version: 66.08
glider: 502
mission: 3
dive: 99
start: 12 1 110 5 14 53
data:
$ID,502
$MISSION,3
$DIVE,99
$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,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,-25495.322
$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,33
$R_STBD_OVSHOOT,20
$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
$GPS1,011210,050037,-7725.425,16510.982,36,1.2,37,144.2
$_CALLS,3
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-58.0
$GPS2,011210,051430,-7725.401,16510.473,79,1.7,83,144.2
$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,189.3,4968,-17.5,-10.000
$D_GRID,532
$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,-146.0,0.0,0.0,0,122,0.00,0.00,-104.72,0.000,2,0.000,0.000,410,2640,3225,0,0,0,0,0,0
$GC,125,-0.76,-146.0,3.3,-2.1,16,153,9.18,1.92,-10.68,0.000,4,0.216,0.083,2804,3764,3560,0,0,0,0,0,0
$GC,160,-0.76,-146.0,8.3,-12.8,21,167,0.00,1.77,0.00,0.000,6,0.000,0.045,2804,2647,3561,0,0,0,0,0,0
$GC,298,-0.76,-146.0,30.6,-16.2,46,306,0.00,1.88,0.00,0.000,4,0.000,0.066,2796,3761,3563,0,0,0,0,0,0
$GC,514,-0.76,-146.0,68.7,-17.7,85,521,0.00,1.80,0.00,0.000,6,0.000,0.047,2796,2623,3563,0,0,0,0,0,0
$GC,652,-0.76,-146.0,91.6,-16.2,110,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2621,3563,0,0,0,0,0,0
$GC,795,-0.76,-146.0,114.5,-16.2,128,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2621,3563,0,0,0,0,0,0
$GC,923,-0.76,-146.0,135.3,-15.9,140,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2621,3563,0,0,0,0,0,0
$GC,1050,-0.76,-146.0,156.1,-16.7,152,1054,0.00,1.88,0.00,0.000,4,0.000,0.067,2787,3769,3563,0,0,0,0,0,0
$GC,1076,-0.76,-146.0,160.9,-16.4,154,1086,0.08,1.83,0.00,0.000,6,0.164,0.047,2810,2629,3563,0,0,0,0,0,0
$GC,1211,-0.76,-146.0,180.5,-14.0,167,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2628,3563,0,0,0,0,0,0
$GC,1339,-0.76,-146.0,198.5,-13.9,179,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2628,3563,0,0,0,0,0,0
$GC,1466,-0.76,-146.0,216.4,-14.0,191,1470,0.00,1.85,0.00,0.000,4,0.000,0.068,2803,3764,3563,0,0,0,0,0,0
$GC,1513,-0.76,-146.0,223.7,-14.2,195,1523,0.00,1.83,0.00,0.000,6,0.000,0.046,2803,2619,3563,0,0,0,0,0,0
$GC,1649,-0.76,-146.0,242.0,-14.0,208,1650,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2619,3563,0,0,0,0,0,0
$GC,1775,-0.76,-146.0,259.4,-13.6,220,1779,0.00,1.88,0.00,0.000,4,0.000,0.067,2795,3770,3563,0,0,0,0,0,0
$GC,1801,-0.76,-146.0,263.5,-14.9,222,1809,0.00,1.83,0.00,0.000,6,0.000,0.046,2796,2630,3563,0,0,0,0,0,0
$GC,2000,-0.76,-146.0,291.6,-14.4,241,2001,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2628,3564,0,0,0,0,0,0
$GC,2191,-0.76,-146.0,319.1,-14.5,259,2195,0.00,1.85,0.00,0.000,4,0.000,0.067,2786,3771,3563,0,0,0,0,0,0
$GC,2240,-0.76,-146.0,327.0,-15.5,263,2248,0.08,1.83,0.00,0.000,6,0.159,0.046,2811,2628,3563,0,0,0,0,0,0
