version: 66.08
glider: 502
mission: 3
dive: 61
start: 11 26 110 13 25 21
data:
$ID,502
$MISSION,3
$DIVE,61
$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,-20213.859
$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,1.22
$_SM_ANGLEo,-12.7
$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,-175.2,0.0,0.0,0,173,0.00,0.00,-155.15,0.000,2,0.000,0.000,426,2664,3393,0,0,0,0,0,0
$GC,176,-0.84,-175.2,3.3,-2.7,24,198,9.10,2.38,-7.75,0.000,4,0.225,0.070,2791,1239,3680,0,0,0,0,0,0
$GC,438,-0.76,-175.2,47.6,-15.4,71,446,0.12,2.33,0.00,0.000,6,0.186,0.063,2814,2645,3684,0,0,0,0,0,0
$GC,579,-0.68,-175.2,69.2,-15.8,96,587,0.10,1.88,0.00,0.000,4,0.197,0.070,2834,3759,3683,0,0,0,0,0,0
$GC,633,-0.65,-175.2,77.4,-13.8,105,640,0.00,1.77,0.00,0.000,6,0.000,0.048,2834,2635,3683,0,0,0,0,0,0
$GC,771,-0.61,-175.2,96.7,-13.7,130,779,0.12,0.00,0.00,0.000,6,0.173,0.000,2868,2634,3683,0,0,0,0,0,0
$GC,916,-0.64,-175.2,113.2,-11.2,145,919,0.00,1.85,0.00,0.000,4,0.000,0.072,2867,3761,3684,0,0,0,0,0,0
$GC,951,-0.67,-175.2,117.1,-11.3,148,954,0.00,1.75,0.00,0.000,6,0.000,0.047,2867,2644,3683,0,0,0,0,0,0
$GC,1091,-0.70,-175.2,132.9,-11.4,161,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2642,3683,0,0,0,0,0,0
$GC,1219,-0.73,-175.2,147.2,-11.0,173,1223,0.12,1.85,0.00,0.000,4,0.093,0.071,2793,3770,3683,0,0,0,0,0,0
$GC,1255,-0.63,-175.2,152.9,-16.9,176,1265,0.20,1.80,0.00,0.000,6,0.144,0.048,2858,2644,3683,0,0,0,0,0,0
$GC,1392,-0.63,-175.2,169.0,-11.5,189,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2644,3683,0,0,0,0,0,0
$GC,1527,-0.63,-175.2,184.5,-11.1,202,1531,0.00,1.83,0.00,0.000,4,0.000,0.071,2854,3763,3683,0,0,0,0,0,0
$GC,1563,-0.65,-175.2,188.9,-11.3,205,1573,0.00,1.77,0.00,0.000,6,0.000,0.047,2854,2651,3684,0,0,0,0,0,0
$GC,1699,-0.65,-175.2,204.1,-11.6,218,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2650,3683,0,0,0,0,0,0
$GC,1827,-0.65,-175.2,219.1,-11.9,230,1828,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2650,3683,0,0,0,0,0,0
$GC,1953,-0.65,-175.2,234.1,-12.1,242,1957,0.00,1.85,0.00,0.000,4,0.000,0.071,2846,3767,3683,0,0,0,0,0,0
$GC,1998,-0.65,-175.2,239.8,-12.7,246,2002,0.00,1.75,0.00,0.000,6,0.000,0.048,2845,2645,3683,0,0,0,0,0,0
$GC,2137,-0.65,-175.2,257.6,-12.8,259,2138,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2644,3683,0,0,0,0,0,0
$GC,2330,-0.65,-175.2,281.8,-12.5,277,2333,0.00,1.83,0.00,0.000,4,0.000,0.071,2837,3763,3683,0,0,0,0,0,0
$GC,2374,-0.65,-175.2,287.9,-13.4,281,2378,0.00,1.75,0.00,0.000,6,0.000,0.048,2837,2641,3683,0,0,0,0,0,0
$GC,2577,-0.62,-175.2,314.4,-13.2,300,2581,0.00,1.85,0.00,0.000,4,0.000,0.071,2828,3771,3683,0,0,0,0,0,0
$GC,2600,-0.59,-175.2,317.6,-14.0,302,2604,0.15,1.75,0.00,0.000,6,0.158,0.049,2871,2652,3683,0,0,0,0,0,0
