version: 66.08
glider: 502
mission: 3
dive: 31
start: 11 24 110 6 11 37
data:
$ID,502
$MISSION,3
$DIVE,31
$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,-12165.048
$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,28
$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
$GPS1,241110,055807,-7725.139,16528.473,31,1.0,31,143.7
$_CALLS,3
$_XMS_NAKs,9
$_XMS_TOUTs,9
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-68.3
$GPS2,241110,061114,-7725.182,16528.590,14,1.1,14,143.7
$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,149.2,10363,-18.7,-12.000
$D_GRID,640
$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,-162.30,0.000,2,0.000,0.000,429,2303,3490,0,0,0,0,0,0
$GC,182,-0.84,-175.2,3.5,-4.3,25,203,9.32,2.50,-4.57,0.000,4,0.228,0.082,2778,3771,3679,0,0,0,0,0,0
$GC,304,-0.70,-175.2,31.9,-19.5,46,313,0.17,1.95,0.00,0.000,6,0.152,0.051,2832,2593,3681,0,0,0,0,0,0
$GC,446,-0.67,-175.2,53.3,-13.4,71,452,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2593,3682,0,0,0,0,0,0
$GC,583,-0.65,-175.2,72.3,-12.9,96,591,0.00,2.00,0.00,0.000,4,0.000,0.075,2825,3763,3681,0,0,0,0,0,0
$GC,616,-0.61,-175.2,76.7,-14.1,101,623,0.15,1.88,0.00,0.000,6,0.158,0.049,2868,2586,3681,0,0,0,0,0,0
$GC,754,-0.65,-175.2,91.9,-10.4,126,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2584,3681,0,0,0,0,0,0
$GC,899,-0.70,-175.2,106.4,-9.8,146,902,0.00,1.95,0.00,0.000,4,0.000,0.074,2867,3762,3681,0,0,0,0,0,0
$GC,936,-0.77,-175.2,110.6,-10.1,149,945,0.12,1.88,0.00,0.000,6,0.055,0.051,2793,2605,3681,0,0,0,0,0,0
$GC,1073,-0.66,-175.2,130.9,-16.3,162,1081,0.20,0.00,0.00,0.000,6,0.170,0.000,2849,2604,3681,0,0,0,0,0,0
$GC,1208,-0.66,-175.2,147.6,-11.5,175,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2604,3681,0,0,0,0,0,0
$GC,1335,-0.66,-175.2,162.6,-12.0,187,1339,0.00,1.92,0.00,0.000,4,0.000,0.073,2841,3768,3681,0,0,0,0,0,0
$GC,1369,-0.66,-175.2,166.8,-12.4,190,1373,0.00,1.88,0.00,0.000,6,0.000,0.052,2841,2584,3681,0,0,0,0,0,0
$GC,1509,-0.66,-175.2,184.5,-12.7,203,1510,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2582,3681,0,0,0,0,0,0
$GC,1636,-0.66,-175.2,200.7,-12.6,215,1640,0.00,1.95,0.00,0.000,4,0.000,0.074,2832,3763,3681,0,0,0,0,0,0
$GC,1673,-0.66,-175.2,206.0,-13.6,218,1682,0.00,1.88,0.00,0.000,6,0.000,0.051,2832,2605,3681,0,0,0,0,0,0
$GC,1810,-0.66,-175.2,222.8,-12.6,231,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2606,3681,0,0,0,0,0,0
$GC,1936,-0.66,-175.2,238.6,-12.4,243,1940,0.00,1.92,0.00,0.000,4,0.000,0.075,2823,3770,3681,0,0,0,0,0,0
$GC,1973,-0.64,-175.2,243.9,-13.7,246,1983,0.08,1.90,0.00,0.000,6,0.151,0.052,2849,2596,3681,0,0,0,0,0,0
$GC,2108,-0.66,-175.2,258.8,-11.0,259,2112,0.00,1.98,0.00,0.000,4,0.000,0.073,2842,3765,3681,0,0,0,0,0,0
$GC,2135,-0.66,-175.2,262.2,-11.8,261,2142,0.00,1.88,0.00,0.000,6,0.000,0.051,2841,2600,3681,0,0,0,0,0,0