$GC,2439,-0.76,-146.0,353.1,-13.0,282,2442,0.00,1.85,0.00,0.000,4,0.000,0.068,2804,3766,3563,0,0,0,0,0,0
$GC,2467,-0.76,-146.0,357.4,-14.6,284,2473,0.00,1.77,0.00,0.000,6,0.000,0.047,2804,2634,3563,0,0,0,0,0,0
$GC,2664,-0.76,-146.0,384.1,-13.5,303,2665,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2632,3563,0,0,0,0,0,0
$GC,2855,-0.76,-146.0,409.3,-13.4,321,2859,0.00,1.90,0.00,0.000,4,0.000,0.070,2797,3764,3563,0,0,0,0,0,0
$GC,2922,-0.76,-146.0,418.8,-14.2,327,2925,0.00,1.75,0.00,0.000,6,0.000,0.046,2796,2637,3563,0,0,0,0,0,0
$GC,3124,-0.76,-146.0,446.4,-13.6,346,3128,0.00,1.85,0.00,0.000,4,0.000,0.068,2787,3769,3563,0,0,0,0,0,0
$GC,3158,-0.76,-146.0,451.4,-14.8,349,3162,0.10,1.75,0.00,0.000,6,0.185,0.047,2813,2642,3563,0,0,0,0,0,0
$GC,3361,-0.76,-146.0,476.9,-12.3,368,3362,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2640,3563,0,0,0,0,0,0
$GC,3557,-0.76,-146.0,500.3,-12.3,386,3560,0.00,1.85,0.00,0.000,4,0.000,0.067,2806,3774,3563,0,0,0,0,0,0
$GC,3610,-0.76,-146.0,508.3,-13.3,387,3615,0.00,1.80,0.00,0.000,6,0.000,0.047,2806,2651,3562,0,0,0,0,0,0
$STATE,3806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3806,begin apogee
$GC,3810,-0.17,0.0,532.8,12.6,394,3948,0.60,0.00,133.05,1.159,4,0.133,0.000,3001,2489,2961,0,0,0,0,0,0
$STATE,3949,end apogee,CONTROL_FINISHED_OK
$STATE,3949,begin climb
$GC,3950,0.76,146.0,537.0,0.0,398,4104,0.98,2.53,143.70,1.086,4,0.074,0.052,3313,1101,2364,0,0,0,0,0,0
$GC,4211,0.76,146.0,510.8,13.1,406,4215,0.00,2.42,0.00,0.000,6,0.000,0.054,3313,2501,2352,0,0,0,0,0,0
$GC,4404,0.76,146.0,483.2,14.7,418,4408,0.00,2.33,0.00,0.000,4,0.000,0.052,3324,1088,2349,0,0,0,0,0,0
$GC,4522,0.76,146.0,466.7,13.9,428,4526,0.00,2.38,0.00,0.000,6,0.000,0.055,3324,2528,2346,0,0,0,0,0,0
$GC,4719,0.76,146.0,437.1,15.5,446,4723,0.00,2.00,0.00,0.000,4,0.000,0.063,3323,3763,2345,0,0,0,0,0,0
$GC,4859,0.76,146.0,413.0,17.5,458,4866,0.00,1.92,0.00,0.000,6,0.000,0.045,3333,2549,2344,0,0,0,0,0,0
$GC,5057,0.76,146.0,381.5,16.0,477,5060,0.00,2.00,0.00,0.000,4,0.000,0.066,3333,3774,2343,0,0,0,0,0,0
$GC,5124,0.76,146.0,369.6,17.7,483,5129,0.12,1.92,0.00,0.000,6,0.177,0.046,3311,2552,2343,0,0,0,0,0,0
$GC,5321,0.76,146.0,341.7,14.3,501,5325,0.00,1.98,0.00,0.000,4,0.000,0.065,3311,3764,2342,0,0,0,0,0,0
$GC,5389,0.76,146.0,331.0,15.8,507,5393,0.00,1.88,0.00,0.000,6,0.000,0.046,3318,2563,2341,0,0,0,0,0,0
$GC,5591,0.76,146.0,301.8,14.3,526,5595,0.00,1.98,0.00,0.000,4,0.000,0.067,3318,3773,2342,0,0,0,0,0,0
$GC,5652,0.76,146.0,291.8,16.4,531,5660,0.00,1.90,0.00,0.000,6,0.000,0.046,3328,2579,2341,0,0,0,0,0,0
$GC,5850,0.76,146.0,262.0,15.0,550,5853,0.00,1.92,0.00,0.000,4,0.000,0.064,3327,3766,2341,0,0,0,0,0,0
$GC,5917,0.76,146.0,250.6,16.7,556,5921,0.00,1.85,0.00,0.000,6,0.000,0.045,3337,2579,2341,0,0,0,0,0,0
$GC,6123,0.76,146.0,218.8,15.6,575,6126,0.00,1.92,0.00,0.000,4,0.000,0.065,3337,3764,2341,0,0,0,0,0,0
