version: 66.08
glider: 502
mission: 3
dive: 110
start: 12 2 110 8 29 0
data:
$ID,502
$MISSION,3
$DIVE,110
$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,-26239.736
$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,39
$R_STBD_OVSHOOT,23
$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
$GPS1,021210,082224,-7726.697,16511.535,40,1.3,41,144.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-64.7
$GPS2,021210,082837,-7726.668,16511.463,37,1.1,37,144.2
$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,194.7,7279,-17.5,-10.000
$D_GRID,552
$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,14,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,129,0.00,0.00,-110.80,0.000,2,0.000,0.000,414,2629,3357,0,0,0,0,0,0
$GC,131,-0.76,-146.0,3.3,-2.7,17,152,9.07,1.98,-5.78,0.000,4,0.209,0.084,2803,3761,3560,0,0,0,0,0,0
$GC,399,-0.76,-146.0,56.8,-19.2,65,406,0.00,1.77,0.00,0.000,6,0.000,0.045,2803,2636,3563,0,0,0,0,0,0
$GC,535,-0.76,-146.0,79.3,-17.5,90,543,0.00,1.90,0.00,0.000,4,0.000,0.069,2794,3759,3564,0,0,0,0,0,0
$GC,670,-0.76,-146.0,104.9,-18.4,112,674,0.00,1.73,0.00,0.000,6,0.000,0.045,2794,2656,3563,0,0,0,0,0,0
$GC,810,-0.76,-146.0,128.8,-16.4,125,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2654,3563,0,0,0,0,0,0
$GC,938,-0.76,-146.0,149.9,-16.4,137,942,0.00,1.83,0.00,0.000,4,0.000,0.070,2786,3768,3564,0,0,0,0,0,0
$GC,986,-0.76,-146.0,159.0,-18.0,141,996,0.08,1.77,0.00,0.000,6,0.158,0.045,2810,2652,3564,0,0,0,0,0,0
$GC,1122,-0.76,-146.0,179.5,-15.4,154,1123,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2651,3564,0,0,0,0,0,0
$GC,1249,-0.76,-146.0,198.9,-15.3,166,1253,0.00,1.83,0.00,0.000,4,0.000,0.069,2803,3769,3564,0,0,0,0,0,0
$GC,1294,-0.76,-146.0,206.2,-17.2,170,1298,0.00,1.73,0.00,0.000,6,0.000,0.045,2803,2662,3564,0,0,0,0,0,0
$GC,1436,-0.76,-146.0,228.0,-15.7,183,1437,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2660,3563,0,0,0,0,0,0
$GC,1562,-0.76,-146.0,248.1,-16.0,195,1565,0.00,1.80,0.00,0.000,4,0.000,0.069,2795,3762,3563,0,0,0,0,0,0
$GC,1586,-0.76,-146.0,252.5,-16.3,197,1590,0.00,1.70,0.00,0.000,6,0.000,0.044,2796,2667,3563,0,0,0,0,0,0
$GC,1789,-0.76,-146.0,286.0,-16.8,216,1792,0.00,1.80,0.00,0.000,4,0.000,0.068,2787,3771,3563,0,0,0,0,0,0
$GC,1815,-0.76,-146.0,291.0,-17.5,218,1823,0.08,1.75,0.00,0.000,6,0.160,0.045,2811,2671,3563,0,0,0,0,0,0
$GC,2014,-0.76,-146.0,320.6,-14.9,237,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2671,3563,0,0,0,0,0,0
$GC,2204,-0.76,-146.0,348.3,-14.4,255,2208,0.00,1.77,0.00,0.000,4,0.000,0.067,2804,3767,3563,0,0,0,0,0,0
$GC,2242,-0.76,-146.0,354.2,-15.7,258,2250,0.00,1.73,0.00,0.000,6,0.000,0.044,2804,2680,3563,0,0,0,0,0,0
$GC,2441,-0.76,-146.0,383.7,-14.9,277,2443,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2680,3563,0,0,0,0,0,0
$GC,2631,-0.76,-146.0,411.9,-14.9,295,2635,0.00,1.77,0.00,0.000,4,0.000,0.069,2797,3767,3563,0,0,0,0,0,0
$GC,2668,-0.76,-146.0,418.1,-15.8,298,2676,0.00,1.70,0.00,0.000,6,0.000,0.044,2797,2690,3563,0,0,0,0,0,0
