version: 66.08
glider: 502
mission: 3
dive: 108
start: 12 2 110 3 30 7
data:
$ID,502
$MISSION,3
$DIVE,108
$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,-26237.223
$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
$GPS1,021210,031854,-7727.748,16514.867,26,1.5,44,144.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-57.7
$GPS2,021210,032944,-7727.724,16514.373,11,1.7,11,144.2
$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,192.4,9535,-17.5,-10.000
$D_GRID,597
$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,-146.0,0.0,0.0,0,117,0.00,0.00,-98.85,0.000,2,0.000,0.000,411,2667,3165,0,0,0,0,0,0
$GC,119,-0.76,-146.0,3.1,-3.9,15,148,9.25,2.38,-13.10,0.000,4,0.217,0.065,2813,1238,3559,0,0,0,0,0,0
$GC,390,-0.76,-146.0,49.5,-16.0,64,398,0.00,2.35,0.00,0.000,6,0.000,0.058,2803,2650,3562,0,0,0,0,0,0
$GC,530,-0.76,-146.0,68.1,-14.1,89,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2649,3562,0,0,0,0,0,0
$GC,667,-0.76,-146.0,92.1,-17.0,114,675,0.00,1.85,0.00,0.000,4,0.000,0.067,2796,3761,3562,0,0,0,0,0,0
$GC,699,-0.76,-146.0,97.7,-19.5,119,706,0.00,1.77,0.00,0.000,6,0.000,0.045,2795,2629,3562,0,0,0,0,0,0
$GC,842,-0.76,-146.0,122.5,-16.2,133,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2627,3562,0,0,0,0,0,0
$GC,968,-0.76,-146.0,143.5,-16.6,145,972,0.00,1.88,0.00,0.000,4,0.000,0.069,2787,3772,3562,0,0,0,0,0,0
$GC,1045,-0.76,-146.0,157.0,-17.5,152,1050,0.12,1.73,0.00,0.000,6,0.176,0.046,2820,2663,3562,0,0,0,0,0,0
$GC,1187,-0.76,-146.0,177.3,-14.6,165,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2662,3562,0,0,0,0,0,0
$GC,1312,-0.76,-146.0,195.6,-14.4,177,1316,0.00,1.80,0.00,0.000,4,0.000,0.069,2813,3767,3562,0,0,0,0,0,0
$GC,1348,-0.76,-146.0,200.7,-15.0,180,1352,0.00,1.73,0.00,0.000,6,0.000,0.045,2812,2655,3562,0,0,0,0,0,0
$GC,1488,-0.76,-146.0,221.3,-14.0,193,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2652,3562,0,0,0,0,0,0
$GC,1615,-0.76,-146.0,239.2,-14.1,205,1619,0.00,1.83,0.00,0.000,4,0.000,0.070,2804,3770,3562,0,0,0,0,0,0
$GC,1651,-0.76,-146.0,245.0,-15.1,208,1661,0.00,1.75,0.00,0.000,6,0.000,0.045,2804,2673,3562,0,0,0,0,0,0
$GC,1786,-0.76,-146.0,264.4,-14.5,221,1787,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2673,3562,0,0,0,0,0,0
$GC,1977,-0.76,-146.0,291.6,-14.2,239,1981,0.00,1.77,0.00,0.000,4,0.000,0.069,2797,3764,3562,0,0,0,0,0,0
$GC,2021,-0.76,-146.0,298.3,-15.7,243,2025,0.00,1.70,0.00,0.000,6,0.000,0.045,2797,2667,3562,0,0,0,0,0,0
$GC,2224,-0.76,-146.0,328.4,-15.0,262,2228,0.00,1.80,0.00,0.000,4,0.000,0.067,2789,3773,3562,0,0,0,0,0,0
$GC,2246,-0.76,-146.0,331.9,-15.5,264,2250,0.00,1.70,0.00,0.000,6,0.000,0.046,2788,2679,3562,0,0,0,0,0,0
$GC,2449,-0.76,-146.0,363.5,-15.4,283,2453,0.00,1.83,0.00,0.000,4,0.000,0.070,2781,3767,3562,0,0,0,0,0,0
$GC,2475,-0.76,-146.0,368.0,-16.2,285,2484,0.10,1.73,0.00,0.000,6,0.155,0.045,2812,2683,3562,0,0,0,0,0,0
$GC,2675,-0.76,-146.0,394.9,-13.8,304,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2683,3562,0,0,0,0,0,0
$GC,2865,-0.76,-146.0,421.0,-14.0,322,2869,0.00,1.77,0.00,0.000,4,0.000,0.068,2805,3773,3562,0,0,0,0,0,0
