version: 66.08
glider: 502
mission: 3
dive: 85
start: 11 29 110 9 38 38
data:
$ID,502
$MISSION,3
$DIVE,85
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$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,2
$SURFACE_URGENCY_TRY,2
$SURFACE_URGENCY_FORCE,2
$T_DIVE,200
$T_MISSION,250
$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,0.025
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$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,2
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-25230.115
$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,33
$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
$GPS1,291110,092354,-7729.792,16523.381,65,1.7,82,144.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-72.4
$GPS2,291110,093815,-7729.832,16523.084,13,2.6,32,144.1
$SPEED_LIMITS,0.173,0.260
$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,195.8,3612,-17.5,-10.000
$D_GRID,681
$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,-0.76,-146.0,0.0,0.0,0,187,0.00,0.00,-168.35,0.000,2,0.000,0.000,423,2642,3519,0,0,0,0,0,0
$GC,189,-0.76,-146.0,3.8,-6.3,26,205,9.18,1.92,-0.98,0.000,4,0.217,0.075,2805,3764,3561,0,0,0,0,0,0
$GC,419,-0.63,-146.0,46.8,-14.8,67,427,0.20,1.77,0.00,0.000,6,0.154,0.047,2862,2646,3563,0,0,0,0,0,0
$GC,556,-0.60,-146.0,63.0,-11.1,92,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2645,3564,0,0,0,0,0,0
$GC,697,-0.58,-146.0,78.1,-11.6,117,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2645,3564,0,0,0,0,0,0
$GC,834,-0.55,-146.0,92.8,-10.7,142,842,0.00,1.88,0.00,0.000,4,0.000,0.068,2856,3760,3564,0,0,0,0,0,0
$GC,880,-0.55,-146.0,98.1,-12.1,150,888,0.00,1.77,0.00,0.000,6,0.000,0.047,2856,2655,3564,0,0,0,0,0,0
$GC,1018,-0.51,-146.0,113.3,-11.3,164,1020,0.15,0.00,0.00,0.000,6,0.157,0.000,2898,2654,3564,0,0,0,0,0,0
$GC,1146,-0.58,-146.0,124.5,-8.3,176,1149,0.00,1.83,0.00,0.000,4,0.000,0.070,2892,3769,3564,0,0,0,0,0,0
$GC,1183,-0.64,-146.0,128.3,-9.7,179,1192,0.08,1.80,0.00,0.000,6,0.060,0.046,2842,2638,3563,0,0,0,0,0,0
$GC,1319,-0.58,-146.0,144.2,-12.5,192,1327,0.12,0.00,0.00,0.000,6,0.166,0.000,2877,2638,3563,0,0,0,0,0,0
$GC,1454,-0.58,-146.0,158.4,-9.7,205,1458,0.00,1.83,0.00,0.000,4,0.000,0.068,2870,3760,3564,0,0,0,0,0,0
$GC,1499,-0.58,-146.0,162.9,-10.6,209,1503,0.00,1.73,0.00,0.000,6,0.000,0.045,2870,2648,3564,0,0,0,0,0,0
$GC,1641,-0.58,-146.0,177.0,-9.8,222,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2646,3563,0,0,0,0,0,0
$GC,1767,-0.58,-146.0,189.3,-9.6,234,1771,0.00,1.83,0.00,0.000,4,0.000,0.069,2868,3769,3563,0,0,0,0,0,0
$GC,1802,-0.58,-146.0,192.9,-10.4,237,1806,0.00,1.75,0.00,0.000,6,0.000,0.047,2867,2641,3563,0,0,0,0,0,0
$GC,1944,-0.58,-146.0,207.1,-9.7,250,1952,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2640,3563,0,0,0,0,0,0
$GC,2079,-0.58,-146.0,220.0,-9.5,263,2083,0.00,1.83,0.00,0.000,4,0.000,0.068,2859,3763,3563,0,0,0,0,0,0
$GC,2125,-0.58,-146.0,224.6,-10.3,267,2128,0.00,1.73,0.00,0.000,6,0.000,0.045,2860,2649,3563,0,0,0,0,0,0
$GC,2266,-0.58,-146.0,238.8,-9.7,280,2268,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2647,3563,0,0,0,0,0,0
$GC,2390,-0.58,-146.0,251.6,-10.4,292,2394,0.00,1.85,0.00,0.000,4,0.000,0.069,2854,3756,3563,0,0,0,0,0,0
