version: 66.08
glider: 502
mission: 3
dive: 98
start: 12 1 110 2 39 21
data:
$ID,502
$MISSION,3
$DIVE,98
$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,-25494.064
$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,28
$R_STBD_OVSHOOT,28
$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
$GPS1,011210,022754,-7726.065,16513.451,44,1.7,45,144.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-62.7
$GPS2,011210,023858,-7726.068,16513.037,14,2.6,33,144.1
$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,186.1,6546,-17.5,-10.000
$D_GRID,566
$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,-146.0,0.0,0.0,0,129,0.00,0.00,-111.57,0.000,2,0.000,0.000,426,2668,3344,0,0,0,0,0,0
$GC,131,-0.76,-146.0,3.3,-2.4,17,153,9.10,2.40,-6.18,0.000,4,0.213,0.066,2811,1232,3559,0,0,0,0,0,0
$GC,400,-0.76,-146.0,43.0,-13.6,65,407,0.00,2.33,0.00,0.000,6,0.000,0.060,2802,2645,3563,0,0,0,0,0,0
$GC,536,-0.76,-146.0,63.4,-14.7,90,545,0.00,2.30,0.00,0.000,4,0.000,0.053,2802,1230,3564,0,0,0,0,0,0
$GC,615,-0.76,-146.0,74.9,-13.8,104,624,0.00,2.38,0.00,0.000,6,0.000,0.060,2792,2653,3564,0,0,0,0,0,0
$GC,755,-0.76,-146.0,96.8,-16.2,129,762,0.00,1.80,0.00,0.000,4,0.000,0.066,2783,3767,3563,0,0,0,0,0,0
$GC,803,-0.76,-146.0,105.5,-16.7,135,814,0.10,1.80,0.00,0.000,6,0.158,0.046,2815,2645,3563,0,0,0,0,0,0
$GC,941,-0.76,-146.0,124.8,-14.1,148,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2645,3563,0,0,0,0,0,0
$GC,1067,-0.76,-146.0,142.5,-14.1,160,1070,0.00,1.83,0.00,0.000,4,0.000,0.067,2808,3769,3563,0,0,0,0,0,0
$GC,1111,-0.76,-146.0,149.2,-14.7,164,1115,0.00,1.73,0.00,0.000,6,0.000,0.047,2808,2664,3563,0,0,0,0,0,0
$GC,1252,-0.76,-146.0,169.0,-14.3,177,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2662,3563,0,0,0,0,0,0
$GC,1379,-0.76,-146.0,186.9,-13.8,189,1383,0.00,1.80,0.00,0.000,4,0.000,0.068,2799,3767,3563,0,0,0,0,0,0
$GC,1414,-0.76,-146.0,192.0,-14.7,192,1417,0.00,1.73,0.00,0.000,6,0.000,0.047,2800,2662,3563,0,0,0,0,0,0
$GC,1556,-0.76,-146.0,212.7,-14.6,205,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2660,3563,0,0,0,0,0,0
$GC,1681,-0.76,-146.0,231.1,-14.3,217,1685,0.00,1.80,0.00,0.000,4,0.000,0.069,2791,3764,3563,0,0,0,0,0,0
$GC,1726,-0.76,-146.0,238.0,-15.9,221,1729,0.00,1.70,0.00,0.000,6,0.000,0.046,2791,2675,3562,0,0,0,0,0,0
$GC,1865,-0.76,-146.0,259.1,-14.8,234,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2673,3563,0,0,0,0,0,0
$GC,2056,-0.76,-146.0,287.4,-14.9,252,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2673,3563,0,0,0,0,0,0
$GC,2247,-0.76,-146.0,315.6,-14.7,270,2250,0.00,1.77,0.00,0.000,4,0.000,0.068,2784,3766,3563,0,0,0,0,0,0
$GC,2281,-0.76,-146.0,320.8,-16.2,273,2285,0.12,1.70,0.00,0.000,6,0.177,0.047,2817,2674,3563,0,0,0,0,0,0
$GC,2483,-0.76,-146.0,347.0,-12.5,292,2486,0.00,1.77,0.00,0.000,4,0.000,0.067,2810,3764,3563,0,0,0,0,0,0
$GC,2506,-0.76,-146.0,350.0,-13.5,294,2510,0.00,1.67,0.00,0.000,6,0.000,0.046,2810,2684,3562,0,0,0,0,0,0
