version: 66.08
glider: 502
mission: 3
dive: 48
start: 11 25 110 12 35 13
data:
$ID,502
$MISSION,3
$DIVE,48
$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,-17285.098
$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,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
$GPS1,251110,053932,-7721.495,16437.059,181,99.0,181,144.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.07
$_SM_ANGLEo,4.1
$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,14,-0.84,-175.2,0.0,0.0,0,25,0.00,0.00,-8.82,0.000,2,0.000,0.000,3057,3765,3325,0,0,0,0,0,0
$GC,27,-0.84,-175.2,6.1,-0.0,1,48,0.73,4.22,-10.48,0.000,4,0.091,0.060,2800,1171,3681,0,0,0,0,0,0
$GC,110,-0.79,-175.2,15.7,-14.5,15,116,0.00,2.38,0.00,0.000,6,0.000,0.063,2791,2608,3683,0,0,0,0,0,0
$GC,247,-0.66,-175.2,40.9,-17.3,40,256,0.20,1.92,0.00,0.000,4,0.172,0.066,2840,3765,3683,0,0,0,0,0,0
$GC,312,-0.66,-175.2,50.3,-12.1,51,319,0.00,1.88,0.00,0.000,6,0.000,0.049,2839,2581,3683,0,0,0,0,0,0
$GC,450,-0.64,-175.2,67.5,-13.1,76,458,0.00,1.98,0.00,0.000,4,0.000,0.070,2831,3757,3683,0,0,0,0,0,0
$GC,475,-0.61,-175.2,70.9,-13.8,80,483,0.10,1.85,0.00,0.000,6,0.143,0.048,2865,2608,3684,0,0,0,0,0,0
$GC,617,-0.64,-175.2,86.5,-10.7,105,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2608,3684,0,0,0,0,0,0
$GC,762,-0.68,-175.2,101.2,-9.7,130,766,0.00,1.90,0.00,0.000,4,0.000,0.071,2857,3768,3684,0,0,0,0,0,0
$GC,807,-0.72,-175.2,106.0,-10.4,134,811,0.00,1.85,0.00,0.000,6,0.000,0.048,2857,2589,3684,0,0,0,0,0,0
$GC,949,-0.74,-175.2,120.9,-10.5,147,952,0.00,1.92,0.00,0.000,4,0.000,0.073,2854,3761,3684,0,0,0,0,0,0
$GC,986,-0.78,-175.2,125.2,-10.2,150,995,0.08,1.85,0.00,0.000,6,0.063,0.047,2801,2607,3683,0,0,0,0,0,0
$GC,1123,-0.68,-175.2,146.0,-17.2,163,1131,0.15,0.00,0.00,0.000,6,0.177,0.000,2841,2607,3684,0,0,0,0,0,0
$GC,1257,-0.68,-175.2,164.2,-12.7,176,1261,0.00,1.90,0.00,0.000,4,0.000,0.071,2834,3763,3684,0,0,0,0,0,0
$GC,1293,-0.68,-175.2,169.6,-14.3,179,1303,0.00,1.88,0.00,0.000,6,0.000,0.048,2834,2594,3684,0,0,0,0,0,0
$GC,1430,-0.65,-175.2,188.8,-14.9,192,1433,0.00,1.92,0.00,0.000,4,0.000,0.070,2824,3773,3684,0,0,0,0,0,0
$GC,1455,-0.62,-175.2,193.3,-14.9,194,1465,0.10,1.88,0.00,0.000,6,0.141,0.047,2858,2602,3684,0,0,0,0,0,0
$GC,1592,-0.65,-175.2,210.7,-12.2,207,1595,0.00,1.90,0.00,0.000,4,0.000,0.070,2854,3765,3684,0,0,0,0,0,0
$GC,1617,-0.68,-175.2,214.2,-12.3,209,1627,0.00,1.85,0.00,0.000,6,0.000,0.047,2854,2607,3683,0,0,0,0,0,0
$GC,1753,-0.70,-175.2,230.4,-12.6,222,1757,0.00,1.90,0.00,0.000,4,0.000,0.070,2845,3771,3684,0,0,0,0,0,0
$GC,1778,-0.70,-175.2,234.1,-12.6,224,1788,0.00,1.88,0.00,0.000,6,0.000,0.048,2845,2596,3684,0,0,0,0,0,0
$GC,1915,-0.87,-175.2,246.6,-3.0,237,1919,0.17,1.92,0.00,0.000,4,0.083,0.070,2762,3763,3683,0,0,0,0,0,0
$STATE,2038,end dive,NO_VERTICAL_VELOCITY
$STATE,2038,begin apogee
$GC,2044,-0.17,0.0,246.5,0.0,248,2202,0.68,0.00,151.88,0.967,6,0.088,0.000,3006,2395,2960,0,0,0,0,0,0
$STATE,2203,end apogee,CONTROL_FINISHED_OK
$STATE,2203,begin climb
$GC,2204,0.84,175.2,246.6,0.0,261,2373,0.98,2.55,160.00,0.886,4,0.078,0.061,3325,3760,2245,0,0,0,0,0,0