$GC,2417,-0.55,-146.0,254.5,-10.7,294,2425,0.08,1.75,0.00,0.000,6,0.131,0.046,2881,2652,3563,0,0,0,0,0,0
$GC,2617,-0.59,-146.0,271.0,-8.1,313,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2652,3563,0,0,0,0,0,0
$GC,2806,-0.63,-146.0,286.7,-8.3,331,2810,0.00,1.80,0.00,0.000,4,0.000,0.069,2876,3760,3563,0,0,0,0,0,0
$GC,2852,-0.66,-146.0,290.7,-8.8,335,2856,0.00,1.73,0.00,0.000,6,0.000,0.046,2876,2648,3563,0,0,0,0,0,0
$GC,3056,-0.69,-146.0,308.2,-8.6,354,3057,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2645,3563,0,0,0,0,0,0
$GC,3246,-0.72,-146.0,324.4,-8.4,372,3251,0.12,1.83,0.00,0.000,4,0.091,0.067,2802,3760,3563,0,0,0,0,0,0
$GC,3292,-0.59,-146.0,330.3,-14.3,376,3296,0.25,1.73,0.00,0.000,6,0.145,0.046,2877,2651,3563,0,0,0,0,0,0
$GC,3495,-0.62,-146.0,348.3,-8.4,395,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2649,3563,0,0,0,0,0,0
$GC,3686,-0.65,-146.0,364.3,-8.2,413,3689,0.00,1.83,0.00,0.000,4,0.000,0.069,2871,3769,3563,0,0,0,0,0,0
$GC,3724,-0.68,-146.0,368.0,-9.0,416,3731,0.00,1.77,0.00,0.000,6,0.000,0.047,2871,2654,3563,0,0,0,0,0,0
$GC,3924,-0.70,-146.0,385.7,-9.0,435,3925,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2653,3563,0,0,0,0,0,0
$GC,4113,-0.72,-146.0,403.6,-9.3,453,4117,0.12,1.83,0.00,0.000,4,0.090,0.071,2797,3760,3563,0,0,0,0,0,0
$GC,4150,-0.58,-146.0,408.8,-14.5,456,4158,0.22,1.77,0.00,0.000,6,0.134,0.047,2872,2645,3562,0,0,0,0,0,0
$GC,4351,-0.61,-146.0,427.5,-8.8,475,4357,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2644,3562,0,0,0,0,0,0
$GC,4549,-0.64,-146.0,445.5,-8.9,494,4552,0.00,1.83,0.00,0.000,4,0.000,0.069,2867,3766,3563,0,0,0,0,0,0
$GC,4600,-0.68,-146.0,450.4,-10.1,498,4607,0.00,1.77,0.00,0.000,6,0.000,0.046,2866,2631,3562,0,0,0,0,0,0
$GC,4798,-0.68,-146.0,468.5,-9.0,517,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2631,3563,0,0,0,0,0,0
$GC,4989,-0.68,-146.0,485.5,-8.7,535,4992,0.00,1.85,0.00,0.000,4,0.000,0.070,2860,3763,3563,0,0,0,0,0,0
$GC,5058,-0.70,-146.0,492.0,-10.1,541,5061,0.00,1.73,0.00,0.000,6,0.000,0.046,2859,2649,3562,0,0,0,0,0,0
$GC,5277,-0.70,-146.0,512.5,-9.3,554,5278,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2647,3562,0,0,0,0,0,0
$GC,5460,-0.70,-146.0,529.4,-9.2,560,5464,0.00,1.85,0.00,0.000,4,0.000,0.070,2855,3752,3562,0,0,0,0,0,0
$GC,5521,-0.70,-146.0,535.6,-9.4,561,5528,0.00,1.75,0.00,0.000,6,0.000,0.047,2855,2656,3562,0,0,0,0,0,0
$GC,5711,-0.70,-146.0,553.9,-9.6,568,5715,0.00,1.80,0.00,0.000,4,0.000,0.070,2846,3760,3562,0,0,0,0,0,0
$GC,5738,-0.67,-146.0,556.9,-10.9,568,5746,0.00,1.77,0.00,0.000,6,0.000,0.047,2846,2646,3562,0,0,0,0,0,0
$GC,5929,-0.64,-146.0,576.1,-10.2,575,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2645,3562,0,0,0,0,0,0
$GC,6113,-0.62,-146.0,594.5,-10.0,581,6116,0.00,1.83,0.00,0.000,4,0.000,0.069,2842,3764,3562,0,0,0,0,0,0
$STATE,6167,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6167,begin apogee
$GC,6172,-0.17,0.0,600.6,10.7,582,6312,0.47,0.00,134.43,1.190,6,0.126,0.000,2998,2487,2961,0,0,0,0,0,0
$STATE,6313,end apogee,CONTROL_FINISHED_OK
$STATE,6313,begin climb
$GC,6314,0.76,146.0,604.8,0.0,587,6468,0.95,2.62,143.95,1.115,4,0.080,0.052,3312,1091,2364,0,0,0,0,0,0