$GC,2910,-0.76,-146.0,427.9,-15.8,326,2914,0.00,1.67,0.00,0.000,6,0.000,0.045,2805,2690,3562,0,0,0,0,0,0
$GC,3113,-0.76,-146.0,457.1,-14.7,345,3114,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2688,3562,0,0,0,0,0,0
$GC,3304,-0.76,-146.0,484.7,-14.4,363,3307,0.00,1.75,0.00,0.000,4,0.000,0.069,2798,3763,3562,0,0,0,0,0,0
$GC,3352,-0.76,-146.0,492.6,-15.8,367,3360,0.00,1.70,0.00,0.000,6,0.000,0.045,2798,2693,3562,0,0,0,0,0,0
$GC,3566,-0.76,-146.0,524.2,-14.9,378,3570,0.00,1.75,0.00,0.000,4,0.000,0.069,2790,3767,3562,0,0,0,0,0,0
$GC,3592,-0.76,-146.0,528.8,-16.0,378,3600,0.00,1.70,0.00,0.000,6,0.000,0.046,2790,2697,3562,0,0,0,0,0,0
$GC,3783,-0.76,-146.0,558.1,-15.6,385,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2697,3562,0,0,0,0,0,0
$STATE,3905,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3905,begin apogee
$GC,3909,-0.17,0.0,576.5,15.0,389,4048,0.68,0.00,133.85,1.187,4,0.138,0.000,3006,2489,2961,0,0,0,0,0,0
$STATE,4049,end apogee,CONTROL_FINISHED_OK
$STATE,4049,begin climb
$GC,4050,0.76,146.0,581.4,0.0,393,4205,0.95,2.53,145.27,1.115,4,0.075,0.052,3308,1102,2364,0,0,0,0,0,0
$GC,4333,0.76,146.0,554.5,11.5,402,4338,0.00,2.45,0.00,0.000,6,0.000,0.054,3307,2497,2352,0,0,0,0,0,0
$GC,4535,0.76,146.0,530.4,11.9,409,4539,0.00,2.30,0.00,0.000,4,0.000,0.051,3316,1090,2348,0,0,0,0,0,0
$GC,4651,0.76,146.0,516.0,12.4,412,4657,0.00,2.40,0.00,0.000,6,0.000,0.056,3316,2518,2346,0,0,0,0,0,0
$GC,4851,0.76,146.0,491.0,12.5,423,4854,0.00,2.03,0.00,0.000,4,0.000,0.063,3316,3773,2345,0,0,0,0,0,0
$GC,4952,0.76,146.0,475.7,15.6,432,4956,0.00,1.98,0.00,0.000,6,0.000,0.046,3326,2527,2344,0,0,0,0,0,0
$GC,5155,0.76,146.0,448.5,13.0,451,5158,0.00,2.03,0.00,0.000,4,0.000,0.064,3326,3767,2343,0,0,0,0,0,0
$GC,5203,0.76,146.0,440.9,15.5,455,5211,0.00,1.95,0.00,0.000,6,0.000,0.044,3334,2549,2343,0,0,0,0,0,0
$GC,5401,0.76,146.0,413.5,13.6,474,5405,0.00,2.00,0.00,0.000,4,0.000,0.065,3335,3777,2343,0,0,0,0,0,0
$GC,5458,0.76,146.0,405.0,15.4,479,5462,0.08,1.95,0.00,0.000,6,0.132,0.046,3309,2559,2342,0,0,0,0,0,0
$GC,5660,0.76,146.0,380.6,11.7,498,5663,0.00,1.98,0.00,0.000,4,0.000,0.064,3309,3775,2342,0,0,0,0,0,0
$GC,5697,0.76,146.0,375.2,14.1,501,5705,0.00,1.92,0.00,0.000,6,0.000,0.046,3317,2564,2341,0,0,0,0,0,0
$GC,5897,0.76,146.0,350.3,12.5,520,5901,0.00,1.95,0.00,0.000,4,0.000,0.064,3317,3767,2341,0,0,0,0,0,0
$GC,5942,0.76,146.0,343.7,15.0,524,5946,0.00,1.88,0.00,0.000,6,0.000,0.045,3326,2561,2341,0,0,0,0,0,0
$GC,6145,0.76,146.0,316.5,12.9,543,6149,0.00,1.98,0.00,0.000,4,0.000,0.066,3326,3773,2341,0,0,0,0,0,0
$GC,6184,0.76,146.0,310.5,15.3,546,6190,0.00,1.88,0.00,0.000,6,0.000,0.045,3335,2572,2340,0,0,0,0,0,0
$GC,6381,0.76,146.0,283.6,13.5,565,6384,0.00,1.95,0.00,0.000,4,0.000,0.066,3335,3773,2340,0,0,0,0,0,0
$GC,6429,0.76,146.0,275.9,15.7,569,6438,0.10,1.88,0.00,0.000,6,0.149,0.046,3312,2591,2340,0,0,0,0,0,0
$GC,6627,0.76,146.0,251.6,12.1,588,6631,0.00,1.92,0.00,0.000,4,0.000,0.067,3312,3776,2340,0,0,0,0,0,0
$GC,6662,0.76,146.0,247.0,14.3,591,6666,0.00,1.85,0.00,0.000,6,0.000,0.045,3320,2586,2340,0,0,0,0,0,0
$GC,6803,0.76,146.0,228.8,12.7,604,6804,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2583,2340,0,0,0,0,0,0