$GC,2436,0.65,175.2,222.4,17.0,282,2446,0.20,2.38,0.00,0.000,6,0.148,0.046,3280,2402,2237,0,0,0,0,0,0
$GC,2574,0.61,175.2,205.7,12.1,295,2578,0.00,2.35,0.00,0.000,4,0.000,0.064,3280,3768,2231,0,0,0,0,0,0
$GC,2648,0.51,175.2,194.9,14.3,301,2658,0.17,2.33,0.00,0.000,6,0.148,0.047,3235,2388,2231,0,0,0,0,0,0
$GC,2785,0.65,251.3,182.4,8.5,314,2860,0.12,2.47,68.05,0.889,4,0.086,0.063,3295,3768,1933,0,0,0,0,0,0
$GC,2939,0.59,251.3,160.9,16.3,327,2944,0.17,2.33,0.00,0.000,6,0.158,0.047,3259,2392,1927,0,0,0,0,0,0
$GC,3075,0.67,281.8,145.5,10.6,339,3113,0.00,2.47,26.92,0.855,4,0.000,0.064,3259,3766,1810,0,0,0,0,0,0
$GC,3150,0.71,286.4,136.5,11.8,345,3161,0.00,2.33,5.32,0.674,6,0.000,0.048,3261,2403,1793,0,0,0,0,0,0
$GC,3287,0.79,301.7,121.4,11.3,358,3314,0.17,2.40,14.55,0.823,4,0.073,0.066,3334,3758,1728,0,0,0,0,0,0
$GC,3351,0.68,301.7,109.8,20.4,363,3361,0.17,2.30,0.00,0.000,6,0.145,0.048,3291,2399,1726,0,0,0,0,0,0
$GC,3486,0.68,301.7,89.6,14.0,382,3494,0.00,2.33,0.00,0.000,4,0.000,0.066,3291,3756,1723,0,0,0,0,0,0
$GC,3528,0.68,301.7,83.1,16.7,389,3535,0.00,2.22,0.00,0.000,6,0.000,0.049,3299,2397,1722,0,0,0,0,0,0
$GC,3666,0.68,301.7,63.1,13.5,414,3674,0.00,2.30,0.00,0.000,4,0.000,0.065,3300,3756,1721,0,0,0,0,0,0
$GC,3709,0.64,301.7,57.2,15.1,421,3716,0.12,2.20,0.00,0.000,6,0.164,0.047,3275,2390,1720,0,0,0,0,0,0
$GC,3849,0.69,301.7,38.0,13.4,446,3857,0.00,2.30,0.00,0.000,4,0.000,0.065,3275,3759,1719,0,0,0,0,0,0
$GC,3885,0.72,301.7,32.8,14.2,452,3893,0.00,2.22,0.00,0.000,6,0.000,0.049,3284,2402,1719,0,0,0,0,0,0
$GC,4025,0.75,301.7,15.1,12.5,477,4032,0.00,2.25,0.00,0.000,4,0.000,0.066,3284,3762,1719,0,0,0,0,0,0
$GC,4065,0.77,301.7,9.8,13.0,484,4073,0.00,2.22,0.00,0.000,6,0.000,0.050,3287,2401,1719,0,0,0,0,0,0
$FREEZE,7.80,-1.916,-1.907,2,6,2
$FREEZE,7.07,-1.916,-1.906,2,6,2
$FREEZE,6.30,-1.917,-1.906,2,6,2
$FREEZE,5.70,-1.918,-1.905,2,6,2
$FREEZE,4.83,-1.917,-1.904,2,6,2
$FREEZE,4.14,-1.918,-1.904,2,6,2
$FREEZE,3.30,-1.919,-1.903,2,6,2
$FREEZE,2.62,-1.918,-1.903,2,6,2
$STATE,4119,end climb,SURFACE_DEPTH_REACHED
$STATE,4119,begin surface coast
$FREEZE,1.73,-1.918,-1.902,2,6,2
$FREEZE,1.13,-1.918,-1.902,2,6,2
$FREEZE,0.91,-1.919,-1.827,2,6,2
$FREEZE,0.88,-1.919,-1.827,2,6,2
$FINISH,0.9,1.026824
$STATE,4143,end surface coast,CONTROL_FINISHED_OK
$STATE,4143,begin surface
$SM_CCo,4158,192.52,0.750,2,0,419,623.30
$SM_GC,1.19,0.00,0.00,192.52,0.000,0.000,0.750,426,2610,419,-8.25,0.28,623.30
$IRIDIUM_FIX,-7630.39,16427.50,251110,050514
$TT8_MAMPS,0.028462
$HUMID,50.39
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,19.9
$24V_AH,22.1,19.244
$10V_AH,10.1,10.548
$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,11.950,83.275,426.725,192.525,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1216.006,1093.855,635.100,1392.306,75.097,0.000,1254.364,0.000,856.586,0.000,2.624,0.000
$DEVICE_MAMPS,176.715,72.675,966.960,749.700,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,347.363,756.718,1031.628,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276092
$DATA_FILE_SIZE,33755,497
$CAP_FILE_SIZE,78979,0
$CFSIZE,260165632,251060224
$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