version: 66.08
glider: 502
mission: 3
dive: 96
start: 11 30 110 21 9 38
data:
$ID,502
$MISSION,3
$DIVE,96
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,750
$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,250
$T_MISSION,320
$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,400
$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,-25491.545
$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
$PITCH_ADJ_DBAND,0
$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,31
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,301110,210257,-7727.702,16519.373,32,4.2,51,144.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-63.9
$GPS2,301110,210914,-7727.681,16519.338,12,1.9,12,144.1
$SPEED_LIMITS,0.173,0.260
$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,182.1,10431,-17.5,-10.000
$D_GRID,635
$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,16,-0.76,-146.0,0.0,0.0,0,174,0.00,0.00,-155.85,0.000,2,0.000,0.000,427,2663,3346,0,0,0,0,0,0
$GC,177,-0.76,-146.0,3.2,-1.7,24,200,9.20,2.33,-6.18,0.000,4,0.216,0.065,2814,1244,3559,0,0,0,0,0,0
$GC,421,-0.76,-146.0,39.3,-13.1,68,429,0.00,2.35,0.00,0.000,6,0.000,0.060,2805,2643,3562,0,0,0,0,0,0
$GC,561,-0.76,-146.0,58.9,-14.8,93,567,0.00,1.83,0.00,0.000,4,0.000,0.067,2798,3763,3563,0,0,0,0,0,0
$GC,589,-0.76,-146.0,63.7,-15.2,98,597,0.00,1.80,0.00,0.000,6,0.000,0.047,2798,2648,3563,0,0,0,0,0,0
$GC,730,-0.76,-146.0,84.5,-14.7,123,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2647,3563,0,0,0,0,0,0
$GC,869,-0.76,-146.0,105.1,-14.8,145,872,0.00,1.83,0.00,0.000,4,0.000,0.067,2790,3764,3563,0,0,0,0,0,0
$GC,894,-0.76,-146.0,109.6,-15.8,147,903,0.00,1.77,0.00,0.000,6,0.000,0.046,2790,2656,3562,0,0,0,0,0,0
$GC,1030,-0.76,-146.0,130.6,-15.6,160,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2656,3562,0,0,0,0,0,0
$GC,1157,-0.76,-146.0,150.7,-15.7,172,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2656,3562,0,0,0,0,0,0
$GC,1285,-0.76,-146.0,170.8,-15.4,184,1289,0.00,1.83,0.00,0.000,4,0.000,0.069,2783,3771,3563,0,0,0,0,0,0
$GC,1321,-0.76,-146.0,177.5,-17.5,187,1331,0.10,1.77,0.00,0.000,6,0.158,0.047,2815,2665,3562,0,0,0,0,0,0
$GC,1458,-0.76,-146.0,196.0,-13.2,200,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2665,3562,0,0,0,0,0,0
$GC,1584,-0.76,-146.0,212.9,-13.2,212,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2665,3562,0,0,0,0,0,0
$GC,1711,-0.76,-146.0,229.8,-13.2,224,1713,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2665,3562,0,0,0,0,0,0
$GC,1839,-0.76,-146.0,246.8,-13.1,236,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2665,3563,0,0,0,0,0,0
$GC,1965,-0.76,-146.0,263.8,-13.2,248,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2665,3562,0,0,0,0,0,0
$GC,2156,-0.76,-146.0,289.4,-13.4,266,2157,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2664,3562,0,0,0,0,0,0
$GC,2347,-0.76,-146.0,314.7,-13.1,284,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2665,3562,0,0,0,0,0,0
$GC,2540,-0.76,-146.0,339.8,-12.9,302,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2664,3562,0,0,0,0,0,0
$GC,2730,-0.76,-146.0,364.9,-13.0,320,2731,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2664,3562,0,0,0,0,0,0
$GC,2921,-0.76,-146.0,390.2,-13.1,338,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2665,3562,0,0,0,0,0,0
