version: 66.08
glider: 502
mission: 3
dive: 68
start: 11 27 110 5 32 38
data:
$ID,502
$MISSION,3
$DIVE,68
$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,-22772.029
$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,25
$R_STBD_OVSHOOT,24
$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,1.29
$_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,-175.2,0.0,0.0,0,166,0.00,0.00,-148.32,0.000,2,0.000,0.000,420,2650,3243,0,0,0,0,0,0
$GC,169,-0.84,-175.2,3.0,-0.5,23,197,8.98,1.92,-13.05,0.000,4,0.220,0.087,2782,3763,3679,0,0,0,0,0,0
$GC,438,-0.70,-175.2,50.8,-18.5,71,445,0.20,1.77,0.00,0.000,6,0.161,0.048,2840,2640,3682,0,0,0,0,0,0
$GC,578,-0.70,-175.2,70.5,-13.6,96,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2638,3682,0,0,0,0,0,0
$GC,718,-0.70,-175.2,88.9,-13.2,121,724,0.00,1.85,0.00,0.000,4,0.000,0.070,2833,3760,3682,0,0,0,0,0,0
$GC,769,-0.67,-175.2,95.9,-13.7,130,777,0.00,1.77,0.00,0.000,6,0.000,0.047,2833,2655,3682,0,0,0,0,0,0
$GC,907,-0.65,-175.2,114.7,-13.6,145,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2654,3682,0,0,0,0,0,0
$GC,1035,-0.62,-175.2,131.9,-13.3,157,1039,0.12,1.83,0.00,0.000,4,0.171,0.072,2861,3759,3683,0,0,0,0,0,0
$GC,1102,-0.66,-175.2,139.9,-12.2,163,1105,0.00,1.75,0.00,0.000,6,0.000,0.048,2861,2638,3682,0,0,0,0,0,0
$GC,1244,-0.70,-175.2,155.5,-11.1,176,1247,0.00,1.85,0.00,0.000,4,0.000,0.071,2854,3765,3682,0,0,0,0,0,0
$GC,1289,-0.72,-175.2,161.1,-12.1,180,1293,0.00,1.75,0.00,0.000,6,0.000,0.046,2854,2640,3683,0,0,0,0,0,0
$GC,1430,-0.74,-175.2,177.9,-11.8,193,1434,0.00,1.85,0.00,0.000,4,0.000,0.070,2845,3763,3682,0,0,0,0,0,0
$GC,1464,-0.74,-175.2,182.4,-13.2,196,1468,0.00,1.75,0.00,0.000,6,0.000,0.047,2845,2641,3682,0,0,0,0,0,0
$GC,1606,-0.74,-175.2,199.5,-12.5,209,1610,0.00,1.83,0.00,0.000,4,0.000,0.071,2842,3759,3682,0,0,0,0,0,0
$GC,1662,-0.74,-175.2,206.9,-13.0,214,1666,0.00,1.73,0.00,0.000,6,0.000,0.047,2841,2652,3682,0,0,0,0,0,0
$GC,1804,-0.74,-175.2,224.7,-12.7,227,1807,0.00,1.83,0.00,0.000,4,0.000,0.071,2833,3764,3682,0,0,0,0,0,0
$GC,1829,-0.72,-175.2,228.7,-13.6,229,1839,0.00,1.80,0.00,0.000,6,0.000,0.047,2833,2641,3683,0,0,0,0,0,0
$GC,1965,-0.72,-175.2,246.2,-13.1,242,1969,0.00,1.83,0.00,0.000,4,0.000,0.070,2824,3760,3682,0,0,0,0,0,0
$GC,2002,-0.67,-175.2,251.9,-15.0,245,2009,0.00,1.77,0.00,0.000,6,0.000,0.047,2824,2648,3682,0,0,0,0,0,0
$GC,2200,-0.64,-175.2,278.7,-13.5,264,2204,0.12,1.85,0.00,0.000,4,0.169,0.072,2852,3767,3683,0,0,0,0,0,0
$GC,2250,-0.67,-175.2,285.0,-12.0,268,2257,0.00,1.77,0.00,0.000,6,0.000,0.048,2852,2637,3682,0,0,0,0,0,0
$GC,2449,-0.69,-175.2,307.3,-11.3,287,2452,0.00,1.85,0.00,0.000,4,0.000,0.072,2843,3759,3682,0,0,0,0,0,0
