version: 66.08
glider: 502
mission: 3
dive: 30
start: 11 24 110 3 54 1
data:
$ID,502
$MISSION,3
$DIVE,30
$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,-12163.698
$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,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
$GPS1,241110,013931,-7722.591,16527.652,181,99.0,181,143.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-12.5
$GPS2,241110,013931,-7722.591,16527.652,181,99.0,181,143.5
$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,15,-0.84,-175.2,0.0,0.0,0,167,0.00,0.00,-149.80,0.000,2,0.000,0.000,426,2293,3373,0,0,0,0,0,0
$GC,170,-0.84,-175.2,3.0,-1.9,23,198,9.20,2.45,-8.32,0.000,4,0.226,0.086,2779,3710,3680,0,0,0,0,0,0
$GC,442,-0.71,-175.2,55.5,-19.3,72,451,0.15,2.30,0.00,0.000,6,0.151,0.050,2827,2297,3682,0,0,0,0,0,0
$GC,584,-0.68,-175.2,76.0,-14.0,97,591,0.00,2.40,0.00,0.000,4,0.000,0.073,2818,3716,3682,0,0,0,0,0,0
$GC,685,-0.65,-175.2,91.1,-15.1,115,693,0.12,2.28,0.00,0.000,6,0.172,0.053,2851,2300,3682,0,0,0,0,0,0
$GC,826,-0.67,-175.2,107.4,-11.4,134,830,0.00,2.35,0.00,0.000,4,0.000,0.073,2842,3715,3682,0,0,0,0,0,0
$GC,901,-0.69,-175.2,117.2,-11.3,140,910,0.00,2.30,0.00,0.000,6,0.000,0.053,2842,2296,3682,0,0,0,0,0,0
$GC,1036,-0.69,-175.2,133.4,-12.1,153,1040,0.00,2.35,0.00,0.000,4,0.000,0.073,2831,3713,3682,0,0,0,0,0,0
$GC,1111,-0.69,-175.2,143.3,-12.5,159,1120,0.00,2.30,0.00,0.000,6,0.000,0.052,2831,2300,3682,0,0,0,0,0,0
$GC,1248,-0.69,-175.2,159.9,-12.5,172,1252,0.00,2.38,0.00,0.000,4,0.000,0.074,2821,3716,3682,0,0,0,0,0,0
$GC,1333,-0.67,-175.2,171.8,-12.9,179,1342,0.00,2.30,0.00,0.000,6,0.000,0.052,2821,2297,3682,0,0,0,0,0,0
$GC,1471,-0.64,-175.2,189.4,-13.2,192,1476,0.12,2.38,0.00,0.000,4,0.175,0.073,2847,3719,3682,0,0,0,0,0,0
$GC,1546,-0.68,-175.2,198.9,-11.4,198,1554,0.00,2.30,0.00,0.000,6,0.000,0.052,2846,2299,3682,0,0,0,0,0,0
$GC,1681,-0.70,-175.2,213.7,-10.8,211,1686,0.00,2.35,0.00,0.000,4,0.000,0.074,2842,3716,3682,0,0,0,0,0,0
$GC,1777,-0.73,-175.2,224.6,-11.5,219,1781,0.00,2.25,0.00,0.000,6,0.000,0.053,2842,2300,3682,0,0,0,0,0,0
$GC,1913,-0.73,-175.2,240.0,-11.5,231,1917,0.00,2.35,0.00,0.000,4,0.000,0.073,2831,3717,3682,0,0,0,0,0,0
$GC,1997,-0.73,-175.2,250.2,-12.1,238,2001,0.00,2.25,0.00,0.000,6,0.000,0.049,2831,2290,3682,0,0,0,0,0,0
$GC,2194,-0.73,-175.2,274.7,-12.5,256,2198,0.00,2.40,0.00,0.000,4,0.000,0.073,2821,3723,3682,0,0,0,0,0,0
$GC,2311,-0.73,-175.2,290.3,-12.6,266,2315,0.00,2.28,0.00,0.000,6,0.000,0.052,2820,2289,3682,0,0,0,0,0,0
