version: 66.08
glider: 502
mission: 3
dive: 52
start: 11 25 110 18 3 22
data:
$ID,502
$MISSION,3
$DIVE,52
$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,-18017.217
$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,19
$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,2.20
$_SM_ANGLEo,2.7
$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,14,-0.84,-175.2,0.0,0.0,0,25,0.00,0.00,-8.65,0.000,2,0.000,0.000,3051,2391,3249,0,0,0,0,0,0
$GC,27,-0.84,-175.2,3.3,-0.0,1,55,0.68,2.35,-15.98,0.000,4,0.076,0.084,2798,3767,3679,0,0,0,0,0,0
$GC,79,-0.77,-175.2,8.8,-13.2,9,86,0.00,1.88,0.00,0.000,6,0.000,0.048,2798,2587,3680,0,0,0,0,0,0
$GC,217,-0.69,-175.2,30.0,-14.9,34,225,0.15,0.00,0.00,0.000,6,0.174,0.000,2839,2586,3681,0,0,0,0,0,0
$GC,357,-0.69,-175.2,46.8,-13.7,59,364,0.00,1.95,0.00,0.000,4,0.000,0.070,2832,3764,3682,0,0,0,0,0,0
$GC,397,-0.69,-175.2,52.1,-12.8,66,405,0.00,1.88,0.00,0.000,6,0.000,0.048,2832,2602,3682,0,0,0,0,0,0
$GC,537,-0.69,-175.2,69.4,-11.8,91,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2602,3682,0,0,0,0,0,0
$GC,673,-0.69,-175.2,86.6,-12.8,116,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2601,3682,0,0,0,0,0,0
$GC,817,-0.69,-175.2,104.6,-12.6,139,821,0.00,1.90,0.00,0.000,4,0.000,0.070,2824,3766,3682,0,0,0,0,0,0
$GC,851,-0.66,-175.2,108.9,-13.3,142,854,0.00,1.85,0.00,0.000,6,0.000,0.049,2823,2589,3682,0,0,0,0,0,0
$GC,992,-0.63,-175.2,128.0,-14.1,155,994,0.12,0.00,0.00,0.000,6,0.174,0.000,2858,2586,3682,0,0,0,0,0,0
$GC,1119,-0.67,-175.2,143.0,-11.6,167,1122,0.00,1.92,0.00,0.000,4,0.000,0.071,2854,3764,3682,0,0,0,0,0,0
$GC,1155,-0.71,-175.2,147.7,-11.8,170,1164,0.00,1.88,0.00,0.000,6,0.000,0.048,2854,2594,3682,0,0,0,0,0,0
$GC,1293,-0.74,-175.2,162.8,-11.2,183,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2593,3682,0,0,0,0,0,0
$GC,1428,-0.76,-175.2,178.7,-11.8,196,1433,0.10,1.92,0.00,0.000,4,0.109,0.070,2794,3764,3682,0,0,0,0,0,0
$GC,1463,-0.69,-175.2,183.8,-15.7,199,1467,0.17,1.83,0.00,0.000,6,0.164,0.049,2843,2600,3682,0,0,0,0,0,0
$GC,1602,-0.69,-175.2,203.2,-13.3,212,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2597,3682,0,0,0,0,0,0
$GC,1730,-0.69,-175.2,220.1,-13.5,224,1731,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2597,3682,0,0,0,0,0,0
$GC,1857,-0.69,-175.2,236.9,-12.8,236,1861,0.00,1.90,0.00,0.000,4,0.000,0.070,2836,3766,3681,0,0,0,0,0,0
$GC,1883,-0.69,-175.2,241.0,-14.1,238,1893,0.00,1.88,0.00,0.000,6,0.000,0.047,2836,2593,3682,0,0,0,0,0,0
$GC,2017,-0.69,-175.2,258.8,-13.7,251,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2592,3682,0,0,0,0,0,0
$GC,2209,-0.69,-175.2,284.8,-13.2,269,2212,0.00,1.92,0.00,0.000,4,0.000,0.071,2827,3771,3682,0,0,0,0,0,0
$GC,2242,-0.69,-175.2,289.5,-13.8,272,2246,0.00,1.83,0.00,0.000,6,0.000,0.048,2827,2601,3682,0,0,0,0,0,0
$GC,2445,-0.69,-175.2,316.8,-13.0,291,2448,0.00,1.90,0.00,0.000,4,0.000,0.069,2818,3767,3682,0,0,0,0,0,0
$GC,2473,-0.66,-175.2,320.7,-13.9,293,2481,0.12,1.83,0.00,0.000,6,0.170,0.049,2852,2599,3682,0,0,0,0,0,0
$STATE,2510,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2510,begin apogee
$GC,2514,-0.17,0.0,325.1,11.8,297,2676,0.45,0.00,153.12,1.020,6,0.126,0.000,3004,2391,2959,0,0,0,0,0,0
$STATE,2677,end apogee,CONTROL_FINISHED_OK
$STATE,2677,begin climb
$GC,2678,0.84,175.2,331.6,0.0,312,2853,1.00,2.55,161.95,0.942,4,0.082,0.054,3337,1006,2242,0,0,0,0,0,0
$GC,2922,0.74,175.2,307.1,14.4,334,2927,0.12,2.45,0.00,0.000,6,0.166,0.057,3308,2407,2234,0,0,0,0,0,0
$GC,3121,0.64,175.2,280.0,13.6,352,3126,0.12,2.28,0.00,0.000,4,0.177,0.066,3277,3761,2230,0,0,0,0,0,0
