILE_SIZE,78795,0
$CFSIZE,260165632,251146240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,251110,053932,-7721.495,16437.059,181,99.0,181,144.9