version: 66.08
glider: 502
mission: 3
dive: 54
start: 11 25 110 21 32 47
data:
$ID,502
$MISSION,3
$DIVE,54
$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,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,6.76
$_SM_ANGLEo,4.8
$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,-175.2,0.0,0.0,0,25,0.00,0.00,-9.05,0.000,2,0.000,0.000,3064,3757,3364,0,0,0,0,0,0
$GC,27,-0.84,-175.2,7.7,-0.0,1,48,0.77,4.22,-8.48,0.000,4,0.112,0.059,2800,1177,3681,0,0,0,0,0,0
$GC,103,-0.80,-175.2,15.2,-13.2,14,111,0.00,2.38,0.00,0.000,6,0.000,0.064,2794,2594,3684,0,0,0,0,0,0
$GC,244,-0.69,-175.2,38.0,-17.7,39,251,0.17,1.90,0.00,0.000,4,0.173,0.069,2835,3766,3684,0,0,0,0,0,0
$GC,295,-0.69,-175.2,45.9,-13.3,48,303,0.00,1.90,0.00,0.000,6,0.000,0.049,2836,2586,3684,0,0,0,0,0,0
$GC,435,-0.69,-175.2,64.0,-12.6,73,441,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2586,3684,0,0,0,0,0,0
$GC,572,-0.69,-175.2,82.3,-13.0,98,580,0.00,1.98,0.00,0.000,4,0.000,0.071,2827,3763,3684,0,0,0,0,0,0
$GC,619,-0.69,-175.2,89.0,-13.9,106,626,0.00,1.88,0.00,0.000,6,0.000,0.048,2827,2596,3684,0,0,0,0,0,0
$GC,763,-0.65,-175.2,107.2,-12.8,127,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2596,3684,0,0,0,0,0,0
$GC,890,-0.62,-175.2,123.7,-12.9,139,894,0.12,1.90,0.00,0.000,4,0.174,0.069,2853,3765,3684,0,0,0,0,0,0
$GC,916,-0.62,-175.2,127.5,-12.6,141,925,0.00,1.85,0.00,0.000,6,0.000,0.045,2853,2603,3684,0,0,0,0,0,0
$GC,1051,-0.62,-175.2,143.1,-12.3,154,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2603,3684,0,0,0,0,0,0
$GC,1179,-0.64,-175.2,157.5,-11.4,166,1183,0.00,1.90,0.00,0.000,4,0.000,0.069,2844,3770,3684,0,0,0,0,0,0
$GC,1216,-0.66,-175.2,162.3,-12.7,169,1225,0.00,1.90,0.00,0.000,6,0.000,0.049,2844,2587,3684,0,0,0,0,0,0
$GC,1351,-0.66,-175.2,178.2,-12.0,182,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2587,3684,0,0,0,0,0,0
$GC,1479,-0.66,-175.2,193.4,-11.9,194,1483,0.00,1.92,0.00,0.000,4,0.000,0.071,2835,3766,3684,0,0,0,0,0,0
$GC,1527,-0.66,-175.2,199.8,-11.8,198,1536,0.00,1.85,0.00,0.000,6,0.000,0.048,2835,2605,3684,0,0,0,0,0,0
$GC,1662,-0.66,-175.2,216.7,-13.3,211,1666,0.00,1.90,0.00,0.000,4,0.000,0.070,2826,3770,3684,0,0,0,0,0,0
$GC,1696,-0.66,-175.2,221.5,-14.7,214,1700,0.00,1.83,0.00,0.000,6,0.000,0.049,2826,2599,3684,0,0,0,0,0,0
$GC,1837,-0.63,-175.2,240.8,-13.5,227,1841,0.12,1.92,0.00,0.000,4,0.172,0.070,2853,3766,3684,0,0,0,0,0,0
$GC,1861,-0.63,-175.2,244.4,-13.0,229,1871,0.00,1.88,0.00,0.000,6,0.000,0.047,2853,2592,3684,0,0,0,0,0,0
$GC,1998,-0.66,-175.2,259.4,-11.2,242,2002,0.00,1.92,0.00,0.000,4,0.000,0.070,2844,3773,3684,0,0,0,0,0,0
