version: 66.08
glider: 502
mission: 3
dive: 50
start: 11 25 110 15 11 30
data:
$ID,502
$MISSION,3
$DIVE,50
$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,-17652.152
$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,2600
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,19
$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
$GPS1,251110,053932,-7721.495,16437.059,181,99.0,181,144.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.87
$_SM_ANGLEo,3.7
$GPS2,251110,053932,-7721.495,16437.059,181,99.0,181,144.9
$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,340.0,21047,-18.7,-12.000
$D_GRID,375
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.84,-175.2,0.0,0.0,0,25,0.00,0.00,-9.07,0.000,2,0.000,0.000,3060,3768,3304,0,0,0,0,0,0
$GC,27,-0.84,-175.2,5.0,-0.0,1,48,0.73,4.20,-12.07,0.000,4,0.089,0.060,2800,1185,3679,0,0,0,0,0,0
$GC,121,-0.80,-175.2,15.8,-13.6,17,128,0.00,2.35,0.00,0.000,6,0.000,0.063,2798,2606,3682,0,0,0,0,0,0
$GC,258,-0.70,-175.2,37.7,-18.1,42,267,0.15,1.92,0.00,0.000,4,0.178,0.068,2832,3757,3682,0,0,0,0,0,0
$GC,291,-0.68,-175.2,42.5,-14.6,47,298,0.00,1.85,0.00,0.000,6,0.000,0.047,2832,2584,3682,0,0,0,0,0,0
$GC,430,-0.66,-175.2,63.6,-15.1,72,437,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2583,3682,0,0,0,0,0,0
$GC,569,-0.66,-175.2,82.9,-14.4,97,576,0.00,1.95,0.00,0.000,4,0.000,0.070,2823,3767,3683,0,0,0,0,0,0
$GC,609,-0.66,-175.2,88.1,-12.9,104,617,0.00,1.88,0.00,0.000,6,0.000,0.049,2823,2603,3682,0,0,0,0,0,0
$GC,753,-0.62,-175.2,106.8,-12.4,125,755,0.15,0.00,0.00,0.000,6,0.164,0.000,2866,2603,3682,0,0,0,0,0,0
$GC,880,-0.67,-175.2,119.4,-9.9,137,884,0.00,1.90,0.00,0.000,4,0.000,0.070,2866,3765,3682,0,0,0,0,0,0
$GC,906,-0.72,-175.2,121.6,-9.4,139,910,0.00,1.83,0.00,0.000,6,0.000,0.047,2866,2599,3682,0,0,0,0,0,0
$GC,1048,-0.77,-175.2,135.4,-9.4,152,1056,0.15,0.00,0.00,0.000,6,0.084,0.000,2791,2596,3682,0,0,0,0,0,0
$GC,1183,-0.67,-175.2,156.0,-15.8,165,1188,0.20,1.92,0.00,0.000,4,0.169,0.067,2840,3774,3683,0,0,0,0,0,0
$GC,1212,-0.64,-175.2,160.3,-14.0,167,1216,0.00,1.85,0.00,0.000,6,0.000,0.049,2841,2596,3682,0,0,0,0,0,0
$GC,1354,-0.64,-175.2,177.2,-11.9,180,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2593,3682,0,0,0,0,0,0
$GC,1480,-0.64,-175.2,193.4,-13.2,192,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2593,3682,0,0,0,0,0,0
$GC,1607,-0.64,-175.2,210.1,-12.9,204,1611,0.00,1.92,0.00,0.000,4,0.000,0.070,2836,3774,3683,0,0,0,0,0,0
$GC,1630,-0.64,-175.2,213.3,-13.2,206,1634,0.00,1.85,0.00,0.000,6,0.000,0.049,2836,2593,3682,0,0,0,0,0,0
$GC,1771,-0.64,-175.2,231.3,-12.7,219,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2590,3683,0,0,0,0,0,0
$GC,1898,-0.64,-175.2,247.9,-13.1,231,1902,0.00,1.92,0.00,0.000,4,0.000,0.070,2827,3770,3682,0,0,0,0,0,0
$GC,1923,-0.64,-175.2,251.9,-13.7,233,1932,0.08,1.88,0.00,0.000,6,0.145,0.048,2853,2600,3682,0,0,0,0,0,0
$STATE,2015,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2015,begin apogee
$GC,2019,-0.17,0.0,262.5,11.5,242,2176,0.45,0.00,152.32,0.982,6,0.130,0.000,3002,2392,2961,0,0,0,0,0,0
$STATE,2176,end apogee,CONTROL_FINISHED_OK
$STATE,2177,begin climb
$GC,2178,0.84,175.2,270.4,0.0,256,2353,1.00,2.58,161.25,0.917,4,0.082,0.054,3337,1001,2243,0,0,0,0,0,0
