version: 66.08
glider: 502
mission: 3
dive: 63
start: 11 26 110 18 2 36
data:
$ID,502
$MISSION,3
$DIVE,63
$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,-20944.393
$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,27
$R_STBD_OVSHOOT,20
$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,1.22
$_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,-175.2,0.0,0.0,0,173,0.00,0.00,-155.75,0.000,2,0.000,0.000,422,2645,3364,0,0,0,0,0,0
$GC,176,-0.84,-175.2,3.3,-2.6,24,199,9.02,2.35,-8.73,0.000,4,0.221,0.070,2782,1226,3680,0,0,0,0,0,0
$GC,395,-0.74,-175.2,41.5,-16.4,63,403,0.17,2.38,0.00,0.000,6,0.171,0.064,2820,2653,3683,0,0,0,0,0,0
$GC,534,-0.67,-175.2,63.0,-15.4,88,543,0.00,1.85,0.00,0.000,4,0.000,0.070,2813,3764,3684,0,0,0,0,0,0
$GC,599,-0.59,-175.2,73.1,-15.7,99,606,0.20,1.77,0.00,0.000,6,0.155,0.049,2871,2642,3684,0,0,0,0,0,0
$GC,740,-0.63,-175.2,89.5,-10.9,124,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2641,3684,0,0,0,0,0,0
$GC,884,-0.67,-175.2,104.7,-10.2,146,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2641,3684,0,0,0,0,0,0
$GC,1012,-0.70,-175.2,118.7,-11.3,158,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2641,3684,0,0,0,0,0,0
$GC,1139,-0.74,-175.2,132.9,-11.1,170,1143,0.12,1.83,0.00,0.000,4,0.090,0.070,2800,3764,3684,0,0,0,0,0,0
$GC,1185,-0.64,-175.2,140.5,-16.9,174,1195,0.15,1.77,0.00,0.000,6,0.147,0.048,2850,2652,3684,0,0,0,0,0,0
$GC,1321,-0.64,-175.2,158.0,-12.5,187,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2652,3684,0,0,0,0,0,0
$GC,1449,-0.64,-175.2,173.6,-12.4,199,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2652,3684,0,0,0,0,0,0
$GC,1576,-0.64,-175.2,188.9,-12.2,211,1580,0.00,1.83,0.00,0.000,4,0.000,0.071,2843,3769,3684,0,0,0,0,0,0
$GC,1610,-0.64,-175.2,193.3,-13.4,214,1614,0.00,1.75,0.00,0.000,6,0.000,0.049,2843,2648,3684,0,0,0,0,0,0
$GC,1752,-0.64,-175.2,211.2,-13.2,227,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2646,3684,0,0,0,0,0,0
$GC,1878,-0.62,-175.2,227.6,-13.0,239,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2645,3684,0,0,0,0,0,0
$GC,2005,-0.62,-175.2,243.9,-12.4,251,2009,0.00,1.83,0.00,0.000,4,0.000,0.071,2834,3764,3684,0,0,0,0,0,0
$GC,2041,-0.59,-175.2,248.5,-13.4,254,2045,0.12,1.75,0.00,0.000,6,0.163,0.049,2869,2644,3684,0,0,0,0,0,0
$GC,2181,-0.63,-175.2,263.8,-10.6,267,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2642,3683,0,0,0,0,0,0
$GC,2371,-0.68,-175.2,283.9,-10.5,285,2375,0.00,1.83,0.00,0.000,4,0.000,0.071,2867,3762,3684,0,0,0,0,0,0
$GC,2416,-0.73,-175.2,288.9,-10.9,289,2421,0.10,1.73,0.00,0.000,6,0.108,0.047,2811,2651,3683,0,0,0,0,0,0
$GC,2620,-0.65,-175.2,318.2,-14.7,308,2622,0.15,0.00,0.00,0.000,6,0.167,0.000,2854,2649,3683,0,0,0,0,0,0
