version: 66.08
glider: 502
mission: 3
dive: 56
start: 11 26 110 1 48 28
data:
$ID,502
$MISSION,3
$DIVE,56
$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,-18750.695
$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,27
$R_STBD_OVSHOOT,22
$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
$GPS1,251110,233208,-7723.525,16459.969,181,99.0,181,144.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-15.9
$GPS2,251110,233208,-7723.525,16459.969,181,99.0,181,144.4
$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,-175.2,0.0,0.0,0,166,0.00,0.00,-148.73,0.000,2,0.000,0.000,429,2604,3400,0,0,0,0,0,0
$GC,169,-0.84,-175.2,3.5,-3.9,23,191,9.10,1.98,-7.25,0.000,4,0.225,0.083,2782,3763,3680,0,0,0,0,0,0
$GC,242,-0.70,-175.2,20.0,-18.8,35,249,0.20,1.88,0.00,0.000,6,0.165,0.049,2838,2591,3682,0,0,0,0,0,0
$GC,380,-0.67,-175.2,39.9,-13.4,60,388,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2590,3683,0,0,0,0,0,0
$GC,520,-0.64,-175.2,58.5,-13.7,85,527,0.00,1.95,0.00,0.000,4,0.000,0.069,2830,3768,3683,0,0,0,0,0,0
$GC,560,-0.61,-175.2,64.2,-14.1,92,569,0.10,1.90,0.00,0.000,6,0.142,0.049,2864,2594,3683,0,0,0,0,0,0
$GC,703,-0.64,-175.2,80.8,-11.3,117,710,0.00,1.95,0.00,0.000,4,0.000,0.070,2857,3754,3683,0,0,0,0,0,0
$GC,728,-0.66,-175.2,83.8,-11.8,121,735,0.00,1.83,0.00,0.000,6,0.000,0.048,2857,2599,3683,0,0,0,0,0,0
$GC,867,-0.66,-175.2,100.4,-11.7,146,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2598,3683,0,0,0,0,0,0
$GC,997,-0.66,-175.2,115.3,-11.8,158,1000,0.00,1.92,0.00,0.000,4,0.000,0.071,2853,3771,3683,0,0,0,0,0,0
$GC,1043,-0.69,-175.2,121.8,-12.3,162,1053,0.00,1.88,0.00,0.000,6,0.000,0.048,2854,2600,3683,0,0,0,0,0,0
$GC,1180,-0.69,-175.2,138.0,-12.0,175,1183,0.00,1.90,0.00,0.000,4,0.000,0.069,2845,3763,3683,0,0,0,0,0,0
$GC,1205,-0.69,-175.2,141.8,-12.9,177,1214,0.00,1.88,0.00,0.000,6,0.000,0.047,2844,2593,3683,0,0,0,0,0,0
$GC,1341,-0.69,-175.2,159.2,-13.2,190,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2593,3683,0,0,0,0,0,0
$GC,1469,-0.69,-175.2,175.8,-12.9,202,1472,0.00,1.92,0.00,0.000,4,0.000,0.070,2835,3772,3683,0,0,0,0,0,0
$GC,1525,-0.69,-175.2,183.4,-13.8,207,1528,0.00,1.85,0.00,0.000,6,0.000,0.048,2835,2593,3683,0,0,0,0,0,0
$GC,1667,-0.66,-175.2,202.5,-13.4,220,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2590,3683,0,0,0,0,0,0
$GC,1802,-0.64,-175.2,220.9,-13.4,233,1805,0.00,1.92,0.00,0.000,4,0.000,0.070,2826,3767,3683,0,0,0,0,0,0
$GC,1838,-0.61,-175.2,226.5,-14.7,236,1848,0.10,1.88,0.00,0.000,6,0.138,0.048,2861,2594,3683,0,0,0,0,0,0
$GC,1974,-0.65,-175.2,241.3,-10.8,249,1978,0.00,1.90,0.00,0.000,4,0.000,0.070,2854,3763,3683,0,0,0,0,0,0
$GC,2009,-0.67,-175.2,245.5,-11.6,252,2013,0.00,1.83,0.00,0.000,6,0.000,0.047,2854,2594,3683,0,0,0,0,0,0
$GC,2148,-0.67,-175.2,261.5,-11.5,265,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2592,3683,0,0,0,0,0,0
$GC,2339,-0.67,-175.2,283.0,-11.5,283,2343,0.00,1.92,0.00,0.000,4,0.000,0.070,2845,3773,3682,0,0,0,0,0,0
$GC,2411,-0.69,-175.2,291.8,-11.9,289,2418,0.00,1.88,0.00,0.000,6,0.000,0.048,2845,2600,3683,0,0,0,0,0,0