$GC,2510,-0.71,-175.2,315.7,-12.5,284,2514,0.00,2.40,0.00,0.000,4,0.000,0.075,2809,3723,3682,0,0,0,0,0,0
$GC,2629,-0.67,-175.2,331.9,-13.6,294,2634,0.15,2.28,0.00,0.000,6,0.161,0.053,2852,2291,3682,0,0,0,0,0,0
$GC,2827,-0.71,-175.2,352.5,-10.0,312,2832,0.00,2.38,0.00,0.000,4,0.000,0.075,2843,3723,3681,0,0,0,0,0,0
$GC,2961,-0.75,-175.2,367.7,-11.4,323,2968,0.00,2.25,0.00,0.000,6,0.000,0.053,2843,2297,3681,0,0,0,0,0,0
$GC,3159,-0.78,-175.2,389.9,-11.4,342,3164,0.00,2.38,0.00,0.000,4,0.000,0.074,2842,3718,3682,0,0,0,0,0,0
$GC,3290,-0.82,-175.2,404.8,-10.7,353,3295,0.12,2.25,0.00,0.000,6,0.093,0.053,2779,2298,3681,0,0,0,0,0,0
$GC,3489,-0.72,-175.2,435.5,-16.3,371,3494,0.17,2.38,0.00,0.000,4,0.169,0.074,2818,3723,3681,0,0,0,0,0,0
$STATE,3596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3596,begin apogee
$GC,3602,-0.17,0.0,450.3,13.1,380,3767,0.57,0.00,155.18,1.102,6,0.132,0.000,3005,2292,2962,0,0,0,0,0,0
$STATE,3767,end apogee,CONTROL_FINISHED_OK
$STATE,3767,begin climb
$GC,3769,0.84,175.2,457.1,0.0,395,3944,1.00,2.58,164.43,1.035,4,0.079,0.060,3341,892,2243,0,0,0,0,0,0
$GC,3990,0.72,175.2,434.2,15.7,415,3995,0.17,2.50,0.00,0.000,6,0.164,0.058,3298,2306,2234,0,0,0,0,0,0
$GC,4188,0.61,175.2,405.1,15.1,433,4193,0.15,2.40,0.00,0.000,4,0.181,0.068,3261,3716,2229,0,0,0,0,0,0
$GC,4332,0.51,175.2,384.2,14.0,445,4340,0.10,2.38,0.00,0.000,6,0.158,0.051,3238,2300,2227,0,0,0,0,0,0
$GC,4530,0.55,207.5,363.2,10.5,464,4564,0.00,2.47,27.30,0.995,4,0.000,0.069,3238,3710,2115,0,0,0,0,0,0
$GC,4680,0.55,207.5,344.8,12.8,477,4688,0.00,2.38,0.00,0.000,6,0.000,0.051,3247,2293,2111,0,0,0,0,0,0
$GC,4880,0.61,231.7,323.2,10.9,496,4914,0.00,2.53,23.42,0.978,4,0.000,0.069,3247,3711,2014,0,0,0,0,0,0
$GC,5006,0.61,231.7,307.4,12.7,507,5011,0.00,2.33,0.00,0.000,6,0.000,0.052,3256,2294,2010,0,0,0,0,0,0
$GC,5203,0.61,231.7,283.5,12.0,525,5207,0.00,2.38,0.00,0.000,4,0.000,0.070,3256,3711,2007,0,0,0,0,0,0
$GC,5302,0.56,231.7,269.3,14.3,533,5309,0.00,2.30,0.00,0.000,6,0.000,0.053,3261,2300,2007,0,0,0,0,0,0
$GC,5501,0.56,231.7,244.1,12.6,552,5505,0.00,2.35,0.00,0.000,4,0.000,0.070,3261,3717,2004,0,0,0,0,0,0
$GC,5606,0.52,231.7,229.0,14.5,561,5611,0.15,2.28,0.00,0.000,6,0.166,0.052,3230,2298,2004,0,0,0,0,0,0
$GC,5742,0.65,280.6,214.6,9.7,573,5794,0.12,2.55,44.17,0.945,4,0.089,0.069,3292,3719,1814,0,0,0,0,0,0
$GC,5873,0.58,280.6,193.9,17.8,584,5878,0.20,2.35,0.00,0.000,6,0.163,0.052,3250,2298,1809,0,0,0,0,0,0
$GC,6009,0.66,303.9,178.0,10.9,596,6036,0.00,2.53,20.42,0.896,4,0.000,0.070,3249,3713,1721,0,0,0,0,0,0
