version: 66.08
glider: 502
mission: 3
dive: 69
start: 11 27 110 7 43 59
data:
$ID,502
$MISSION,3
$DIVE,69
$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,-23137.4
$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,27
$R_STBD_OVSHOOT,22
$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,1.23
$_SM_ANGLEo,-9.9
$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,-175.2,0.0,0.0,0,148,0.00,0.00,-129.77,0.000,2,0.000,0.000,424,2655,2830,0,0,0,0,0,0
$GC,150,-0.84,-175.2,3.2,-5.8,20,205,8.93,2.35,-36.05,0.000,4,0.217,0.069,2783,1237,3679,0,0,0,0,0,0
$GC,451,-0.76,-175.2,43.4,-16.4,73,459,0.15,2.35,0.00,0.000,6,0.174,0.063,2814,2656,3682,0,0,0,0,0,0
$GC,591,-0.70,-175.2,64.8,-15.5,98,599,0.00,1.85,0.00,0.000,4,0.000,0.070,2808,3767,3682,0,0,0,0,0,0
$GC,638,-0.61,-175.2,72.3,-16.3,106,647,0.15,1.80,0.00,0.000,6,0.138,0.049,2858,2650,3682,0,0,0,0,0,0
$GC,779,-0.63,-175.2,89.3,-11.7,131,786,0.00,1.85,0.00,0.000,4,0.000,0.071,2854,3768,3682,0,0,0,0,0,0
$GC,815,-0.63,-175.2,93.9,-12.6,137,822,0.00,1.77,0.00,0.000,6,0.000,0.048,2854,2641,3682,0,0,0,0,0,0
$GC,952,-0.63,-175.2,110.1,-11.9,154,956,0.00,1.85,0.00,0.000,4,0.000,0.070,2846,3770,3682,0,0,0,0,0,0
$GC,986,-0.63,-175.2,114.6,-13.2,157,990,0.00,1.75,0.00,0.000,6,0.000,0.048,2846,2653,3682,0,0,0,0,0,0
$GC,1127,-0.63,-175.2,132.4,-12.8,170,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2650,3682,0,0,0,0,0,0
$GC,1254,-0.63,-175.2,148.5,-12.3,182,1258,0.00,1.85,0.00,0.000,4,0.000,0.072,2842,3764,3682,0,0,0,0,0,0
$GC,1312,-0.63,-175.2,156.6,-13.5,187,1322,0.00,1.77,0.00,0.000,6,0.000,0.047,2842,2651,3682,0,0,0,0,0,0
$GC,1449,-0.63,-175.2,173.6,-12.7,200,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2651,3682,0,0,0,0,0,0
$GC,1575,-0.63,-175.2,189.4,-12.6,212,1579,0.00,1.83,0.00,0.000,4,0.000,0.071,2833,3767,3682,0,0,0,0,0,0
$GC,1622,-0.63,-175.2,196.1,-13.3,216,1632,0.00,1.77,0.00,0.000,6,0.000,0.047,2833,2654,3682,0,0,0,0,0,0
$GC,1759,-0.61,-175.2,213.7,-13.4,229,1763,0.12,1.85,0.00,0.000,4,0.169,0.073,2866,3767,3682,0,0,0,0,0,0
$GC,1795,-0.66,-175.2,218.6,-11.7,232,1804,0.00,1.80,0.00,0.000,6,0.000,0.049,2866,2644,3682,0,0,0,0,0,0
$GC,1932,-0.70,-175.2,232.9,-10.5,245,1936,0.00,1.83,0.00,0.000,4,0.000,0.071,2858,3764,3682,0,0,0,0,0,0
$GC,1969,-0.72,-175.2,237.1,-12.0,248,1973,0.00,1.75,0.00,0.000,6,0.000,0.047,2858,2641,3682,0,0,0,0,0,0
$GC,2108,-0.75,-175.2,253.1,-11.3,261,2113,0.10,1.88,0.00,0.000,4,0.108,0.072,2794,3767,3682,0,0,0,0,0,0
$GC,2146,-0.65,-175.2,258.9,-16.1,264,2154,0.17,1.77,0.00,0.000,6,0.138,0.047,2853,2656,3682,0,0,0,0,0,0
$GC,2347,-0.67,-175.2,282.2,-11.4,283,2350,0.00,1.80,0.00,0.000,4,0.000,0.070,2846,3763,3682,0,0,0,0,0,0
$GC,2395,-0.67,-175.2,288.9,-13.3,287,2403,0.00,1.77,0.00,0.000,6,0.000,0.047,2846,2653,3682,0,0,0,0,0,0
