version: 66.08
glider: 502
mission: 3
dive: 64
start: 11 26 110 20 23 20
data:
$ID,502
$MISSION,3
$DIVE,64
$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,-21309.688
$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,27
$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,1.19
$_SM_ANGLEo,-12.4
$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,-175.2,0.0,0.0,0,155,0.00,0.00,-136.82,0.000,2,0.000,0.000,425,2660,2921,0,0,0,0,0,0
$GC,157,-0.84,-175.2,3.3,-7.4,21,199,9.02,2.38,-27.30,0.000,4,0.222,0.070,2791,1237,3678,0,0,0,0,0,0
$GC,442,-0.78,-175.2,42.6,-14.7,72,450,0.00,2.38,0.00,0.000,6,0.000,0.065,2784,2647,3682,0,0,0,0,0,0
$GC,583,-0.65,-175.2,66.4,-17.4,97,590,0.25,1.85,0.00,0.000,4,0.169,0.069,2854,3770,3681,0,0,0,0,0,0
$GC,630,-0.65,-175.2,73.1,-12.8,105,637,0.00,1.77,0.00,0.000,6,0.000,0.048,2854,2644,3682,0,0,0,0,0,0
$GC,768,-0.65,-175.2,89.1,-11.8,130,776,0.00,1.88,0.00,0.000,4,0.000,0.070,2846,3757,3682,0,0,0,0,0,0
$GC,811,-0.65,-175.2,94.3,-12.6,137,817,0.00,1.77,0.00,0.000,6,0.000,0.047,2846,2632,3681,0,0,0,0,0,0
$GC,955,-0.65,-175.2,112.1,-12.4,154,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2631,3682,0,0,0,0,0,0
$GC,1080,-0.65,-175.2,127.8,-12.4,166,1084,0.00,1.88,0.00,0.000,4,0.000,0.073,2842,3769,3682,0,0,0,0,0,0
$GC,1147,-0.65,-175.2,136.5,-12.8,172,1150,0.00,1.75,0.00,0.000,6,0.000,0.049,2842,2653,3681,0,0,0,0,0,0
$GC,1287,-0.65,-175.2,153.9,-12.5,185,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2651,3682,0,0,0,0,0,0
$GC,1414,-0.65,-175.2,169.6,-12.3,197,1418,0.00,1.83,0.00,0.000,4,0.000,0.071,2833,3766,3681,0,0,0,0,0,0
$GC,1470,-0.65,-175.2,176.9,-12.8,202,1474,0.00,1.75,0.00,0.000,6,0.000,0.048,2833,2648,3681,0,0,0,0,0,0
$GC,1613,-0.62,-175.2,194.3,-11.9,215,1617,0.10,1.85,0.00,0.000,4,0.181,0.072,2854,3764,3681,0,0,0,0,0,0
$GC,1649,-0.62,-175.2,198.9,-10.7,218,1658,0.00,1.77,0.00,0.000,6,0.000,0.047,2854,2653,3681,0,0,0,0,0,0
$GC,1787,-0.65,-175.2,212.2,-10.0,231,1790,0.00,1.83,0.00,0.000,4,0.000,0.072,2845,3766,3681,0,0,0,0,0,0
$GC,1823,-0.65,-175.2,216.3,-11.0,234,1826,0.00,1.75,0.00,0.000,6,0.000,0.048,2845,2646,3682,0,0,0,0,0,0
$GC,1964,-0.65,-175.2,233.2,-12.4,247,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2644,3682,0,0,0,0,0,0
$GC,2090,-0.65,-175.2,248.3,-11.9,259,2094,0.00,1.83,0.00,0.000,4,0.000,0.072,2842,3763,3682,0,0,0,0,0,0
$GC,2148,-0.65,-175.2,256.2,-12.4,264,2157,0.00,1.77,0.00,0.000,6,0.000,0.047,2841,2652,3682,0,0,0,0,0,0
$GC,2347,-0.65,-175.2,279.8,-11.6,283,2351,0.00,1.88,0.00,0.000,4,0.000,0.073,2833,3767,3682,0,0,0,0,0,0
$GC,2403,-0.65,-175.2,286.7,-11.9,288,2407,0.00,1.75,0.00,0.000,6,0.000,0.048,2834,2647,3682,0,0,0,0,0,0
