version: 66.08
glider: 502
mission: 3
dive: 29
start: 11 24 110 1 39 53
data:
$ID,502
$MISSION,3
$DIVE,29
$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,-11798.295
$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,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,21
$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
$GPS1,241110,012825,-7722.582,16527.623,10,1.8,15,143.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-68.4
$GPS2,241110,013931,-7722.591,16527.652,19,1.4,25,143.5
$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,53.6,10480,-18.7,-12.000
$D_GRID,598
$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,-175.2,0.0,0.0,0,180,0.00,0.00,-162.12,0.000,2,0.000,0.000,423,2296,3507,0,0,0,0,0,0
$GC,182,-0.84,-175.2,3.6,-5.3,25,203,9.43,2.35,-4.03,0.000,4,0.226,0.071,2789,884,3679,0,0,0,0,0,0
$GC,389,-0.78,-175.2,43.0,-16.2,62,398,0.08,2.42,0.00,0.000,6,0.160,0.065,2804,2303,3682,0,0,0,0,0,0
$GC,531,-0.72,-175.2,64.6,-16.3,87,538,0.10,2.40,0.00,0.000,4,0.194,0.073,2821,3722,3682,0,0,0,0,0,0
$GC,644,-0.68,-175.2,82.3,-15.6,107,650,0.00,2.30,0.00,0.000,6,0.000,0.054,2821,2300,3681,0,0,0,0,0,0
$GC,787,-0.65,-175.2,103.1,-14.4,131,791,0.12,2.38,0.00,0.000,4,0.171,0.073,2846,3712,3681,0,0,0,0,0,0
$GC,859,-0.68,-175.2,112.4,-12.3,137,864,0.00,2.25,0.00,0.000,6,0.000,0.049,2846,2297,3681,0,0,0,0,0,0
$GC,994,-0.68,-175.2,128.3,-11.5,149,998,0.00,2.38,0.00,0.000,4,0.000,0.073,2842,3721,3682,0,0,0,0,0,0
$GC,1090,-0.70,-175.2,140.7,-12.2,157,1099,0.00,2.30,0.00,0.000,6,0.000,0.052,2842,2304,3682,0,0,0,0,0,0
$GC,1227,-0.70,-175.2,156.6,-12.0,170,1231,0.00,2.35,0.00,0.000,4,0.000,0.073,2831,3718,3682,0,0,0,0,0,0
$GC,1301,-0.70,-175.2,166.8,-13.1,176,1310,0.00,2.30,0.00,0.000,6,0.000,0.052,2831,2298,3681,0,0,0,0,0,0
$GC,1437,-0.70,-175.2,184.0,-12.9,189,1441,0.00,2.38,0.00,0.000,4,0.000,0.073,2821,3718,3681,0,0,0,0,0,0
$GC,1523,-0.68,-175.2,197.1,-14.7,196,1532,0.00,2.30,0.00,0.000,6,0.000,0.052,2821,2300,3681,0,0,0,0,0,0
$GC,1660,-0.65,-175.2,215.6,-13.8,209,1665,0.12,2.38,0.00,0.000,4,0.177,0.073,2845,3723,3681,0,0,0,0,0,0
$GC,1754,-0.68,-175.2,227.7,-12.2,217,1759,0.00,2.28,0.00,0.000,6,0.000,0.053,2845,2295,3681,0,0,0,0,0,0
$GC,1891,-0.68,-175.2,244.0,-11.8,229,1895,0.00,2.38,0.00,0.000,4,0.000,0.075,2842,3721,3681,0,0,0,0,0,0
$GC,1978,-0.71,-175.2,255.5,-12.3,236,1986,0.00,2.30,0.00,0.000,6,0.000,0.052,2842,2298,3682,0,0,0,0,0,0
$GC,2178,-0.71,-175.2,278.5,-11.7,255,2182,0.00,2.35,0.00,0.000,4,0.000,0.073,2831,3719,3682,0,0,0,0,0,0
$GC,2318,-0.71,-175.2,296.5,-12.8,267,2322,0.00,2.25,0.00,0.000,6,0.000,0.049,2830,2294,3681,0,0,0,0,0,0
