version: 66.08
glider: 502
mission: 3
dive: 109
start: 12 2 110 6 0 49
data:
$ID,502
$MISSION,3
$DIVE,109
$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,-26238.479
$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,32
$R_STBD_OVSHOOT,19
$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
$GPS1,021210,055437,-7727.180,16512.963,41,1.0,42,144.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-58.9
$GPS2,021210,060026,-7727.178,16512.891,14,1.0,14,144.2
$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,193.4,8371,-17.5,-10.000
$D_GRID,563
$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,15,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,130,0.00,0.00,-111.15,0.000,2,0.000,0.000,417,2657,3364,0,0,0,0,0,0
$GC,132,-0.76,-146.0,3.2,-2.1,17,154,9.18,2.33,-5.68,0.000,4,0.213,0.062,2813,1234,3559,0,0,0,0,0,0
$GC,401,-0.76,-146.0,47.2,-14.9,65,408,0.00,2.35,0.00,0.000,6,0.000,0.060,2805,2656,3563,0,0,0,0,0,0
$GC,537,-0.76,-146.0,70.1,-15.9,90,546,0.00,2.30,0.00,0.000,4,0.000,0.051,2805,1240,3563,0,0,0,0,0,0
$GC,563,-0.76,-146.0,74.5,-17.3,94,571,0.00,2.35,0.00,0.000,6,0.000,0.059,2796,2649,3563,0,0,0,0,0,0
$GC,704,-0.76,-146.0,97.0,-16.1,119,711,0.00,1.83,0.00,0.000,4,0.000,0.067,2787,3767,3562,0,0,0,0,0,0
$GC,740,-0.76,-146.0,103.1,-16.2,124,744,0.12,1.75,0.00,0.000,6,0.180,0.045,2820,2643,3563,0,0,0,0,0,0
$GC,881,-0.76,-146.0,123.4,-14.2,137,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2641,3563,0,0,0,0,0,0
$GC,1016,-0.76,-146.0,142.7,-14.2,150,1019,0.00,1.83,0.00,0.000,4,0.000,0.067,2813,3764,3563,0,0,0,0,0,0
$GC,1041,-0.76,-146.0,146.9,-15.4,152,1050,0.00,1.75,0.00,0.000,6,0.000,0.044,2813,2660,3562,0,0,0,0,0,0
$GC,1177,-0.76,-146.0,166.1,-14.1,165,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2660,3562,0,0,0,0,0,0
$GC,1304,-0.76,-146.0,184.6,-14.5,177,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2660,3562,0,0,0,0,0,0
$GC,1432,-0.76,-146.0,202.9,-13.9,189,1435,0.00,1.80,0.00,0.000,4,0.000,0.068,2804,3763,3562,0,0,0,0,0,0
$GC,1488,-0.76,-146.0,211.4,-15.4,194,1492,0.00,1.73,0.00,0.000,6,0.000,0.045,2804,2650,3562,0,0,0,0,0,0
$GC,1629,-0.76,-146.0,232.3,-14.5,207,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2648,3562,0,0,0,0,0,0
$GC,1757,-0.76,-146.0,251.3,-15.5,219,1760,0.00,1.83,0.00,0.000,4,0.000,0.068,2796,3771,3562,0,0,0,0,0,0
$GC,1795,-0.76,-146.0,258.0,-16.5,222,1802,0.00,1.77,0.00,0.000,6,0.000,0.044,2796,2659,3562,0,0,0,0,0,0
$GC,1994,-0.76,-146.0,288.8,-15.5,241,1998,0.00,1.80,0.00,0.000,4,0.000,0.069,2788,3764,3562,0,0,0,0,0,0
$GC,2032,-0.76,-146.0,295.5,-16.5,244,2041,0.08,1.73,0.00,0.000,6,0.164,0.044,2811,2677,3562,0,0,0,0,0,0
$GC,2231,-0.76,-146.0,323.8,-14.5,263,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2676,3562,0,0,0,0,0,0
$GC,2424,-0.76,-146.0,350.6,-14.0,281,2427,0.00,1.77,0.00,0.000,4,0.000,0.068,2805,3768,3562,0,0,0,0,0,0
$GC,2480,-0.76,-146.0,359.4,-14.4,286,2484,0.00,1.70,0.00,0.000,6,0.000,0.045,2805,2670,3562,0,0,0,0,0,0
$GC,2683,-0.76,-146.0,388.8,-14.5,305,2687,0.00,1.77,0.00,0.000,4,0.000,0.068,2797,3763,3562,0,0,0,0,0,0
