version: 66.08
glider: 502
mission: 3
dive: 59
start: 11 26 110 8 48 11
data:
$ID,502
$MISSION,3
$DIVE,59
$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,-19483.344
$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,2650
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,23
$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
$GPS1,261110,062908,-7726.157,16510.441,181,99.0,181,144.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-16.7
$GPS2,261110,062908,-7726.157,16510.441,181,99.0,181,144.2
$SPEED_LIMITS,0.208,0.300
$TGT_NAME,SOUND2
$TGT_LATLONG,-7723.000,16505.000
$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,195.2,6247,-18.7,-12.000
$D_GRID,544
$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,-175.2,0.0,0.0,0,173,0.00,0.00,-155.32,0.000,2,0.000,0.000,425,2656,3455,0,0,0,0,0,0
$GC,176,-0.84,-175.2,3.6,-4.1,24,198,9.18,1.83,-5.65,0.000,4,0.227,0.082,2781,3767,3679,0,0,0,0,0,0
$GC,427,-0.70,-175.2,53.8,-18.1,69,434,0.20,1.77,0.00,0.000,6,0.166,0.047,2837,2647,3682,0,0,0,0,0,0
$GC,567,-0.66,-175.2,73.4,-14.1,94,575,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2645,3682,0,0,0,0,0,0
$GC,707,-0.63,-175.2,92.8,-13.5,119,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2645,3683,0,0,0,0,0,0
$GC,850,-0.59,-175.2,112.3,-13.7,137,851,0.12,0.00,0.00,0.000,6,0.166,0.000,2874,2645,3682,0,0,0,0,0,0
$GC,977,-0.63,-175.2,126.2,-10.7,149,980,0.00,1.83,0.00,0.000,4,0.000,0.068,2867,3763,3683,0,0,0,0,0,0
$GC,1001,-0.67,-175.2,128.9,-10.8,151,1005,0.00,1.75,0.00,0.000,6,0.000,0.045,2867,2637,3682,0,0,0,0,0,0
$GC,1142,-0.69,-175.2,144.4,-11.3,164,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2636,3682,0,0,0,0,0,0
$GC,1269,-0.73,-175.2,158.7,-11.2,176,1273,0.10,1.85,0.00,0.000,4,0.109,0.068,2805,3761,3682,0,0,0,0,0,0
$GC,1314,-0.64,-175.2,165.5,-16.3,180,1318,0.17,1.75,0.00,0.000,6,0.164,0.047,2854,2642,3682,0,0,0,0,0,0
$GC,1453,-0.64,-175.2,183.5,-12.3,193,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2640,3682,0,0,0,0,0,0
$GC,1581,-0.64,-175.2,199.3,-12.4,205,1582,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2640,3682,0,0,0,0,0,0
$GC,1709,-0.64,-175.2,214.5,-11.7,217,1712,0.00,1.83,0.00,0.000,4,0.000,0.070,2850,3761,3683,0,0,0,0,0,0
$GC,1743,-0.64,-175.2,218.7,-12.4,220,1747,0.00,1.75,0.00,0.000,6,0.000,0.047,2850,2640,3682,0,0,0,0,0,0
$GC,1885,-0.64,-175.2,235.6,-12.0,233,1893,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2638,3682,0,0,0,0,0,0
$GC,2019,-0.64,-175.2,251.9,-11.9,246,2022,0.00,1.85,0.00,0.000,4,0.000,0.070,2842,3771,3682,0,0,0,0,0,0
$GC,2041,-0.64,-175.2,254.7,-12.4,248,2045,0.00,1.75,0.00,0.000,6,0.000,0.048,2842,2651,3682,0,0,0,0,0,0
$GC,2243,-0.64,-175.2,280.0,-12.6,267,2245,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2649,3682,0,0,0,0,0,0
