version: 66.08
glider: 502
mission: 3
dive: 111
start: 12 2 110 10 50 36
data:
$ID,502
$MISSION,3
$DIVE,111
$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,-26240.992
$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,29
$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
$GPS1,021210,104359,-7726.192,16511.035,40,1.4,43,144.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-62.8
$GPS2,021210,105013,-7726.170,16510.936,12,1.5,17,144.2
$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,193.6,6344,-17.5,-10.000
$D_GRID,544
$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,14,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,123,0.00,0.00,-104.88,0.000,2,0.000,0.000,417,2660,3230,0,0,0,0,0,0
$GC,125,-0.76,-146.0,3.2,-2.3,16,154,9.18,2.35,-10.18,0.000,4,0.214,0.063,2809,1240,3560,0,0,0,0,0,0
$GC,399,-0.76,-146.0,40.1,-11.4,65,406,0.00,2.33,0.00,0.000,6,0.000,0.060,2800,2649,3563,0,0,0,0,0,0
$GC,535,-0.76,-146.0,62.2,-15.7,90,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2649,3563,0,0,0,0,0,0
$GC,676,-0.76,-146.0,84.5,-14.9,115,683,0.00,1.80,0.00,0.000,4,0.000,0.066,2792,3763,3563,0,0,0,0,0,0
$GC,704,-0.76,-146.0,89.5,-16.7,120,712,0.00,1.77,0.00,0.000,6,0.000,0.044,2792,2652,3563,0,0,0,0,0,0
$GC,844,-0.76,-146.0,112.9,-16.2,138,847,0.00,1.85,0.00,0.000,4,0.000,0.069,2783,3771,3564,0,0,0,0,0,0
$GC,880,-0.76,-146.0,120.0,-18.5,141,890,0.10,1.77,0.00,0.000,6,0.156,0.044,2815,2663,3564,0,0,0,0,0,0
$GC,1018,-0.76,-146.0,140.3,-15.0,154,1021,0.00,1.80,0.00,0.000,4,0.000,0.067,2808,3764,3564,0,0,0,0,0,0
$GC,1054,-0.76,-146.0,145.8,-16.5,157,1057,0.00,1.70,0.00,0.000,6,0.000,0.044,2808,2670,3564,0,0,0,0,0,0
$GC,1194,-0.76,-146.0,167.9,-15.4,170,1198,0.00,2.25,0.00,0.000,4,0.000,0.052,2808,1234,3564,0,0,0,0,0,0
$GC,1224,-0.76,-146.0,173.2,-15.2,172,1234,0.00,2.38,0.00,0.000,6,0.000,0.059,2798,2666,3564,0,0,0,0,0,0
$GC,1362,-0.76,-146.0,194.3,-15.6,185,1366,0.00,1.77,0.00,0.000,4,0.000,0.067,2790,3773,3564,0,0,0,0,0,0
$GC,1419,-0.76,-146.0,203.9,-16.6,190,1422,0.00,1.70,0.00,0.000,6,0.000,0.044,2790,2677,3564,0,0,0,0,0,0
$GC,1560,-0.76,-146.0,226.1,-15.8,203,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2675,3564,0,0,0,0,0,0
$GC,1686,-0.76,-146.0,245.9,-15.8,215,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2675,3563,0,0,0,0,0,0
$GC,1812,-0.76,-146.0,265.7,-15.3,227,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2675,3564,0,0,0,0,0,0
$GC,2003,-0.76,-146.0,296.3,-16.5,245,2006,0.00,1.80,0.00,0.000,4,0.000,0.068,2781,3778,3563,0,0,0,0,0,0
$GC,2040,-0.76,-146.0,302.9,-17.0,248,2048,0.10,1.75,0.00,0.000,6,0.155,0.044,2814,2676,3564,0,0,0,0,0,0
$GC,2240,-0.76,-146.0,330.9,-14.4,267,2243,0.00,1.77,0.00,0.000,4,0.000,0.067,2807,3770,3563,0,0,0,0,0,0
$GC,2262,-0.76,-146.0,334.4,-13.9,269,2266,0.00,1.67,0.00,0.000,6,0.000,0.045,2807,2687,3563,0,0,0,0,0,0
$GC,2465,-0.76,-146.0,364.1,-14.9,288,2466,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2685,3564,0,0,0,0,0,0
$GC,2656,-0.76,-146.0,391.8,-14.3,306,2659,0.00,1.77,0.00,0.000,4,0.000,0.068,2798,3774,3563,0,0,0,0,0,0
