version: 66.08
glider: 502
mission: 3
dive: 55
start: 11 25 110 23 32 30
data:
$ID,502
$MISSION,3
$DIVE,55
$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,-18384.551
$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,23
$R_STBD_OVSHOOT,29
$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
$GPS1,251110,231737,-7723.535,16459.996,24,1.7,24,144.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-49.1
$GPS2,251110,233208,-7723.525,16459.969,17,1.7,17,144.4
$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,351.4,11553,-18.7,-12.000
$D_GRID,452
$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,15,-0.84,-175.2,0.0,0.0,0,167,0.00,0.00,-149.95,0.000,2,0.000,0.000,426,2613,3154,0,0,0,0,0,0
$GC,170,-0.84,-175.2,3.2,-6.5,23,204,9.23,2.38,-16.65,0.000,4,0.223,0.070,2787,1181,3679,0,0,0,0,0,0
$GC,374,-0.75,-175.2,34.8,-16.1,59,382,0.15,2.38,0.00,0.000,6,0.180,0.063,2817,2600,3682,0,0,0,0,0,0
$GC,515,-0.67,-175.2,56.8,-16.0,84,523,0.10,1.98,0.00,0.000,4,0.191,0.069,2837,3767,3682,0,0,0,0,0,0
$GC,551,-0.65,-175.2,62.4,-13.7,90,559,0.00,1.92,0.00,0.000,6,0.000,0.049,2837,2584,3682,0,0,0,0,0,0
$GC,692,-0.61,-175.2,81.3,-13.4,115,699,0.12,0.00,0.00,0.000,6,0.169,0.000,2871,2583,3682,0,0,0,0,0,0
$GC,830,-0.64,-175.2,97.0,-10.7,140,838,0.00,2.00,0.00,0.000,4,0.000,0.072,2867,3766,3682,0,0,0,0,0,0
$GC,868,-0.69,-175.2,101.2,-11.8,146,871,0.00,1.85,0.00,0.000,6,0.000,0.047,2867,2592,3682,0,0,0,0,0,0
$GC,1009,-0.72,-175.2,117.0,-11.3,159,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2590,3682,0,0,0,0,0,0
$GC,1136,-0.75,-175.2,131.3,-11.5,171,1140,0.12,1.95,0.00,0.000,4,0.096,0.070,2795,3766,3682,0,0,0,0,0,0
$GC,1194,-0.66,-175.2,141.0,-17.1,176,1203,0.15,1.88,0.00,0.000,6,0.144,0.049,2845,2601,3682,0,0,0,0,0,0
$GC,1329,-0.66,-175.2,159.4,-13.4,189,1333,0.00,1.92,0.00,0.000,4,0.000,0.070,2842,3763,3682,0,0,0,0,0,0
$GC,1354,-0.66,-175.2,163.6,-14.3,191,1364,0.00,1.88,0.00,0.000,6,0.000,0.047,2842,2598,3682,0,0,0,0,0,0
$GC,1491,-0.66,-175.2,181.8,-13.9,204,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2597,3682,0,0,0,0,0,0
$GC,1618,-0.66,-175.2,199.4,-13.8,216,1621,0.00,1.90,0.00,0.000,4,0.000,0.070,2833,3764,3682,0,0,0,0,0,0
$GC,1662,-0.66,-175.2,205.6,-14.0,220,1666,0.00,1.83,0.00,0.000,6,0.000,0.048,2833,2599,3682,0,0,0,0,0,0
$GC,1803,-0.63,-175.2,225.7,-14.3,233,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2596,3682,0,0,0,0,0,0
$GC,1931,-0.60,-175.2,243.4,-13.8,245,1935,0.12,1.92,0.00,0.000,4,0.174,0.071,2867,3763,3682,0,0,0,0,0,0
$GC,1976,-0.66,-175.2,249.3,-11.9,249,1983,0.00,1.83,0.00,0.000,6,0.000,0.048,2867,2596,3682,0,0,0,0,0,0
$GC,2117,-0.70,-175.2,265.1,-11.4,262,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2595,3682,0,0,0,0,0,0
$GC,2310,-0.74,-175.2,284.6,-10.2,280,2314,0.12,1.92,0.00,0.000,4,0.094,0.072,2798,3763,3682,0,0,0,0,0,0
