version: 66.08
glider: 502
mission: 3
dive: 104
start: 12 1 110 17 20 45
data:
$ID,502
$MISSION,3
$DIVE,104
$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,-25987.201
$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,29
$R_STBD_OVSHOOT,16
$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
$GPS1,011210,122836,-7639.687,16514.885,121,99.0,121,144.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-50.9
$GPS2,011210,122836,-7639.687,16514.885,121,99.0,121,144.2
$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,34.5,89500,-17.5,-10.000
$D_GRID,577
$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,-168.80,0.000,6,0.000,0.000,398,2636,3557,0,0,0,0,0,0
$GC,190,-0.76,-146.0,3.0,-1.3,26,205,8.95,2.28,0.00,0.000,4,0.208,0.053,2807,1235,3562,0,0,0,0,0,0
$GC,212,-0.76,-146.0,6.9,-11.0,29,219,0.00,2.35,0.00,0.000,6,0.000,0.060,2798,2657,3563,0,0,0,0,0,0
$GC,349,-0.76,-146.0,29.1,-17.0,54,357,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2657,3564,0,0,0,0,0,0
$GC,489,-0.76,-146.0,48.4,-13.6,79,496,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2657,3564,0,0,0,0,0,0
$GC,627,-0.76,-146.0,71.3,-18.0,104,635,0.00,2.30,0.00,0.000,4,0.000,0.053,2798,1239,3564,0,0,0,0,0,0
$GC,652,-0.76,-146.0,75.9,-17.8,108,660,0.00,2.35,0.00,0.000,6,0.000,0.060,2788,2650,3564,0,0,0,0,0,0
$GC,793,-0.76,-146.0,99.4,-18.2,133,799,0.10,0.00,0.00,0.000,6,0.198,0.000,2813,2650,3564,0,0,0,0,0,0
$GC,927,-0.76,-146.0,121.0,-15.8,146,931,0.00,1.80,0.00,0.000,4,0.000,0.067,2805,3771,3564,0,0,0,0,0,0
$GC,964,-0.76,-146.0,127.6,-17.2,149,973,0.00,1.77,0.00,0.000,6,0.000,0.045,2806,2657,3564,0,0,0,0,0,0
$GC,1101,-0.76,-146.0,150.1,-17.1,162,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2657,3565,0,0,0,0,0,0
$GC,1227,-0.76,-146.0,171.3,-16.8,174,1230,0.00,1.83,0.00,0.000,4,0.000,0.070,2797,3771,3565,0,0,0,0,0,0
$GC,1263,-0.76,-146.0,178.1,-17.8,177,1272,0.00,1.80,0.00,0.000,6,0.000,0.045,2799,2641,3564,0,0,0,0,0,0
$GC,1399,-0.76,-146.0,200.1,-15.9,190,1402,0.00,1.83,0.00,0.000,4,0.000,0.067,2790,3764,3565,0,0,0,0,0,0
$GC,1424,-0.76,-146.0,204.2,-17.0,192,1427,0.00,1.73,0.00,0.000,6,0.000,0.044,2790,2652,3564,0,0,0,0,0,0
$GC,1564,-0.76,-146.0,227.3,-15.6,205,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2651,3565,0,0,0,0,0,0
$GC,1691,-0.76,-146.0,247.1,-15.5,217,1695,0.00,1.83,0.00,0.000,4,0.000,0.070,2782,3767,3564,0,0,0,0,0,0
$GC,1717,-0.76,-146.0,250.9,-15.8,219,1721,0.12,1.70,0.00,0.000,6,0.177,0.046,2815,2668,3564,0,0,0,0,0,0
$GC,1920,-0.76,-146.0,278.2,-12.8,238,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2666,3564,0,0,0,0,0,0
$GC,2110,-0.76,-146.0,302.4,-12.5,256,2114,0.00,1.83,0.00,0.000,4,0.000,0.067,2809,3759,3564,0,0,0,0,0,0
$GC,2143,-0.76,-146.0,306.8,-13.7,259,2147,0.00,1.73,0.00,0.000,6,0.000,0.046,2808,2677,3563,0,0,0,0,0,0
$GC,2345,-0.76,-146.0,333.2,-12.8,278,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2676,3563,0,0,0,0,0,0
$GC,2536,-0.76,-146.0,357.7,-12.7,296,2540,0.00,1.77,0.00,0.000,4,0.000,0.069,2800,3764,3564,0,0,0,0,0,0