$GC,2609,-0.69,-175.2,315.6,-12.0,308,2612,0.00,1.92,0.00,0.000,4,0.000,0.071,2837,3763,3683,0,0,0,0,0,0
$GC,2631,-0.69,-175.2,318.5,-12.6,310,2635,0.00,1.83,0.00,0.000,6,0.000,0.048,2836,2595,3683,0,0,0,0,0,0
$GC,2833,-0.69,-175.2,343.7,-12.7,329,2837,0.00,1.90,0.00,0.000,4,0.000,0.070,2827,3762,3683,0,0,0,0,0,0
$GC,2885,-0.69,-175.2,350.5,-13.3,333,2891,0.00,1.83,0.00,0.000,6,0.000,0.048,2827,2593,3682,0,0,0,0,0,0
$GC,3082,-0.66,-175.2,376.5,-13.2,352,3085,0.00,1.92,0.00,0.000,4,0.000,0.070,2818,3773,3682,0,0,0,0,0,0
$GC,3116,-0.62,-175.2,381.1,-14.3,355,3120,0.15,1.85,0.00,0.000,6,0.161,0.049,2861,2590,3682,0,0,0,0,0,0
$GC,3319,-0.66,-175.2,402.9,-10.4,374,3323,0.00,1.92,0.00,0.000,4,0.000,0.070,2853,3766,3682,0,0,0,0,0,0
$GC,3368,-0.71,-175.2,408.6,-11.5,378,3376,0.00,1.85,0.00,0.000,6,0.000,0.046,2854,2603,3682,0,0,0,0,0,0
$GC,3568,-0.74,-175.2,429.9,-10.7,397,3572,0.00,1.90,0.00,0.000,4,0.000,0.070,2844,3769,3682,0,0,0,0,0,0
$GC,3602,-0.74,-175.2,434.1,-12.5,400,3606,0.00,1.83,0.00,0.000,6,0.000,0.048,2845,2601,3682,0,0,0,0,0,0
$STATE,3744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3744,begin apogee
$GC,3748,-0.17,0.0,450.1,11.6,413,3912,0.50,0.00,156.95,1.095,6,0.131,0.000,3008,2393,2960,0,0,0,0,0,0
$STATE,3912,end apogee,CONTROL_FINISHED_OK
$STATE,3913,begin climb
$GC,3914,0.84,175.2,456.9,0.0,428,4090,1.00,2.55,164.62,1.021,4,0.082,0.055,3338,992,2243,0,0,0,0,0,0
$GC,4158,0.74,175.2,430.4,15.3,450,4163,0.15,2.47,0.00,0.000,6,0.164,0.056,3302,2404,2234,0,0,0,0,0,0
$GC,4357,0.64,175.2,401.7,14.5,468,4362,0.12,2.30,0.00,0.000,4,0.178,0.064,3271,3769,2229,0,0,0,0,0,0
$GC,4476,0.54,175.2,384.7,13.8,478,4481,0.15,2.22,0.00,0.000,6,0.171,0.048,3242,2406,2227,0,0,0,0,0,0
$GC,4679,0.60,223.0,363.6,9.8,497,4726,0.00,2.38,42.53,1.007,4,0.000,0.067,3242,3760,2050,0,0,0,0,0,0
$GC,4809,0.60,223.0,348.5,12.5,508,4818,0.00,2.30,0.00,0.000,6,0.000,0.047,3248,2394,2044,0,0,0,0,0,0
$GC,5008,0.68,253.0,327.4,10.6,527,5043,0.10,2.45,27.67,0.981,4,0.097,0.065,3300,3769,1928,0,0,0,0,0,0
$GC,5126,0.59,253.0,308.4,17.2,537,5135,0.15,2.30,0.00,0.000,6,0.142,0.048,3263,2397,1922,0,0,0,0,0,0
$GC,5325,0.62,256.9,284.5,11.8,556,5329,0.00,2.28,0.00,0.000,4,0.000,0.067,3263,3763,1919,0,0,0,0,0,0
$GC,5380,0.62,256.9,277.0,13.4,560,5387,0.00,2.22,0.00,0.000,6,0.000,0.048,3271,2388,1919,0,0,0,0,0,0
$GC,5577,0.62,256.9,252.7,12.5,579,5581,0.00,2.28,0.00,0.000,4,0.000,0.067,3271,3768,1916,0,0,0,0,0,0
$GC,5650,0.59,256.9,242.6,15.6,585,5654,0.00,2.20,0.00,0.000,6,0.000,0.050,3282,2392,1916,0,0,0,0,0,0
$GC,5786,0.59,256.9,224.6,13.1,597,5790,0.00,2.25,0.00,0.000,4,0.000,0.066,3282,3765,1916,0,0,0,0,0,0
$GC,5816,0.55,256.9,219.6,15.2,599,5827,0.12,2.22,0.00,0.000,6,0.145,0.048,3248,2400,1915,0,0,0,0,0,0
$GC,5953,0.67,300.1,205.3,10.0,612,6003,0.00,2.40,41.25,0.946,4,0.000,0.066,3248,3760,1737,0,0,0,0,0,0
$GC,6039,0.75,307.5,196.1,11.7,619,6054,0.17,2.25,7.80,0.818,6,0.070,0.048,3325,2394,1706,0,0,0,0,0,0