$GC,2387,0.75,175.2,251.7,13.7,275,2392,0.00,2.47,0.00,0.000,6,0.000,0.056,3336,2401,2237,0,0,0,0,0,0
$GC,2586,0.60,175.2,221.3,16.1,293,2591,0.25,2.33,0.00,0.000,4,0.163,0.062,3265,3773,2231,0,0,0,0,0,0
$GC,2703,0.53,175.2,206.2,12.9,303,2708,0.15,2.22,0.00,0.000,6,0.168,0.047,3235,2409,2229,0,0,0,0,0,0
$GC,2838,0.68,254.2,193.9,8.4,315,2916,0.15,2.47,70.47,0.881,4,0.078,0.064,3303,3766,1923,0,0,0,0,0,0
$GC,2968,0.60,254.2,175.9,15.8,326,2973,0.20,2.30,0.00,0.000,6,0.155,0.047,3262,2403,1918,0,0,0,0,0,0
$GC,3104,0.69,297.5,160.6,10.0,338,3154,0.00,2.50,38.42,0.858,4,0.000,0.066,3262,3770,1745,0,0,0,0,0,0
$GC,3192,0.73,297.5,150.7,12.8,345,3201,0.00,2.38,0.00,0.000,6,0.000,0.049,3270,2396,1740,0,0,0,0,0,0
$GC,3328,0.81,325.1,136.6,10.7,358,3358,0.15,2.40,24.73,0.838,4,0.077,0.063,3334,3762,1634,0,0,0,0,0,0
$GC,3405,0.72,325.1,123.1,20.4,364,3410,0.17,2.30,0.00,0.000,6,0.162,0.047,3300,2385,1630,0,0,0,0,0,0
$GC,3539,0.72,325.1,100.6,16.0,376,3543,0.00,2.35,0.00,0.000,4,0.000,0.067,3299,3767,1625,0,0,0,0,0,0
$GC,3576,0.72,325.1,94.2,16.5,382,3585,0.00,2.28,0.00,0.000,6,0.000,0.048,3307,2403,1625,0,0,0,0,0,0
$GC,3717,0.72,325.1,72.9,14.3,407,3724,0.00,2.28,0.00,0.000,4,0.000,0.067,3308,3764,1623,0,0,0,0,0,0
$GC,3764,0.68,325.1,65.4,16.8,415,3771,0.12,2.22,0.00,0.000,6,0.162,0.049,3284,2393,1623,0,0,0,0,0,0
$GC,3902,0.73,325.1,46.3,13.9,440,3910,0.00,2.33,0.00,0.000,4,0.000,0.067,3284,3768,1622,0,0,0,0,0,0
$GC,3938,0.75,325.1,40.8,16.3,446,3947,0.00,2.25,0.00,0.000,6,0.000,0.050,3287,2399,1622,0,0,0,0,0,0
$GC,4079,0.78,325.1,21.4,13.6,471,4086,0.00,2.28,0.00,0.000,4,0.000,0.067,3287,3773,1621,0,0,0,0,0,0
$GC,4116,0.78,325.1,16.2,14.1,477,4123,0.00,2.20,0.00,0.000,6,0.000,0.048,3296,2398,1621,0,0,0,0,0,0
$FREEZE,8.39,-1.900,-1.907,2,8,2
$FREEZE,7.40,-1.900,-1.907,2,8,2
$FREEZE,6.69,-1.900,-1.906,2,8,2
$FREEZE,5.82,-1.900,-1.905,2,8,2
$FREEZE,5.20,-1.900,-1.905,2,8,2
$FREEZE,4.32,-1.901,-1.904,2,8,2
$FREEZE,3.75,-1.902,-1.904,2,8,2
$FREEZE,2.70,-1.903,-1.903,2,8,2
$STATE,4211,end climb,SURFACE_DEPTH_REACHED
$STATE,4212,begin surface coast
$FREEZE,1.99,-1.904,-1.903,2,8,2
$FREEZE,1.30,-1.902,-1.902,2,8,2
$FREEZE,0.94,-1.902,-1.844,2,8,2
$FREEZE,0.81,-1.904,-1.844,2,8,2
$FINISH,0.8,1.027058
$STATE,4236,end surface coast,CONTROL_FINISHED_OK
$STATE,4236,begin surface
$SM_CCo,4250,179.98,0.756,1,0,419,623.30
$SM_GC,1.12,0.00,0.00,179.98,0.000,0.000,0.756,422,2618,419,-8.26,0.51,623.30
$IRIDIUM_FIX,-7630.39,16427.50,251110,050514
$TT8_MAMPS,0.028462
$HUMID,51.33
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,13.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,18.8
$ALTIM_BOTTOM_PING,250.3,26.3
$24V_AH,22.0,19.509
$10V_AH,10.1,10.701
$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,11.775,72.025,447.200,179.975,0.000,0.000,0.000,0.000,1.000,0.000,0.000,1208.676,1244.927,621.104,1337.528,74.280,0.000,1194.135,0.000,847.524,0.000,7.114,0.000
$DEVICE_MAMPS,178.245,72.675,982.260,755.820,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,348.737,724.493,931.105,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276092
$DATA_FILE_SIZE,33703,498
$CAP_FILE_SIZE,76692,0
$CFSIZE,260165632,250982400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,251110,053932,-7721.495,16437.059,181,99.0,181,144.9