$GC,2593,-0.67,-175.2,312.3,-11.7,306,2597,0.00,1.83,0.00,0.000,4,0.000,0.073,2842,3767,3681,0,0,0,0,0,0
$GC,2650,-0.67,-175.2,319.5,-13.1,311,2653,0.00,1.75,0.00,0.000,6,0.000,0.048,2842,2643,3682,0,0,0,0,0,0
$GC,2852,-0.67,-175.2,344.1,-12.1,330,2855,0.00,1.83,0.00,0.000,4,0.000,0.070,2835,3764,3682,0,0,0,0,0,0
$GC,2912,-0.67,-175.2,352.0,-13.4,335,2920,0.00,1.77,0.00,0.000,6,0.000,0.047,2835,2653,3682,0,0,0,0,0,0
$GC,3110,-0.67,-175.2,376.3,-12.2,354,3113,0.00,1.83,0.00,0.000,4,0.000,0.072,2826,3769,3681,0,0,0,0,0,0
$GC,3167,-0.64,-175.2,383.9,-13.6,359,3171,0.08,1.80,0.00,0.000,6,0.143,0.049,2853,2644,3681,0,0,0,0,0,0
$GC,3369,-0.66,-175.2,406.0,-10.9,378,3373,0.00,1.83,0.00,0.000,4,0.000,0.071,2846,3764,3681,0,0,0,0,0,0
$GC,3418,-0.66,-175.2,411.9,-11.7,382,3427,0.00,1.77,0.00,0.000,6,0.000,0.047,2846,2655,3681,0,0,0,0,0,0
$GC,3617,-0.66,-175.2,433.5,-11.1,401,3621,0.00,1.83,0.00,0.000,4,0.000,0.072,2842,3769,3681,0,0,0,0,0,0
$GC,3673,-0.66,-175.2,440.3,-11.9,406,3677,0.00,1.75,0.00,0.000,6,0.000,0.048,2842,2644,3681,0,0,0,0,0,0
$STATE,3760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3760,begin apogee
$GC,3765,-0.17,0.0,450.0,11.1,414,3928,0.50,0.00,156.85,1.102,6,0.129,0.000,3006,2495,2961,0,0,0,0,0,0
$STATE,3929,end apogee,CONTROL_FINISHED_OK
$STATE,3929,begin climb
$GC,3931,0.84,175.2,456.2,0.0,429,4107,1.00,2.62,166.18,1.033,4,0.079,0.054,3337,1094,2244,0,0,0,0,0,0
$GC,4199,0.74,175.2,426.5,15.0,453,4204,0.12,2.45,0.00,0.000,6,0.160,0.055,3308,2500,2232,0,0,0,0,0,0
$GC,4396,0.63,175.2,397.1,14.7,471,4401,0.15,2.12,0.00,0.000,4,0.167,0.065,3269,3770,2228,0,0,0,0,0,0
$GC,4473,0.56,175.2,386.0,13.5,477,4481,0.10,2.10,0.00,0.000,6,0.149,0.048,3247,2508,2227,0,0,0,0,0,0
$GC,4673,0.61,218.2,365.6,10.0,496,4712,0.00,0.00,37.97,1.006,6,0.000,0.000,3246,2506,2071,0,0,0,0,0,0
$GC,4905,0.69,252.0,341.4,10.4,518,4944,0.12,0.00,31.67,0.979,6,0.084,0.000,3306,2504,1932,0,0,0,0,0,0
$GC,5136,0.64,252.0,306.5,15.5,540,5140,0.12,2.10,0.00,0.000,4,0.165,0.065,3274,3764,1923,0,0,0,0,0,0
$GC,5175,0.64,252.0,300.2,15.1,543,5179,0.00,2.08,0.00,0.000,6,0.000,0.048,3282,2494,1923,0,0,0,0,0,0
$GC,5371,0.64,252.0,273.7,13.7,561,5372,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,2492,1920,0,0,0,0,0,0
$GC,5565,0.64,252.0,247.6,13.5,579,5566,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,2492,1919,0,0,0,0,0,0
$GC,5691,0.64,252.0,229.9,14.2,591,5695,0.00,2.10,0.00,0.000,4,0.000,0.067,3283,3775,1919,0,0,0,0,0,0
$GC,5711,0.61,252.0,226.6,14.4,592,5720,0.00,2.08,0.00,0.000,6,0.000,0.048,3290,2491,1918,0,0,0,0,0,0
$GC,5846,0.61,252.0,207.2,14.7,605,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,2490,1918,0,0,0,0,0,0
$GC,5974,0.61,252.0,189.1,14.5,617,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,2490,1918,0,0,0,0,0,0