$GC,2586,-0.76,-146.0,364.8,-14.3,300,2593,0.00,1.75,0.00,0.000,6,0.000,0.046,2800,2670,3563,0,0,0,0,0,0
$GC,2784,-0.76,-146.0,390.9,-12.8,319,2787,0.00,1.80,0.00,0.000,4,0.000,0.069,2793,3773,3563,0,0,0,0,0,0
$GC,2810,-0.76,-146.0,395.0,-14.6,321,2818,0.00,1.73,0.00,0.000,6,0.000,0.045,2793,2687,3563,0,0,0,0,0,0
$GC,3010,-0.76,-146.0,421.9,-13.4,340,3011,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2686,3563,0,0,0,0,0,0
$GC,3199,-0.76,-146.0,447.9,-13.4,358,3202,0.00,1.75,0.00,0.000,4,0.000,0.068,2784,3764,3563,0,0,0,0,0,0
$GC,3243,-0.76,-146.0,454.4,-15.7,362,3247,0.12,1.67,0.00,0.000,6,0.174,0.045,2818,2683,3563,0,0,0,0,0,0
$GC,3446,-0.76,-146.0,478.8,-11.6,381,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2681,3563,0,0,0,0,0,0
$GC,3656,-0.76,-146.0,503.5,-11.5,399,3660,0.00,1.77,0.00,0.000,4,0.000,0.069,2811,3769,3563,0,0,0,0,0,0
$GC,3682,-0.76,-146.0,507.0,-12.3,399,3690,0.00,1.70,0.00,0.000,6,0.000,0.046,2811,2699,3563,0,0,0,0,0,0
$GC,3874,-0.76,-146.0,530.4,-12.4,406,3875,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2699,3563,0,0,0,0,0,0
$STATE,3995,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3995,begin apogee
$GC,3999,-0.17,0.0,545.1,12.0,410,4138,0.60,0.00,132.27,1.157,4,0.129,0.000,3007,2491,2960,0,0,0,0,0,0
$STATE,4138,end apogee,CONTROL_FINISHED_OK
$STATE,4138,begin climb
$GC,4140,0.76,146.0,549.1,0.0,414,4294,0.95,2.53,144.57,1.081,4,0.072,0.052,3314,1101,2365,0,0,0,0,0,0
$GC,4395,0.76,146.0,523.4,13.3,422,4399,0.00,2.47,0.00,0.000,6,0.000,0.054,3314,2498,2354,0,0,0,0,0,0
$GC,4588,0.76,146.0,495.8,14.3,430,4592,0.00,2.33,0.00,0.000,4,0.000,0.053,3324,1091,2350,0,0,0,0,0,0
$GC,4729,0.76,146.0,476.3,13.3,442,4734,0.00,2.38,0.00,0.000,6,0.000,0.057,3324,2528,2348,0,0,0,0,0,0
$GC,4928,0.76,146.0,447.8,14.8,460,4932,0.00,2.00,0.00,0.000,4,0.000,0.063,3324,3762,2346,0,0,0,0,0,0
$GC,5029,0.76,146.0,430.8,16.4,469,5033,0.00,1.95,0.00,0.000,6,0.000,0.045,3333,2527,2346,0,0,0,0,0,0
$GC,5232,0.76,146.0,399.2,15.9,488,5235,0.00,2.03,0.00,0.000,4,0.000,0.063,3333,3770,2345,0,0,0,0,0,0
$GC,5269,0.76,146.0,392.4,17.5,491,5278,0.08,1.98,0.00,0.000,6,0.159,0.045,3319,2546,2344,0,0,0,0,0,0
$GC,5468,0.76,146.0,362.8,14.9,510,5471,0.00,2.00,0.00,0.000,4,0.000,0.066,3319,3766,2344,0,0,0,0,0,0
$GC,5494,0.76,146.0,358.3,16.4,512,5502,0.00,1.98,0.00,0.000,6,0.000,0.045,3328,2538,2343,0,0,0,0,0,0
$GC,5694,0.76,146.0,329.6,14.2,531,5697,0.00,2.00,0.00,0.000,4,0.000,0.063,3327,3770,2343,0,0,0,0,0,0
$GC,5739,0.76,146.0,322.2,16.3,535,5742,0.00,1.90,0.00,0.000,6,0.000,0.045,3337,2553,2343,0,0,0,0,0,0
$GC,5941,0.76,146.0,291.9,14.9,554,5942,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2550,2343,0,0,0,0,0,0
$GC,6133,0.76,146.0,264.1,14.9,572,6136,0.00,1.98,0.00,0.000,4,0.000,0.065,3337,3764,2342,0,0,0,0,0,0
$GC,6170,0.76,146.0,257.6,16.7,575,6179,0.10,1.92,0.00,0.000,6,0.157,0.044,3314,2559,2342,0,0,0,0,0,0
$GC,6370,0.76,146.0,231.1,13.7,594,6373,0.00,1.95,0.00,0.000,4,0.000,0.064,3314,3763,2342,0,0,0,0,0,0
