version: 66.08
glider: 502
mission: 3
dive: 67
start: 11 27 110 3 16 54
data:
$ID,502
$MISSION,3
$DIVE,67
$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,-22405.682
$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,30
$R_STBD_OVSHOOT,25
$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,1.28
$_SM_ANGLEo,-13.0
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.84,-175.2,0.0,0.0,0,168,0.00,0.00,-149.18,0.000,2,0.000,0.000,424,2658,3360,0,0,0,0,0,0
$GC,170,-0.84,-175.2,3.4,-2.7,23,198,9.05,1.88,-8.65,0.000,4,0.222,0.087,2776,3758,3679,0,0,0,0,0,0
$GC,421,-0.69,-175.2,53.3,-20.4,68,430,0.20,1.80,0.00,0.000,6,0.150,0.049,2840,2641,3682,0,0,0,0,0,0
$GC,562,-0.69,-175.2,73.2,-13.3,93,569,0.00,1.85,0.00,0.000,4,0.000,0.070,2833,3760,3682,0,0,0,0,0,0
$GC,602,-0.65,-175.2,79.2,-15.2,100,610,0.00,1.80,0.00,0.000,6,0.000,0.048,2833,2644,3682,0,0,0,0,0,0
$GC,743,-0.63,-175.2,98.8,-13.7,125,749,0.00,1.85,0.00,0.000,4,0.000,0.070,2824,3762,3682,0,0,0,0,0,0
$GC,780,-0.58,-175.2,104.8,-15.2,129,790,0.12,1.77,0.00,0.000,6,0.135,0.047,2868,2654,3682,0,0,0,0,0,0
$GC,917,-0.62,-175.2,119.3,-10.7,142,921,0.00,1.83,0.00,0.000,4,0.000,0.073,2867,3762,3682,0,0,0,0,0,0
$GC,963,-0.67,-175.2,124.3,-11.6,146,967,0.00,1.75,0.00,0.000,6,0.000,0.047,2867,2642,3683,0,0,0,0,0,0
$GC,1104,-0.72,-175.2,139.4,-10.7,159,1108,0.10,1.85,0.00,0.000,4,0.105,0.071,2803,3759,3683,0,0,0,0,0,0
$GC,1151,-0.64,-175.2,146.7,-16.4,163,1161,0.15,1.77,0.00,0.000,6,0.138,0.047,2854,2647,3683,0,0,0,0,0,0
$GC,1287,-0.66,-175.2,163.4,-12.0,176,1290,0.00,1.85,0.00,0.000,4,0.000,0.070,2847,3768,3682,0,0,0,0,0,0
$GC,1344,-0.66,-175.2,171.3,-12.9,181,1354,0.00,1.80,0.00,0.000,6,0.000,0.047,2847,2647,3683,0,0,0,0,0,0
$GC,1482,-0.66,-175.2,187.2,-11.9,194,1485,0.00,1.83,0.00,0.000,4,0.000,0.072,2842,3759,3682,0,0,0,0,0,0
$GC,1537,-0.66,-175.2,194.6,-12.7,199,1541,0.00,1.75,0.00,0.000,6,0.000,0.047,2842,2638,3682,0,0,0,0,0,0
$GC,1679,-0.66,-175.2,211.8,-12.2,212,1683,0.00,1.85,0.00,0.000,4,0.000,0.072,2833,3764,3682,0,0,0,0,0,0
$GC,1737,-0.66,-175.2,220.1,-13.8,217,1746,0.00,1.77,0.00,0.000,6,0.000,0.047,2833,2655,3682,0,0,0,0,0,0
$GC,1874,-0.66,-175.2,236.7,-12.0,230,1878,0.00,1.83,0.00,0.000,4,0.000,0.073,2824,3769,3682,0,0,0,0,0,0
$GC,1911,-0.62,-175.2,242.4,-14.1,233,1920,0.10,1.80,0.00,0.000,6,0.139,0.048,2859,2643,3682,0,0,0,0,0,0
$GC,2045,-0.66,-175.2,257.4,-11.1,246,2049,0.00,1.83,0.00,0.000,4,0.000,0.071,2854,3760,3682,0,0,0,0,0,0
$GC,2091,-0.69,-175.2,262.7,-11.2,250,2095,0.00,1.73,0.00,0.000,6,0.000,0.047,2854,2652,3682,0,0,0,0,0,0
$GC,2295,-0.71,-175.2,285.0,-10.8,269,2299,0.00,1.88,0.00,0.000,4,0.000,0.073,2846,3754,3682,0,0,0,0,0,0
$GC,2355,-0.73,-175.2,292.8,-12.9,274,2363,0.00,1.75,0.00,0.000,6,0.000,0.047,2846,2655,3682,0,0,0,0,0,0
