version: 66.08
glider: 502
mission: 3
dive: 60
start: 11 26 110 11 6 34
data:
$ID,502
$MISSION,3
$DIVE,60
$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,-19848.586
$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,29
$R_STBD_OVSHOOT,25
$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,1.28
$_SM_ANGLEo,-12.6
$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,-175.2,0.0,0.0,0,172,0.00,0.00,-154.20,0.000,2,0.000,0.000,418,2660,3350,0,0,0,0,0,0
$GC,174,-0.84,-175.2,3.1,-1.7,24,203,9.12,2.35,-9.43,0.000,4,0.226,0.070,2788,1244,3681,0,0,0,0,0,0
$GC,355,-0.76,-175.2,34.0,-15.1,56,364,0.10,2.38,0.00,0.000,6,0.161,0.064,2811,2649,3683,0,0,0,0,0,0
$GC,497,-0.67,-175.2,56.0,-15.6,81,504,0.12,1.85,0.00,0.000,4,0.184,0.070,2839,3767,3683,0,0,0,0,0,0
$GC,538,-0.64,-175.2,62.4,-14.3,88,546,0.00,1.83,0.00,0.000,6,0.000,0.049,2839,2638,3683,0,0,0,0,0,0
$GC,678,-0.60,-175.2,81.1,-13.3,113,685,0.10,0.00,0.00,0.000,6,0.183,0.000,2865,2637,3683,0,0,0,0,0,0
$GC,816,-0.60,-175.2,97.8,-12.0,138,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2637,3684,0,0,0,0,0,0
$GC,959,-0.62,-175.2,113.9,-11.4,153,963,0.00,1.85,0.00,0.000,4,0.000,0.070,2858,3766,3684,0,0,0,0,0,0
$GC,994,-0.64,-175.2,118.1,-11.8,156,997,0.00,1.75,0.00,0.000,6,0.000,0.048,2858,2649,3683,0,0,0,0,0,0
$GC,1134,-0.64,-175.2,135.1,-12.4,169,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2647,3684,0,0,0,0,0,0
$GC,1262,-0.64,-175.2,150.4,-11.8,181,1266,0.00,1.85,0.00,0.000,4,0.000,0.072,2854,3775,3684,0,0,0,0,0,0
$GC,1287,-0.64,-175.2,153.9,-12.1,183,1297,0.00,1.80,0.00,0.000,6,0.000,0.048,2854,2654,3684,0,0,0,0,0,0
$GC,1423,-0.64,-175.2,169.7,-12.2,196,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2654,3684,0,0,0,0,0,0
$GC,1551,-0.64,-175.2,184.8,-11.6,208,1555,0.00,1.83,0.00,0.000,4,0.000,0.072,2846,3770,3684,0,0,0,0,0,0
$GC,1575,-0.64,-175.2,187.9,-12.6,210,1578,0.00,1.75,0.00,0.000,6,0.000,0.048,2846,2647,3684,0,0,0,0,0,0
$GC,1715,-0.64,-175.2,205.4,-12.3,223,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2645,3684,0,0,0,0,0,0
$GC,1843,-0.64,-175.2,221.3,-12.3,235,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2645,3684,0,0,0,0,0,0
$GC,1970,-0.64,-175.2,237.1,-12.5,247,1973,0.00,1.85,0.00,0.000,4,0.000,0.073,2842,3776,3684,0,0,0,0,0,0
$GC,2006,-0.64,-175.2,242.1,-13.5,250,2015,0.00,1.80,0.00,0.000,6,0.000,0.049,2841,2652,3683,0,0,0,0,0,0
$GC,2140,-0.64,-175.2,258.4,-12.0,263,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2652,3684,0,0,0,0,0,0
$GC,2333,-0.64,-175.2,281.8,-12.7,281,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2652,3684,0,0,0,0,0,0
$GC,2523,-0.64,-175.2,305.1,-12.0,299,2526,0.00,1.83,0.00,0.000,4,0.000,0.071,2833,3771,3684,0,0,0,0,0,0