$GC,6489,-1.70,146.0,588.6,23671.1,592,6502,2.67,2.58,0.00,0.000,6,0.124,0.053,2524,2500,2354,0,0,0,0,0,0
$GC,6685,-1.70,146.0,559.9,23671.1,599,6689,0.00,2.12,0.00,0.000,4,0.000,0.055,2515,3769,2338,0,0,0,0,0,0
$GC,6785,-1.70,146.0,540.6,23671.1,602,6789,0.00,2.08,0.00,0.000,6,0.000,0.043,2514,2504,2335,0,0,0,0,0,0
$GC,6998,-1.70,146.0,502.4,23671.1,609,7002,0.00,2.05,0.00,0.000,4,0.000,0.054,2504,3774,2333,0,0,0,0,0,0
$GC,7045,-1.70,146.0,493.9,23671.1,611,7049,0.00,2.05,0.00,0.000,6,0.000,0.053,2504,2504,2333,0,0,0,0,0,0
$GC,7242,-1.70,146.0,456.6,23671.1,629,7246,0.00,2.25,0.00,0.000,4,0.000,0.051,2503,1082,2331,0,0,0,0,0,0
$GC,7251,-1.70,146.0,455.3,23671.1,629,7259,0.00,2.38,0.00,0.000,6,0.000,0.058,2493,2507,2332,0,0,0,0,0,0
$GC,7450,-1.70,146.0,418.3,23671.1,648,7454,0.00,2.28,0.00,0.000,4,0.000,0.053,2492,1086,2329,0,0,0,0,0,0
$GC,7707,-1.70,146.0,366.8,23671.1,670,7715,0.10,2.33,0.00,0.000,6,0.148,0.059,2522,2495,2330,0,0,0,0,0,0
$GC,7907,-1.70,146.0,331.1,23671.1,689,7911,0.00,2.22,0.00,0.000,4,0.000,0.053,2523,1087,2329,0,0,0,0,0,0
$GC,8164,-1.70,146.0,281.8,23671.1,711,8171,0.00,2.30,0.00,0.000,6,0.000,0.059,2511,2506,2328,0,0,0,0,0,0
$GC,8363,-1.70,146.0,245.3,23671.1,730,8368,0.00,2.25,0.00,0.000,4,0.000,0.049,2511,1074,2325,0,0,0,0,0,0
$GC,8612,-1.70,146.0,196.3,23671.1,752,8622,0.00,2.35,0.00,0.000,6,0.000,0.060,2499,2497,2327,0,0,0,0,0,0
$GC,8749,-1.70,146.0,171.1,23671.1,765,8753,0.00,2.25,0.00,0.000,4,0.000,0.052,2499,1078,2325,0,0,0,0,0,0
$GC,8998,-1.70,146.0,120.2,23671.1,787,9007,0.00,2.35,0.00,0.000,6,0.000,0.058,2488,2509,2325,0,0,0,0,0,0
$GC,9133,-1.70,146.0,94.6,23671.1,802,9141,0.00,2.25,0.00,0.000,4,0.000,0.045,2487,1078,2327,0,0,0,0,0,0
$GC,9385,-1.70,146.0,44.0,23671.1,848,9394,0.10,2.33,0.00,0.000,6,0.164,0.054,2507,2506,2327,0,0,0,0,0,0
$GC,9526,-1.70,146.0,17.4,23671.1,873,9532,0.00,2.00,0.00,0.000,4,0.000,0.058,2498,3775,2324,0,0,0,0,0,0
$FREEZE,8.94,-1.693,-1.912,2,1,0
$FREEZE,7.60,-1.719,-1.916,2,1,0
$FREEZE,6.04,-1.723,-1.918,2,1,0
$FREEZE,4.44,-1.638,-1.913,2,1,0
$FREEZE,3.79,-1.493,-1.901,2,1,0
$FREEZE,2.86,-1.433,-1.895,2,1,0
$STATE,9600,end climb,SURFACE_DEPTH_REACHED
$STATE,9600,begin surface coast
$FREEZE,2.59,-1.419,-1.893,2,1,0
$FINISH,2.6,1.027730
$STATE,9609,end surface coast,CONTROL_FINISHED_OK
$STATE,9609,begin surface
$SM_CCo,9628,269.12,0.744,2,0,420,623.30
$SM_GC,1.68,0.00,0.00,269.12,0.000,0.000,0.744,424,2629,420,-8.25,-0.59,623.30
$IRIDIUM_FIX,-7639.69,16514.88,281110,232301
$TT8_MAMPS,0.027713
$HUMID,49.29
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,14.00
$XPDR_PINGS,9
$ALTIM_TOP_PING,18.5,17.4
$24V_AH,21.4,25.868
$10V_AH,10.0,14.513
$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,20.100,102.600,278.375,269.125,0.000,28.254,38.848,637.763,4.500,0.000,33.811,2226.426,4711.929,743.352,2887.999,195.876,0.000,1708.669,0.000,1627.159,0.000,16.849,0.000
$DEVICE_MAMPS,217.260,74.970,1190.340,743.580,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,625.747,1062.882,921.057,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276072
$DATA_FILE_SIZE,60486,887
$CAP_FILE_SIZE,147154,0
$CFSIZE,260165632,248479744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,291110,122501,-7729.532,16520.527,40,1.9,40,144.1