$GC,2553,-0.73,-175.2,316.1,-12.0,293,2556,0.00,1.83,0.00,0.000,4,0.000,0.073,2841,3765,3682,0,0,0,0,0,0
$GC,2609,-0.73,-175.2,323.2,-12.3,298,2612,0.00,1.75,0.00,0.000,6,0.000,0.048,2842,2644,3682,0,0,0,0,0,0
$GC,2812,-0.73,-175.2,347.3,-11.7,317,2816,0.00,1.83,0.00,0.000,4,0.000,0.070,2833,3759,3682,0,0,0,0,0,0
$GC,2861,-0.73,-175.2,353.8,-12.8,321,2869,0.00,1.77,0.00,0.000,6,0.000,0.047,2833,2644,3682,0,0,0,0,0,0
$GC,3061,-0.73,-175.2,378.5,-12.7,340,3064,0.00,1.83,0.00,0.000,4,0.000,0.070,2824,3761,3682,0,0,0,0,0,0
$GC,3128,-0.73,-175.2,387.6,-13.5,346,3132,0.00,1.75,0.00,0.000,6,0.000,0.047,2824,2638,3682,0,0,0,0,0,0
$GC,3331,-0.71,-175.2,413.9,-12.7,365,3335,0.00,1.85,0.00,0.000,4,0.000,0.073,2816,3766,3682,0,0,0,0,0,0
$GC,3382,-0.67,-175.2,421.1,-14.4,369,3389,0.12,1.75,0.00,0.000,6,0.169,0.048,2851,2644,3681,0,0,0,0,0,0
$GC,3580,-0.70,-175.2,442.7,-10.6,388,3583,0.00,1.85,0.00,0.000,4,0.000,0.071,2843,3769,3682,0,0,0,0,0,0
$GC,3641,-0.72,-175.2,449.9,-11.5,393,3651,0.00,1.77,0.00,0.000,6,0.000,0.048,2843,2656,3682,0,0,0,0,0,0
$STATE,3656,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3656,begin apogee
$GC,3660,-0.17,0.0,451.5,11.5,395,3824,0.50,0.00,157.20,1.102,6,0.128,0.000,3008,2492,2961,0,0,0,0,0,0
$STATE,3824,end apogee,CONTROL_FINISHED_OK
$STATE,3825,begin climb
$GC,3826,0.84,175.2,457.5,0.0,410,4002,1.00,2.60,166.07,1.021,4,0.079,0.054,3341,1102,2244,0,0,0,0,0,0
$GC,4070,0.73,175.2,430.2,15.8,432,4076,0.15,2.45,0.00,0.000,6,0.163,0.055,3305,2498,2233,0,0,0,0,0,0
$GC,4270,0.62,175.2,400.9,14.7,450,4274,0.15,2.12,0.00,0.000,4,0.169,0.064,3266,3767,2228,0,0,0,0,0,0
$GC,4324,0.56,175.2,392.8,13.3,454,4332,0.00,2.10,0.00,0.000,6,0.000,0.047,3274,2510,2227,0,0,0,0,0,0
$GC,4524,0.51,175.2,368.3,12.4,473,4525,0.15,0.00,0.00,0.000,6,0.162,0.000,3233,2509,2225,0,0,0,0,0,0
$GC,4713,0.63,240.3,350.5,9.0,491,4780,0.10,2.22,57.53,0.988,4,0.103,0.066,3290,3764,1980,0,0,0,0,0,0
$GC,4807,0.57,240.3,337.7,15.5,499,4815,0.15,2.15,0.00,0.000,6,0.136,0.048,3254,2504,1976,0,0,0,0,0,0
$GC,5007,0.65,267.5,315.6,10.7,518,5041,0.00,2.45,24.92,0.946,4,0.000,0.058,3260,1087,1868,0,0,0,0,0,0
$GC,5058,0.76,293.4,309.9,10.8,522,5088,0.15,2.42,25.10,0.914,6,0.076,0.057,3328,2493,1764,0,0,0,0,0,0
$GC,5279,0.69,293.4,272.1,17.9,543,5283,0.15,2.10,0.00,0.000,4,0.154,0.063,3287,3764,1753,0,0,0,0,0,0
$GC,5317,0.69,293.4,265.4,16.2,546,5321,0.00,2.08,0.00,0.000,6,0.000,0.049,3295,2492,1752,0,0,0,0,0,0
$GC,5516,0.69,293.4,237.4,14.1,564,5520,0.00,2.28,0.00,0.000,4,0.000,0.059,3300,1081,1749,0,0,0,0,0,0
$GC,5555,0.73,293.4,231.9,13.8,567,5560,0.00,2.35,0.00,0.000,6,0.000,0.057,3300,2510,1748,0,0,0,0,0,0
$GC,5690,0.73,293.4,212.4,14.7,579,5693,0.00,2.03,0.00,0.000,4,0.000,0.066,3300,3761,1748,0,0,0,0,0,0
$GC,5727,0.70,293.4,206.0,16.5,582,5736,0.00,2.05,0.00,0.000,6,0.000,0.050,3308,2498,1748,0,0,0,0,0,0