$GC,2711,-0.76,-146.0,376.4,-12.9,313,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2683,3562,0,0,0,0,0,0
$GC,2901,-0.76,-146.0,401.1,-13.0,331,2904,0.00,1.77,0.00,0.000,4,0.000,0.069,2802,3770,3562,0,0,0,0,0,0
$GC,2946,-0.76,-146.0,407.5,-14.8,335,2949,0.00,1.70,0.00,0.000,6,0.000,0.047,2802,2680,3562,0,0,0,0,0,0
$GC,3150,-0.76,-146.0,434.8,-13.6,354,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2679,3562,0,0,0,0,0,0
$GC,3339,-0.76,-146.0,460.2,-13.0,372,3343,0.00,1.77,0.00,0.000,4,0.000,0.070,2795,3764,3563,0,0,0,0,0,0
$GC,3361,-0.76,-146.0,463.2,-13.9,374,3365,0.00,1.67,0.00,0.000,6,0.000,0.046,2796,2686,3562,0,0,0,0,0,0
$GC,3564,-0.76,-146.0,490.9,-13.4,393,3566,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2684,3562,0,0,0,0,0,0
$GC,3762,-0.76,-146.0,517.3,-13.4,404,3766,0.00,1.75,0.00,0.000,4,0.000,0.067,2787,3764,3562,0,0,0,0,0,0
$GC,3796,-0.76,-146.0,522.4,-14.4,405,3801,0.08,1.70,0.00,0.000,6,0.159,0.047,2811,2696,3562,0,0,0,0,0,0
$GC,4013,-0.76,-146.0,549.5,-12.3,412,4015,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2695,3562,0,0,0,0,0,0
$STATE,4165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4165,begin apogee
$GC,4169,-0.17,0.0,568.4,12.4,417,4307,0.60,0.00,133.93,1.177,4,0.130,0.000,3008,2486,2961,0,0,0,0,0,0
$STATE,4308,end apogee,CONTROL_FINISHED_OK
$STATE,4308,begin climb
$GC,4310,0.76,146.0,573.0,0.0,421,4464,0.95,2.53,144.43,1.101,4,0.072,0.052,3314,1102,2364,0,0,0,0,0,0
$GC,4575,0.76,146.0,546.3,13.0,429,4583,0.00,2.45,0.00,0.000,6,0.000,0.054,3314,2494,2353,0,0,0,0,0,0
$GC,4767,0.76,146.0,518.9,14.8,436,4771,0.00,2.30,0.00,0.000,4,0.000,0.054,3323,1099,2348,0,0,0,0,0,0
$GC,4894,0.76,146.0,500.5,14.4,439,4902,0.00,2.38,0.00,0.000,6,0.000,0.055,3324,2514,2346,0,0,0,0,0,0
$GC,5094,0.76,146.0,471.1,14.9,458,5097,0.00,2.03,0.00,0.000,4,0.000,0.062,3324,3768,2345,0,0,0,0,0,0
$GC,5184,0.76,146.0,455.5,17.1,466,5188,0.00,1.95,0.00,0.000,6,0.000,0.047,3334,2541,2344,0,0,0,0,0,0
$GC,5387,0.76,146.0,422.6,16.1,485,5391,0.00,2.00,0.00,0.000,4,0.000,0.063,3334,3766,2343,0,0,0,0,0,0
$GC,5425,0.76,146.0,415.7,18.1,488,5433,0.12,1.95,0.00,0.000,6,0.178,0.046,3312,2539,2343,0,0,0,0,0,0
$GC,5622,0.76,146.0,387.5,13.5,507,5626,0.00,2.00,0.00,0.000,4,0.000,0.064,3312,3770,2342,0,0,0,0,0,0
$GC,5656,0.76,146.0,382.6,15.1,510,5660,0.00,1.95,0.00,0.000,6,0.000,0.048,3319,2534,2342,0,0,0,0,0,0
$GC,5860,0.76,146.0,352.9,14.1,529,5864,0.00,2.00,0.00,0.000,4,0.000,0.064,3320,3765,2341,0,0,0,0,0,0
$GC,5898,0.76,146.0,346.5,16.0,532,5906,0.00,1.95,0.00,0.000,6,0.000,0.045,3328,2553,2341,0,0,0,0,0,0
$GC,6096,0.76,146.0,316.8,15.1,551,6100,0.00,1.98,0.00,0.000,4,0.000,0.066,3328,3767,2341,0,0,0,0,0,0
$GC,6130,0.76,146.0,311.4,17.1,554,6134,0.00,1.90,0.00,0.000,6,0.000,0.046,3337,2554,2341,0,0,0,0,0,0
$GC,6333,0.76,146.0,280.6,14.9,573,6336,0.00,1.98,0.00,0.000,4,0.000,0.065,3337,3770,2340,0,0,0,0,0,0
$GC,6378,0.76,146.0,273.0,17.7,577,6382,0.12,1.90,0.00,0.000,6,0.179,0.047,3314,2557,2340,0,0,0,0,0,0
