version: 66.08
glider: 502
mission: 3
dive: 72
start: 11 27 110 14 40 8
data:
$ID,502
$MISSION,3
$DIVE,72
$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,-24234.604
$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,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,2.02
$_SM_ANGLEo,-35.5
$GPS2,261110,062908,-7726.157,16510.441,181,99.0,181,144.2
$SPEED_LIMITS,0.208,0.300
$TGT_NAME,SOUND1
$TGT_LATLONG,-7728.000,16520.000
$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,347.4,5139,-18.7,-12.000
$D_GRID,582
$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,-175.2,0.0,0.0,0,181,0.00,0.00,-161.70,0.000,6,0.000,0.000,425,2649,3679,0,0,0,0,0,0
$GC,183,-0.84,-175.2,3.7,-3.8,25,198,8.98,1.90,0.00,0.000,4,0.220,0.060,2781,3774,3681,0,0,0,0,0,0
$GC,298,-0.68,-175.2,34.4,-18.9,45,305,0.22,1.80,0.00,0.000,6,0.161,0.050,2845,2643,3684,0,0,0,0,0,0
$GC,438,-0.68,-175.2,54.2,-12.6,70,446,0.00,1.88,0.00,0.000,4,0.000,0.070,2838,3757,3684,0,0,0,0,0,0
$GC,470,-0.65,-175.2,58.6,-13.9,75,477,0.00,1.77,0.00,0.000,6,0.000,0.048,2838,2637,3684,0,0,0,0,0,0
$GC,608,-0.62,-175.2,77.1,-13.1,100,617,0.00,1.90,0.00,0.000,4,0.000,0.070,2829,3761,3684,0,0,0,0,0,0
$GC,640,-0.58,-175.2,81.8,-14.3,105,648,0.17,1.77,0.00,0.000,6,0.153,0.048,2880,2639,3684,0,0,0,0,0,0
$GC,781,-0.64,-175.2,96.5,-9.8,130,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2638,3684,0,0,0,0,0,0
$GC,925,-0.70,-175.2,111.0,-10.0,146,930,0.12,1.85,0.00,0.000,4,0.090,0.071,2810,3764,3684,0,0,0,0,0,0
$GC,973,-0.62,-175.2,118.3,-16.4,150,983,0.12,1.80,0.00,0.000,6,0.142,0.048,2853,2641,3684,0,0,0,0,0,0
$GC,1109,-0.62,-175.2,135.3,-12.3,163,1112,0.00,1.83,0.00,0.000,4,0.000,0.070,2849,3760,3685,0,0,0,0,0,0
$GC,1143,-0.62,-175.2,139.9,-13.0,166,1147,0.00,1.75,0.00,0.000,6,0.000,0.047,2849,2641,3684,0,0,0,0,0,0
$GC,1285,-0.62,-175.2,157.5,-12.3,179,1288,0.00,1.83,0.00,0.000,4,0.000,0.070,2840,3760,3684,0,0,0,0,0,0
$GC,1329,-0.62,-175.2,163.6,-13.8,183,1333,0.00,1.73,0.00,0.000,6,0.000,0.047,2840,2652,3684,0,0,0,0,0,0
$GC,1470,-0.62,-175.2,181.7,-12.6,196,1473,0.00,1.83,0.00,0.000,4,0.000,0.070,2833,3766,3684,0,0,0,0,0,0
$GC,1493,-0.60,-175.2,185.0,-13.5,198,1498,0.12,1.75,0.00,0.000,6,0.167,0.048,2867,2647,3684,0,0,0,0,0,0
$GC,1635,-0.63,-175.2,200.7,-10.7,211,1638,0.00,1.83,0.00,0.000,4,0.000,0.071,2867,3759,3685,0,0,0,0,0,0
$GC,1661,-0.68,-175.2,204.1,-11.1,213,1670,0.00,1.77,0.00,0.000,6,0.000,0.047,2867,2650,3684,0,0,0,0,0,0
$GC,1797,-0.72,-175.2,218.1,-10.5,226,1800,0.00,1.85,0.00,0.000,4,0.000,0.073,2867,3763,3685,0,0,0,0,0,0
$GC,1832,-0.76,-175.2,221.8,-10.2,229,1836,0.15,1.75,0.00,0.000,6,0.082,0.047,2787,2638,3685,0,0,0,0,0,0
$GC,1974,-0.64,-175.2,243.7,-16.3,242,1982,0.22,0.00,0.00,0.000,6,0.164,0.000,2852,2636,3685,0,0,0,0,0,0
$GC,2108,-0.64,-175.2,260.2,-11.0,255,2112,0.00,1.85,0.00,0.000,4,0.000,0.070,2845,3767,3685,0,0,0,0,0,0
$GC,2153,-0.64,-175.2,265.7,-12.4,259,2157,0.00,1.75,0.00,0.000,6,0.000,0.048,2845,2646,3685,0,0,0,0,0,0
