version: 66.08
glider: 502
mission: 3
dive: 53
start: 11 25 110 19 49 9
data:
$ID,502
$MISSION,3
$DIVE,53
$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,-18383.293
$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,26
$R_STBD_OVSHOOT,34
$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,2.00
$_SM_ANGLEo,-13.2
$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,12,begin dive
$GC,14,-0.84,-175.2,0.0,0.0,0,102,0.00,0.00,-85.45,0.000,2,0.000,0.000,426,2617,2244,0,0,0,0,0,0
$GC,104,-0.84,-175.2,3.3,-3.3,13,191,8.77,2.40,-70.90,0.000,4,0.210,0.072,2785,1187,3677,0,0,0,0,0,0
$GC,383,-0.77,-175.2,33.4,-17.4,61,390,0.15,2.33,0.00,0.000,6,0.176,0.063,2815,2586,3681,0,0,0,0,0,0
$GC,523,-0.70,-175.2,54.6,-14.5,86,531,0.00,1.95,0.00,0.000,4,0.000,0.069,2808,3757,3681,0,0,0,0,0,0
$GC,566,-0.63,-175.2,61.5,-15.7,93,574,0.17,1.85,0.00,0.000,6,0.158,0.048,2858,2593,3681,0,0,0,0,0,0
$GC,706,-0.63,-175.2,79.4,-13.9,118,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2593,3681,0,0,0,0,0,0
$GC,845,-0.65,-175.2,97.5,-12.8,143,852,0.00,1.95,0.00,0.000,4,0.000,0.070,2854,3773,3681,0,0,0,0,0,0
$GC,882,-0.68,-175.2,102.3,-13.5,148,886,0.00,1.85,0.00,0.000,6,0.000,0.048,2854,2596,3681,0,0,0,0,0,0
$GC,1022,-0.68,-175.2,120.3,-14.7,161,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2593,3681,0,0,0,0,0,0
$GC,1150,-0.68,-175.2,137.3,-12.8,173,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2594,3681,0,0,0,0,0,0
$GC,1277,-0.68,-175.2,153.2,-12.0,185,1281,0.00,1.92,0.00,0.000,4,0.000,0.070,2845,3773,3681,0,0,0,0,0,0
$GC,1312,-0.68,-175.2,157.5,-12.8,188,1316,0.00,1.85,0.00,0.000,6,0.000,0.049,2846,2592,3681,0,0,0,0,0,0
$GC,1453,-0.68,-175.2,175.2,-12.8,201,1455,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2589,3681,0,0,0,0,0,0
$GC,1579,-0.68,-175.2,191.7,-12.9,213,1583,0.00,1.92,0.00,0.000,4,0.000,0.072,2842,3765,3681,0,0,0,0,0,0
$GC,1615,-0.68,-175.2,197.0,-13.5,216,1624,0.00,1.85,0.00,0.000,6,0.000,0.048,2842,2605,3681,0,0,0,0,0,0
$GC,1751,-0.68,-175.2,214.6,-13.5,229,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2605,3681,0,0,0,0,0,0
$GC,1878,-0.68,-175.2,232.2,-14.0,241,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2605,3681,0,0,0,0,0,0
$GC,2006,-0.68,-175.2,249.1,-13.0,253,2009,0.00,1.90,0.00,0.000,4,0.000,0.070,2833,3767,3680,0,0,0,0,0,0
$GC,2040,-0.68,-175.2,254.0,-13.9,256,2043,0.00,1.83,0.00,0.000,6,0.000,0.049,2833,2600,3681,0,0,0,0,0,0
$GC,2242,-0.68,-175.2,280.7,-13.0,275,2246,0.00,1.90,0.00,0.000,4,0.000,0.070,2823,3766,3681,0,0,0,0,0,0
$GC,2265,-0.65,-175.2,283.7,-13.4,277,2269,0.12,1.83,0.00,0.000,6,0.169,0.049,2858,2600,3681,0,0,0,0,0,0
$GC,2468,-0.68,-175.2,306.4,-10.7,296,2472,0.00,1.92,0.00,0.000,4,0.000,0.071,2854,3774,3681,0,0,0,0,0,0
$GC,2495,-0.71,-175.2,309.8,-11.2,298,2502,0.00,1.88,0.00,0.000,6,0.000,0.048,2855,2605,3681,0,0,0,0,0,0
$GC,2693,-0.73,-175.2,330.5,-10.5,317,2694,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2604,3681,0,0,0,0,0,0
$GC,2886,-0.76,-175.2,350.5,-10.9,335,2890,0.10,1.92,0.00,0.000,4,0.107,0.070,2788,3774,3680,0,0,0,0,0,0
$GC,2942,-0.67,-175.2,359.0,-15.7,340,2946,0.20,1.85,0.00,0.000,6,0.162,0.050,2846,2593,3680,0,0,0,0,0,0
$STATE,3031,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3031,begin apogee
$GC,3035,-0.17,0.0,370.8,12.1,348,3199,0.47,0.00,154.25,1.047,6,0.129,0.000,3004,2388,2961,0,0,0,0,0,0
$STATE,3200,end apogee,CONTROL_FINISHED_OK
$STATE,3200,begin climb
$GC,3201,0.84,175.2,377.2,0.0,363,3376,1.00,2.55,163.38,0.978,4,0.082,0.056,3337,995,2244,0,0,0,0,0,0
$GC,3445,0.74,175.2,351.4,14.9,385,3450,0.12,2.47,0.00,0.000,6,0.164,0.057,3308,2407,2234,0,0,0,0,0,0