$GC,6583,0.76,146.0,244.8,13.6,596,6586,0.00,1.98,0.00,0.000,4,0.000,0.064,3315,3774,2340,0,0,0,0,0,0
$GC,6619,0.76,146.0,238.6,15.5,599,6628,0.00,1.92,0.00,0.000,6,0.000,0.047,3322,2567,2340,0,0,0,0,0,0
$GC,6755,0.76,146.0,219.4,14.5,612,6756,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2566,2340,0,0,0,0,0,0
$GC,6882,0.76,146.0,201.2,13.9,624,6885,0.00,1.95,0.00,0.000,4,0.000,0.067,3322,3766,2340,0,0,0,0,0,0
$GC,6937,0.76,146.0,192.2,17.0,629,6941,0.00,1.85,0.00,0.000,6,0.000,0.046,3331,2576,2339,0,0,0,0,0,0
$GC,7078,0.76,146.0,171.6,14.4,642,7079,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2573,2339,0,0,0,0,0,0
$GC,7205,0.76,146.0,153.1,14.6,654,7209,0.00,1.95,0.00,0.000,4,0.000,0.067,3331,3775,2339,0,0,0,0,0,0
$GC,7252,0.76,146.0,145.1,16.5,658,7261,0.00,1.90,0.00,0.000,6,0.000,0.046,3340,2585,2339,0,0,0,0,0,0
$GC,7389,0.76,146.0,124.8,15.2,671,7397,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2583,2339,0,0,0,0,0,0
$GC,7524,0.76,146.0,104.7,14.9,684,7525,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2584,2339,0,0,0,0,0,0
$GC,7652,0.76,146.0,85.7,15.0,704,7659,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2584,2339,0,0,0,0,0,0
$GC,7792,0.76,146.0,65.8,14.2,729,7799,0.00,1.92,0.00,0.000,4,0.000,0.067,3340,3766,2339,0,0,0,0,0,0
$GC,7832,0.76,146.0,59.5,15.9,736,7840,0.10,1.88,0.00,0.000,6,0.160,0.047,3318,2590,2339,0,0,0,0,0,0
$GC,7973,0.76,146.0,42.4,11.4,761,7980,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2588,2338,0,0,0,0,0,0
$GC,8110,0.76,146.0,24.3,15.8,786,8118,0.00,1.95,0.00,0.000,4,0.000,0.065,3318,3767,2338,0,0,0,0,0,0
$FREEZE,8.28,-1.633,-1.904,2,1,0
$FREEZE,7.37,-1.634,-1.904,2,1,0
$FREEZE,6.09,-1.635,-1.903,2,1,0
$FREEZE,5.31,-1.629,-1.902,2,1,0
$FREEZE,4.10,-1.632,-1.901,2,1,0
$FREEZE,3.09,-1.625,-1.900,2,1,0
$FREEZE,2.04,-1.626,-1.899,2,1,0
$STATE,8245,end climb,SURFACE_DEPTH_REACHED
$STATE,8246,begin surface coast
$FREEZE,1.43,-1.630,-1.899,2,1,0
$FINISH,1.4,1.027831
$STATE,8254,end surface coast,CONTROL_FINISHED_OK
$STATE,8254,begin surface
$SM_CCo,8270,129.40,0.762,1,0,1329,400.08
$SM_GC,1.94,0.00,0.00,129.40,0.000,0.000,0.762,425,2640,1329,-8.25,-0.28,400.08
$IRIDIUM_FIX,-7639.69,16512.38,011210,020212
$TT8_MAMPS,0.028462
$HUMID,51.92
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,18.7
$24V_AH,21.3,28.170
$10V_AH,9.9,16.046
$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,18.700,93.500,278.350,129.400,0.000,58.418,74.367,327.385,2.750,0.000,35.384,2021.841,3946.163,533.473,2434.775,135.935,0.000,1379.682,0.000,1406.942,0.000,14.641,0.000
$DEVICE_MAMPS,213.435,69.615,1176.570,761.940,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,573.348,988.650,893.568,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276016
$DATA_FILE_SIZE,53795,811
$CAP_FILE_SIZE,121842,0
$CFSIZE,260165632,247541760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,011210,050037,-7725.425,16510.982,36,1.2,37,144.2