$GC,2021,-0.66,-175.2,262.3,-11.7,244,2024,0.00,1.85,0.00,0.000,6,0.000,0.048,2844,2589,3684,0,0,0,0,0,0
$GC,2224,-0.66,-175.2,285.5,-11.4,263,2227,0.00,1.92,0.00,0.000,4,0.000,0.071,2842,3764,3684,0,0,0,0,0,0
$GC,2250,-0.66,-175.2,288.9,-12.0,265,2258,0.00,1.85,0.00,0.000,6,0.000,0.047,2842,2604,3684,0,0,0,0,0,0
$GC,2448,-0.66,-175.2,312.1,-12.2,284,2451,0.00,1.90,0.00,0.000,4,0.000,0.070,2833,3769,3684,0,0,0,0,0,0
$GC,2498,-0.66,-175.2,318.5,-12.1,288,2505,0.00,1.85,0.00,0.000,6,0.000,0.049,2833,2593,3684,0,0,0,0,0,0
$GC,2695,-0.66,-175.2,342.8,-12.6,307,2698,0.00,1.92,0.00,0.000,4,0.000,0.070,2823,3774,3684,0,0,0,0,0,0
$GC,2721,-0.66,-175.2,346.6,-13.1,309,2729,0.00,1.88,0.00,0.000,6,0.000,0.048,2824,2599,3684,0,0,0,0,0,0
$GC,2920,-0.64,-175.2,371.9,-12.7,328,2924,0.12,1.92,0.00,0.000,4,0.172,0.070,2851,3768,3684,0,0,0,0,0,0
$STATE,2944,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2944,begin apogee
$GC,2950,-0.17,0.0,375.3,11.7,330,3111,0.47,0.00,154.75,1.044,6,0.122,0.000,3008,2391,2960,0,0,0,0,0,0
$STATE,3112,end apogee,CONTROL_FINISHED_OK
$STATE,3112,begin climb
$GC,3113,0.84,175.2,380.9,0.0,345,3285,0.98,2.55,163.48,0.968,4,0.080,0.055,3328,991,2244,0,0,0,0,0,0
$GC,3374,0.75,175.2,352.9,14.3,369,3382,0.00,2.50,0.00,0.000,6,0.000,0.057,3328,2397,2233,0,0,0,0,0,0
$GC,3572,0.61,175.2,322.2,15.4,388,3577,0.22,2.30,0.00,0.000,4,0.158,0.063,3268,3764,2229,0,0,0,0,0,0
$GC,3680,0.53,175.2,307.1,13.4,397,3684,0.15,2.22,0.00,0.000,6,0.171,0.047,3238,2394,2229,0,0,0,0,0,0
$GC,3877,0.62,226.7,287.7,9.6,415,3933,0.00,2.45,46.10,0.953,4,0.000,0.065,3238,3761,2034,0,0,0,0,0,0
$GC,4025,0.68,254.8,272.9,10.7,428,4059,0.10,2.25,26.35,0.916,6,0.096,0.047,3297,2392,1921,0,0,0,0,0,0
$GC,4250,0.63,254.8,241.7,14.3,449,4254,0.00,2.33,0.00,0.000,4,0.000,0.065,3297,3774,1912,0,0,0,0,0,0
$GC,4354,0.56,254.8,224.7,16.3,458,4359,0.22,2.22,0.00,0.000,6,0.153,0.049,3244,2402,1911,0,0,0,0,0,0
$GC,4491,0.68,300.0,210.2,9.9,470,4542,0.12,2.42,40.00,0.908,4,0.085,0.066,3305,3761,1736,0,0,0,0,0,0
$GC,4599,0.62,300.0,193.4,18.1,479,4603,0.17,2.25,0.00,0.000,6,0.155,0.049,3269,2399,1731,0,0,0,0,0,0
$GC,4735,0.67,300.0,175.9,12.1,491,4739,0.00,2.30,0.00,0.000,4,0.000,0.067,3269,3771,1727,0,0,0,0,0,0
$GC,4774,0.69,300.0,170.6,13.0,494,4778,0.00,2.22,0.00,0.000,6,0.000,0.049,3277,2400,1727,0,0,0,0,0,0
$GC,4909,0.72,300.0,153.8,12.2,506,4913,0.00,2.28,0.00,0.000,4,0.000,0.067,3277,3771,1724,0,0,0,0,0,0
$GC,4948,0.72,300.0,148.5,14.5,509,4952,0.00,2.20,0.00,0.000,6,0.000,0.050,3287,2401,1724,0,0,0,0,0,0