$GC,3643,0.64,175.2,322.9,14.6,403,3647,0.12,2.30,0.00,0.000,4,0.175,0.066,3276,3768,2229,0,0,0,0,0,0
$GC,3774,0.54,175.2,303.5,14.9,414,3779,0.17,2.22,0.00,0.000,6,0.166,0.048,3239,2403,2227,0,0,0,0,0,0
$GC,3972,0.61,207.6,282.0,10.5,432,4006,0.00,2.38,27.42,0.953,4,0.000,0.065,3239,3770,2115,0,0,0,0,0,0
$GC,4066,0.61,207.6,270.8,12.2,440,4074,0.00,2.30,0.00,0.000,6,0.000,0.047,3247,2399,2111,0,0,0,0,0,0
$GC,4265,0.68,237.9,249.3,10.6,459,4304,0.10,2.40,28.90,0.933,4,0.099,0.066,3299,3759,1989,0,0,0,0,0,0
$GC,4394,0.59,237.9,228.8,17.9,470,4399,0.20,2.22,0.00,0.000,6,0.157,0.049,3256,2399,1984,0,0,0,0,0,0
$GC,4529,0.65,255.5,212.4,11.2,482,4555,0.00,2.38,16.50,0.898,4,0.000,0.066,3256,3757,1917,0,0,0,0,0,0
$GC,4581,0.65,255.5,205.5,13.2,486,4591,0.00,2.28,0.00,0.000,6,0.000,0.050,3261,2400,1915,0,0,0,0,0,0
$GC,4719,0.70,265.7,190.0,11.5,499,4736,0.00,2.35,10.25,0.856,4,0.000,0.066,3261,3755,1876,0,0,0,0,0,0
$GC,4776,0.70,265.7,182.6,13.0,504,4780,0.00,2.20,0.00,0.000,6,0.000,0.048,3270,2399,1874,0,0,0,0,0,0
$GC,4911,0.74,267.9,166.0,11.9,516,4915,0.00,2.28,0.00,0.000,4,0.000,0.066,3270,3768,1871,0,0,0,0,0,0
$GC,4940,0.74,267.9,162.1,13.7,518,4945,0.00,2.22,0.00,0.000,6,0.000,0.049,3280,2387,1871,0,0,0,0,0,0
$GC,5075,0.74,267.9,144.5,12.8,530,5079,0.00,2.28,0.00,0.000,4,0.000,0.066,3280,3765,1870,0,0,0,0,0,0
$GC,5114,0.71,267.9,138.9,15.2,533,5118,0.00,2.20,0.00,0.000,6,0.000,0.049,3287,2393,1870,0,0,0,0,0,0
$GC,5250,0.71,267.9,120.5,13.4,545,5254,0.00,2.25,0.00,0.000,4,0.000,0.066,3288,3763,1869,0,0,0,0,0,0
$GC,5291,0.68,267.9,113.7,15.3,548,5300,0.00,2.20,0.00,0.000,6,0.000,0.048,3296,2404,1869,0,0,0,0,0,0
$GC,5426,0.68,267.9,94.0,14.2,564,5434,0.00,2.28,0.00,0.000,4,0.000,0.066,3296,3762,1867,0,0,0,0,0,0
$GC,5469,0.63,267.9,87.7,14.9,571,5476,0.15,2.20,0.00,0.000,6,0.162,0.050,3266,2388,1867,0,0,0,0,0,0
$GC,5609,0.68,278.1,70.2,11.5,596,5631,0.00,2.35,11.32,0.838,4,0.000,0.067,3266,3767,1826,0,0,0,0,0,0
$GC,5665,0.68,278.1,63.0,13.6,605,5672,0.00,2.20,0.00,0.000,6,0.000,0.049,3275,2402,1824,0,0,0,0,0,0
$GC,5803,0.72,278.1,45.7,13.2,630,5811,0.00,2.30,0.00,0.000,4,0.000,0.067,3274,3767,1823,0,0,0,0,0,0
$GC,5846,0.72,278.1,40.1,13.6,637,5853,0.00,2.20,0.00,0.000,6,0.000,0.047,3285,2393,1822,0,0,0,0,0,0
$GC,5984,0.74,278.1,22.2,12.1,662,5992,0.00,2.30,0.00,0.000,4,0.000,0.065,3284,3767,1821,0,0,0,0,0,0
$GC,6021,0.72,278.1,16.7,16.2,668,6029,0.00,2.22,0.00,0.000,6,0.000,0.048,3294,2402,1821,0,0,0,0,0,0
$FREEZE,8.83,-1.904,-1.908,2,11,0
$STATE,6078,end climb,FINISH_DEPTH_REACHED
$STATE,6078,begin subsurface finish
$FINISH1,8.8,1.027883,-19
$GC,6082,-0.02,-18.8,8.8,-13.5,678,6131,0.70,2.30,-39.10,0.000,4,0.130,0.083,3064,3757,3041,0,0,0,0,0,0
$FINISH2,6.3
$STATE,6132,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6132,begin surface
$IRIDIUM_FIX,-7630.39,16427.50,251110,050514
$TT8_MAMPS,0.028462
$HUMID,53.15
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,13.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.4,18.2
$ALTIM_BOTTOM_PING,300.7,84.2
$24V_AH,21.9,19.911
$10V_AH,10.0,10.962
$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,12.575,97.025,412.025,0.000,0.000,99.175,17.727,0.000,1.500,0.000,181.544,1602.823,2378.088,556.273,1978.728,150.590,0.000,1331.654,0.000,1160.931,0.000,8.989,0.000
$DEVICE_MAMPS,209.610,82.620,1047.285,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,478.287,888.028,958.954,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276020
$DATA_FILE_SIZE,47107,685
$CAP_FILE_SIZE,101465,0
$CFSIZE,260165632,250810368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,251110,053932,-7721.495,16437.059,181,99.0,181,144.9