$GC,6102,0.61,252.0,171.2,13.9,629,6103,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,2490,1918,0,0,0,0,0,0
$GC,6229,0.61,252.0,153.1,14.1,641,6230,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,2490,1918,0,0,0,0,0,0
$GC,6356,0.61,252.0,135.3,13.9,653,6360,0.00,2.08,0.00,0.000,4,0.000,0.063,3290,3774,1917,0,0,0,0,0,0
$GC,6386,0.57,252.0,131.1,14.5,655,6390,0.17,2.00,0.00,0.000,6,0.153,0.047,3250,2499,1917,0,0,0,0,0,0
$GC,6521,0.69,292.8,116.5,10.1,667,6562,0.10,2.38,35.47,0.892,4,0.100,0.056,3313,1090,1765,0,0,0,0,0,0
$GC,6583,0.69,292.8,107.8,14.3,672,6592,0.00,2.40,0.00,0.000,6,0.000,0.057,3314,2497,1761,0,0,0,0,0,0
$GC,6719,0.66,292.8,87.4,15.3,692,6727,0.12,2.12,0.00,0.000,4,0.160,0.066,3280,3767,1758,0,0,0,0,0,0
$GC,6763,0.69,292.8,81.3,14.0,699,6769,0.00,2.05,0.00,0.000,6,0.000,0.049,3287,2497,1757,0,0,0,0,0,0
$GC,6900,0.71,292.8,62.7,14.2,724,6908,0.00,2.30,0.00,0.000,4,0.000,0.057,3288,1087,1755,0,0,0,0,0,0
$GC,6933,0.78,292.8,58.9,12.5,729,6940,0.00,2.33,0.00,0.000,6,0.000,0.058,3288,2503,1754,0,0,0,0,0,0
$GC,7071,0.81,292.8,41.0,12.7,754,7080,0.10,2.10,0.00,0.000,4,0.103,0.067,3339,3765,1754,0,0,0,0,0,0
$GC,7127,0.71,292.8,31.6,19.1,763,7135,0.20,2.03,0.00,0.000,6,0.159,0.050,3293,2496,1754,0,0,0,0,0,0
$GC,7265,0.71,292.8,11.7,13.5,788,7274,0.00,2.28,0.00,0.000,4,0.000,0.059,3300,1094,1753,0,0,0,0,0,0
$GC,7289,0.74,292.8,9.1,13.2,791,7295,0.00,2.30,0.00,0.000,6,0.000,0.058,3300,2503,1753,0,0,0,0,0,0
$FREEZE,7.00,-1.663,-1.904,2,12,2
$FREEZE,6.10,-1.662,-1.903,2,12,2
$FREEZE,5.51,-1.661,-1.903,2,12,2
$FREEZE,4.59,-1.661,-1.902,2,12,2
$FREEZE,3.76,-1.660,-1.901,2,12,2
$FREEZE,3.12,-1.659,-1.900,2,12,2
$FREEZE,2.55,-1.659,-1.900,2,12,2
$STATE,7336,end climb,SURFACE_DEPTH_REACHED
$STATE,7336,begin surface coast
$FREEZE,1.52,-1.659,-1.899,2,12,2
$FREEZE,0.93,-1.684,-1.900,2,12,2
$FREEZE,1.07,-1.660,-1.899,2,12,2
$FREEZE,1.03,-1.661,-1.898,2,12,2
$FINISH,1.0,1.027827
$STATE,7360,end surface coast,CONTROL_FINISHED_OK
$STATE,7361,begin surface
$SM_CCo,7375,195.00,0.772,1,0,419,623.30
$SM_GC,1.29,0.00,0.00,195.00,0.000,0.000,0.772,426,2660,419,-8.25,0.31,623.30
$IRIDIUM_FIX,-7639.69,16500.29,261110,060609
$TT8_MAMPS,0.028462
$HUMID,50.70
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,17.1
$ALTIM_BOTTOM_PING,450.0,45.9
$24V_AH,21.7,22.761
$10V_AH,10.0,12.562
$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,20.050,99.675,428.150,195.000,0.000,99.084,17.388,0.000,2.500,0.000,181.695,1912.082,3077.167,779.569,2169.650,189.333,0.000,1632.477,0.000,1333.519,0.000,14.038,0.000
$DEVICE_MAMPS,217.260,81.090,1101.600,771.885,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,562.308,978.812,974.120,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53684,803
$CAP_FILE_SIZE,119085,0
$CFSIZE,260165632,249782272
$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