version: 66.08
glider: 502
mission: 3
dive: 112
start: 12 2 110 13 12 37
data:
$ID,502
$MISSION,3
$DIVE,112
$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,-26242.25
$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,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
$GPS1,021210,130636,-7725.508,16509.904,38,0.9,39,144.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-61.3
$GPS2,021210,131214,-7725.495,16509.840,15,1.0,15,144.2
$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,192.8,5019,-17.5,-10.000
$D_GRID,518
$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,15,-0.76,-146.0,0.0,0.0,0,122,0.00,0.00,-104.28,0.000,2,0.000,0.000,419,2669,3216,0,0,0,0,0,0
$GC,125,-0.76,-146.0,3.2,-1.8,16,153,9.05,1.90,-10.68,0.000,4,0.207,0.087,2801,3757,3560,0,0,0,0,0,0
$GC,389,-0.76,-146.0,48.9,-15.1,63,396,0.00,1.77,0.00,0.000,6,0.000,0.045,2801,2636,3563,0,0,0,0,0,0
$GC,527,-0.76,-146.0,71.5,-17.3,88,535,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2635,3562,0,0,0,0,0,0
$GC,668,-0.76,-146.0,95.0,-17.3,113,675,0.00,1.85,0.00,0.000,4,0.000,0.067,2792,3754,3563,0,0,0,0,0,0
$GC,714,-0.76,-146.0,103.1,-17.4,120,718,0.00,1.73,0.00,0.000,6,0.000,0.045,2793,2649,3563,0,0,0,0,0,0
$GC,855,-0.76,-146.0,126.9,-16.5,133,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2648,3563,0,0,0,0,0,0
$GC,982,-0.76,-146.0,148.6,-16.9,145,986,0.00,1.83,0.00,0.000,4,0.000,0.067,2784,3765,3563,0,0,0,0,0,0
$GC,1018,-0.76,-146.0,154.6,-17.7,148,1022,0.12,1.73,0.00,0.000,6,0.177,0.045,2817,2655,3563,0,0,0,0,0,0
$GC,1160,-0.76,-146.0,176.2,-14.6,161,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2654,3563,0,0,0,0,0,0
$GC,1294,-0.76,-146.0,196.6,-15.6,174,1298,0.00,1.80,0.00,0.000,4,0.000,0.069,2810,3756,3563,0,0,0,0,0,0
$GC,1328,-0.76,-146.0,202.1,-16.4,177,1332,0.00,1.70,0.00,0.000,6,0.000,0.045,2810,2663,3563,0,0,0,0,0,0
$GC,1469,-0.76,-146.0,223.8,-15.5,190,1470,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2661,3562,0,0,0,0,0,0
$GC,1596,-0.76,-146.0,242.7,-14.5,202,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2661,3563,0,0,0,0,0,0
$GC,1723,-0.76,-146.0,261.4,-14.8,214,1727,0.00,1.80,0.00,0.000,4,0.000,0.068,2802,3764,3563,0,0,0,0,0,0
$GC,1749,-0.76,-146.0,265.9,-15.7,216,1757,0.00,1.73,0.00,0.000,6,0.000,0.044,2801,2680,3563,0,0,0,0,0,0
$GC,1948,-0.76,-146.0,296.1,-15.5,235,1949,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2679,3563,0,0,0,0,0,0
$GC,2139,-0.76,-146.0,325.7,-15.5,253,2142,0.00,1.75,0.00,0.000,4,0.000,0.068,2794,3756,3563,0,0,0,0,0,0
$GC,2165,-0.76,-146.0,330.2,-17.1,255,2173,0.00,1.70,0.00,0.000,6,0.000,0.044,2794,2682,3563,0,0,0,0,0,0
$GC,2363,-0.76,-146.0,360.8,-15.5,274,2365,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2682,3563,0,0,0,0,0,0
$GC,2554,-0.76,-146.0,390.2,-15.3,292,2555,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2682,3563,0,0,0,0,0,0
$GC,2746,-0.76,-146.0,418.8,-15.3,310,2749,0.00,1.75,0.00,0.000,4,0.000,0.068,2786,3756,3563,0,0,0,0,0,0