$GC,6406,0.76,146.0,225.3,15.5,597,6415,0.00,1.90,0.00,0.000,6,0.000,0.045,3322,2566,2341,0,0,0,0,0,0
$GC,6544,0.76,146.0,207.2,13.3,610,6545,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2565,2342,0,0,0,0,0,0
$GC,6669,0.76,146.0,190.2,13.5,622,6673,0.00,1.95,0.00,0.000,4,0.000,0.067,3322,3763,2341,0,0,0,0,0,0
$GC,6693,0.76,146.0,186.8,14.3,624,6696,0.00,1.88,0.00,0.000,6,0.000,0.047,3331,2561,2341,0,0,0,0,0,0
$GC,6833,0.76,146.0,166.1,14.5,637,6835,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2559,2341,0,0,0,0,0,0
$GC,6961,0.76,146.0,147.8,14.4,649,6964,0.00,1.95,0.00,0.000,4,0.000,0.064,3331,3762,2341,0,0,0,0,0,0
$GC,7006,0.76,146.0,140.5,16.3,653,7009,0.00,1.85,0.00,0.000,6,0.000,0.045,3340,2571,2341,0,0,0,0,0,0
$GC,7146,0.76,146.0,119.1,15.0,666,7147,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2569,2340,0,0,0,0,0,0
$GC,7273,0.76,146.0,97.6,18.7,679,7280,0.00,1.95,0.00,0.000,4,0.000,0.066,3340,3762,2340,0,0,0,0,0,0
$GC,7298,0.76,146.0,92.7,19.8,683,7306,0.15,1.85,0.00,0.000,6,0.179,0.045,3310,2577,2340,0,0,0,0,0,0
$GC,7439,0.76,146.0,73.4,10.9,708,7446,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2576,2340,0,0,0,0,0,0
$GC,7579,0.78,158.2,59.4,9.4,733,7593,0.00,1.95,7.50,0.801,4,0.000,0.063,3310,3764,2315,0,0,0,0,0,0
$GC,7621,0.78,158.2,54.2,12.4,740,7629,0.00,1.88,0.00,0.000,6,0.000,0.045,3317,2593,2315,0,0,0,0,0,0
$GC,7760,0.78,158.2,34.5,11.9,765,7766,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2591,2314,0,0,0,0,0,0
$GC,7898,0.78,158.2,14.0,18.0,790,7906,0.00,1.95,0.00,0.000,4,0.000,0.067,3316,3760,2314,0,0,0,0,0,0
$FREEZE,7.97,-1.761,-1.907,2,7,0
$FREEZE,6.53,-1.760,-1.906,2,7,0
$FREEZE,5.42,-1.760,-1.905,2,7,0
$FREEZE,4.11,-1.759,-1.904,2,7,0
$FREEZE,2.83,-1.760,-1.903,2,7,0
$STATE,7952,end climb,SURFACE_DEPTH_REACHED
$STATE,7952,begin surface coast
$FREEZE,1.33,-1.758,-1.902,2,7,0
$FINISH,1.3,1.027876
$STATE,7959,end surface coast,CONTROL_FINISHED_OK
$STATE,7959,begin surface
$SM_CCo,7975,276.23,0.756,2,0,420,623.30
$SM_GC,1.78,0.00,0.00,276.23,0.000,0.000,0.756,414,2635,420,-8.27,-0.42,623.30
$IRIDIUM_FIX,-7639.69,16519.42,011210,171704
$TT8_MAMPS,0.028462
$HUMID,49.37
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,14.00
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.6,18.4
$ALTIM_BOTTOM_PING,500.1,58.0
$24V_AH,21.3,29.136
$10V_AH,9.9,16.620
$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,18.625,93.650,284.350,276.225,0.000,83.830,171.402,119.238,3.000,0.000,121.613,1958.682,3769.559,743.614,2442.724,151.598,0.000,1591.166,0.000,1365.600,0.000,15.789,0.000
$DEVICE_MAMPS,208.080,69.615,1157.445,755.820,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,563.890,965.203,864.161,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276028
$DATA_FILE_SIZE,53693,800
$CAP_FILE_SIZE,117045,0
$CFSIZE,260165632,247115776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,011210,171304,-7639.687,16519.416,0,10000.0,0,144.2