$GC,2557,-0.62,-175.2,309.6,-13.3,302,2561,0.10,1.75,0.00,0.000,6,0.175,0.050,2859,2649,3683,0,0,0,0,0,0
$GC,2762,-0.65,-175.2,332.3,-11.2,321,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2647,3683,0,0,0,0,0,0
$GC,2951,-0.67,-175.2,354.1,-11.3,339,2955,0.00,1.83,0.00,0.000,4,0.000,0.071,2854,3765,3683,0,0,0,0,0,0
$GC,2989,-0.70,-175.2,358.7,-12.0,342,2997,0.00,1.77,0.00,0.000,6,0.000,0.048,2854,2654,3683,0,0,0,0,0,0
$GC,3187,-0.70,-175.2,381.6,-11.7,361,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2653,3683,0,0,0,0,0,0
$GC,3378,-0.70,-175.2,403.5,-11.0,379,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2654,3683,0,0,0,0,0,0
$GC,3569,-0.70,-175.2,424.7,-11.2,397,3573,0.00,1.83,0.00,0.000,4,0.000,0.072,2846,3771,3683,0,0,0,0,0,0
$GC,3607,-0.70,-175.2,429.2,-11.2,400,3615,0.00,1.80,0.00,0.000,6,0.000,0.049,2846,2641,3683,0,0,0,0,0,0
$STATE,3794,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3794,begin apogee
$GC,3798,-0.17,0.0,450.6,11.7,418,3962,0.50,0.00,156.80,1.097,6,0.134,0.000,3007,2494,2961,0,0,0,0,0,0
$STATE,3963,end apogee,CONTROL_FINISHED_OK
$STATE,3963,begin climb
$GC,3964,0.84,175.2,456.6,0.0,433,4140,1.00,2.55,165.45,1.010,4,0.083,0.054,3337,1102,2243,0,0,0,0,0,0
$GC,4212,0.73,175.2,429.3,15.4,455,4220,0.15,2.45,0.00,0.000,6,0.161,0.057,3301,2502,2232,0,0,0,0,0,0
$GC,4413,0.62,175.2,401.1,14.1,474,4417,0.12,2.12,0.00,0.000,4,0.177,0.066,3270,3763,2227,0,0,0,0,0,0
$GC,4520,0.52,175.2,385.7,13.5,483,4524,0.15,2.03,0.00,0.000,6,0.171,0.047,3239,2508,2227,0,0,0,0,0,0
$GC,4719,0.62,232.3,366.4,9.4,501,4775,0.00,2.30,50.62,1.017,4,0.000,0.066,3239,3770,2013,0,0,0,0,0,0
$GC,4826,0.69,265.8,355.5,10.5,510,4866,0.12,2.12,31.88,0.983,6,0.083,0.047,3303,2499,1876,0,0,0,0,0,0
$GC,5057,0.63,265.8,320.9,15.7,532,5061,0.12,2.17,0.00,0.000,4,0.160,0.067,3272,3763,1866,0,0,0,0,0,0
$GC,5096,0.61,265.8,314.7,14.8,535,5100,0.00,2.08,0.00,0.000,6,0.000,0.047,3281,2500,1866,0,0,0,0,0,0
$GC,5293,0.61,265.8,288.8,13.3,553,5297,0.00,2.12,0.00,0.000,4,0.000,0.067,3281,3772,1863,0,0,0,0,0,0
$GC,5325,0.57,265.8,283.9,14.6,555,5333,0.10,2.10,0.00,0.000,6,0.142,0.048,3256,2499,1863,0,0,0,0,0,0
$GC,5525,0.67,305.2,262.6,10.2,574,5570,0.00,2.28,34.22,0.973,4,0.000,0.067,3257,3769,1714,0,0,0,0,0,0
$GC,5593,0.74,318.6,255.2,11.4,580,5617,0.12,2.10,13.23,0.901,6,0.085,0.048,3316,2494,1661,0,0,0,0,0,0
$GC,5808,0.69,318.6,220.3,16.9,600,5810,0.12,0.00,0.00,0.000,6,0.161,0.000,3285,2494,1654,0,0,0,0,0,0
$GC,5935,0.71,318.6,202.7,13.4,612,5939,0.00,2.12,0.00,0.000,4,0.000,0.068,3285,3772,1651,0,0,0,0,0,0
$GC,5974,0.71,318.6,196.9,13.9,615,5978,0.00,2.05,0.00,0.000,6,0.000,0.049,3287,2498,1652,0,0,0,0,0,0