$GC,5864,0.68,293.4,185.3,15.8,595,5868,0.00,2.25,0.00,0.000,4,0.000,0.059,3316,1087,1748,0,0,0,0,0,0
$GC,5895,0.68,293.4,180.0,15.4,597,5905,0.08,2.35,0.00,0.000,6,0.127,0.057,3290,2501,1746,0,0,0,0,0,0
$GC,6032,0.70,293.4,162.1,13.3,610,6035,0.00,2.05,0.00,0.000,4,0.000,0.067,3289,3772,1746,0,0,0,0,0,0
$GC,6066,0.70,293.4,157.2,14.8,613,6070,0.00,2.03,0.00,0.000,6,0.000,0.050,3297,2495,1746,0,0,0,0,0,0
$GC,6207,0.70,293.4,137.7,13.7,626,6211,0.00,2.25,0.00,0.000,4,0.000,0.060,3300,1081,1745,0,0,0,0,0,0
$GC,6248,0.75,293.4,132.3,13.2,629,6252,0.00,2.30,0.00,0.000,6,0.000,0.058,3300,2500,1744,0,0,0,0,0,0
$GC,6382,0.75,293.4,113.7,14.0,641,6385,0.00,2.03,0.00,0.000,4,0.000,0.067,3300,3763,1745,0,0,0,0,0,0
$GC,6419,0.72,293.4,107.6,15.8,644,6428,0.00,2.05,0.00,0.000,6,0.000,0.050,3309,2495,1745,0,0,0,0,0,0
$GC,6554,0.70,293.4,87.1,15.4,664,6562,0.00,2.28,0.00,0.000,4,0.000,0.060,3315,1091,1744,0,0,0,0,0,0
$GC,6590,0.70,293.4,81.6,14.6,670,6598,0.00,2.33,0.00,0.000,6,0.000,0.058,3315,2500,1744,0,0,0,0,0,0
$GC,6731,0.68,293.4,59.8,15.2,695,6739,0.12,2.08,0.00,0.000,4,0.161,0.066,3281,3771,1744,0,0,0,0,0,0
$GC,6760,0.68,293.4,54.9,15.3,700,6769,0.00,2.05,0.00,0.000,6,0.000,0.050,3287,2503,1744,0,0,0,0,0,0
$GC,6902,0.71,293.4,37.1,12.4,725,6909,0.00,2.25,0.00,0.000,4,0.000,0.059,3287,1087,1743,0,0,0,0,0,0
$GC,6939,0.80,307.3,32.6,11.4,731,6955,0.10,2.30,10.02,0.812,6,0.103,0.058,3336,2503,1708,0,0,0,0,0,0
$FREEZE,8.26,-1.653,-1.906,2,10,2
$FREEZE,7.45,-1.648,-1.905,2,10,2
$GC,7090,0.73,307.3,7.4,17.6,757,7098,0.12,2.05,0.00,0.000,4,0.166,0.064,3303,3761,1704,0,0,0,0,0,0
$FREEZE,4.58,-1.645,-1.903,2,10,2
$FREEZE,3.39,-1.646,-1.902,2,10,2
$FREEZE,2.50,-1.645,-1.901,2,10,2
$STATE,7117,end climb,SURFACE_DEPTH_REACHED
$STATE,7117,begin surface coast
$FREEZE,1.48,-1.641,-1.900,2,10,2
$FREEZE,1.01,-1.658,-1.901,2,10,2
$FREEZE,1.05,-1.634,-1.899,2,10,2
$FINISH,1.1,1.027836
$STATE,7134,end surface coast,CONTROL_FINISHED_OK
$STATE,7134,begin surface
$SM_CCo,7150,195.98,0.757,3,0,419,623.30
$SM_GC,1.38,0.00,0.00,195.98,0.000,0.000,0.757,420,2650,419,-8.26,0.00,623.30
$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,19.3,16.2
$ALTIM_BOTTOM_PING,450.3,37.2
$24V_AH,21.7,22.410
$10V_AH,10.0,12.363
$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,20.375,123.850,440.850,195.975,0.000,99.178,17.711,0.000,2.750,0.000,181.676,1846.191,2939.521,808.094,2138.674,179.481,0.000,1677.744,0.000,1333.349,0.000,16.935,0.000
$DEVICE_MAMPS,221.850,87.210,1101.600,757.350,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,534.104,922.322,914.513,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50514,764
$CAP_FILE_SIZE,123972,0
$CFSIZE,260165632,249909248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,261110,062908,-7726.157,16510.441,181,99.0,181,144.2