$GC,2805,-0.64,-175.2,338.6,-9.8,321,2806,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2651,3683,0,0,0,0,0,0
$GC,2993,-0.69,-175.2,357.7,-9.8,339,2997,0.00,1.83,0.00,0.000,4,0.000,0.071,2867,3769,3683,0,0,0,0,0,0
$GC,3039,-0.75,-175.2,362.4,-10.9,343,3044,0.12,1.75,0.00,0.000,6,0.094,0.048,2800,2647,3683,0,0,0,0,0,0
$GC,3243,-0.66,-175.2,393.4,-15.8,362,3244,0.17,0.00,0.00,0.000,6,0.168,0.000,2850,2644,3683,0,0,0,0,0,0
$GC,3433,-0.66,-175.2,416.3,-11.6,380,3437,0.00,1.83,0.00,0.000,4,0.000,0.071,2843,3763,3683,0,0,0,0,0,0
$GC,3490,-0.66,-175.2,423.1,-12.0,385,3494,0.00,1.77,0.00,0.000,6,0.000,0.048,2843,2655,3683,0,0,0,0,0,0
$GC,3692,-0.66,-175.2,447.4,-12.0,404,3695,0.00,1.83,0.00,0.000,4,0.000,0.073,2841,3767,3683,0,0,0,0,0,0
$STATE,3714,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3714,begin apogee
$GC,3720,-0.17,0.0,450.1,12.4,406,3884,0.50,0.00,157.25,1.105,6,0.129,0.000,3005,2494,2961,0,0,0,0,0,0
$STATE,3885,end apogee,CONTROL_FINISHED_OK
$STATE,3885,begin climb
$GC,3886,0.84,175.2,457.2,0.0,421,4062,1.00,2.62,166.23,1.038,4,0.083,0.055,3333,1091,2244,0,0,0,0,0,0
$GC,4124,0.74,175.2,432.7,15.1,442,4131,0.00,2.50,0.00,0.000,6,0.000,0.056,3333,2504,2234,0,0,0,0,0,0
$GC,4321,0.58,175.2,400.0,16.9,461,4326,0.28,2.15,0.00,0.000,4,0.164,0.065,3255,3765,2229,0,0,0,0,0,0
$GC,4417,0.51,175.2,387.0,13.0,469,4422,0.12,2.05,0.00,0.000,6,0.173,0.048,3232,2503,2228,0,0,0,0,0,0
$GC,4615,0.61,230.2,367.7,9.5,487,4671,0.00,2.22,49.00,1.010,4,0.000,0.065,3231,3764,2020,0,0,0,0,0,0
$GC,4711,0.66,246.0,357.8,11.3,495,4732,0.12,2.12,15.77,0.946,6,0.086,0.047,3294,2501,1957,0,0,0,0,0,0
$GC,4930,0.61,246.0,325.3,15.6,516,4934,0.12,2.15,0.00,0.000,4,0.167,0.067,3263,3763,1947,0,0,0,0,0,0
$GC,4969,0.58,246.0,319.4,15.1,519,4973,0.00,2.05,0.00,0.000,6,0.000,0.049,3272,2501,1947,0,0,0,0,0,0
$GC,5166,0.58,246.0,293.0,13.4,537,5170,0.00,2.10,0.00,0.000,4,0.000,0.068,3272,3763,1945,0,0,0,0,0,0
$GC,5198,0.54,246.0,288.1,14.6,539,5207,0.12,2.08,0.00,0.000,6,0.145,0.048,3241,2498,1944,0,0,0,0,0,0
$GC,5399,0.66,289.9,267.5,10.0,558,5445,0.10,2.28,39.12,0.978,4,0.103,0.067,3296,3767,1777,0,0,0,0,0,0
$GC,5481,0.61,289.9,255.9,16.2,565,5485,0.15,2.10,0.00,0.000,6,0.158,0.048,3266,2495,1774,0,0,0,0,0,0
$GC,5680,0.65,291.7,231.3,11.9,583,5684,0.00,2.12,0.00,0.000,4,0.000,0.068,3266,3766,1768,0,0,0,0,0,0
$GC,5710,0.68,291.7,227.4,13.6,585,5714,0.00,2.05,0.00,0.000,6,0.000,0.049,3274,2494,1768,0,0,0,0,0,0
$GC,5845,0.70,291.7,210.0,12.6,597,5846,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,2491,1766,0,0,0,0,0,0
$GC,5972,0.73,291.7,194.1,12.6,609,5976,0.00,2.10,0.00,0.000,4,0.000,0.068,3274,3764,1766,0,0,0,0,0,0
$GC,6011,0.73,291.7,188.7,14.3,612,6015,0.00,2.03,0.00,0.000,6,0.000,0.049,3283,2493,1766,0,0,0,0,0,0