$GC,2335,-0.66,-175.2,284.7,-11.3,280,2338,0.00,1.92,0.00,0.000,4,0.000,0.075,2833,3763,3681,0,0,0,0,0,0
$GC,2361,-0.66,-175.2,288.4,-12.5,282,2369,0.00,1.88,0.00,0.000,6,0.000,0.051,2832,2602,3681,0,0,0,0,0,0
$GC,2559,-0.66,-175.2,312.7,-12.7,301,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2601,3681,0,0,0,0,0,0
$GC,2750,-0.66,-175.2,337.2,-13.0,319,2754,0.00,1.92,0.00,0.000,4,0.000,0.076,2823,3766,3681,0,0,0,0,0,0
$GC,2806,-0.66,-175.2,344.8,-13.7,324,2810,0.00,1.85,0.00,0.000,6,0.000,0.052,2823,2593,3681,0,0,0,0,0,0
$GC,3010,-0.63,-175.2,371.0,-12.6,343,3015,0.12,1.98,0.00,0.000,4,0.173,0.076,2850,3769,3681,0,0,0,0,0,0
$GC,3044,-0.66,-175.2,375.2,-12.2,346,3048,0.00,1.90,0.00,0.000,6,0.000,0.053,2850,2598,3681,0,0,0,0,0,0
$GC,3247,-0.69,-175.2,396.5,-10.7,365,3251,0.00,1.92,0.00,0.000,4,0.000,0.074,2841,3764,3681,0,0,0,0,0,0
$GC,3293,-0.72,-175.2,401.8,-11.2,369,3297,0.00,1.88,0.00,0.000,6,0.000,0.049,2841,2597,3681,0,0,0,0,0,0
$GC,3495,-0.72,-175.2,424.6,-11.5,388,3499,0.00,1.92,0.00,0.000,4,0.000,0.075,2833,3763,3681,0,0,0,0,0,0
$GC,3521,-0.72,-175.2,428.0,-12.0,390,3530,0.00,1.88,0.00,0.000,6,0.000,0.051,2833,2603,3681,0,0,0,0,0,0
$STATE,3708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3708,begin apogee
$GC,3713,-0.17,0.0,450.7,12.3,408,3876,0.52,0.00,154.93,1.098,6,0.135,0.000,3002,2384,2961,0,0,0,0,0,0
$STATE,3877,end apogee,CONTROL_FINISHED_OK
$STATE,3877,begin climb
$GC,3879,0.84,175.2,457.9,0.0,423,4054,1.00,2.55,164.15,1.027,4,0.082,0.060,3331,998,2243,0,0,0,0,0,0
$GC,4134,0.73,175.2,430.5,15.9,446,4139,0.12,2.45,0.00,0.000,6,0.171,0.059,3302,2399,2232,0,0,0,0,0,0
$GC,4333,0.60,175.2,401.0,15.1,464,4338,0.15,2.33,0.00,0.000,4,0.182,0.067,3265,3762,2229,0,0,0,0,0,0
$GC,4456,0.50,175.2,382.9,14.9,474,4463,0.17,2.22,0.00,0.000,6,0.171,0.051,3227,2413,2227,0,0,0,0,0,0
$GC,4654,0.60,232.5,363.6,9.4,493,4712,0.00,2.47,50.72,1.001,4,0.000,0.069,3227,3762,2012,0,0,0,0,0,0
$GC,4786,0.62,232.5,349.1,12.2,505,4790,0.00,2.30,0.00,0.000,6,0.000,0.051,3235,2392,2006,0,0,0,0,0,0
$GC,4985,0.70,260.5,327.9,10.7,523,5019,0.15,2.40,25.55,0.969,4,0.080,0.069,3303,3761,1898,0,0,0,0,0,0
$GC,5088,0.58,260.5,309.7,19.8,532,5093,0.22,2.28,0.00,0.000,6,0.163,0.052,3253,2392,1893,0,0,0,0,0,0
$GC,5287,0.61,260.5,283.6,12.3,550,5291,0.00,2.33,0.00,0.000,4,0.000,0.070,3253,3771,1889,0,0,0,0,0,0
$GC,5338,0.61,260.5,276.5,14.1,554,5342,0.00,2.25,0.00,0.000,6,0.000,0.052,3261,2390,1889,0,0,0,0,0,0
$GC,5534,0.61,260.5,252.3,12.1,572,5538,0.00,2.30,0.00,0.000,4,0.000,0.070,3261,3764,1888,0,0,0,0,0,0
$GC,5586,0.61,260.5,245.6,13.5,576,5590,0.00,2.20,0.00,0.000,6,0.000,0.052,3270,2399,1888,0,0,0,0,0,0
$GC,5721,0.61,260.5,228.7,12.5,588,5726,0.00,2.28,0.00,0.000,4,0.000,0.071,3271,3765,1887,0,0,0,0,0,0
$GC,5751,0.58,260.5,224.7,14.4,590,5755,0.00,2.20,0.00,0.000,6,0.000,0.053,3280,2399,1887,0,0,0,0,0,0
$GC,5887,0.56,260.5,206.4,13.5,602,5892,0.12,2.28,0.00,0.000,4,0.172,0.070,3248,3771,1886,0,0,0,0,0,0