$GC,6181,0.69,307.5,173.0,17.7,632,6186,0.15,2.33,0.00,0.000,4,0.157,0.065,3285,3771,1700,0,0,0,0,0,0
$GC,6201,0.64,307.5,168.7,17.7,633,6210,0.00,2.28,0.00,0.000,6,0.000,0.048,3294,2400,1700,0,0,0,0,0,0
$GC,6338,0.64,307.5,149.9,14.0,646,6342,0.00,2.28,0.00,0.000,4,0.000,0.067,3294,3770,1697,0,0,0,0,0,0
$GC,6368,0.62,307.5,144.6,15.6,648,6378,0.10,2.25,0.00,0.000,6,0.138,0.050,3268,2402,1697,0,0,0,0,0,0
$GC,6505,0.70,325.0,128.9,11.2,661,6530,0.00,2.35,15.70,0.885,4,0.000,0.066,3268,3759,1635,0,0,0,0,0,0
$GC,6546,0.76,325.0,123.8,12.1,664,6555,0.00,2.28,0.00,0.000,6,0.000,0.049,3276,2389,1633,0,0,0,0,0,0
$GC,6682,0.82,328.4,107.9,11.8,677,6687,0.15,2.30,0.00,0.000,4,0.080,0.066,3342,3764,1631,0,0,0,0,0,0
$GC,6713,0.74,328.4,102.2,18.9,679,6724,0.15,2.22,4.10,0.646,6,0.149,0.049,3306,2405,1622,0,0,0,0,0,0
$GC,6850,0.74,328.4,81.0,14.2,703,6857,0.00,2.28,0.00,0.000,4,0.000,0.066,3306,3771,1619,0,0,0,0,0,0
$GC,6875,0.74,328.4,77.0,16.0,707,6882,0.00,2.22,0.00,0.000,6,0.000,0.050,3314,2397,1619,0,0,0,0,0,0
$GC,7012,0.74,328.4,55.7,15.8,732,7020,0.00,2.30,0.00,0.000,4,0.000,0.065,3314,3765,1618,0,0,0,0,0,0
$GC,7044,0.70,328.4,50.5,17.4,737,7052,0.12,2.20,0.00,0.000,6,0.160,0.049,3291,2396,1618,0,0,0,0,0,0
$GC,7183,0.74,328.4,31.1,13.4,762,7191,0.00,2.28,0.00,0.000,4,0.000,0.066,3291,3755,1617,0,0,0,0,0,0
$GC,7206,0.76,328.4,28.0,14.4,765,7213,0.00,2.17,0.00,0.000,6,0.000,0.048,3299,2399,1617,0,0,0,0,0,0
$FREEZE,8.40,-1.743,-1.908,2,2,2
$FREEZE,7.49,-1.742,-1.907,2,2,2
$GC,7347,0.79,328.4,7.5,14.5,790,7355,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2396,1617,0,0,0,0,0,0
$FREEZE,5.42,-1.735,-1.906,2,2,2
$FREEZE,4.74,-1.739,-1.905,2,2,2
$FREEZE,3.89,-1.732,-1.904,2,2,2
$FREEZE,3.18,-1.731,-1.904,2,2,2
$FREEZE,2.32,-1.701,-1.903,2,2,2
$STATE,7382,end climb,SURFACE_DEPTH_REACHED
$STATE,7382,begin surface coast
$FREEZE,1.51,-1.688,-1.902,2,2,2
$FREEZE,0.94,-1.689,-1.901,2,2,2
$FREEZE,0.85,-1.711,-1.902,2,2,2
$FREEZE,0.95,-1.681,-1.900,2,2,2
$FINISH,0.9,1.027856
$STATE,7408,end surface coast,CONTROL_FINISHED_OK
$STATE,7408,begin surface
$SM_CCo,7422,193.12,0.765,3,0,419,623.30
$SM_GC,1.30,0.00,0.00,193.12,0.000,0.000,0.765,429,2601,419,-8.24,0.03,623.30
$IRIDIUM_FIX,-7639.69,16505.38,251110,232338
$TT8_MAMPS,0.028462
$HUMID,50.19
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,13.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.2,18.1
$ALTIM_BOTTOM_PING,450.1,30.9
$24V_AH,21.8,20.466
$10V_AH,10.0,11.247
$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,20.475,122.350,460.625,193.125,0.000,99.107,17.676,0.000,2.500,0.000,181.568,1921.379,3036.893,821.858,2217.305,173.814,0.000,1725.136,0.000,1382.051,0.000,13.995,0.000
$DEVICE_MAMPS,224.910,83.385,1095.480,765.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,559.435,971.279,953.863,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53750,800
$CAP_FILE_SIZE,126676,0
$CFSIZE,260165632,250593280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,251110,233208,-7723.525,16459.969,181,99.0,181,144.4