$GC,2711,-0.76,-146.0,393.0,-15.0,307,2718,0.00,1.67,0.00,0.000,6,0.000,0.045,2797,2680,3562,0,0,0,0,0,0
$GC,2908,-0.76,-146.0,422.0,-14.8,326,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2680,3562,0,0,0,0,0,0
$GC,3099,-0.76,-146.0,449.7,-14.6,344,3106,0.00,1.77,0.00,0.000,4,0.000,0.069,2789,3769,3562,0,0,0,0,0,0
$GC,3150,-0.76,-146.0,457.8,-15.6,348,3157,0.00,1.73,0.00,0.000,6,0.000,0.045,2789,2684,3562,0,0,0,0,0,0
$GC,3348,-0.76,-146.0,487.4,-14.9,367,3349,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2684,3562,0,0,0,0,0,0
$GC,3555,-0.76,-146.0,518.9,-15.2,379,3559,0.00,1.75,0.00,0.000,4,0.000,0.069,2781,3763,3561,0,0,0,0,0,0
$GC,3604,-0.76,-146.0,527.0,-16.8,380,3609,0.10,1.70,0.00,0.000,6,0.152,0.045,2813,2693,3561,0,0,0,0,0,0
$GC,3810,-0.76,-146.0,553.7,-13.1,387,3814,0.00,1.75,0.00,0.000,4,0.000,0.068,2807,3769,3562,0,0,0,0,0,0
$GC,3836,-0.76,-146.0,558.3,-13.7,387,3845,0.00,1.70,0.00,0.000,6,0.000,0.045,2807,2700,3561,0,0,0,0,0,0
$STATE,3873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3873,begin apogee
$GC,3877,-0.17,0.0,563.1,13.6,389,4015,0.60,0.00,133.40,1.180,4,0.135,0.000,3002,2493,2960,0,0,0,0,0,0
$STATE,4016,end apogee,CONTROL_FINISHED_OK
$STATE,4016,begin climb
$GC,4018,0.76,146.0,568.0,0.0,393,4172,0.98,2.55,144.98,1.106,4,0.076,0.052,3311,1095,2364,0,0,0,0,0,0
$GC,4267,0.76,146.0,544.5,12.1,401,4271,0.00,2.45,0.00,0.000,6,0.000,0.054,3311,2501,2353,0,0,0,0,0,0
$GC,4474,0.76,146.0,517.5,13.0,408,4478,0.00,2.30,0.00,0.000,4,0.000,0.052,3319,1098,2348,0,0,0,0,0,0
$GC,4584,0.76,146.0,503.4,12.6,411,4589,0.00,2.38,0.00,0.000,6,0.000,0.054,3319,2517,2346,0,0,0,0,0,0
$GC,4782,0.76,146.0,477.1,13.5,427,4785,0.00,2.03,0.00,0.000,4,0.000,0.062,3319,3771,2345,0,0,0,0,0,0
$GC,4909,0.76,146.0,457.0,16.0,438,4917,0.00,1.98,0.00,0.000,6,0.000,0.045,3328,2552,2344,0,0,0,0,0,0
$GC,5110,0.76,146.0,429.0,13.8,457,5113,0.00,1.98,0.00,0.000,4,0.000,0.063,3328,3764,2343,0,0,0,0,0,0
$GC,5182,0.76,146.0,417.2,16.1,463,5189,0.00,1.90,0.00,0.000,6,0.000,0.044,3337,2551,2342,0,0,0,0,0,0
$GC,5379,0.76,146.0,387.5,14.9,482,5383,0.00,1.98,0.00,0.000,4,0.000,0.064,3337,3766,2342,0,0,0,0,0,0
$GC,5434,0.76,146.0,378.5,16.7,487,5439,0.08,1.90,0.00,0.000,6,0.156,0.045,3307,2573,2342,0,0,0,0,0,0
$GC,5636,0.76,146.0,352.6,12.1,506,5640,0.00,1.95,0.00,0.000,4,0.000,0.066,3307,3771,2342,0,0,0,0,0,0
$GC,5685,0.76,146.0,345.6,14.7,510,5693,0.00,1.90,0.00,0.000,6,0.000,0.045,3315,2578,2341,0,0,0,0,0,0
$GC,5885,0.76,146.0,320.9,12.5,529,5889,0.00,1.92,0.00,0.000,4,0.000,0.063,3315,3768,2341,0,0,0,0,0,0
$GC,5933,0.76,146.0,313.3,15.7,533,5941,0.00,1.88,0.00,0.000,6,0.000,0.044,3323,2592,2341,0,0,0,0,0,0
$GC,6133,0.76,146.0,287.1,13.1,552,6137,0.00,1.90,0.00,0.000,4,0.000,0.066,3323,3761,2340,0,0,0,0,0,0
$GC,6177,0.76,146.0,280.2,16.0,556,6181,0.00,1.83,0.00,0.000,6,0.000,0.045,3332,2588,2340,0,0,0,0,0,0
$GC,6380,0.76,146.0,252.3,13.8,575,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2586,2340,0,0,0,0,0,0
$GC,6573,0.76,146.0,226.0,13.8,593,6576,0.00,1.92,0.00,0.000,4,0.000,0.064,3333,3772,2340,0,0,0,0,0,0