$GC,5917,0.56,260.5,201.7,13.5,604,5927,0.00,2.25,0.00,0.000,6,0.000,0.053,3248,2400,1886,0,0,0,0,0,0
$GC,6054,0.64,293.0,187.3,10.5,617,6092,0.00,2.40,28.85,0.930,4,0.000,0.071,3248,3760,1764,0,0,0,0,0,0
$GC,6117,0.72,311.9,180.5,11.1,622,6143,0.15,2.25,17.90,0.884,6,0.077,0.052,3316,2393,1688,0,0,0,0,0,0
$GC,6270,0.64,311.9,155.3,18.1,636,6278,0.15,0.00,0.00,0.000,6,0.163,0.000,3277,2392,1680,0,0,0,0,0,0
$GC,6405,0.64,311.9,135.7,13.5,649,6409,0.00,2.30,0.00,0.000,4,0.000,0.069,3277,3764,1678,0,0,0,0,0,0
$GC,6468,0.64,311.9,125.7,15.7,654,6478,0.00,2.28,0.00,0.000,6,0.000,0.053,3286,2399,1677,0,0,0,0,0,0
$GC,6604,0.64,311.9,106.6,15.0,667,6605,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,2397,1676,0,0,0,0,0,0
$GC,6731,0.64,311.9,87.9,14.5,686,6739,0.00,2.33,0.00,0.000,4,0.000,0.071,3286,3767,1675,0,0,0,0,0,0
$GC,6788,0.64,311.9,78.8,16.3,696,6796,0.00,2.25,0.00,0.000,6,0.000,0.053,3296,2401,1675,0,0,0,0,0,0
$GC,6929,0.62,311.9,57.7,15.1,721,6936,0.00,2.28,0.00,0.000,4,0.000,0.070,3296,3768,1675,0,0,0,0,0,0
$GC,6966,0.57,311.9,51.5,17.4,727,6973,0.20,2.20,0.00,0.000,6,0.155,0.050,3250,2395,1674,0,0,0,0,0,0
$GC,7106,0.69,333.3,35.3,11.0,752,7134,0.12,2.35,18.10,0.842,4,0.087,0.069,3312,3759,1601,0,0,0,0,0,0
$GC,7164,0.63,333.3,26.4,18.3,761,7172,0.20,2.22,0.00,0.000,6,0.155,0.052,3267,2402,1598,0,0,0,0,0,0
$FREEZE,8.56,-1.581,-1.908,2,3,0
$FREEZE,7.82,-1.539,-1.907,2,3,0
$FREEZE,6.58,-1.534,-1.906,2,3,0
$FREEZE,5.30,-1.527,-1.905,2,3,0
$FREEZE,3.94,-1.509,-1.904,2,3,0
$GC,7304,0.75,370.6,8.6,10.3,786,7346,0.12,2.35,33.70,0.818,4,0.086,0.068,3326,3761,1449,0,0,0,0,0,0
$FREEZE,0.90,-1.552,-1.848,2,3,0
$STATE,7352,end climb,SURFACE_DEPTH_REACHED
$STATE,7352,begin surface coast
$FREEZE,0.82,-1.519,-1.847,2,3,0
$FREEZE,0.83,-1.495,-1.846,2,3,0
$FREEZE,0.91,-1.484,-1.846,2,3,0
$FINISH,0.9,1.027073
$STATE,7372,end surface coast,CONTROL_FINISHED_OK
$STATE,7372,begin surface
$SM_CCo,7388,156.62,0.742,2,0,419,623.30
$SM_GC,1.22,0.00,0.00,156.62,0.000,0.000,0.742,430,2593,419,-8.23,-0.20,623.30
$IRIDIUM_FIX,-7639.69,16521.92,241110,060655
$TT8_MAMPS,0.028462
$HUMID,51.06
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,14.00
$XPDR_PINGS,4
$ALTIM_TOP_PING,20.0,19.1
$24V_AH,22.0,16.476
$10V_AH,10.0,9.027
$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,21.650,111.075,493.900,156.625,0.000,87.535,119.529,303.986,2.500,0.000,15.423,1882.827,3059.543,800.073,2447.806,159.307,0.000,1690.507,0.000,1351.833,0.000,11.209,0.000
$DEVICE_MAMPS,227.970,81.855,1097.775,742.050,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,555.611,965.238,953.670,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276124
$DATA_FILE_SIZE,53757,795
$CAP_FILE_SIZE,129329,0
$CFSIZE,260165632,251801600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,241110,061114,-7725.182,16528.590,181,99.0,181,143.7