$GC,2436,-0.64,-175.2,303.5,-12.2,285,2440,0.00,1.83,0.00,0.000,4,0.000,0.070,2833,3767,3682,0,0,0,0,0,0
$GC,2462,-0.62,-175.2,307.3,-13.1,287,2471,0.08,1.80,0.00,0.000,6,0.149,0.048,2858,2642,3682,0,0,0,0,0,0
$GC,2662,-0.65,-175.2,328.8,-10.7,306,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2641,3682,0,0,0,0,0,0
$GC,2852,-0.67,-175.2,348.9,-10.6,324,2856,0.00,1.83,0.00,0.000,4,0.000,0.070,2854,3761,3682,0,0,0,0,0,0
$GC,2897,-0.71,-175.2,353.9,-11.5,328,2901,0.00,1.73,0.00,0.000,6,0.000,0.047,2854,2652,3682,0,0,0,0,0,0
$GC,3100,-0.71,-175.2,376.0,-11.0,347,3101,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2650,3682,0,0,0,0,0,0
$GC,3292,-0.73,-175.2,396.6,-10.8,365,3296,0.00,1.85,0.00,0.000,4,0.000,0.071,2846,3757,3682,0,0,0,0,0,0
$GC,3338,-0.76,-175.2,401.7,-11.3,369,3341,0.00,1.73,0.00,0.000,6,0.000,0.048,2846,2651,3682,0,0,0,0,0,0
$GC,3540,-0.76,-175.2,424.4,-11.2,388,3541,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2649,3681,0,0,0,0,0,0
$GC,3733,-0.76,-175.2,445.8,-11.5,406,3737,0.00,1.83,0.00,0.000,4,0.000,0.071,2841,3767,3681,0,0,0,0,0,0
$STATE,3771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3771,begin apogee
$GC,3776,-0.17,0.0,450.7,11.9,409,3937,0.50,0.00,156.62,1.103,6,0.129,0.000,3005,2495,2961,0,0,0,0,0,0
$STATE,3938,end apogee,CONTROL_FINISHED_OK
$STATE,3938,begin climb
$GC,3940,0.84,175.2,456.1,0.0,424,4116,1.00,2.55,165.57,1.023,4,0.083,0.055,3328,1096,2243,0,0,0,0,0,0
$GC,4177,0.75,175.2,430.1,14.5,445,4184,0.00,2.47,0.00,0.000,6,0.000,0.057,3328,2497,2234,0,0,0,0,0,0
$GC,4375,0.60,175.2,397.8,16.7,464,4379,0.25,2.15,0.00,0.000,4,0.161,0.063,3256,3768,2229,0,0,0,0,0,0
$GC,4474,0.53,175.2,383.7,13.8,472,4482,0.00,2.10,0.00,0.000,6,0.000,0.048,3265,2504,2227,0,0,0,0,0,0
$GC,4673,0.50,181.3,360.3,11.7,491,4677,0.12,2.12,0.00,0.000,4,0.172,0.067,3232,3768,2225,0,0,0,0,0,0
$GC,4738,0.53,203.3,352.7,11.0,496,4768,0.00,2.10,23.60,0.991,6,0.000,0.047,3241,2488,2132,0,0,0,0,0,0
$GC,4960,0.61,240.4,330.4,10.3,517,5005,0.00,2.28,35.47,0.990,4,0.000,0.067,3241,3761,1978,0,0,0,0,0,0
$GC,5051,0.66,261.9,320.5,11.0,525,5077,0.00,2.10,20.83,0.954,6,0.000,0.048,3247,2493,1893,0,0,0,0,0,0
$GC,5275,0.76,292.5,296.6,10.6,546,5310,0.17,2.30,28.23,0.960,4,0.070,0.066,3325,3768,1766,0,0,0,0,0,0
$GC,5356,0.64,292.5,282.0,21.2,553,5361,0.22,2.12,0.00,0.000,6,0.155,0.048,3275,2501,1762,0,0,0,0,0,0
$GC,5559,0.66,292.5,253.9,13.0,572,5563,0.00,2.12,0.00,0.000,4,0.000,0.067,3275,3770,1756,0,0,0,0,0,0
$GC,5586,0.66,292.5,249.9,14.7,574,5590,0.00,2.05,0.00,0.000,6,0.000,0.048,3283,2497,1756,0,0,0,0,0,0
$GC,5721,0.66,292.5,231.6,13.4,586,5722,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,2494,1755,0,0,0,0,0,0
$GC,5848,0.66,292.5,213.8,14.1,598,5852,0.00,2.10,0.00,0.000,4,0.000,0.068,3283,3765,1754,0,0,0,0,0,0
$GC,5889,0.66,292.5,207.1,15.6,601,5899,0.00,2.08,0.00,0.000,6,0.000,0.049,3288,2494,1754,0,0,0,0,0,0