$GC,2700,-0.76,-146.0,398.5,-15.5,310,2704,0.00,1.73,0.00,0.000,6,0.000,0.046,2799,2693,3563,0,0,0,0,0,0
$GC,2903,-0.76,-146.0,427.8,-14.7,329,2904,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2691,3563,0,0,0,0,0,0
$GC,3094,-0.76,-146.0,455.7,-14.5,347,3098,0.00,1.75,0.00,0.000,4,0.000,0.067,2790,3770,3563,0,0,0,0,0,0
$GC,3117,-0.76,-146.0,459.3,-16.0,349,3121,0.00,1.67,0.00,0.000,6,0.000,0.045,2790,2688,3563,0,0,0,0,0,0
$GC,3319,-0.76,-146.0,490.6,-15.3,368,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2686,3563,0,0,0,0,0,0
$GC,3507,-0.76,-146.0,519.1,-15.3,378,3511,0.00,1.77,0.00,0.000,4,0.000,0.067,2782,3777,3563,0,0,0,0,0,0
$GC,3545,-0.76,-146.0,525.7,-16.6,379,3550,0.10,1.70,0.00,0.000,6,0.151,0.045,2814,2702,3563,0,0,0,0,0,0
$STATE,3695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3695,begin apogee
$GC,3699,-0.17,0.0,546.7,13.9,384,3838,0.57,0.00,133.02,1.157,4,0.131,0.000,3003,2493,2960,0,0,0,0,0,0
$STATE,3839,end apogee,CONTROL_FINISHED_OK
$STATE,3839,begin climb
$GC,3840,0.76,146.0,552.3,0.0,388,3990,0.93,0.00,144.65,1.096,6,0.080,0.000,3305,2493,2365,0,0,0,0,0,0
$GC,4191,0.76,146.0,515.2,12.8,400,4195,0.00,2.20,0.00,0.000,4,0.000,0.063,3305,3771,2350,0,0,0,0,0,0
$GC,4290,0.76,146.0,500.0,15.4,403,4295,0.00,2.08,0.00,0.000,6,0.000,0.044,3315,2522,2349,0,0,0,0,0,0
$GC,4489,0.76,146.0,472.8,13.4,420,4493,0.00,2.08,0.00,0.000,4,0.000,0.063,3315,3773,2346,0,0,0,0,0,0
$GC,4540,0.76,146.0,465.1,15.7,424,4544,0.00,2.00,0.00,0.000,6,0.000,0.044,3324,2508,2346,0,0,0,0,0,0
$GC,4744,0.76,146.0,436.4,13.7,443,4748,0.00,2.08,0.00,0.000,4,0.000,0.062,3324,3777,2344,0,0,0,0,0,0
$GC,4798,0.76,146.0,427.4,15.8,447,4806,0.00,2.00,0.00,0.000,6,0.000,0.044,3333,2536,2344,0,0,0,0,0,0
$GC,4998,0.76,146.0,398.5,14.3,466,5002,0.00,2.03,0.00,0.000,4,0.000,0.063,3333,3781,2343,0,0,0,0,0,0
$GC,5055,0.76,146.0,389.3,15.8,471,5059,0.12,1.95,0.00,0.000,6,0.172,0.044,3311,2536,2343,0,0,0,0,0,0
$GC,5254,0.76,146.0,364.3,12.3,489,5257,0.00,2.03,0.00,0.000,4,0.000,0.063,3311,3780,2342,0,0,0,0,0,0
$GC,5291,0.76,146.0,358.5,14.7,492,5299,0.00,1.98,0.00,0.000,6,0.000,0.044,3319,2548,2342,0,0,0,0,0,0
$GC,5490,0.76,146.0,331.7,13.3,511,5493,0.00,2.00,0.00,0.000,4,0.000,0.063,3319,3780,2341,0,0,0,0,0,0
$GC,5538,0.76,146.0,323.7,16.3,515,5546,0.00,1.95,0.00,0.000,6,0.000,0.044,3328,2558,2341,0,0,0,0,0,0
$GC,5737,0.76,146.0,294.3,15.2,534,5740,0.00,1.98,0.00,0.000,4,0.000,0.063,3328,3777,2341,0,0,0,0,0,0
$GC,5770,0.76,146.0,288.8,16.8,537,5774,0.00,1.90,0.00,0.000,6,0.000,0.044,3337,2555,2341,0,0,0,0,0,0
$GC,5973,0.76,146.0,257.6,15.1,556,5977,0.00,1.98,0.00,0.000,4,0.000,0.063,3337,3775,2341,0,0,0,0,0,0
$GC,6018,0.76,146.0,250.2,17.6,560,6023,0.08,1.92,0.00,0.000,6,0.154,0.044,3313,2567,2341,0,0,0,0,0,0
$GC,6221,0.76,146.0,223.4,12.7,579,6225,0.00,1.98,0.00,0.000,4,0.000,0.066,3313,3780,2341,0,0,0,0,0,0
$GC,6247,0.76,146.0,219.4,13.8,581,6256,0.00,1.90,0.00,0.000,6,0.000,0.044,3321,2578,2341,0,0,0,0,0,0