$GC,2357,-0.64,-175.2,289.9,-11.8,278,2361,0.00,1.83,0.00,0.000,4,0.000,0.072,2841,3759,3684,0,0,0,0,0,0
$GC,2406,-0.64,-175.2,296.6,-12.8,282,2414,0.00,1.77,0.00,0.000,6,0.000,0.047,2842,2651,3684,0,0,0,0,0,0
$GC,2604,-0.64,-175.2,321.1,-12.5,301,2608,0.00,1.85,0.00,0.000,4,0.000,0.072,2835,3764,3684,0,0,0,0,0,0
$GC,2649,-0.64,-175.2,327.0,-13.4,305,2653,0.00,1.75,0.00,0.000,6,0.000,0.048,2834,2645,3684,0,0,0,0,0,0
$GC,2852,-0.64,-175.2,353.6,-13.0,324,2856,0.00,1.88,0.00,0.000,4,0.000,0.071,2826,3760,3684,0,0,0,0,0,0
$GC,2897,-0.62,-175.2,359.9,-13.6,328,2901,0.15,1.75,0.00,0.000,6,0.155,0.048,2869,2638,3684,0,0,0,0,0,0
$GC,3100,-0.67,-175.2,381.0,-10.1,347,3104,0.00,1.88,0.00,0.000,4,0.000,0.072,2867,3753,3684,0,0,0,0,0,0
$GC,3150,-0.74,-175.2,386.4,-10.6,351,3158,0.08,1.75,0.00,0.000,6,0.063,0.048,2812,2655,3684,0,0,0,0,0,0
$GC,3348,-0.68,-175.2,414.0,-14.5,370,3353,0.12,1.83,0.00,0.000,4,0.171,0.072,2839,3759,3684,0,0,0,0,0,0
$GC,3404,-0.68,-175.2,421.5,-12.3,375,3408,0.00,1.75,0.00,0.000,6,0.000,0.048,2839,2637,3684,0,0,0,0,0,0
$GC,3607,-0.68,-175.2,445.7,-12.0,394,3611,0.00,1.85,0.00,0.000,4,0.000,0.071,2831,3766,3684,0,0,0,0,0,0
$STATE,3644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3644,begin apogee
$GC,3650,-0.17,0.0,450.7,13.5,397,3812,0.52,0.00,156.82,1.092,6,0.127,0.000,3004,2492,2961,0,0,0,0,0,0
$STATE,3812,end apogee,CONTROL_FINISHED_OK
$STATE,3812,begin climb
$GC,3814,0.84,175.2,457.0,0.0,412,3989,1.00,2.55,165.73,1.011,4,0.079,0.054,3328,1098,2244,0,0,0,0,0,0
$GC,4062,0.74,175.2,430.2,15.4,434,4070,0.00,2.47,0.00,0.000,6,0.000,0.055,3328,2503,2234,0,0,0,0,0,0
$GC,4261,0.59,175.2,398.3,16.4,453,4266,0.25,2.12,0.00,0.000,4,0.158,0.063,3255,3765,2229,0,0,0,0,0,0
$GC,4323,0.54,175.2,389.5,12.9,458,4327,0.00,2.05,0.00,0.000,6,0.000,0.048,3263,2504,2228,0,0,0,0,0,0
$GC,4522,0.54,193.1,366.8,11.2,476,4542,0.00,2.22,14.77,0.966,4,0.000,0.067,3263,3767,2173,0,0,0,0,0,0
$GC,4554,0.52,207.5,362.8,11.3,479,4578,0.15,2.08,15.20,0.956,6,0.158,0.048,3232,2493,2114,0,0,0,0,0,0
$GC,4769,0.64,259.6,342.5,9.6,499,4825,0.12,2.30,49.00,1.002,4,0.086,0.066,3295,3760,1901,0,0,0,0,0,0
$GC,4844,0.58,259.6,332.2,15.8,506,4848,0.17,2.12,0.00,0.000,6,0.149,0.048,3257,2504,1898,0,0,0,0,0,0
$GC,5042,0.66,279.6,309.3,11.1,524,5062,0.00,0.00,18.02,0.952,6,0.000,0.000,3257,2501,1821,0,0,0,0,0,0
$GC,5254,0.73,294.1,285.1,11.3,544,5273,0.12,0.00,14.00,0.931,6,0.084,0.000,3317,2499,1760,0,0,0,0,0,0
$GC,5465,0.68,294.1,249.9,17.8,564,5470,0.12,2.12,0.00,0.000,4,0.157,0.067,3284,3765,1753,0,0,0,0,0,0
$GC,5485,0.63,294.1,246.8,16.3,565,5489,0.00,2.05,0.00,0.000,6,0.000,0.047,3291,2489,1754,0,0,0,0,0,0
$GC,5619,0.63,294.1,227.3,14.3,577,5623,0.00,2.22,0.00,0.000,4,0.000,0.054,3300,1087,1752,0,0,0,0,0,0
$GC,5637,0.63,294.1,224.8,14.0,578,5642,0.12,2.33,0.00,0.000,6,0.151,0.057,3267,2508,1752,0,0,0,0,0,0
$GC,5773,0.71,315.4,209.4,11.0,590,5799,0.00,2.10,18.92,0.930,4,0.000,0.066,3267,3765,1674,0,0,0,0,0,0