$GC,2810,-0.65,-175.2,340.5,-11.4,326,2814,0.00,1.83,0.00,0.000,4,0.000,0.072,2854,3764,3683,0,0,0,0,0,0
$GC,2856,-0.69,-175.2,345.8,-11.6,330,2860,0.00,1.75,0.00,0.000,6,0.000,0.048,2854,2641,3683,0,0,0,0,0,0
$GC,3059,-0.69,-175.2,368.1,-10.8,349,3062,0.00,1.83,0.00,0.000,4,0.000,0.070,2845,3764,3683,0,0,0,0,0,0
$GC,3085,-0.69,-175.2,371.5,-11.6,351,3093,0.00,1.77,0.00,0.000,6,0.000,0.047,2845,2654,3683,0,0,0,0,0,0
$GC,3283,-0.69,-175.2,394.3,-11.8,370,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2653,3683,0,0,0,0,0,0
$GC,3475,-0.69,-175.2,416.4,-11.6,388,3478,0.00,1.83,0.00,0.000,4,0.000,0.073,2842,3767,3683,0,0,0,0,0,0
$GC,3531,-0.69,-175.2,423.1,-11.9,393,3535,0.00,1.80,0.00,0.000,6,0.000,0.049,2842,2644,3683,0,0,0,0,0,0
$GC,3734,-0.69,-175.2,445.7,-11.0,412,3737,0.00,1.83,0.00,0.000,4,0.000,0.071,2833,3763,3683,0,0,0,0,0,0
$GC,3768,-0.69,-175.2,449.7,-12.2,415,3771,0.00,1.75,0.00,0.000,6,0.000,0.048,2833,2638,3683,0,0,0,0,0,0
$STATE,3777,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3778,begin apogee
$GC,3781,-0.17,0.0,451.1,11.9,416,3945,0.52,0.00,157.57,1.102,6,0.134,0.000,3003,2494,2960,0,0,0,0,0,0
$STATE,3946,end apogee,CONTROL_FINISHED_OK
$STATE,3946,begin climb
$GC,3948,0.84,175.2,457.0,0.0,431,4124,1.02,2.55,166.02,1.023,4,0.083,0.054,3340,1101,2245,0,0,0,0,0,0
$GC,4196,0.73,175.2,428.4,15.8,453,4204,0.15,2.47,0.00,0.000,6,0.161,0.057,3304,2508,2234,0,0,0,0,0,0
$GC,4396,0.62,175.2,398.4,15.2,472,4401,0.15,2.12,0.00,0.000,4,0.172,0.066,3266,3763,2229,0,0,0,0,0,0
$GC,4469,0.54,175.2,387.6,14.2,478,4474,0.12,2.05,0.00,0.000,6,0.174,0.048,3243,2508,2228,0,0,0,0,0,0
$GC,4671,0.59,214.8,365.8,10.2,497,4716,0.00,2.22,34.83,1.009,4,0.000,0.067,3243,3754,2083,0,0,0,0,0,0
$GC,4743,0.59,217.2,357.6,11.9,503,4750,0.00,2.12,0.00,0.000,6,0.000,0.048,3248,2496,2081,0,0,0,0,0,0
$GC,4943,0.65,245.6,336.3,10.7,522,4977,0.00,2.28,28.88,0.991,4,0.000,0.068,3248,3763,1959,0,0,0,0,0,0
$GC,5004,0.65,245.6,329.1,12.2,527,5012,0.00,2.12,0.00,0.000,6,0.000,0.047,3248,2502,1955,0,0,0,0,0,0
$GC,5204,0.73,273.1,307.8,10.7,546,5234,0.15,0.00,25.65,0.975,6,0.076,0.000,3316,2498,1846,0,0,0,0,0,0
$GC,5426,0.65,273.1,272.3,16.6,567,5431,0.15,2.10,0.00,0.000,4,0.160,0.067,3276,3764,1838,0,0,0,0,0,0
$GC,5469,0.63,273.1,264.8,15.1,570,5477,0.00,2.08,0.00,0.000,6,0.000,0.048,3284,2502,1837,0,0,0,0,0,0
$GC,5669,0.63,273.1,238.3,13.9,589,5673,0.00,2.28,0.00,0.000,4,0.000,0.059,3288,1084,1835,0,0,0,0,0,0
$GC,5699,0.65,273.1,234.5,13.4,591,5703,0.00,2.33,0.00,0.000,6,0.000,0.060,3288,2501,1834,0,0,0,0,0,0
$GC,5834,0.65,273.1,216.1,14.5,603,5837,0.00,2.05,0.00,0.000,4,0.000,0.067,3288,3764,1834,0,0,0,0,0,0
$GC,5881,0.60,273.1,208.3,16.3,607,5891,0.10,2.05,0.00,0.000,6,0.142,0.049,3264,2502,1834,0,0,0,0,0,0
$GC,6018,0.65,278.2,192.1,11.8,620,6019,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,2501,1834,0,0,0,0,0,0