$GC,2866,-0.76,-146.0,448.1,-15.3,317,2868,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2689,3563,0,0,0,0,0,0
$GC,3058,-0.76,-146.0,476.4,-14.4,335,3061,0.00,1.75,0.00,0.000,4,0.000,0.068,2788,3763,3563,0,0,0,0,0,0
$GC,3102,-0.76,-146.0,483.3,-15.3,339,3106,0.00,1.67,0.00,0.000,6,0.000,0.045,2789,2681,3563,0,0,0,0,0,0
$GC,3312,-0.76,-146.0,514.8,-15.1,353,3313,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2680,3563,0,0,0,0,0,0
$GC,3495,-0.76,-146.0,543.0,-15.3,359,3500,0.10,1.83,0.00,0.000,4,0.192,0.069,2806,3758,3563,0,0,0,0,0,0
$GC,3529,-0.76,-146.0,548.0,-15.8,360,3532,0.00,1.65,0.00,0.000,6,0.000,0.045,2806,2690,3562,0,0,0,0,0,0
$STATE,3560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3560,begin apogee
$GC,3565,-0.17,0.0,552.8,14.3,361,3703,0.62,0.00,133.40,1.169,4,0.135,0.000,3007,2496,2960,0,0,0,0,0,0
$STATE,3704,end apogee,CONTROL_FINISHED_OK
$STATE,3704,begin climb
$GC,3705,0.76,146.0,558.5,0.0,365,3859,0.95,2.55,143.60,1.090,4,0.076,0.051,3310,1095,2365,0,0,0,0,0,0
$GC,3959,0.76,146.0,536.1,12.2,373,3964,0.00,2.47,0.00,0.000,6,0.000,0.054,3310,2493,2353,0,0,0,0,0,0
$GC,4161,0.76,146.0,510.6,12.6,380,4165,0.00,2.30,0.00,0.000,4,0.000,0.052,3319,1094,2349,0,0,0,0,0,0
$GC,4273,0.76,146.0,496.4,12.5,384,4277,0.00,2.38,0.00,0.000,6,0.000,0.055,3319,2535,2347,0,0,0,0,0,0
$GC,4470,0.76,146.0,470.4,13.2,402,4474,0.00,2.00,0.00,0.000,4,0.000,0.064,3319,3769,2346,0,0,0,0,0,0
$GC,4582,0.76,146.0,453.0,16.2,412,4586,0.00,1.92,0.00,0.000,6,0.000,0.044,3327,2545,2344,0,0,0,0,0,0
$GC,4785,0.76,146.0,424.4,14.0,431,4789,0.00,2.03,0.00,0.000,4,0.000,0.065,3328,3780,2344,0,0,0,0,0,0
$GC,4833,0.76,146.0,416.5,17.0,435,4841,0.00,1.98,0.00,0.000,6,0.000,0.044,3337,2549,2343,0,0,0,0,0,0
$GC,5031,0.76,146.0,387.7,14.0,454,5035,0.00,1.98,0.00,0.000,4,0.000,0.063,3337,3763,2343,0,0,0,0,0,0
$GC,5091,0.76,146.0,377.6,16.7,459,5100,0.10,1.95,0.00,0.000,6,0.150,0.044,3315,2548,2342,0,0,0,0,0,0
$GC,5289,0.76,146.0,351.7,12.7,478,5293,0.00,1.98,0.00,0.000,4,0.000,0.066,3315,3763,2342,0,0,0,0,0,0
$GC,5334,0.76,146.0,345.1,15.4,482,5338,0.00,1.92,0.00,0.000,6,0.000,0.045,3322,2556,2342,0,0,0,0,0,0
$GC,5536,0.76,146.0,317.8,13.0,501,5540,0.00,1.98,0.00,0.000,4,0.000,0.065,3322,3773,2342,0,0,0,0,0,0
$GC,5581,0.76,146.0,310.9,15.6,505,5585,0.00,1.88,0.00,0.000,6,0.000,0.045,3331,2564,2342,0,0,0,0,0,0
$GC,5784,0.76,146.0,282.5,14.3,524,5787,0.00,1.95,0.00,0.000,4,0.000,0.063,3332,3770,2342,0,0,0,0,0,0
$GC,5821,0.76,146.0,276.2,16.6,527,5830,0.08,1.90,0.00,0.000,6,0.155,0.044,3317,2574,2341,0,0,0,0,0,0
$GC,6020,0.76,146.0,250.9,12.4,546,6023,0.00,1.92,0.00,0.000,4,0.000,0.066,3317,3762,2341,0,0,0,0,0,0
$GC,6055,0.76,146.0,246.1,15.1,549,6058,0.00,1.83,0.00,0.000,6,0.000,0.044,3324,2583,2341,0,0,0,0,0,0
$GC,6196,0.76,146.0,227.0,13.4,562,6198,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2580,2341,0,0,0,0,0,0
$GC,6322,0.76,146.0,210.1,13.1,574,6326,0.00,1.92,0.00,0.000,4,0.000,0.064,3324,3771,2340,0,0,0,0,0,0