$GC,6109,0.71,318.6,178.4,13.5,627,6110,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,2495,1650,0,0,0,0,0,0
$GC,6236,0.71,318.6,161.4,13.3,639,6240,0.00,2.10,0.00,0.000,4,0.000,0.068,3288,3769,1649,0,0,0,0,0,0
$GC,6266,0.71,318.6,156.4,15.6,641,6275,0.00,2.05,0.00,0.000,6,0.000,0.049,3296,2503,1649,0,0,0,0,0,0
$GC,6404,0.71,318.6,137.2,14.7,654,6405,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,2501,1648,0,0,0,0,0,0
$GC,6529,0.71,318.6,119.3,14.0,666,6533,0.00,2.08,0.00,0.000,4,0.000,0.067,3296,3769,1648,0,0,0,0,0,0
$GC,6549,0.71,318.6,115.8,14.9,667,6559,0.00,2.05,0.00,0.000,6,0.000,0.049,3305,2503,1648,0,0,0,0,0,0
$GC,6684,0.71,318.6,95.9,15.4,682,6692,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,2502,1647,0,0,0,0,0,0
$GC,6824,0.71,318.6,74.7,15.1,707,6830,0.00,2.08,0.00,0.000,4,0.000,0.067,3305,3768,1647,0,0,0,0,0,0
$GC,6864,0.67,318.6,68.0,16.7,714,6872,0.08,2.05,0.00,0.000,6,0.136,0.049,3289,2500,1647,0,0,0,0,0,0
$GC,7006,0.70,318.6,48.9,14.4,739,7012,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,2498,1647,0,0,0,0,0,0
$GC,7143,0.74,318.6,30.6,13.3,764,7150,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,2498,1646,0,0,0,0,0,0
$GC,7284,0.77,318.6,12.1,13.5,789,7291,0.00,2.08,0.00,0.000,4,0.000,0.068,3289,3764,1646,0,0,0,0,0,0
$FREEZE,8.38,-1.713,-1.907,2,3,0
$FREEZE,7.34,-1.714,-1.906,2,3,0
$FREEZE,6.62,-1.714,-1.906,2,3,0
$FREEZE,5.69,-1.713,-1.905,2,3,0
$FREEZE,4.97,-1.714,-1.905,2,3,0
$GC,7332,0.77,318.6,5.0,14.7,797,7339,0.00,2.00,0.00,0.000,6,0.000,0.049,3296,2499,1646,0,0,0,0,0,0
$FREEZE,2.76,-1.711,-1.903,2,3,0
$STATE,7346,end climb,SURFACE_DEPTH_REACHED
$STATE,7346,begin surface coast
$FREEZE,1.81,-1.710,-1.902,2,3,0
$FREEZE,1.25,-1.710,-1.902,2,3,0
$FREEZE,0.94,-1.727,-1.902,2,3,0
$FINISH,0.9,1.027887
$STATE,7364,end surface coast,CONTROL_FINISHED_OK
$STATE,7364,begin surface
$SM_CCo,7378,174.32,0.777,1,0,419,623.30
$SM_GC,1.29,0.00,0.00,174.32,0.000,0.000,0.777,426,2663,419,-8.25,0.40,623.30
$IRIDIUM_FIX,-7639.69,16500.29,261110,060609
$TT8_MAMPS,0.028462
$HUMID,51.81
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,18.3
$24V_AH,21.8,21.204
$10V_AH,10.0,11.650
$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,19.700,81.225,452.200,174.325,0.000,99.100,17.710,0.000,2.250,0.000,181.622,1880.632,3135.342,764.249,2148.911,171.374,0.000,1601.690,0.000,1317.383,0.000,11.205,0.000
$DEVICE_MAMPS,225.675,74.205,1097.010,777.240,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,561.397,971.486,953.784,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53775,802
$CAP_FILE_SIZE,114329,0
$CFSIZE,260165632,250351616
$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