$GC,6930,0.76,146.0,212.9,12.6,616,6933,0.00,1.92,0.00,0.000,4,0.000,0.067,3320,3770,2340,0,0,0,0,0,0
$GC,6986,0.76,146.0,204.9,14.7,621,6990,0.00,1.83,0.00,0.000,6,0.000,0.046,3329,2595,2340,0,0,0,0,0,0
$GC,7128,0.76,146.0,186.4,13.1,634,7129,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2593,2339,0,0,0,0,0,0
$GC,7253,0.76,146.0,170.0,13.0,646,7255,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2593,2340,0,0,0,0,0,0
$GC,7381,0.76,146.0,153.4,12.8,658,7384,0.00,1.90,0.00,0.000,4,0.000,0.067,3329,3765,2340,0,0,0,0,0,0
$GC,7437,0.76,146.0,145.1,15.9,663,7440,0.00,1.80,0.00,0.000,6,0.000,0.044,3338,2604,2339,0,0,0,0,0,0
$GC,7579,0.76,146.0,125.7,13.3,676,7580,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2601,2339,0,0,0,0,0,0
$GC,7704,0.76,146.0,108.5,13.5,688,7705,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2601,2339,0,0,0,0,0,0
$GC,7831,0.76,146.0,90.0,14.7,706,7839,0.00,1.92,0.00,0.000,4,0.000,0.063,3338,3764,2339,0,0,0,0,0,0
$GC,7874,0.76,146.0,83.2,16.8,713,7881,0.12,1.80,0.00,0.000,6,0.179,0.044,3314,2608,2339,0,0,0,0,0,0
$GC,8015,0.76,146.0,63.3,14.6,738,8023,0.00,2.42,0.00,0.000,4,0.000,0.054,3324,1089,2339,0,0,0,0,0,0
$GC,8061,0.76,146.0,56.4,13.7,746,8069,0.00,2.50,0.00,0.000,6,0.000,0.056,3324,2620,2339,0,0,0,0,0,0
$GC,8202,0.76,146.0,36.0,15.2,771,8209,0.00,1.85,0.00,0.000,4,0.000,0.066,3324,3772,2339,0,0,0,0,0,0
$GC,8297,0.76,146.0,19.7,16.5,788,8305,0.00,1.83,0.00,0.000,6,0.000,0.047,3333,2624,2338,0,0,0,0,0,0
$FREEZE,8.33,-1.745,-1.907,2,1,0
$FREEZE,7.63,-1.744,-1.906,2,1,0
$FREEZE,7.12,-1.743,-1.906,2,1,0
$FREEZE,6.59,-1.743,-1.905,2,1,0
$FREEZE,6.17,-1.745,-1.905,2,1,0
$FREEZE,5.55,-1.745,-1.904,2,1,0
$FREEZE,5.13,-1.745,-1.904,2,1,0
$FREEZE,4.43,-1.746,-1.904,2,1,0
$FREEZE,3.65,-1.745,-1.903,2,1,0
$FREEZE,2.86,-1.744,-1.902,2,1,0
$STATE,8423,end climb,SURFACE_DEPTH_REACHED
$STATE,8423,begin surface coast
$FREEZE,1.95,-1.741,-1.901,2,1,0
$FREEZE,1.14,-1.734,-1.900,2,1,0
$FREEZE,1.15,-1.753,-1.035,2,1,0
$FINISH,1.2,1.015261
$STATE,8442,end surface coast,FINISH_DEPTH_REACHED
$STATE,8442,begin surface
$SM_CCo,8457,130.12,0.772,1,0,1330,400.08
$SM_GC,1.86,0.00,0.00,130.12,0.000,0.000,0.772,419,2657,1330,-8.27,0.20,400.08
$IRIDIUM_FIX,-7639.69,16519.42,021210,030354
$TT8_MAMPS,0.028462
$HUMID,50.94
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,13.90
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.7,18.8
$ALTIM_BOTTOM_PING,553.5,34.4
$24V_AH,21.2,29.747
$10V_AH,9.9,17.008
$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,18.925,100.850,279.125,130.125,0.000,92.975,122.460,215.636,3.750,0.000,12.138,2045.650,4144.403,540.156,2383.415,132.953,0.000,1397.541,0.000,1429.864,0.000,20.375,0.000
$DEVICE_MAMPS,217.260,130.815,1186.515,771.885,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,574.873,984.982,883.664,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276064
$DATA_FILE_SIZE,53695,813
$CAP_FILE_SIZE,121398,0
$CFSIZE,260165632,246923264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021210,055437,-7727.180,16512.963,41,1.0,42,144.2