$GC,2497,-0.69,-175.2,313.7,-12.4,291,2505,0.00,1.77,0.00,0.000,6,0.000,0.047,2843,2650,3682,0,0,0,0,0,0
$GC,2695,-0.69,-175.2,337.3,-12.1,310,2699,0.00,1.85,0.00,0.000,4,0.000,0.073,2842,3769,3683,0,0,0,0,0,0
$GC,2744,-0.69,-175.2,343.6,-12.8,314,2753,0.00,1.80,0.00,0.000,6,0.000,0.048,2842,2645,3682,0,0,0,0,0,0
$GC,2942,-0.69,-175.2,367.5,-12.1,333,2946,0.00,1.83,0.00,0.000,4,0.000,0.072,2833,3759,3682,0,0,0,0,0,0
$GC,2991,-0.69,-175.2,374.0,-12.9,337,2999,0.00,1.77,0.00,0.000,6,0.000,0.047,2833,2651,3682,0,0,0,0,0,0
$GC,3189,-0.69,-175.2,398.9,-12.4,356,3193,0.00,1.83,0.00,0.000,4,0.000,0.072,2824,3766,3682,0,0,0,0,0,0
$GC,3237,-0.67,-175.2,405.4,-13.6,360,3241,0.00,1.75,0.00,0.000,6,0.000,0.049,2824,2645,3682,0,0,0,0,0,0
$GC,3439,-0.64,-175.2,431.9,-13.0,379,3444,0.12,1.85,0.00,0.000,4,0.167,0.072,2853,3760,3682,0,0,0,0,0,0
$GC,3496,-0.68,-175.2,438.6,-11.5,384,3500,0.00,1.73,0.00,0.000,6,0.000,0.048,2853,2651,3682,0,0,0,0,0,0
$STATE,3602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3602,begin apogee
$GC,3606,-0.17,0.0,450.2,10.5,394,3770,0.45,0.00,156.18,1.087,6,0.126,0.000,3002,2490,2960,0,0,0,0,0,0
$STATE,3771,end apogee,CONTROL_FINISHED_OK
$STATE,3771,begin climb
$GC,3773,0.84,175.2,456.3,0.0,409,3948,1.00,2.55,165.18,1.011,4,0.081,0.054,3333,1104,2245,0,0,0,0,0,0
$GC,4040,0.75,175.2,426.8,15.7,433,4044,0.00,2.42,0.00,0.000,6,0.000,0.056,3333,2496,2233,0,0,0,0,0,0
$GC,4237,0.60,175.2,394.1,16.3,451,4242,0.25,2.12,0.00,0.000,4,0.160,0.062,3259,3764,2228,0,0,0,0,0,0
$GC,4310,0.54,175.2,384.1,13.1,457,4314,0.00,2.05,0.00,0.000,6,0.000,0.049,3268,2503,2228,0,0,0,0,0,0
$GC,4508,0.52,188.7,361.2,11.4,475,4521,0.12,0.00,10.30,0.933,6,0.168,0.000,3234,2501,2191,0,0,0,0,0,0
$GC,4710,0.66,258.9,342.9,8.8,494,4788,0.12,2.33,66.43,1.005,4,0.086,0.066,3297,3770,1903,0,0,0,0,0,0
$GC,4812,0.61,258.9,329.0,15.7,503,4817,0.17,2.15,0.00,0.000,6,0.151,0.049,3261,2501,1899,0,0,0,0,0,0
$GC,5010,0.68,284.0,306.5,10.8,521,5037,0.00,2.40,22.15,0.954,4,0.000,0.057,3261,1086,1804,0,0,0,0,0,0
$GC,5072,0.84,326.9,299.9,10.0,526,5120,0.22,2.40,40.47,0.957,6,0.063,0.057,3351,2502,1626,0,0,0,0,0,0
$GC,5318,0.74,326.9,251.6,20.6,549,5322,0.17,2.12,0.00,0.000,4,0.158,0.063,3305,3770,1615,0,0,0,0,0,0
$GC,5347,0.68,326.9,246.2,19.1,551,5352,0.00,2.10,0.00,0.000,6,0.000,0.050,3312,2496,1615,0,0,0,0,0,0
$GC,5482,0.68,326.9,224.6,16.2,563,5486,0.00,2.30,0.00,0.000,4,0.000,0.060,3316,1087,1612,0,0,0,0,0,0
$GC,5522,0.71,326.9,218.8,14.2,566,5526,0.00,2.35,0.00,0.000,6,0.000,0.057,3316,2506,1611,0,0,0,0,0,0
$GC,5658,0.69,326.9,197.2,16.5,578,5661,0.00,2.05,0.00,0.000,4,0.000,0.065,3316,3764,1611,0,0,0,0,0,0
$GC,5682,0.65,326.9,192.9,16.3,580,5686,0.17,2.03,0.00,0.000,6,0.145,0.050,3276,2499,1611,0,0,0,0,0,0
