version: 66.08
glider: 502
mission: 3
dive: 62
start: 11 26 110 15 44 44
data:
$ID,502
$MISSION,3
$DIVE,62
$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,-20579.105
$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,30
$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,1.23
$_SM_ANGLEo,-14.1
$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,14,-0.84,-175.2,0.0,0.0,0,172,0.00,0.00,-154.65,0.000,2,0.000,0.000,421,2661,3343,0,0,0,0,0,0
$GC,175,-0.84,-175.2,3.2,-2.1,24,203,9.12,2.38,-9.65,0.000,4,0.225,0.070,2791,1232,3680,0,0,0,0,0,0
$GC,388,-0.76,-175.2,39.0,-16.0,62,397,0.10,2.38,0.00,0.000,6,0.160,0.063,2813,2642,3681,0,0,0,0,0,0
$GC,530,-0.67,-175.2,61.3,-15.8,87,537,0.12,1.85,0.00,0.000,4,0.184,0.071,2841,3764,3682,0,0,0,0,0,0
$GC,570,-0.65,-175.2,67.5,-14.7,94,578,0.00,1.80,0.00,0.000,6,0.000,0.049,2841,2648,3682,0,0,0,0,0,0
$GC,711,-0.62,-175.2,85.8,-12.7,119,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2647,3682,0,0,0,0,0,0
$GC,849,-0.58,-175.2,104.8,-14.2,141,851,0.12,0.00,0.00,0.000,6,0.171,0.000,2875,2647,3682,0,0,0,0,0,0
$GC,976,-0.63,-175.2,118.8,-10.3,153,980,0.00,1.83,0.00,0.000,4,0.000,0.070,2868,3764,3682,0,0,0,0,0,0
$GC,1002,-0.67,-175.2,122.1,-12.0,155,1011,0.00,1.80,0.00,0.000,6,0.000,0.048,2868,2641,3682,0,0,0,0,0,0
$GC,1138,-0.69,-175.2,136.7,-11.0,168,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2641,3682,0,0,0,0,0,0
$GC,1265,-0.73,-175.2,151.2,-11.3,180,1269,0.10,1.85,0.00,0.000,4,0.109,0.070,2806,3764,3682,0,0,0,0,0,0
$GC,1301,-0.64,-175.2,157.0,-16.0,183,1311,0.12,1.77,0.00,0.000,6,0.144,0.048,2848,2657,3682,0,0,0,0,0,0
$GC,1438,-0.64,-175.2,174.6,-13.0,196,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2656,3682,0,0,0,0,0,0
$GC,1564,-0.64,-175.2,190.6,-12.5,208,1567,0.00,1.83,0.00,0.000,4,0.000,0.070,2842,3773,3682,0,0,0,0,0,0
$GC,1588,-0.64,-175.2,194.5,-13.4,210,1598,0.00,1.80,0.00,0.000,6,0.000,0.048,2841,2650,3682,0,0,0,0,0,0
$GC,1725,-0.62,-175.2,211.9,-13.5,223,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2650,3682,0,0,0,0,0,0
$GC,1853,-0.60,-175.2,228.7,-12.7,235,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2649,3682,0,0,0,0,0,0
$GC,1980,-0.60,-175.2,245.4,-13.2,247,1983,0.00,1.83,0.00,0.000,4,0.000,0.071,2832,3764,3682,0,0,0,0,0,0
$GC,2005,-0.58,-175.2,249.4,-14.1,249,2016,0.12,1.77,0.00,0.000,6,0.136,0.048,2875,2651,3681,0,0,0,0,0,0
$GC,2140,-0.63,-175.2,263.5,-10.3,262,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2650,3682,0,0,0,0,0,0
$GC,2331,-0.69,-175.2,282.7,-10.2,280,2334,0.00,1.85,0.00,0.000,4,0.000,0.071,2869,3769,3682,0,0,0,0,0,0
$GC,2377,-0.76,-175.2,287.6,-11.0,284,2381,0.10,1.80,0.00,0.000,6,0.059,0.048,2802,2647,3682,0,0,0,0,0,0