$GC,6383,0.76,146.0,201.9,13.1,594,6384,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2578,2341,0,0,0,0,0,0
$GC,6510,0.76,146.0,185.9,12.1,606,6514,0.00,1.92,0.00,0.000,4,0.000,0.063,3320,3771,2340,0,0,0,0,0,0
$GC,6546,0.76,146.0,180.4,14.2,609,6556,0.00,1.88,0.00,0.000,6,0.000,0.044,3330,2586,2340,0,0,0,0,0,0
$GC,6683,0.76,146.0,162.7,13.2,622,6684,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2585,2340,0,0,0,0,0,0
$GC,6810,0.76,146.0,146.0,13.1,634,6813,0.00,1.92,0.00,0.000,4,0.000,0.063,3330,3777,2340,0,0,0,0,0,0
$GC,6854,0.76,146.0,139.4,15.1,638,6858,0.00,1.88,0.00,0.000,6,0.000,0.044,3339,2567,2340,0,0,0,0,0,0
$GC,6995,0.76,146.0,120.2,13.2,651,6996,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2565,2341,0,0,0,0,0,0
$GC,7122,0.76,146.0,102.7,14.1,663,7126,0.00,1.95,0.00,0.000,4,0.000,0.065,3339,3771,2340,0,0,0,0,0,0
$GC,7178,0.76,146.0,94.0,15.9,671,7185,0.12,1.85,0.00,0.000,6,0.177,0.044,3315,2582,2340,0,0,0,0,0,0
$GC,7318,0.76,146.0,76.8,12.6,696,7325,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2580,2340,0,0,0,0,0,0
$GC,7457,0.77,148.7,60.4,9.9,721,7464,0.00,1.95,0.00,0.000,4,0.000,0.064,3315,3777,2340,0,0,0,0,0,0
$GC,7537,0.77,148.7,50.4,13.7,735,7544,0.00,1.85,0.00,0.000,6,0.000,0.044,3323,2590,2340,0,0,0,0,0,0
$GC,7675,0.77,148.7,32.6,14.6,760,7682,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2589,2339,0,0,0,0,0,0
$GC,7815,0.77,148.7,13.5,13.5,785,7821,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2589,2339,0,0,0,0,0,0
$FREEZE,8.70,-1.814,-1.907,2,1,0
$FREEZE,7.98,-1.812,-1.906,2,1,0
$FREEZE,7.36,-1.813,-1.906,2,1,0
$FREEZE,6.75,-1.815,-1.905,2,1,0
$FREEZE,6.34,-1.815,-1.905,2,1,0
$FREEZE,5.54,-1.812,-1.904,2,1,0
$FREEZE,5.02,-1.814,-1.904,2,1,0
$FREEZE,4.20,-1.813,-1.903,2,1,0
$FREEZE,3.75,-1.815,-1.903,2,1,0
$FREEZE,3.35,-1.819,-1.903,2,1,0
$FREEZE,2.85,-1.814,-1.902,2,1,0
$STATE,7906,end climb,SURFACE_DEPTH_REACHED
$STATE,7907,begin surface coast
$FREEZE,1.79,-1.819,-1.902,2,1,0
$FREEZE,1.15,-1.816,-1.901,2,1,0
$FREEZE,1.09,-1.839,-1.867,2,1,0
$FREEZE,1.07,-1.860,-1.890,2,1,0
$FREEZE,1.09,-1.865,-0.958,2,1,0
$FINISH,1.1,1.014121
$STATE,7936,end surface coast,FINISH_DEPTH_REACHED
$STATE,7936,begin surface
$SM_CCo,7950,130.18,0.765,1,0,1329,400.08
$SM_GC,1.96,0.00,0.00,130.18,0.000,0.000,0.765,420,2667,1329,-8.26,0.48,400.08
$IRIDIUM_FIX,-7639.69,16521.92,021210,080843
$TT8_MAMPS,0.029211
$HUMID,51.06
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,18.5
$24V_AH,21.3,30.144
$10V_AH,10.0,17.289
$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,18.750,92.500,277.675,130.175,0.000,25.384,37.217,216.059,2.500,0.000,17.875,2014.507,3583.797,540.463,2199.490,126.458,0.000,1377.422,0.000,1385.536,0.000,12.925,0.000
$DEVICE_MAMPS,214.200,104.805,1156.680,765.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,569.779,990.670,914.472,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53702,806
$CAP_FILE_SIZE,116540,0
$CFSIZE,260165632,246743040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021210,130636,-7725.508,16509.904,38,0.9,39,144.2