$GC,2389,-0.67,-175.2,296.1,-14.7,287,2393,0.17,1.83,0.00,0.000,6,0.158,0.049,2849,2596,3682,0,0,0,0,0,0
$GC,2591,-0.67,-175.2,319.7,-11.4,306,2595,0.00,1.90,0.00,0.000,4,0.000,0.070,2841,3764,3682,0,0,0,0,0,0
$GC,2617,-0.67,-175.2,323.1,-12.0,308,2625,0.00,1.85,0.00,0.000,6,0.000,0.047,2841,2603,3682,0,0,0,0,0,0
$GC,2817,-0.67,-175.2,347.2,-12.3,327,2821,0.00,1.90,0.00,0.000,4,0.000,0.070,2832,3769,3682,0,0,0,0,0,0
$GC,2863,-0.67,-175.2,353.2,-12.7,331,2866,0.00,1.83,0.00,0.000,6,0.000,0.048,2832,2600,3682,0,0,0,0,0,0
$GC,3067,-0.65,-175.2,379.2,-12.4,350,3071,0.00,1.90,0.00,0.000,4,0.000,0.070,2823,3764,3682,0,0,0,0,0,0
$GC,3116,-0.65,-175.2,386.1,-12.9,354,3124,0.08,1.88,0.00,0.000,6,0.145,0.047,2849,2591,3682,0,0,0,0,0,0
$GC,3315,-0.65,-175.2,407.9,-10.9,373,3319,0.00,1.92,0.00,0.000,4,0.000,0.070,2842,3770,3682,0,0,0,0,0,0
$GC,3349,-0.65,-175.2,412.0,-11.8,376,3353,0.00,1.83,0.00,0.000,6,0.000,0.049,2842,2601,3682,0,0,0,0,0,0
$GC,3552,-0.65,-175.2,435.0,-11.8,395,3555,0.00,1.90,0.00,0.000,4,0.000,0.070,2833,3764,3681,0,0,0,0,0,0
$GC,3585,-0.65,-175.2,439.3,-13.1,398,3589,0.00,1.83,0.00,0.000,6,0.000,0.048,2833,2596,3682,0,0,0,0,0,0
$STATE,3596,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3596,begin apogee
$GC,3600,-0.17,0.0,440.6,12.9,399,3764,0.52,0.00,156.40,1.095,6,0.130,0.000,3004,2388,2960,0,0,0,0,0,0
$STATE,3765,end apogee,CONTROL_FINISHED_OK
$STATE,3765,begin climb
$GC,3766,0.84,175.2,446.2,0.0,414,3942,1.00,2.53,164.82,1.022,4,0.082,0.054,3328,999,2246,0,0,0,0,0,0
$GC,3976,0.77,175.2,425.2,14.7,433,3981,0.00,2.50,0.00,0.000,6,0.000,0.057,3328,2404,2238,0,0,0,0,0,0
$GC,4175,0.63,175.2,394.0,15.9,451,4180,0.22,2.33,0.00,0.000,4,0.162,0.063,3269,3771,2231,0,0,0,0,0,0
$GC,4298,0.55,175.2,375.8,13.9,461,4305,0.15,2.22,0.00,0.000,6,0.171,0.047,3240,2406,2230,0,0,0,0,0,0
$GC,4496,0.63,222.7,355.9,9.8,480,4543,0.00,2.40,42.47,0.988,4,0.000,0.067,3239,3771,2052,0,0,0,0,0,0
$GC,4643,0.65,234.1,339.3,11.5,493,4663,0.00,2.30,11.25,0.909,6,0.000,0.047,3248,2400,2004,0,0,0,0,0,0
$GC,4855,0.73,268.3,317.1,10.4,513,4893,0.15,2.38,32.38,0.968,4,0.077,0.065,3315,3762,1865,0,0,0,0,0,0
$GC,4999,0.63,268.3,292.3,17.5,525,5007,0.17,2.28,0.00,0.000,6,0.138,0.047,3273,2406,1858,0,0,0,0,0,0
$GC,5197,0.66,268.3,268.0,12.1,544,5201,0.00,2.28,0.00,0.000,4,0.000,0.067,3273,3767,1855,0,0,0,0,0,0
$GC,5273,0.66,268.3,257.3,13.6,550,5281,0.00,2.25,0.00,0.000,6,0.000,0.048,3282,2396,1854,0,0,0,0,0,0
$GC,5473,0.66,268.3,231.5,13.2,569,5477,0.00,2.28,0.00,0.000,4,0.000,0.067,3282,3775,1852,0,0,0,0,0,0
$GC,5569,0.62,268.3,217.0,15.1,577,5578,0.00,2.22,0.00,0.000,6,0.000,0.049,3287,2407,1852,0,0,0,0,0,0
$GC,5705,0.62,268.3,198.7,13.5,590,5709,0.00,2.25,0.00,0.000,4,0.000,0.068,3288,3772,1851,0,0,0,0,0,0
$GC,5758,0.58,268.3,190.4,15.4,594,5767,0.12,2.22,0.00,0.000,6,0.138,0.049,3257,2399,1851,0,0,0,0,0,0