$GC,2579,-0.67,-175.2,318.1,-15.4,303,2581,0.15,0.00,0.00,0.000,6,0.174,0.000,2843,2645,3682,0,0,0,0,0,0
$GC,2770,-0.67,-175.2,341.9,-12.2,321,2774,0.00,1.88,0.00,0.000,4,0.000,0.072,2842,3764,3682,0,0,0,0,0,0
$GC,2815,-0.67,-175.2,347.4,-12.1,325,2818,0.00,1.75,0.00,0.000,6,0.000,0.048,2842,2640,3682,0,0,0,0,0,0
$GC,3018,-0.67,-175.2,372.2,-12.4,344,3019,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2638,3682,0,0,0,0,0,0
$GC,3210,-0.67,-175.2,395.8,-12.7,362,3213,0.00,1.85,0.00,0.000,4,0.000,0.071,2833,3773,3682,0,0,0,0,0,0
$GC,3265,-0.67,-175.2,403.2,-13.1,367,3269,0.00,1.75,0.00,0.000,6,0.000,0.050,2833,2652,3681,0,0,0,0,0,0
$GC,3468,-0.64,-175.2,429.3,-12.9,386,3469,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2650,3681,0,0,0,0,0,0
$STATE,3641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3641,begin apogee
$GC,3645,-0.17,0.0,451.0,12.5,402,3809,0.52,0.00,156.95,1.104,6,0.135,0.000,3004,2490,2960,0,0,0,0,0,0
$STATE,3810,end apogee,CONTROL_FINISHED_OK
$STATE,3810,begin climb
$GC,3811,0.84,175.2,457.9,0.0,417,3987,1.02,2.55,165.60,1.029,4,0.085,0.054,3339,1098,2246,0,0,0,0,0,0
$GC,4080,0.73,175.2,427.8,15.6,441,4085,0.15,2.45,0.00,0.000,6,0.163,0.057,3303,2500,2234,0,0,0,0,0,0
$GC,4277,0.62,175.2,398.5,14.5,459,4282,0.15,2.15,0.00,0.000,4,0.174,0.067,3265,3768,2229,0,0,0,0,0,0
$GC,4373,0.53,175.2,385.1,13.7,467,4377,0.12,2.05,0.00,0.000,6,0.174,0.047,3241,2508,2229,0,0,0,0,0,0
$GC,4576,0.62,230.3,364.9,9.5,486,4632,0.00,2.22,49.00,1.002,4,0.000,0.065,3241,3763,2021,0,0,0,0,0,0
$GC,4689,0.64,246.0,352.9,11.3,496,4712,0.00,2.10,15.50,0.942,6,0.000,0.047,3247,2494,1957,0,0,0,0,0,0
$GC,4905,0.73,277.9,330.3,10.5,516,4942,0.15,2.30,29.75,0.970,4,0.076,0.066,3315,3767,1826,0,0,0,0,0,0
$GC,4982,0.62,277.9,317.6,18.5,523,4987,0.22,2.12,0.00,0.000,6,0.153,0.049,3264,2498,1823,0,0,0,0,0,0
$GC,5185,0.66,281.6,292.8,11.8,542,5189,0.00,2.12,0.00,0.000,4,0.000,0.068,3264,3762,1817,0,0,0,0,0,0
$GC,5213,0.66,281.6,289.0,13.1,544,5217,0.00,2.05,0.00,0.000,6,0.000,0.048,3272,2496,1817,0,0,0,0,0,0
$GC,5410,0.68,281.6,265.1,12.1,562,5414,0.00,2.10,0.00,0.000,4,0.000,0.069,3272,3764,1815,0,0,0,0,0,0
$GC,5438,0.68,281.6,261.3,13.6,564,5442,0.00,2.03,0.00,0.000,6,0.000,0.050,3281,2499,1815,0,0,0,0,0,0
$GC,5642,0.68,281.6,235.5,12.8,583,5646,0.00,2.10,0.00,0.000,4,0.000,0.068,3281,3771,1814,0,0,0,0,0,0
$GC,5683,0.65,281.6,229.9,14.8,586,5687,0.00,2.03,0.00,0.000,6,0.000,0.047,3287,2495,1813,0,0,0,0,0,0
$GC,5825,0.65,281.6,211.4,13.1,599,5826,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,2493,1813,0,0,0,0,0,0