$GC,6151,0.73,291.7,169.7,13.5,625,6153,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,2491,1764,0,0,0,0,0,0
$GC,6279,0.73,291.7,152.6,13.7,637,6283,0.00,2.10,0.00,0.000,4,0.000,0.067,3283,3773,1764,0,0,0,0,0,0
$GC,6330,0.71,291.7,145.2,15.2,641,6333,0.00,2.03,0.00,0.000,6,0.000,0.049,3292,2498,1764,0,0,0,0,0,0
$GC,6471,0.71,291.7,124.9,14.4,654,6473,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2496,1763,0,0,0,0,0,0
$GC,6597,0.71,291.7,106.7,14.4,666,6601,0.00,2.08,0.00,0.000,4,0.000,0.067,3293,3766,1762,0,0,0,0,0,0
$GC,6637,0.67,291.7,100.7,16.3,669,6640,0.00,2.00,0.00,0.000,6,0.000,0.049,3300,2501,1763,0,0,0,0,0,0
$GC,6775,0.65,291.7,80.0,15.7,693,6781,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2499,1762,0,0,0,0,0,0
$GC,6912,0.63,291.7,59.5,14.8,718,6920,0.12,2.10,0.00,0.000,4,0.161,0.067,3267,3762,1762,0,0,0,0,0,0
$GC,6960,0.66,291.7,52.7,13.5,726,6968,0.00,2.03,0.00,0.000,6,0.000,0.048,3275,2505,1762,0,0,0,0,0,0
$GC,7100,0.70,291.7,35.7,12.2,751,7106,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,2503,1762,0,0,0,0,0,0
$GC,7238,0.74,291.7,18.3,12.5,776,7246,0.00,2.08,0.00,0.000,4,0.000,0.066,3275,3754,1762,0,0,0,0,0,0
$GC,7282,0.74,291.7,12.3,13.7,783,7289,0.00,2.00,0.00,0.000,6,0.000,0.048,3285,2491,1761,0,0,0,0,0,0
$FREEZE,8.65,-1.723,-1.908,2,4,2
$FREEZE,8.00,-1.722,-1.907,2,4,2
$FREEZE,7.28,-1.725,-1.907,2,4,2
$FREEZE,6.49,-1.720,-1.906,2,4,2
$FREEZE,5.75,-1.720,-1.906,2,4,2
$FREEZE,4.99,-1.720,-1.905,2,4,2
$FREEZE,4.44,-1.720,-1.905,2,4,2
$FREEZE,3.53,-1.720,-1.904,2,4,2
$FREEZE,2.99,-1.722,-1.903,2,4,2
$STATE,7352,end climb,SURFACE_DEPTH_REACHED
$STATE,7352,begin surface coast
$FREEZE,2.12,-1.722,-1.903,2,4,2
$FREEZE,1.44,-1.720,-1.902,2,4,2
$FREEZE,1.03,-1.730,-1.902,2,4,2
$FREEZE,1.01,-1.731,-1.900,2,4,2
$FINISH,1.0,1.027859
$STATE,7376,end surface coast,CONTROL_FINISHED_OK
$STATE,7376,begin surface
$SM_CCo,7391,189.73,0.774,1,0,419,623.30
$SM_GC,1.27,0.00,0.00,189.73,0.000,0.000,0.774,422,2661,419,-8.26,0.31,623.30
$IRIDIUM_FIX,-7639.69,16500.29,261110,060609
$TT8_MAMPS,0.028462
$HUMID,50.90
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,13.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,18.6
$24V_AH,21.7,21.375
$10V_AH,10.0,11.753
$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,20.400,92.425,427.375,189.725,0.000,99.272,17.034,0.000,2.250,0.000,181.636,1919.519,3120.524,734.766,2172.888,180.908,0.000,1577.404,0.000,1337.404,0.000,11.208,0.000
$DEVICE_MAMPS,224.910,75.735,1104.660,774.180,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,560.505,977.530,984.390,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53699,799
$CAP_FILE_SIZE,118470,0
$CFSIZE,260165632,250286080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,261110,062908,-7726.157,16510.441,181,99.0,181,144.2