$GC,6630,0.76,146.0,216.4,16.4,598,6640,0.08,1.88,0.00,0.000,6,0.154,0.046,3317,2599,2339,0,0,0,0,0,0
$GC,6768,0.76,146.0,198.9,12.8,611,6772,0.00,1.88,0.00,0.000,4,0.000,0.065,3317,3763,2339,0,0,0,0,0,0
$GC,6793,0.76,146.0,194.7,14.9,613,6803,0.00,1.83,0.00,0.000,6,0.000,0.044,3324,2611,2339,0,0,0,0,0,0
$GC,6929,0.76,146.0,177.4,12.7,626,6933,0.00,1.88,0.00,0.000,4,0.000,0.067,3324,3765,2339,0,0,0,0,0,0
$GC,6964,0.76,146.0,172.2,15.2,629,6968,0.00,1.77,0.00,0.000,6,0.000,0.045,3333,2621,2339,0,0,0,0,0,0
$GC,7106,0.76,146.0,153.1,13.1,642,7107,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2620,2339,0,0,0,0,0,0
$GC,7232,0.76,146.0,136.5,13.0,654,7233,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2620,2339,0,0,0,0,0,0
$GC,7359,0.76,146.0,119.2,13.8,666,7361,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2620,2339,0,0,0,0,0,0
$GC,7487,0.76,146.0,101.8,13.8,678,7488,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2620,2338,0,0,0,0,0,0
$GC,7615,0.76,146.0,84.5,13.0,700,7623,0.00,1.90,0.00,0.000,4,0.000,0.066,3333,3763,2339,0,0,0,0,0,0
$GC,7679,0.76,146.0,74.4,17.1,711,7686,0.12,1.77,0.00,0.000,6,0.179,0.046,3309,2623,2339,0,0,0,0,0,0
$GC,7820,0.76,146.0,56.6,11.8,736,7828,0.00,1.88,0.00,0.000,4,0.000,0.065,3309,3756,2339,0,0,0,0,0,0
$GC,7845,0.76,146.0,52.7,13.9,740,7853,0.00,1.77,0.00,0.000,6,0.000,0.045,3316,2634,2339,0,0,0,0,0,0
$GC,7984,0.76,146.0,37.0,10.9,765,7990,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2633,2339,0,0,0,0,0,0
$GC,8123,0.76,146.0,19.5,13.1,790,8130,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2633,2339,0,0,0,0,0,0
$FREEZE,8.48,-1.765,-1.906,2,1,0
$FREEZE,7.74,-1.765,-1.906,2,1,0
$FREEZE,6.91,-1.766,-1.905,2,1,0
$FREEZE,6.16,-1.766,-1.905,2,1,0
$FREEZE,5.35,-1.764,-1.904,2,1,0
$FREEZE,4.59,-1.765,-1.903,2,1,0
$FREEZE,3.83,-1.766,-1.903,2,1,0
$FREEZE,2.97,-1.764,-1.902,2,1,0
$STATE,8243,end climb,SURFACE_DEPTH_REACHED
$STATE,8243,begin surface coast
$FREEZE,1.59,-1.763,-1.901,2,1,0
$FREEZE,1.63,-1.767,-1.901,2,1,0
$FREEZE,1.44,-1.774,-1.901,2,1,0
$FREEZE,1.05,-1.778,-1.901,2,1,0
$FINISH,1.1,1.027866
$STATE,8267,end surface coast,CONTROL_FINISHED_OK
$STATE,8267,begin surface
$SM_CCo,8281,131.60,0.771,1,0,1330,400.08
$SM_GC,1.87,0.00,0.00,131.60,0.000,0.000,0.771,420,2629,1330,-8.26,-0.59,400.08
$IRIDIUM_FIX,-7639.69,16509.85,021210,030342
$TT8_MAMPS,0.028462
$HUMID,51.49
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,17.7
$ALTIM_BOTTOM_PING,553.7,29.9
$24V_AH,21.3,29.880
$10V_AH,10.0,17.104
$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,18.850,96.025,278.375,131.600,0.000,27.671,41.792,186.659,3.000,0.000,15.232,2037.307,3805.155,565.066,2222.978,141.167,0.000,1428.322,0.000,1432.102,0.000,17.422,0.000
$DEVICE_MAMPS,213.435,68.850,1180.395,771.120,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,575.582,998.225,920.332,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276000
$DATA_FILE_SIZE,53665,815
$CAP_FILE_SIZE,119073,0
$CFSIZE,260165632,246861824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021210,082224,-7726.697,16511.535,40,1.3,41,144.2