$GC,3112,-0.76,-146.0,414.7,-12.8,356,3113,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2665,3562,0,0,0,0,0,0
$GC,3305,-0.76,-146.0,438.5,-12.3,374,3306,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2665,3562,0,0,0,0,0,0
$GC,3494,-0.76,-146.0,461.8,-12.0,392,3495,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2665,3562,0,0,0,0,0,0
$GC,3686,-0.76,-146.0,485.3,-12.2,410,3687,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2665,3561,0,0,0,0,0,0
$GC,3874,-0.76,-146.0,508.5,-12.3,424,3878,0.00,1.80,0.00,0.000,4,0.000,0.069,2808,3771,3561,0,0,0,0,0,0
$GC,3912,-0.76,-146.0,513.5,-13.2,425,3917,0.00,1.77,0.00,0.000,6,0.000,0.047,2808,2662,3561,0,0,0,0,0,0
$GC,4125,-0.76,-146.0,540.0,-12.4,432,4126,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2659,3561,0,0,0,0,0,0
$GC,4308,-0.76,-146.0,562.7,-12.3,438,4312,0.00,1.80,0.00,0.000,4,0.000,0.070,2799,3763,3561,0,0,0,0,0,0
$GC,4342,-0.76,-146.0,567.1,-13.7,439,4346,0.00,1.73,0.00,0.000,6,0.000,0.047,2799,2655,3561,0,0,0,0,0,0
$GC,4560,-0.76,-146.0,594.8,-12.7,446,4561,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2652,3561,0,0,0,0,0,0
$GC,4743,-0.76,-146.0,617.9,-12.5,452,4747,0.00,1.83,0.00,0.000,4,0.000,0.070,2793,3770,3561,0,0,0,0,0,0
$GC,4770,-0.76,-146.0,621.7,-13.4,452,4778,0.00,1.75,0.00,0.000,6,0.000,0.047,2792,2674,3561,0,0,0,0,0,0
$STATE,4898,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4898,begin apogee
$GC,4902,-0.17,0.0,638.7,13.3,457,5045,0.65,0.00,136.12,1.219,4,0.138,0.000,3001,2482,2961,0,0,0,0,0,0
$STATE,5045,end apogee,CONTROL_FINISHED_OK
$STATE,5045,begin climb
$GC,5047,0.76,146.0,643.5,0.0,461,5202,0.98,2.50,146.00,1.147,4,0.074,0.052,3312,1101,2364,0,0,0,0,0,0
$GC,5297,0.76,146.0,618.5,13.9,469,5302,0.00,2.47,0.00,0.000,6,0.000,0.054,3313,2495,2354,0,0,0,0,0,0
$GC,5499,0.76,146.0,589.0,15.0,476,5503,0.00,2.33,0.00,0.000,4,0.000,0.054,3322,1090,2348,0,0,0,0,0,0
$GC,5628,0.76,146.0,570.8,13.9,480,5632,0.00,2.38,0.00,0.000,6,0.000,0.057,3322,2523,2346,0,0,0,0,0,0
$GC,5839,0.76,146.0,539.0,15.3,487,5843,0.00,2.00,0.00,0.000,4,0.000,0.063,3323,3763,2345,0,0,0,0,0,0
$GC,5944,0.76,146.0,520.3,18.0,490,5949,0.00,1.98,0.00,0.000,6,0.000,0.047,3332,2543,2344,0,0,0,0,0,0
$GC,6138,0.76,146.0,488.7,16.0,499,6142,0.00,2.00,0.00,0.000,4,0.000,0.065,3332,3765,2342,0,0,0,0,0,0
$GC,6176,0.76,146.0,481.7,18.6,502,6184,0.00,1.98,0.00,0.000,6,0.000,0.046,3341,2543,2342,0,0,0,0,0,0
$GC,6374,0.76,146.0,448.3,16.6,521,6378,0.00,2.00,0.00,0.000,4,0.000,0.066,3341,3771,2342,0,0,0,0,0,0
$GC,6423,0.76,146.0,438.9,19.3,525,6431,0.10,1.98,0.00,0.000,6,0.161,0.046,3319,2545,2341,0,0,0,0,0,0
$GC,6621,0.76,146.0,408.8,14.7,544,6625,0.00,2.00,0.00,0.000,4,0.000,0.066,3319,3773,2342,0,0,0,0,0,0
$GC,6659,0.76,146.0,402.4,17.0,547,6666,0.00,1.95,0.00,0.000,6,0.000,0.046,3327,2554,2341,0,0,0,0,0,0
$GC,6859,0.76,146.0,372.3,15.2,566,6862,0.00,1.98,0.00,0.000,4,0.000,0.065,3326,3769,2341,0,0,0,0,0,0
$GC,6893,0.76,146.0,366.5,16.9,569,6896,0.00,1.90,0.00,0.000,6,0.000,0.046,3336,2555,2340,0,0,0,0,0,0
$GC,7095,0.76,146.0,334.3,15.4,588,7096,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2553,2341,0,0,0,0,0,0
$GC,7286,0.76,146.0,304.6,15.3,606,7290,0.00,1.98,0.00,0.000,4,0.000,0.064,3336,3774,2340,0,0,0,0,0,0
$GC,7331,0.76,146.0,296.8,17.4,610,7336,0.08,1.95,0.00,0.000,6,0.164,0.046,3310,2558,2340,0,0,0,0,0,0