$GC,2516,-0.71,-175.2,321.9,-13.0,285,2520,0.00,2.38,0.00,0.000,4,0.000,0.074,2821,3713,3682,0,0,0,0,0,0
$GC,2649,-0.71,-175.2,341.0,-14.2,296,2657,0.00,2.28,0.00,0.000,6,0.000,0.050,2821,2300,3681,0,0,0,0,0,0
$GC,2848,-0.69,-175.2,367.2,-13.2,315,2852,0.00,2.35,0.00,0.000,4,0.000,0.073,2810,3723,3681,0,0,0,0,0,0
$GC,2981,-0.65,-175.2,386.7,-14.6,326,2989,0.15,2.25,0.00,0.000,6,0.161,0.050,2853,2298,3681,0,0,0,0,0,0
$GC,3180,-0.70,-175.2,408.4,-10.7,345,3184,0.00,2.35,0.00,0.000,4,0.000,0.073,2844,3722,3682,0,0,0,0,0,0
$GC,3334,-0.75,-175.2,425.9,-11.6,358,3338,0.00,2.25,0.00,0.000,6,0.000,0.050,2844,2295,3682,0,0,0,0,0,0
$GC,3532,-0.78,-175.2,448.2,-11.1,376,3536,0.00,2.38,0.00,0.000,4,0.000,0.075,2841,3712,3682,0,0,0,0,0,0
$STATE,3548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3548,begin apogee
$GC,3554,-0.17,0.0,450.2,11.3,377,3718,0.50,0.00,155.12,1.097,6,0.129,0.000,3005,2288,2961,0,0,0,0,0,0
$STATE,3719,end apogee,CONTROL_FINISHED_OK
$STATE,3719,begin climb
$GC,3720,0.84,175.2,457.5,0.0,392,3896,1.00,2.55,164.32,1.046,4,0.077,0.058,3341,892,2243,0,0,0,0,0,0
$GC,3990,0.72,175.2,427.2,15.6,416,3998,0.12,2.50,0.00,0.000,6,0.150,0.057,3296,2303,2232,0,0,0,0,0,0
$GC,4188,0.61,175.2,399.7,13.6,435,4193,0.12,2.40,0.00,0.000,4,0.187,0.067,3265,3722,2228,0,0,0,0,0,0
$GC,4354,0.50,175.2,374.9,14.5,449,4363,0.15,2.35,0.00,0.000,6,0.156,0.051,3229,2309,2226,0,0,0,0,0,0
$GC,4554,0.57,235.3,355.9,9.2,468,4613,0.00,2.50,53.22,1.007,4,0.000,0.068,3229,3712,2000,0,0,0,0,0,0
$GC,4719,0.61,248.3,337.8,11.4,482,4738,0.00,2.40,12.38,0.924,6,0.000,0.050,3237,2291,1947,0,0,0,0,0,0
$GC,4930,0.71,280.3,316.2,10.5,502,4967,0.15,2.55,29.77,0.972,4,0.080,0.067,3305,3713,1817,0,0,0,0,0,0
$GC,5086,0.61,280.3,288.2,19.4,516,5091,0.20,2.35,0.00,0.000,6,0.164,0.051,3263,2294,1810,0,0,0,0,0,0
$GC,5285,0.64,280.3,261.7,12.8,534,5289,0.00,2.40,0.00,0.000,4,0.000,0.069,3263,3720,1806,0,0,0,0,0,0
$GC,5372,0.64,280.3,248.1,15.1,541,5382,0.00,2.35,0.00,0.000,6,0.000,0.052,3273,2298,1806,0,0,0,0,0,0
$GC,5510,0.64,280.3,229.3,14.3,554,5514,0.00,2.38,0.00,0.000,4,0.000,0.069,3273,3723,1805,0,0,0,0,0,0
$GC,5573,0.60,280.3,219.0,15.9,559,5582,0.00,2.35,0.00,0.000,6,0.000,0.053,3283,2295,1805,0,0,0,0,0,0
$GC,5710,0.60,280.3,199.3,14.7,572,5714,0.00,2.35,0.00,0.000,4,0.000,0.070,3283,3715,1804,0,0,0,0,0,0
$GC,5772,0.54,280.3,189.0,17.0,577,5777,0.20,2.28,0.00,0.000,6,0.163,0.053,3238,2299,1804,0,0,0,0,0,0
$GC,5907,0.68,326.6,174.1,9.9,589,5958,0.12,2.50,40.33,0.925,4,0.087,0.068,3300,3709,1627,0,0,0,0,0,0
$GC,6027,0.63,326.6,154.4,17.7,599,6037,0.12,2.35,0.00,0.000,6,0.144,0.051,3273,2306,1621,0,0,0,0,0,0