$GC,5894,0.69,307.7,176.1,10.2,607,5935,0.00,2.42,33.90,0.924,4,0.000,0.067,3257,3782,1704,0,0,0,0,0,0
$GC,5987,0.74,307.7,165.5,12.3,615,5992,0.12,2.28,0.00,0.000,6,0.085,0.048,3318,2393,1700,0,0,0,0,0,0
$GC,6124,0.71,307.7,145.0,15.7,627,6128,0.00,2.30,0.00,0.000,4,0.000,0.067,3318,3771,1696,0,0,0,0,0,0
$GC,6166,0.64,307.7,136.7,17.6,630,6176,0.17,2.25,0.00,0.000,6,0.135,0.049,3273,2406,1695,0,0,0,0,0,0
$GC,6304,0.70,308.7,120.3,12.0,643,6308,0.00,2.28,0.00,0.000,4,0.000,0.068,3273,3768,1693,0,0,0,0,0,0
$GC,6355,0.70,308.7,113.6,13.3,647,6359,0.00,2.20,0.00,0.000,6,0.000,0.049,3282,2399,1693,0,0,0,0,0,0
$GC,6490,0.74,310.3,97.0,11.9,661,6497,0.00,2.28,0.00,0.000,4,0.000,0.066,3282,3774,1692,0,0,0,0,0,0
$GC,6537,0.74,310.3,90.4,15.1,669,6544,0.00,2.20,0.00,0.000,6,0.000,0.047,3287,2397,1692,0,0,0,0,0,0
$GC,6675,0.77,310.3,72.2,13.0,694,6683,0.00,2.28,0.00,0.000,4,0.000,0.064,3287,3758,1692,0,0,0,0,0,0
$GC,6717,0.77,310.3,66.1,15.3,701,6724,0.00,2.17,0.00,0.000,6,0.000,0.047,3297,2398,1692,0,0,0,0,0,0
$GC,6855,0.77,310.3,46.7,14.3,726,6863,0.00,2.28,0.00,0.000,4,0.000,0.067,3297,3760,1692,0,0,0,0,0,0
$GC,6909,0.74,310.3,38.5,16.3,735,6916,0.00,2.17,0.00,0.000,6,0.000,0.048,3306,2395,1691,0,0,0,0,0,0
$GC,7048,0.74,310.3,17.3,15.1,760,7056,0.00,2.28,0.00,0.000,4,0.000,0.064,3305,3762,1691,0,0,0,0,0,0
$GC,7094,0.70,310.3,9.6,16.9,768,7102,0.00,2.20,0.00,0.000,6,0.000,0.048,3316,2400,1691,0,0,0,0,0,0
$FREEZE,7.24,-1.690,-1.907,2,1,0
$FREEZE,6.35,-1.704,-1.906,2,1,0
$FREEZE,5.45,-1.678,-1.905,2,1,0
$FREEZE,4.65,-1.708,-1.905,2,1,0
$FREEZE,3.59,-1.701,-1.904,2,1,0
$FREEZE,2.84,-1.659,-1.904,2,1,0
$STATE,7137,end climb,SURFACE_DEPTH_REACHED
$STATE,7137,begin surface coast
$FREEZE,1.66,-1.649,-1.903,2,1,0
$FREEZE,1.09,-1.662,-1.902,2,1,0
$FREEZE,1.08,-1.679,-1.901,2,1,0
$FINISH,1.1,1.027860
$STATE,7157,end surface coast,CONTROL_FINISHED_OK
$STATE,7157,begin surface
$SM_CCo,7171,205.55,0.768,2,0,419,623.30
$SM_GC,1.39,0.00,0.00,205.55,0.000,0.000,0.768,429,2603,419,-8.24,0.08,623.30
$IRIDIUM_FIX,-7639.69,16500.29,251110,232318
$TT8_MAMPS,0.028462
$HUMID,50.47
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,18.7
$ALTIM_BOTTOM_PING,400.9,53.5
$24V_AH,21.8,20.287
$10V_AH,10.0,11.144
$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,20.675,114.725,441.225,205.550,0.000,57.542,89.312,544.647,2.000,0.000,18.584,1867.474,2836.422,806.992,2596.802,158.563,0.000,1676.282,0.000,1357.324,0.000,12.333,0.000
$DEVICE_MAMPS,223.380,75.735,1095.480,768.060,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,544.294,951.787,945.583,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,275976
$DATA_FILE_SIZE,53895,778
$CAP_FILE_SIZE,131346,0
$CFSIZE,260165632,250654720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,251110,233208,-7723.525,16459.969,181,99.0,181,144.4