$GC,5817,0.72,330.2,175.7,11.8,592,5821,0.00,2.25,0.00,0.000,4,0.000,0.057,3284,1087,1609,0,0,0,0,0,0
$GC,5857,0.83,341.4,170.9,11.5,595,5874,0.15,2.33,11.32,0.874,6,0.083,0.057,3349,2509,1569,0,0,0,0,0,0
$GC,6010,0.75,341.4,142.6,19.7,609,6014,0.15,2.05,0.00,0.000,4,0.161,0.064,3309,3762,1565,0,0,0,0,0,0
$GC,6041,0.72,341.4,136.3,17.9,611,6049,0.00,2.05,0.00,0.000,6,0.000,0.047,3315,2501,1565,0,0,0,0,0,0
$GC,6176,0.72,341.4,115.5,15.7,624,6180,0.00,2.25,0.00,0.000,4,0.000,0.056,3325,1083,1564,0,0,0,0,0,0
$GC,6216,0.75,341.4,109.4,15.3,627,6220,0.00,2.33,0.00,0.000,6,0.000,0.057,3325,2510,1562,0,0,0,0,0,0
$GC,6350,0.72,341.4,87.0,17.2,646,6358,0.00,2.08,0.00,0.000,4,0.000,0.066,3324,3767,1563,0,0,0,0,0,0
$GC,6375,0.69,341.4,82.5,18.2,650,6383,0.12,2.08,0.00,0.000,6,0.129,0.050,3286,2494,1562,0,0,0,0,0,0
$GC,6516,0.75,341.4,64.3,12.8,675,6523,0.00,2.28,0.00,0.000,4,0.000,0.060,3288,1088,1562,0,0,0,0,0,0
$GC,6556,0.86,347.3,59.4,11.7,682,6571,0.12,2.33,5.70,0.741,6,0.051,0.058,3355,2493,1546,0,0,0,0,0,0
$GC,6703,0.78,347.3,31.0,22.6,708,6712,0.15,2.10,0.00,0.000,4,0.161,0.063,3314,3761,1544,0,0,0,0,0,0
$GC,6729,0.73,347.3,25.7,20.8,712,6737,0.00,2.05,0.00,0.000,6,0.000,0.050,3321,2499,1544,0,0,0,0,0,0
$FREEZE,8.89,-1.531,-1.903,2,11,0
$FREEZE,8.07,-1.530,-1.902,2,11,0
$FREEZE,6.95,-1.530,-1.902,2,11,0
$FREEZE,6.19,-1.530,-1.901,2,11,0
$FREEZE,4.99,-1.529,-1.900,2,11,0
$FREEZE,4.03,-1.528,-1.899,2,11,0
$FREEZE,3.07,-1.528,-1.899,2,11,0
$FREEZE,2.28,-1.527,-1.898,2,11,0
$STATE,6872,end climb,SURFACE_DEPTH_REACHED
$STATE,6872,begin surface coast
$FREEZE,1.15,-1.526,-1.897,2,11,0
$FREEZE,1.11,-1.537,-1.895,2,11,0
$FREEZE,1.19,-1.544,-1.896,2,11,0
$FINISH,1.2,1.027791
$STATE,6890,end surface coast,CONTROL_FINISHED_OK
$STATE,6890,begin surface
$SM_CCo,6904,176.18,0.758,4,0,419,623.30
$SM_GC,1.26,0.00,0.00,176.18,0.000,0.000,0.758,424,2655,419,-8.26,0.14,623.30
$IRIDIUM_FIX,-7639.69,16500.29,261110,060609
$TT8_MAMPS,0.029211
$HUMID,50.94
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,18.5
$ALTIM_BOTTOM_PING,400.4,94.5
$24V_AH,21.7,22.589
$10V_AH,10.0,12.459
$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,20.750,108.550,477.725,176.175,0.000,98.992,17.797,0.000,2.250,0.000,182.671,1780.265,2838.382,786.905,2070.500,179.537,0.000,1623.374,0.000,1286.031,0.000,12.453,0.000
$DEVICE_MAMPS,219.555,87.210,1087.065,758.115,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,517.583,894.282,876.152,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50409,740
$CAP_FILE_SIZE,118670,0
$CFSIZE,260165632,249851904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,261110,062908,-7726.157,16510.441,181,99.0,181,144.2