$GC,5951,0.65,281.6,194.8,12.9,611,5955,0.00,2.08,0.00,0.000,4,0.000,0.066,3288,3764,1813,0,0,0,0,0,0
$GC,5991,0.60,281.6,189.1,15.5,614,5995,0.12,2.00,0.00,0.000,6,0.167,0.049,3264,2499,1813,0,0,0,0,0,0
$GC,6126,0.67,297.0,173.1,11.3,626,6146,0.00,0.00,16.12,0.907,6,0.000,0.000,3264,2496,1749,0,0,0,0,0,0
$GC,6275,0.76,325.1,156.9,10.7,640,6313,0.12,2.25,26.30,0.903,4,0.086,0.067,3325,3769,1633,0,0,0,0,0,0
$GC,6349,0.67,325.1,144.6,19.1,646,6353,0.20,2.08,0.00,0.000,6,0.151,0.049,3280,2499,1631,0,0,0,0,0,0
$GC,6485,0.71,325.1,126.2,12.7,658,6493,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,2496,1627,0,0,0,0,0,0
$GC,6620,0.76,325.1,108.7,13.0,671,6624,0.00,2.10,0.00,0.000,4,0.000,0.067,3280,3763,1624,0,0,0,0,0,0
$GC,6649,0.79,325.1,104.7,14.9,673,6653,0.00,2.03,0.00,0.000,6,0.000,0.048,3287,2498,1625,0,0,0,0,0,0
$GC,6786,0.82,325.1,85.4,14.1,695,6792,0.12,0.00,0.00,0.000,6,0.090,0.000,3344,2494,1624,0,0,0,0,0,0
$GC,6923,0.71,325.1,58.8,19.3,720,6932,0.17,2.12,0.00,0.000,4,0.161,0.067,3296,3765,1623,0,0,0,0,0,0
$GC,6960,0.67,325.1,51.8,18.3,726,6968,0.00,2.05,0.00,0.000,6,0.000,0.050,3304,2505,1623,0,0,0,0,0,0
$GC,7101,0.67,325.1,30.2,15.9,751,7107,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,2503,1622,0,0,0,0,0,0
$GC,7239,0.67,325.1,9.8,14.1,776,7248,0.00,2.10,0.00,0.000,4,0.000,0.067,3304,3761,1621,0,0,0,0,0,0
$FREEZE,7.42,-1.733,-1.907,2,5,0
$FREEZE,6.59,-1.732,-1.906,2,5,0
$FREEZE,5.71,-1.733,-1.905,2,5,0
$FREEZE,4.82,-1.721,-1.905,2,5,0
$FREEZE,3.62,-1.722,-1.904,2,5,0
$FREEZE,2.77,-1.732,-1.903,2,5,0
$STATE,7283,end climb,SURFACE_DEPTH_REACHED
$STATE,7283,begin surface coast
$FREEZE,1.56,-1.730,-1.902,2,5,0
$FINISH,1.6,1.027879
$STATE,7289,end surface coast,CONTROL_FINISHED_OK
$STATE,7289,begin surface
$SM_CCo,7305,177.45,0.763,2,0,420,623.30
$SM_GC,1.31,0.00,0.00,177.45,0.000,0.000,0.763,421,2645,420,-8.26,-0.14,623.30
$IRIDIUM_FIX,-7639.69,16500.29,261110,060609
$TT8_MAMPS,0.028462
$HUMID,51.85
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,13.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,20.0,18.7
$24V_AH,21.7,21.551
$10V_AH,10.0,11.853
$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,20.775,84.975,459.225,177.450,0.000,99.338,17.725,0.000,2.500,0.000,181.631,1858.932,3117.220,755.812,2135.123,174.772,0.000,1597.555,0.000,1306.167,0.000,14.100,0.000
$DEVICE_MAMPS,224.910,71.910,1103.895,763.470,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,549.354,948.672,943.048,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53788,784
$CAP_FILE_SIZE,115642,0
$CFSIZE,260165632,250220544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,261110,062908,-7726.157,16510.441,181,99.0,181,144.2