$GC,2607,-0.65,-175.2,311.7,-13.3,307,2611,0.00,1.83,0.00,0.000,4,0.000,0.073,2826,3764,3681,0,0,0,0,0,0
$GC,2643,-0.61,-175.2,316.3,-13.7,310,2647,0.15,1.75,0.00,0.000,6,0.157,0.048,2869,2641,3681,0,0,0,0,0,0
$GC,2846,-0.68,-175.2,335.8,-9.0,329,2849,0.00,1.85,0.00,0.000,4,0.000,0.073,2867,3763,3682,0,0,0,0,0,0
$GC,2906,-0.75,-175.2,341.8,-9.4,334,2914,0.10,1.77,0.00,0.000,6,0.057,0.047,2798,2651,3681,0,0,0,0,0,0
$GC,3105,-0.67,-175.2,368.6,-14.1,353,3110,0.17,1.88,0.00,0.000,4,0.162,0.072,2842,3758,3681,0,0,0,0,0,0
$GC,3143,-0.67,-175.2,373.5,-12.1,356,3150,0.00,1.77,0.00,0.000,6,0.000,0.048,2842,2630,3682,0,0,0,0,0,0
$GC,3341,-0.67,-175.2,395.6,-11.4,375,3344,0.00,1.88,0.00,0.000,4,0.000,0.073,2837,3771,3682,0,0,0,0,0,0
$GC,3390,-0.67,-175.2,402.0,-11.6,379,3398,0.00,1.80,0.00,0.000,6,0.000,0.048,2837,2647,3682,0,0,0,0,0,0
$GC,3588,-0.67,-175.2,425.4,-11.8,398,3592,0.00,1.83,0.00,0.000,4,0.000,0.072,2828,3764,3682,0,0,0,0,0,0
$GC,3639,-0.67,-175.2,432.0,-12.9,402,3645,0.00,1.77,0.00,0.000,6,0.000,0.048,2828,2635,3681,0,0,0,0,0,0
$STATE,3718,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3718,begin apogee
$GC,3722,-0.17,0.0,442.0,12.2,410,3886,0.55,0.00,157.20,1.097,6,0.134,0.000,3007,2490,2960,0,0,0,0,0,0
$STATE,3887,end apogee,CONTROL_FINISHED_OK
$STATE,3887,begin climb
$GC,3888,0.84,175.2,448.3,0.0,425,4064,1.00,2.55,165.10,1.018,4,0.081,0.054,3337,1102,2246,0,0,0,0,0,0
$GC,4156,0.73,175.2,418.4,15.5,449,4161,0.15,2.45,0.00,0.000,6,0.160,0.057,3301,2503,2235,0,0,0,0,0,0
$GC,4354,0.64,175.2,388.8,14.6,467,4358,0.00,2.12,0.00,0.000,4,0.000,0.067,3301,3767,2231,0,0,0,0,0,0
$GC,4416,0.51,175.2,378.5,16.7,472,4420,0.28,2.05,0.00,0.000,6,0.158,0.047,3232,2508,2229,0,0,0,0,0,0
$GC,4613,0.62,225.2,357.5,9.7,490,4664,0.00,0.00,45.08,1.006,6,0.000,0.000,3232,2505,2041,0,0,0,0,0,0
$GC,4856,0.77,284.3,334.3,9.3,513,4923,0.22,2.55,54.95,0.989,4,0.063,0.057,3339,1083,1798,0,0,0,0,0,0
$GC,4939,0.71,284.3,320.9,16.9,520,4947,0.17,2.50,0.00,0.000,6,0.148,0.055,3294,2506,1795,0,0,0,0,0,0
$GC,5136,0.71,284.3,293.5,13.6,539,5137,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,2506,1788,0,0,0,0,0,0
$GC,5329,0.71,284.3,267.4,13.6,557,5333,0.00,2.33,0.00,0.000,4,0.000,0.059,3300,1087,1785,0,0,0,0,0,0
$GC,5357,0.74,284.3,263.5,13.5,559,5361,0.00,2.35,0.00,0.000,6,0.000,0.058,3300,2502,1785,0,0,0,0,0,0
$GC,5560,0.74,284.3,234.8,14.2,578,5561,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2502,1784,0,0,0,0,0,0
$GC,5688,0.74,284.3,217.1,13.5,590,5689,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2502,1783,0,0,0,0,0,0
$GC,5815,0.74,284.3,199.3,13.7,602,5819,0.00,2.28,0.00,0.000,4,0.000,0.058,3309,1088,1783,0,0,0,0,0,0