$GC,3254,0.55,175.2,261.9,12.7,363,3262,0.12,2.25,0.00,0.000,6,0.155,0.047,3247,2406,2228,0,0,0,0,0,0
$GC,3454,0.64,247.7,244.2,8.7,382,3529,0.00,2.45,64.35,0.930,4,0.000,0.067,3248,3753,1949,0,0,0,0,0,0
$GC,3609,0.65,255.0,227.5,11.7,395,3622,0.00,2.30,7.55,0.789,6,0.000,0.049,3249,2398,1920,0,0,0,0,0,0
$GC,3758,0.77,305.7,213.0,9.7,409,3812,0.17,2.47,46.20,0.899,4,0.071,0.064,3327,3758,1712,0,0,0,0,0,0
$GC,3874,0.67,305.7,193.7,19.4,419,3879,0.20,2.30,0.00,0.000,6,0.155,0.047,3285,2390,1705,0,0,0,0,0,0
$GC,4009,0.69,305.7,174.7,12.9,431,4013,0.00,2.33,0.00,0.000,4,0.000,0.065,3285,3761,1701,0,0,0,0,0,0
$GC,4039,0.69,305.7,170.1,13.6,433,4048,0.00,2.28,0.00,0.000,6,0.000,0.048,3288,2407,1701,0,0,0,0,0,0
$GC,4176,0.69,305.7,152.7,12.1,446,4180,0.00,2.28,0.00,0.000,4,0.000,0.067,3287,3766,1698,0,0,0,0,0,0
$GC,4217,0.69,305.7,146.3,13.7,449,4227,0.00,2.28,0.00,0.000,6,0.000,0.048,3297,2389,1699,0,0,0,0,0,0
$GC,4354,0.69,305.7,128.2,13.4,462,4358,0.00,2.28,0.00,0.000,4,0.000,0.065,3297,3765,1697,0,0,0,0,0,0
$GC,4395,0.66,305.7,122.0,15.6,465,4399,0.00,2.20,0.00,0.000,6,0.000,0.048,3306,2393,1697,0,0,0,0,0,0
$GC,4529,0.63,305.7,101.0,15.1,477,4534,0.12,2.28,0.00,0.000,4,0.162,0.066,3273,3771,1695,0,0,0,0,0,0
$GC,4573,0.66,305.7,94.6,13.4,484,4581,0.00,2.25,0.00,0.000,6,0.000,0.049,3282,2397,1696,0,0,0,0,0,0
$GC,4714,0.69,305.7,75.9,12.5,509,4721,0.00,2.25,0.00,0.000,4,0.000,0.067,3282,3761,1695,0,0,0,0,0,0
$GC,4742,0.69,305.7,72.2,12.8,514,4750,0.00,2.22,0.00,0.000,6,0.000,0.048,3291,2394,1695,0,0,0,0,0,0
$GC,4882,0.69,305.7,54.8,12.0,539,4889,0.00,2.25,0.00,0.000,4,0.000,0.066,3291,3763,1695,0,0,0,0,0,0
$GC,4918,0.66,305.7,50.0,13.7,545,4925,0.00,2.17,0.00,0.000,6,0.000,0.047,3300,2397,1695,0,0,0,0,0,0
$GC,5055,0.66,305.7,31.7,12.6,570,5063,0.00,2.28,0.00,0.000,4,0.000,0.065,3300,3761,1695,0,0,0,0,0,0
$GC,5091,0.61,305.7,26.1,17.1,576,5100,0.12,2.20,0.00,0.000,6,0.139,0.048,3268,2403,1695,0,0,0,0,0,0
$FREEZE,9.00,-1.898,-1.908,2,10,2
$GC,5234,0.67,305.7,9.0,12.3,601,5240,0.00,2.25,0.00,0.000,4,0.000,0.068,3268,3764,1694,0,0,0,0,0,0
$FREEZE,7.11,-1.898,-1.906,2,10,2
$FREEZE,6.38,-1.898,-1.906,2,10,2
$FREEZE,5.74,-1.899,-1.905,2,10,2
$FREEZE,4.92,-1.899,-1.905,2,10,2
$FREEZE,4.10,-1.900,-1.904,2,10,2
$GC,5271,0.69,305.7,4.1,12.8,607,5278,0.00,2.17,0.00,0.000,6,0.000,0.049,3276,2396,1694,0,0,0,0,0,0
$FREEZE,2.02,-1.900,-1.902,2,10,2
$STATE,5285,end climb,SURFACE_DEPTH_REACHED
$STATE,5285,begin surface coast
$FREEZE,1.70,-1.899,-1.902,2,10,2
$FREEZE,1.74,-1.900,-1.902,2,10,2
$FREEZE,1.74,-1.899,-1.902,2,10,2
$FREEZE,1.71,-1.900,-1.902,2,10,2
$FINISH,1.7,1.027879
$STATE,5310,end surface coast,CONTROL_FINISHED_OK
$STATE,5310,begin surface
$SM_CCo,5324,229.80,0.751,6,0,420,623.30
$SM_GC,2.10,0.00,0.00,229.80,0.000,0.000,0.751,426,2617,420,-8.25,0.48,623.30
$IRIDIUM_FIX,-7630.39,16427.50,251110,050514
$TT8_MAMPS,0.028462
$HUMID,50.47
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,13.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,18.9
$ALTIM_BOTTOM_PING,250.2,89.6
$24V_AH,22.0,19.792
$10V_AH,10.1,10.869
$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,11.375,86.250,433.175,229.800,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1485.327,1786.252,722.987,1554.636,85.865,0.000,1406.516,0.000,1045.316,0.000,7.286,0.000
$DEVICE_MAMPS,176.715,84.150,1019.745,751.230,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,429.819,833.174,964.544,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40299,613
$CAP_FILE_SIZE,91712,0
$CFSIZE,260165632,250875904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,251110,053932,-7721.495,16437.059,181,99.0,181,144.9