$GC,6094,0.71,303.9,167.4,12.8,603,6104,0.08,2.38,0.00,0.000,6,0.059,0.051,3304,2298,1717,0,0,0,0,0,0
$GC,6230,0.66,303.9,146.3,16.9,616,6235,0.00,2.38,0.00,0.000,4,0.000,0.068,3304,3714,1713,0,0,0,0,0,0
$GC,6292,0.58,303.9,134.7,19.6,621,6297,0.22,2.30,0.00,0.000,6,0.159,0.052,3253,2300,1713,0,0,0,0,0,0
$GC,6427,0.66,315.3,117.5,11.5,633,6444,0.00,2.47,10.10,0.835,4,0.000,0.069,3253,3717,1674,0,0,0,0,0,0
$GC,6495,0.70,315.3,109.2,13.3,639,6500,0.00,2.33,0.00,0.000,6,0.000,0.053,3260,2291,1672,0,0,0,0,0,0
$GC,6630,0.79,332.9,93.8,11.2,656,6653,0.17,2.50,17.23,0.854,4,0.073,0.069,3336,3713,1602,0,0,0,0,0,0
$GC,6721,0.67,332.9,76.4,21.9,671,6728,0.22,2.33,0.00,0.000,6,0.164,0.053,3286,2301,1598,0,0,0,0,0,0
$GC,6860,0.67,332.9,53.3,15.7,696,6868,0.00,2.42,0.00,0.000,4,0.000,0.070,3286,3707,1596,0,0,0,0,0,0
$GC,6913,0.67,332.9,44.4,16.5,705,6920,0.00,2.30,0.00,0.000,6,0.000,0.053,3294,2295,1596,0,0,0,0,0,0
$GC,7051,0.67,332.9,22.6,15.7,730,7059,0.00,2.40,0.00,0.000,4,0.000,0.071,3294,3707,1595,0,0,0,0,0,0
$GC,7109,0.65,332.9,12.7,17.1,740,7118,0.00,2.30,0.00,0.000,6,0.000,0.053,3304,2307,1595,0,0,0,0,0,0
$FREEZE,8.47,-1.751,-1.908,2,2,2
$FREEZE,7.70,-1.739,-1.907,2,2,2
$FREEZE,6.62,-1.704,-1.906,2,2,2
$FREEZE,5.76,-1.698,-1.906,2,2,2
$FREEZE,4.80,-1.690,-1.905,2,2,2
$FREEZE,4.02,-1.700,-1.904,2,2,2
$FREEZE,2.94,-1.695,-1.903,2,2,2
$STATE,7167,end climb,SURFACE_DEPTH_REACHED
$STATE,7167,begin surface coast
$FREEZE,2.08,-1.669,-1.902,2,2,2
$FREEZE,1.10,-1.580,-1.902,2,2,2
$FREEZE,0.88,-1.821,-0.881,2,2,2
$FINISH,0.9,1.012964
$STATE,7187,end surface coast,CONTROL_FINISHED_OK
$STATE,7187,begin surface
$SM_CCo,7200,169.30,0.758,2,0,420,623.30
$SM_GC,1.59,0.00,0.00,169.30,0.000,0.000,0.758,429,2302,420,-8.24,0.06,623.30
$IRIDIUM_FIX,-7639.69,16533.94,241110,010148
$TT8_MAMPS,0.028462
$HUMID,51.65
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.3,18.5
$24V_AH,22.0,16.275
$10V_AH,10.0,8.928
$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,20.825,122.950,462.250,169.300,0.000,98.981,17.408,0.000,2.250,0.000,181.907,1823.803,2931.618,768.080,2233.777,140.749,0.000,1661.567,0.000,1428.274,0.000,11.208,0.000
$DEVICE_MAMPS,226.440,85.680,1102.365,758.115,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,526.809,909.479,908.789,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50566,753
$CAP_FILE_SIZE,117278,0
$CFSIZE,260165632,251953152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,241110,055807,-7725.139,16528.473,31,1.0,31,143.7