$GC,5834,0.74,284.3,196.2,13.8,603,5844,0.00,2.33,0.00,0.000,6,0.000,0.057,3310,2493,1782,0,0,0,0,0,0
$GC,5970,0.74,284.3,176.3,15.2,616,5972,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2494,1781,0,0,0,0,0,0
$GC,6098,0.74,284.3,157.3,14.6,628,6099,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2494,1781,0,0,0,0,0,0
$GC,6225,0.74,284.3,137.9,15.0,640,6226,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2494,1781,0,0,0,0,0,0
$GC,6353,0.74,284.3,119.3,14.4,652,6354,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2494,1781,0,0,0,0,0,0
$GC,6480,0.74,284.3,100.9,14.5,664,6481,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2494,1780,0,0,0,0,0,0
$GC,6609,0.74,284.3,82.5,14.0,687,6616,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2494,1780,0,0,0,0,0,0
$GC,6746,0.74,284.3,63.0,13.8,712,6753,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2494,1780,0,0,0,0,0,0
$GC,6885,0.74,284.3,43.0,14.5,737,6891,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2494,1780,0,0,0,0,0,0
$GC,7022,0.74,284.3,22.6,15.0,762,7029,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2494,1780,0,0,0,0,0,0
$FREEZE,8.89,-1.680,-1.907,2,7,0
$FREEZE,8.11,-1.682,-1.906,2,7,0
$FREEZE,7.27,-1.690,-1.906,2,7,0
$FREEZE,6.51,-1.692,-1.905,2,7,0
$FREEZE,5.57,-1.688,-1.904,2,7,0
$FREEZE,4.77,-1.694,-1.904,2,7,0
$FREEZE,3.89,-1.695,-1.902,2,7,0
$FREEZE,3.23,-1.694,-1.902,2,7,0
$FREEZE,2.16,-1.693,-1.901,2,7,0
$STATE,7159,end climb,SURFACE_DEPTH_REACHED
$STATE,7160,begin surface coast
$FREEZE,1.21,-1.692,-1.900,2,7,0
$FREEZE,0.93,-1.687,-1.899,2,7,0
$FREEZE,0.97,-1.693,-1.899,2,7,0
$FREEZE,0.97,-1.688,-1.899,2,7,0
$FINISH,1.0,1.027835
$STATE,7184,end surface coast,CONTROL_FINISHED_OK
$STATE,7184,begin surface
$SM_CCo,7198,195.27,0.772,1,0,419,623.30
$SM_GC,1.27,0.00,0.00,195.27,0.000,0.000,0.772,419,2660,419,-8.27,0.28,623.30
$IRIDIUM_FIX,-7639.69,16500.29,261110,060609
$TT8_MAMPS,0.028462
$HUMID,51.22
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,18.5
$ALTIM_BOTTOM_PING,400.5,55.8
$24V_AH,21.7,21.891
$10V_AH,10.0,12.058
$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,19.775,75.725,422.325,195.275,0.000,99.173,17.382,0.000,2.250,0.000,181.652,1873.528,3018.281,747.337,2137.339,172.279,0.000,1558.746,0.000,1303.648,0.000,12.347,0.000
$DEVICE_MAMPS,221.850,75.735,1097.010,771.885,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,553.902,968.714,971.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53850,790
$CAP_FILE_SIZE,108744,0
$CFSIZE,260165632,250105856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,261110,062908,-7726.157,16510.441,181,99.0,181,144.2