$GC,6145,0.69,279.4,177.0,11.9,632,6155,0.00,0.00,4.62,0.728,6,0.000,0.000,3264,2501,1821,0,0,0,0,0,0
$GC,6284,0.74,279.4,160.4,12.5,645,6292,0.12,0.00,0.00,0.000,6,0.086,0.000,3324,2499,1821,0,0,0,0,0,0
$GC,6419,0.65,279.4,137.7,17.5,658,6423,0.17,2.10,0.00,0.000,4,0.157,0.068,3275,3771,1820,0,0,0,0,0,0
$GC,6460,0.65,279.4,130.6,14.6,661,6470,0.00,2.05,0.00,0.000,6,0.000,0.049,3284,2499,1820,0,0,0,0,0,0
$GC,6596,0.65,279.4,113.2,13.5,674,6597,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,2498,1819,0,0,0,0,0,0
$GC,6722,0.65,279.4,96.4,13.7,688,6730,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,2498,1819,0,0,0,0,0,0
$GC,6862,0.65,279.4,78.3,13.4,713,6869,0.00,2.08,0.00,0.000,4,0.000,0.068,3284,3764,1818,0,0,0,0,0,0
$GC,6898,0.63,279.4,73.0,15.0,719,6905,0.00,2.03,0.00,0.000,6,0.000,0.050,3292,2490,1818,0,0,0,0,0,0
$GC,7036,0.63,279.4,53.2,13.6,744,7043,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2488,1818,0,0,0,0,0,0
$GC,7175,0.63,279.4,34.3,14.1,769,7181,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2489,1818,0,0,0,0,0,0
$GC,7313,0.63,279.4,15.4,13.8,794,7321,0.00,2.12,0.00,0.000,4,0.000,0.067,3292,3765,1818,0,0,0,0,0,0
$FREEZE,8.72,-1.710,-1.907,2,6,2
$FREEZE,7.92,-1.712,-1.906,2,6,2
$GC,7367,0.60,279.4,7.9,15.4,803,7374,0.15,2.03,0.00,0.000,6,0.155,0.050,3260,2490,1818,0,0,0,0,0,0
$FREEZE,5.55,-1.708,-1.904,2,6,2
$FREEZE,4.78,-1.701,-1.903,2,6,2
$FREEZE,4.27,-1.703,-1.903,2,6,2
$FREEZE,3.63,-1.698,-1.902,2,6,2
$FREEZE,3.11,-1.699,-1.902,2,6,2
$FREEZE,2.49,-1.695,-1.901,2,6,2
$STATE,7410,end climb,SURFACE_DEPTH_REACHED
$STATE,7410,begin surface coast
$FREEZE,1.71,-1.694,-1.901,2,6,2
$FREEZE,1.12,-1.691,-1.900,2,6,2
$FREEZE,1.03,-1.691,-1.900,2,6,2
$FREEZE,0.99,-1.693,-1.900,2,6,2
$FREEZE,0.94,-1.690,-1.900,2,6,2
$FREEZE,1.00,-1.688,-1.900,2,6,2
$FINISH,1.0,1.027850
$STATE,7448,end surface coast,CONTROL_FINISHED_OK
$STATE,7448,begin surface
$SM_CCo,7462,199.12,0.776,1,0,419,623.30
$SM_GC,1.34,0.00,0.00,199.12,0.000,0.000,0.776,425,2659,419,-8.25,0.25,623.30
$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,3
$ALTIM_TOP_PING,19.9,18.8
$ALTIM_BOTTOM_PING,400.6,87.6
$24V_AH,21.7,21.721
$10V_AH,10.0,11.956
$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,20.325,80.725,417.575,199.125,0.000,98.668,17.420,0.000,2.250,0.000,181.650,1946.849,3147.886,758.878,2179.173,185.735,0.000,1596.935,0.000,1333.372,0.000,12.434,0.000
$DEVICE_MAMPS,221.085,74.970,1102.365,776.475,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,572.092,993.484,985.090,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53612,816
$CAP_FILE_SIZE,116757,0
$CFSIZE,260165632,250159104
$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