$GC,6358,0.76,146.0,205.1,15.5,577,6361,0.00,1.83,0.00,0.000,6,0.000,0.044,3333,2592,2340,0,0,0,0,0,0
$GC,6500,0.76,146.0,185.4,13.5,590,6507,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2590,2340,0,0,0,0,0,0
$GC,6634,0.76,146.0,166.6,13.7,603,6638,0.00,1.90,0.00,0.000,4,0.000,0.065,3333,3762,2340,0,0,0,0,0,0
$GC,6668,0.76,146.0,161.5,15.4,606,6672,0.12,1.80,0.00,0.000,6,0.177,0.044,3310,2598,2340,0,0,0,0,0,0
$GC,6809,0.76,146.0,143.6,12.5,619,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2596,2340,0,0,0,0,0,0
$GC,6936,0.76,146.0,128.1,12.2,631,6939,0.00,1.90,0.00,0.000,4,0.000,0.066,3309,3767,2340,0,0,0,0,0,0
$GC,6983,0.76,146.0,121.2,14.0,635,6992,0.00,1.85,0.00,0.000,6,0.000,0.044,3317,2602,2340,0,0,0,0,0,0
$GC,7121,0.76,146.0,103.2,13.7,648,7128,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2602,2340,0,0,0,0,0,0
$GC,7258,0.76,146.0,84.8,12.5,671,7264,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2601,2340,0,0,0,0,0,0
$GC,7392,0.76,146.0,66.5,13.3,696,7401,0.00,1.92,0.00,0.000,4,0.000,0.064,3317,3763,2340,0,0,0,0,0,0
$GC,7457,0.76,146.0,57.5,15.2,707,7463,0.00,1.80,0.00,0.000,6,0.000,0.045,3326,2607,2340,0,0,0,0,0,0
$GC,7594,0.76,146.0,38.2,14.9,732,7602,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2606,2340,0,0,0,0,0,0
$GC,7735,0.76,146.0,18.2,11.0,757,7741,0.00,1.90,0.00,0.000,4,0.000,0.064,3326,3773,2340,0,0,0,0,0,0
$GC,7771,0.76,146.0,12.2,17.6,763,7777,0.00,1.83,0.00,0.000,6,0.000,0.044,3335,2597,2339,0,0,0,0,0,0
$FREEZE,8.50,-1.790,-1.906,2,1,0
$FREEZE,7.98,-1.785,-1.906,2,1,0
$FREEZE,7.23,-1.786,-1.905,2,1,0
$FREEZE,6.14,-1.787,-1.905,2,1,0
$FREEZE,5.54,-1.787,-1.904,2,1,0
$FREEZE,4.94,-1.794,-1.904,2,1,0
$FREEZE,4.40,-1.794,-1.903,2,1,0
$FREEZE,3.76,-1.793,-1.903,2,1,0
$FREEZE,3.21,-1.794,-1.902,2,1,0
$FREEZE,2.53,-1.791,-1.902,2,1,0
$STATE,7857,end climb,SURFACE_DEPTH_REACHED
$STATE,7857,begin surface coast
$FREEZE,1.81,-1.791,-1.901,2,1,0
$FREEZE,1.14,-1.797,-1.206,2,1,0
$FINISH,1.1,1.017810
$STATE,7870,end surface coast,FINISH_DEPTH_REACHED
$STATE,7870,begin surface
$SM_CCo,7885,130.18,0.763,1,0,1330,400.08
$SM_GC,2.00,0.00,0.00,130.18,0.000,0.000,0.763,420,2658,1330,-8.26,0.23,400.08
$IRIDIUM_FIX,-7639.69,16507.31,021210,050500
$TT8_MAMPS,0.028462
$HUMID,50.74
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.3,18.0
$ALTIM_BOTTOM_PING,550.5,23.6
$24V_AH,21.3,30.012
$10V_AH,10.0,17.195
$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,18.775,91.375,277.000,130.175,0.000,28.896,38.644,189.628,3.000,0.000,38.654,1950.404,3626.949,539.593,2150.067,130.848,0.000,1366.171,0.000,1371.010,0.000,17.411,0.000
$DEVICE_MAMPS,208.845,117.810,1168.920,763.470,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,551.134,945.948,864.404,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276048
$DATA_FILE_SIZE,53757,780
$CAP_FILE_SIZE,114819,0
$CFSIZE,260165632,246808576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021210,104359,-7726.192,16511.035,40,1.4,43,144.2