$GC,5825,0.77,315.4,202.6,13.3,594,5835,0.08,2.10,0.00,0.000,6,0.063,0.048,3320,2496,1671,0,0,0,0,0,0
$GC,5963,0.73,315.4,181.4,16.8,607,5967,0.00,2.28,0.00,0.000,4,0.000,0.058,3328,1086,1669,0,0,0,0,0,0
$GC,5991,0.73,315.4,176.4,16.8,609,5995,0.00,2.33,0.00,0.000,6,0.000,0.057,3328,2503,1667,0,0,0,0,0,0
$GC,6127,0.67,315.4,153.0,18.0,621,6132,0.15,2.05,0.00,0.000,4,0.153,0.067,3286,3768,1666,0,0,0,0,0,0
$GC,6167,0.67,315.4,146.0,15.7,624,6171,0.00,2.03,0.00,0.000,6,0.000,0.050,3288,2500,1666,0,0,0,0,0,0
$GC,6302,0.70,315.4,127.8,13.1,636,6306,0.00,2.25,0.00,0.000,4,0.000,0.059,3288,1088,1665,0,0,0,0,0,0
$GC,6341,0.79,315.4,122.9,12.2,639,6346,0.00,2.30,0.00,0.000,6,0.000,0.057,3287,2504,1664,0,0,0,0,0,0
$GC,6478,0.82,315.4,105.7,13.1,651,6483,0.12,2.03,0.00,0.000,4,0.088,0.067,3348,3762,1664,0,0,0,0,0,0
$GC,6527,0.72,315.4,96.0,21.3,656,6536,0.17,2.05,0.00,0.000,6,0.143,0.051,3302,2500,1665,0,0,0,0,0,0
$GC,6669,0.72,315.4,74.6,14.7,681,6676,0.00,2.28,0.00,0.000,4,0.000,0.058,3302,1078,1664,0,0,0,0,0,0
$GC,6698,0.77,315.4,70.3,14.0,686,6706,0.00,2.35,0.00,0.000,6,0.000,0.057,3302,2501,1663,0,0,0,0,0,0
$GC,6839,0.77,315.4,51.0,14.5,711,6845,0.00,2.05,0.00,0.000,4,0.000,0.067,3301,3765,1663,0,0,0,0,0,0
$GC,6868,0.77,315.4,46.4,15.4,716,6876,0.00,2.05,0.00,0.000,6,0.000,0.050,3310,2497,1663,0,0,0,0,0,0
$GC,7008,0.77,315.4,25.6,14.9,741,7015,0.00,2.25,0.00,0.000,4,0.000,0.058,3316,1085,1663,0,0,0,0,0,0
$GC,7037,0.80,315.4,21.2,14.6,746,7045,0.00,2.33,0.00,0.000,6,0.000,0.057,3315,2497,1663,0,0,0,0,0,0
$FREEZE,8.59,-1.588,-1.904,2,15,0
$FREEZE,7.72,-1.591,-1.903,2,15,0
$FREEZE,6.80,-1.589,-1.903,2,15,0
$FREEZE,5.87,-1.600,-1.902,2,15,0
$FREEZE,5.04,-1.608,-1.901,2,15,0
$FREEZE,4.12,-1.601,-1.901,2,15,0
$FREEZE,3.23,-1.593,-1.900,2,15,0
$FREEZE,2.29,-1.606,-1.899,2,15,0
$STATE,7164,end climb,SURFACE_DEPTH_REACHED
$STATE,7164,begin surface coast
$FREEZE,1.20,-1.614,-1.899,2,15,0
$FREEZE,1.03,-2.596,-0.958,2,15,0
$FREEZE,0.93,-4.201,-0.956,2,15,0
$FINISH,0.9,1.013960
$STATE,7184,end surface coast,CONTROL_FINISHED_OK
$STATE,7184,begin surface
$SM_CCo,7198,179.10,0.773,1,0,419,623.30
$SM_GC,1.69,0.00,0.00,179.10,0.000,0.000,0.773,427,2654,419,-8.24,0.11,623.30
$IRIDIUM_FIX,-7639.69,16500.29,261110,060609
$TT8_MAMPS,0.028462
$HUMID,50.86
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.3,18.2
$24V_AH,21.7,23.288
$10V_AH,10.0,12.866
$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,21.100,119.800,452.475,179.100,0.000,98.747,17.726,0.000,2.250,0.000,181.707,1868.207,2986.177,776.857,2112.477,196.146,0.000,1635.355,0.000,1311.509,0.000,11.207,0.000
$DEVICE_MAMPS,219.555,82.620,1092.420,773.415,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,539.438,933.167,915.028,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53740,771
$CAP_FILE_SIZE,124661,0
$CFSIZE,260165632,249581568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,271110,164436,-7720.614,16513.338,44,0.8,45,143.8