$GC,6165,0.67,326.6,136.4,12.6,612,6169,0.00,2.38,0.00,0.000,4,0.000,0.069,3272,3716,1618,0,0,0,0,0,0
$GC,6215,0.67,326.6,129.1,14.9,616,6219,0.00,2.30,0.00,0.000,6,0.000,0.053,3281,2304,1618,0,0,0,0,0,0
$GC,6351,0.69,326.6,110.3,13.8,628,6355,0.00,2.35,0.00,0.000,4,0.000,0.068,3282,3713,1617,0,0,0,0,0,0
$GC,6401,0.69,326.6,102.5,16.2,632,6405,0.00,2.30,0.00,0.000,6,0.000,0.053,3288,2291,1617,0,0,0,0,0,0
$GC,6538,0.69,326.6,82.9,14.4,655,6544,0.00,2.40,0.00,0.000,4,0.000,0.070,3288,3723,1616,0,0,0,0,0,0
$GC,6595,0.67,326.6,73.7,17.0,665,6602,0.00,2.30,0.00,0.000,6,0.000,0.054,3298,2298,1616,0,0,0,0,0,0
$GC,6733,0.67,326.6,51.7,15.5,690,6741,0.00,2.40,0.00,0.000,4,0.000,0.070,3298,3715,1615,0,0,0,0,0,0
$GC,6790,0.62,326.6,41.8,18.2,700,6799,0.12,2.33,0.00,0.000,6,0.143,0.053,3269,2295,1615,0,0,0,0,0,0
$GC,6932,0.69,326.6,23.5,12.2,725,6939,0.00,2.38,0.00,0.000,4,0.000,0.070,3269,3723,1614,0,0,0,0,0,0
$GC,6991,0.71,326.6,15.4,14.2,735,6998,0.00,2.30,0.00,0.000,6,0.000,0.054,3277,2295,1614,0,0,0,0,0,0
$FREEZE,8.52,-1.600,-1.907,2,1,0
$FREEZE,7.94,-1.594,-1.907,2,1,0
$FREEZE,7.03,-1.591,-1.906,2,1,0
$FREEZE,6.38,-1.578,-1.906,2,1,0
$FREEZE,5.59,-1.570,-1.905,2,1,0
$FREEZE,4.90,-1.566,-1.904,2,1,0
$FREEZE,4.10,-1.577,-1.904,2,1,0
$FREEZE,3.41,-1.570,-1.904,2,1,0
$FREEZE,2.58,-1.561,-1.903,2,1,0
$STATE,7086,end climb,SURFACE_DEPTH_REACHED
$STATE,7087,begin surface coast
$FREEZE,1.82,-1.552,-1.902,2,1,0
$FREEZE,1.04,-1.547,-1.901,2,1,0
$FREEZE,0.93,-1.548,-1.898,2,1,0
$FREEZE,0.94,-1.527,-1.897,2,1,0
$FINISH,0.9,1.027801
$STATE,7110,end surface coast,CONTROL_FINISHED_OK
$STATE,7110,begin surface
$SM_CCo,7124,173.23,0.770,1,0,420,623.30
$SM_GC,1.16,0.00,0.00,173.23,0.000,0.000,0.770,426,2292,420,-8.25,-0.23,623.30
$IRIDIUM_FIX,-7639.69,16531.47,241110,000040
$TT8_MAMPS,0.028462
$HUMID,51.06
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,14.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,18.8
$24V_AH,22.0,16.101
$10V_AH,10.0,8.828
$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,20.450,122.525,455.150,173.225,0.000,29.436,36.779,492.538,1.750,0.000,26.676,1831.691,2725.020,777.447,2516.440,128.468,0.000,1666.791,0.000,1433.337,0.000,11.210,0.000
$DEVICE_MAMPS,226.440,74.970,1097.010,769.590,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,528.715,915.594,898.404,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276112
$DATA_FILE_SIZE,50367,756
$CAP_FILE_SIZE,126180,0
$CFSIZE,260165632,252002304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,4
$GPS,241110,013931,-7722.591,16527.652,181,99.0,181,143.5