$GC,7533,0.76,146.0,269.1,13.6,629,7534,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2556,2340,0,0,0,0,0,0
$GC,7727,0.76,146.0,243.4,13.3,647,7731,0.00,1.95,0.00,0.000,4,0.000,0.063,3310,3764,2340,0,0,0,0,0,0
$GC,7785,0.76,146.0,234.0,15.9,652,7794,0.00,1.92,0.00,0.000,6,0.000,0.046,3318,2560,2339,0,0,0,0,0,0
$GC,7922,0.76,146.0,215.4,13.9,665,7924,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2559,2339,0,0,0,0,0,0
$GC,8048,0.76,146.0,197.7,13.6,677,8052,0.00,1.95,0.00,0.000,4,0.000,0.064,3317,3765,2339,0,0,0,0,0,0
$GC,8093,0.76,146.0,190.7,16.8,681,8096,0.00,1.85,0.00,0.000,6,0.000,0.046,3327,2569,2338,0,0,0,0,0,0
$GC,8233,0.76,146.0,170.5,14.7,694,8234,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2568,2338,0,0,0,0,0,0
$GC,8361,0.76,146.0,152.3,14.3,706,8362,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2568,2339,0,0,0,0,0,0
$GC,8488,0.76,146.0,134.1,14.1,718,8492,0.00,1.95,0.00,0.000,4,0.000,0.066,3327,3768,2338,0,0,0,0,0,0
$GC,8533,0.76,146.0,127.1,17.4,722,8536,0.00,1.85,0.00,0.000,6,0.000,0.046,3336,2573,2338,0,0,0,0,0,0
$GC,8673,0.76,146.0,106.3,15.2,735,8675,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2571,2338,0,0,0,0,0,0
$GC,8800,0.76,146.0,87.7,14.5,754,8808,0.00,1.98,0.00,0.000,4,0.000,0.066,3336,3760,2338,0,0,0,0,0,0
$GC,8846,0.76,146.0,80.2,16.2,762,8855,0.10,1.88,0.00,0.000,6,0.159,0.047,3313,2585,2338,0,0,0,0,0,0
$GC,8989,0.76,146.0,61.9,13.0,787,8995,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2584,2338,0,0,0,0,0,0
$GC,9126,0.76,146.0,43.9,12.9,812,9133,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2584,2338,0,0,0,0,0,0
$GC,9266,0.76,146.0,26.4,12.2,837,9273,0.00,1.92,0.00,0.000,4,0.000,0.066,3313,3766,2338,0,0,0,0,0,0
$GC,9326,0.76,146.0,18.0,14.4,847,9332,0.00,1.85,0.00,0.000,6,0.000,0.047,3321,2583,2338,0,0,0,0,0,0
$FREEZE,8.30,-1.561,-1.901,2,1,0
$FREEZE,7.48,-1.544,-1.901,2,1,0
$FREEZE,6.75,-1.539,-1.900,2,1,0
$FREEZE,5.96,-1.533,-1.899,2,1,0
$FREEZE,5.20,-1.532,-1.899,2,1,0
$FREEZE,4.20,-1.524,-1.898,2,1,0
$FREEZE,3.49,-1.522,-1.897,2,1,0
$FREEZE,2.76,-1.523,-1.897,2,1,0
$STATE,9435,end climb,SURFACE_DEPTH_REACHED
$STATE,9436,begin surface coast
$FREEZE,1.66,-1.512,-1.895,2,1,0
$FREEZE,1.03,-1.510,-1.554,2,1,0
$FREEZE,1.07,-1.537,-0.899,2,1,0
$FINISH,1.1,1.013243
$STATE,9455,end surface coast,FINISH_DEPTH_REACHED
$STATE,9455,begin surface
$SM_CCo,9469,127.85,0.761,1,0,1329,400.08
$SM_GC,1.86,0.00,0.00,127.85,0.000,0.000,0.761,424,2656,1329,-8.25,0.20,400.08
$IRIDIUM_FIX,-7639.69,16521.92,301110,171716
$TT8_MAMPS,0.028462
$HUMID,51.18
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,14.10
$XPDR_PINGS,9
$ALTIM_TOP_PING,19.9,18.5
$ALTIM_BOTTOM_PING,602.6,60.4
$24V_AH,21.3,27.891
$10V_AH,9.9,15.853
$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,18.675,79.025,282.125,127.850,0.000,23.574,37.577,214.041,4.750,0.000,13.484,2150.229,4790.496,568.761,2316.790,149.925,0.000,1463.632,0.000,1497.276,0.000,19.232,0.000
$DEVICE_MAMPS,216.495,104.805,1218.645,761.175,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,613.981,1071.233,921.379,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276036
$DATA_FILE_SIZE,57140,869
$CAP_FILE_SIZE,122804,0
$CFSIZE,260165632,247664640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,301110,235107,-7726.812,16516.092,50,0.9,51,144.1