$GC,6169,0.76,146.0,210.1,16.8,579,6180,0.10,1.88,0.00,0.000,6,0.161,0.045,3315,2592,2340,0,0,0,0,0,0
$GC,6305,0.76,146.0,191.1,13.6,592,6306,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2592,2340,0,0,0,0,0,0
$GC,6432,0.76,146.0,173.5,14.0,604,6436,0.00,1.90,0.00,0.000,4,0.000,0.067,3315,3763,2340,0,0,0,0,0,0
$GC,6488,0.76,146.0,165.0,16.4,609,6492,0.00,1.80,0.00,0.000,6,0.000,0.046,3322,2606,2340,0,0,0,0,0,0
$GC,6630,0.76,146.0,144.9,14.2,622,6638,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2605,2340,0,0,0,0,0,0
$GC,6765,0.76,146.0,125.5,14.2,635,6768,0.00,1.88,0.00,0.000,4,0.000,0.066,3322,3764,2340,0,0,0,0,0,0
$GC,6810,0.76,146.0,118.5,15.7,639,6813,0.00,1.80,0.00,0.000,6,0.000,0.046,3331,2608,2339,0,0,0,0,0,0
$GC,6943,0.76,146.0,98.2,14.5,652,6952,0.00,1.92,0.00,0.000,4,0.000,0.064,3331,3768,2340,0,0,0,0,0,0
$GC,6976,0.76,146.0,93.2,16.4,657,6982,0.00,1.80,0.00,0.000,6,0.000,0.046,3340,2621,2340,0,0,0,0,0,0
$GC,7114,0.76,146.0,71.1,15.3,682,7122,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2620,2339,0,0,0,0,0,0
$GC,7254,0.76,146.0,50.7,13.8,707,7261,0.00,1.88,0.00,0.000,4,0.000,0.066,3340,3769,2339,0,0,0,0,0,0
$GC,7337,0.76,146.0,37.3,16.3,722,7346,0.10,1.83,0.00,0.000,6,0.167,0.045,3317,2626,2339,0,0,0,0,0,0
$GC,7479,0.76,146.0,20.7,13.0,747,7486,0.00,1.85,0.00,0.000,4,0.000,0.064,3318,3763,2339,0,0,0,0,0,0
$FREEZE,8.29,-1.633,-1.904,2,2,0
$FREEZE,7.16,-1.635,-1.903,2,2,0
$FREEZE,6.12,-1.640,-1.903,2,2,0
$FREEZE,5.24,-1.634,-1.902,2,2,0
$FREEZE,4.25,-1.631,-1.901,2,2,0
$FREEZE,3.13,-1.634,-1.900,2,2,0
$GC,7578,0.76,146.0,3.1,17.2,764,7586,0.00,1.77,0.00,0.000,6,0.000,0.044,3325,2637,2338,0,0,0,0,0,0
$FREEZE,1.03,-1.744,-1.808,2,2,0
$STATE,7591,end climb,SURFACE_DEPTH_REACHED
$STATE,7591,begin surface coast
$FREEZE,0.98,-1.659,-1.544,2,2,0
$FINISH,1.0,1.022753
$STATE,7599,end surface coast,FINISH_DEPTH_REACHED
$STATE,7599,begin surface
$SM_CCo,7614,274.92,0.759,2,0,420,623.30
$SM_GC,1.63,0.00,0.00,274.92,0.000,0.000,0.759,420,2632,420,-8.23,-0.51,623.30
$IRIDIUM_FIX,-7639.69,16509.85,011210,050502
$TT8_MAMPS,0.027713
$HUMID,49.56
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,14.00
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.2,17.5
$ALTIM_BOTTOM_PING,500.3,65.6
$24V_AH,21.4,28.341
$10V_AH,9.9,16.142
$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,18.825,88.100,276.750,274.925,0.000,90.387,122.568,273.163,3.000,0.000,84.395,1904.380,3539.556,692.520,2452.196,147.817,0.000,1508.886,0.000,1346.587,0.000,15.804,0.000
$DEVICE_MAMPS,216.495,83.385,1158.975,758.880,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,541.609,925.578,854.018,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,275988
$DATA_FILE_SIZE,50426,767
$CAP_FILE_SIZE,117467,0
$CFSIZE,260165632,247472128
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,6
$GPS,011210,072737,-7724.747,16509.029,29,1.0,30,144.2