$GC,5084,0.72,300.0,130.8,13.2,521,5088,0.00,2.25,0.00,0.000,4,0.000,0.067,3287,3764,1723,0,0,0,0,0,0
$GC,5123,0.72,300.0,125.2,14.3,524,5127,0.00,2.17,0.00,0.000,6,0.000,0.049,3297,2400,1723,0,0,0,0,0,0
$GC,5257,0.72,300.0,106.1,14.2,536,5261,0.00,2.25,0.00,0.000,4,0.000,0.065,3297,3773,1722,0,0,0,0,0,0
$GC,5289,0.69,300.0,101.0,15.8,538,5298,0.00,2.22,0.00,0.000,6,0.000,0.048,3307,2405,1723,0,0,0,0,0,0
$GC,5425,0.66,300.0,79.6,16.6,562,5433,0.00,2.28,0.00,0.000,4,0.000,0.067,3307,3763,1722,0,0,0,0,0,0
$GC,5472,0.60,300.0,71.3,17.8,570,5480,0.17,2.22,0.00,0.000,6,0.138,0.049,3260,2393,1722,0,0,0,0,0,0
$GC,5614,0.72,331.9,55.7,10.5,595,5648,0.10,2.35,26.85,0.839,4,0.100,0.065,3312,3770,1608,0,0,0,0,0,0
$GC,5692,0.67,331.9,43.4,16.6,608,5701,0.12,2.28,0.00,0.000,6,0.134,0.049,3283,2402,1605,0,0,0,0,0,0
$GC,5834,0.72,331.9,24.7,12.6,633,5841,0.00,2.28,0.00,0.000,4,0.000,0.066,3283,3764,1602,0,0,0,0,0,0
$GC,5875,0.75,331.9,18.9,14.0,640,5883,0.00,2.25,0.00,0.000,6,0.000,0.049,3287,2397,1602,0,0,0,0,0,0
$FREEZE,8.34,-1.872,-1.908,2,12,2
$FREEZE,7.65,-1.871,-1.907,2,12,2
$FREEZE,6.77,-1.870,-1.906,2,12,2
$FREEZE,6.19,-1.868,-1.906,2,12,2
$FREEZE,5.38,-1.868,-1.905,2,12,2
$FREEZE,4.73,-1.868,-1.905,2,12,2
$FREEZE,3.92,-1.868,-1.904,2,12,2
$FREEZE,3.29,-1.868,-1.904,2,12,2
$FREEZE,2.47,-1.866,-1.903,2,12,2
$STATE,5998,end climb,SURFACE_DEPTH_REACHED
$STATE,5998,begin surface coast
$FREEZE,1.81,-1.866,-1.903,2,12,2
$FREEZE,1.10,-1.864,-1.902,2,12,2
$FREEZE,0.99,-1.863,-1.902,2,12,2
$FREEZE,0.94,-1.861,-1.902,2,12,2
$FINISH,0.9,1.027879
$STATE,6022,end surface coast,CONTROL_FINISHED_OK
$STATE,6022,begin surface
$SM_CCo,6036,176.43,0.752,3,0,420,623.30
$SM_GC,1.42,0.00,0.00,176.43,0.000,0.000,0.752,426,2613,420,-8.25,0.37,623.30
$IRIDIUM_FIX,-7630.39,16427.50,251110,050514
$TT8_MAMPS,0.028462
$HUMID,51.22
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,13.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,18.5
$ALTIM_BOTTOM_PING,351.2,68.4
$24V_AH,21.9,20.074
$10V_AH,10.1,11.044
$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,11.725,107.750,457.525,176.425,0.000,0.000,0.000,0.000,1.750,0.000,0.000,1627.452,2218.776,679.011,1667.751,86.491,0.000,1419.475,0.000,1160.650,0.000,10.660,0.000
$DEVICE_MAMPS,173.655,71.145,1044.225,751.995,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,467.132,853.697,928.370,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43758,666
$CAP_FILE_SIZE,101696,0
$CFSIZE,260165632,250757120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,251110,231737,-7723.535,16459.996,24,1.7,24,144.4