$GC,6025,0.66,292.5,187.6,14.5,614,6029,0.00,2.10,0.00,0.000,4,0.000,0.067,3288,3770,1753,0,0,0,0,0,0
$GC,6055,0.64,292.5,183.1,15.4,616,6058,0.00,2.03,0.00,0.000,6,0.000,0.050,3297,2498,1753,0,0,0,0,0,0
$GC,6195,0.64,292.5,162.1,14.7,629,6199,0.00,2.08,0.00,0.000,4,0.000,0.067,3297,3764,1752,0,0,0,0,0,0
$GC,6225,0.60,292.5,157.6,16.5,631,6230,0.17,2.03,0.00,0.000,6,0.152,0.049,3257,2491,1753,0,0,0,0,0,0
$GC,6361,0.71,322.7,142.0,10.6,643,6392,0.10,0.00,25.75,0.910,6,0.099,0.000,3310,2487,1644,0,0,0,0,0,0
$GC,6519,0.68,322.7,118.5,15.8,658,6523,0.00,2.12,0.00,0.000,4,0.000,0.066,3310,3767,1638,0,0,0,0,0,0
$GC,6570,0.63,322.7,109.3,18.3,662,6575,0.17,2.05,0.00,0.000,6,0.150,0.049,3271,2494,1637,0,0,0,0,0,0
$GC,6706,0.72,341.2,92.3,11.1,680,6727,0.00,0.00,16.90,0.867,6,0.000,0.000,3272,2491,1568,0,0,0,0,0,0
$GC,6860,0.81,353.2,75.2,11.4,707,6882,0.15,2.20,11.82,0.831,4,0.076,0.066,3337,3763,1520,0,0,0,0,0,0
$GC,6922,0.72,353.2,64.7,19.7,717,6929,0.17,2.08,0.00,0.000,6,0.158,0.049,3299,2496,1517,0,0,0,0,0,0
$GC,7063,0.72,353.2,43.6,14.1,742,7070,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2494,1515,0,0,0,0,0,0
$GC,7203,0.75,353.2,23.2,15.0,767,7210,0.00,2.12,0.00,0.000,4,0.000,0.067,3298,3775,1514,0,0,0,0,0,0
$GC,7229,0.75,353.2,19.2,16.4,771,7236,0.00,2.05,0.00,0.000,6,0.000,0.049,3306,2498,1514,0,0,0,0,0,0
$FREEZE,8.09,-1.843,-1.907,2,2,2
$FREEZE,7.15,-1.841,-1.907,2,2,2
$FREEZE,6.32,-1.842,-1.906,2,2,2
$FREEZE,5.25,-1.836,-1.905,2,2,2
$FREEZE,4.48,-1.834,-1.905,2,2,2
$FREEZE,3.41,-1.834,-1.904,2,2,2
$FREEZE,2.79,-1.834,-1.903,2,2,2
$STATE,7331,end climb,SURFACE_DEPTH_REACHED
$STATE,7332,begin surface coast
$FREEZE,1.62,-1.833,-1.903,2,2,2
$FREEZE,0.96,-1.832,-1.902,2,2,2
$FREEZE,0.97,-1.833,-1.902,2,2,2
$FINISH,1.0,1.027886
$STATE,7350,end surface coast,CONTROL_FINISHED_OK
$STATE,7350,begin surface
$SM_CCo,7364,162.65,0.767,1,0,419,623.30
$SM_GC,1.27,0.00,0.00,162.65,0.000,0.000,0.767,419,2659,419,-8.27,0.25,623.30
$IRIDIUM_FIX,-7639.69,16500.29,261110,060609
$TT8_MAMPS,0.028462
$HUMID,51.65
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,13.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.2,17.9
$24V_AH,21.8,21.030
$10V_AH,10.0,11.548
$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,20.600,84.350,484.800,162.650,0.000,99.209,17.734,0.000,2.000,0.000,181.618,1877.521,3144.708,743.275,2137.874,173.034,0.000,1585.438,0.000,1321.694,0.000,11.206,0.000
$DEVICE_MAMPS,227.205,81.855,1103.130,767.295,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,554.633,955.399,939.413,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,275884
$DATA_FILE_SIZE,53870,792
$CAP_FILE_SIZE,116330,0
$CFSIZE,260165632,250408960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,261110,062908,-7726.157,16510.441,181,99.0,181,144.2