$GC,2779,-0.76,-146.0,424.3,-16.8,313,2784,0.12,1.67,0.00,0.000,6,0.177,0.045,2819,2675,3563,0,0,0,0,0,0
$GC,2983,-0.76,-146.0,451.8,-13.5,332,2984,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2673,3563,0,0,0,0,0,0
$GC,3173,-0.76,-146.0,476.2,-12.7,350,3177,0.00,1.77,0.00,0.000,4,0.000,0.068,2812,3763,3563,0,0,0,0,0,0
$GC,3210,-0.76,-146.0,481.5,-13.8,353,3218,0.00,1.70,0.00,0.000,6,0.000,0.044,2812,2684,3563,0,0,0,0,0,0
$GC,3418,-0.76,-146.0,508.9,-13.3,369,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2684,3563,0,0,0,0,0,0
$STATE,3507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3507,begin apogee
$GC,3512,-0.17,0.0,521.4,13.6,372,3650,0.60,0.00,132.20,1.145,4,0.135,0.000,3005,2490,2960,0,0,0,0,0,0
$STATE,3651,end apogee,CONTROL_FINISHED_OK
$STATE,3651,begin climb
$GC,3652,0.76,146.0,526.5,0.0,376,3804,0.95,2.53,143.05,1.073,4,0.076,0.052,3308,1095,2364,0,0,0,0,0,0
$GC,3922,0.76,146.0,501.9,11.7,385,3927,0.00,2.42,0.00,0.000,6,0.000,0.054,3308,2497,2352,0,0,0,0,0,0
$GC,4122,0.76,146.0,476.8,12.2,402,4126,0.00,2.30,0.00,0.000,4,0.000,0.052,3318,1094,2348,0,0,0,0,0,0
$GC,4254,0.76,146.0,459.8,12.2,413,4262,0.00,2.38,0.00,0.000,6,0.000,0.055,3318,2514,2346,0,0,0,0,0,0
$GC,4452,0.76,146.0,433.9,13.5,432,4456,0.00,2.03,0.00,0.000,4,0.000,0.063,3318,3765,2345,0,0,0,0,0,0
$GC,4565,0.76,146.0,416.3,16.5,442,4569,0.00,1.92,0.00,0.000,6,0.000,0.044,3327,2540,2344,0,0,0,0,0,0
$GC,4769,0.76,146.0,387.5,14.2,461,4773,0.00,2.00,0.00,0.000,4,0.000,0.063,3327,3764,2343,0,0,0,0,0,0
$GC,4829,0.76,146.0,377.2,17.4,466,4837,0.00,1.95,0.00,0.000,6,0.000,0.044,3337,2545,2343,0,0,0,0,0,0
$GC,5029,0.76,146.0,348.4,14.4,485,5033,0.00,1.98,0.00,0.000,4,0.000,0.065,3337,3761,2342,0,0,0,0,0,0
$GC,5074,0.76,146.0,340.7,17.0,489,5078,0.12,1.90,0.00,0.000,6,0.177,0.044,3314,2547,2342,0,0,0,0,0,0
$GC,5276,0.76,146.0,313.7,13.2,508,5280,0.00,1.98,0.00,0.000,4,0.000,0.065,3314,3760,2342,0,0,0,0,0,0
$GC,5313,0.76,146.0,308.2,15.2,511,5321,0.00,1.92,0.00,0.000,6,0.000,0.044,3321,2552,2342,0,0,0,0,0,0
$GC,5513,0.76,146.0,282.7,12.8,530,5517,0.00,1.98,0.00,0.000,4,0.000,0.063,3321,3768,2341,0,0,0,0,0,0
$GC,5550,0.76,146.0,276.9,15.3,533,5558,0.00,1.92,0.00,0.000,6,0.000,0.044,3331,2561,2341,0,0,0,0,0,0
$GC,5748,0.76,146.0,249.4,13.8,552,5752,0.00,1.95,0.00,0.000,4,0.000,0.064,3331,3760,2341,0,0,0,0,0,0
$GC,5784,0.76,146.0,243.7,15.2,555,5794,0.00,1.90,0.00,0.000,6,0.000,0.044,3340,2565,2341,0,0,0,0,0,0
$GC,5921,0.76,146.0,224.3,14.8,568,5924,0.00,1.95,0.00,0.000,4,0.000,0.065,3340,3767,2341,0,0,0,0,0,0
$GC,5946,0.76,146.0,219.7,16.8,570,5956,0.10,1.90,0.00,0.000,6,0.155,0.044,3318,2569,2341,0,0,0,0,0,0
$GC,6082,0.76,146.0,201.7,13.1,583,6083,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2568,2341,0,0,0,0,0,0
$GC,6210,0.76,146.0,185.3,13.2,595,6213,0.00,1.95,0.00,0.000,4,0.000,0.067,3317,3765,2341,0,0,0,0,0,0
$GC,6256,0.76,146.0,177.7,16.0,599,6266,0.00,1.88,0.00,0.000,6,0.000,0.043,3325,2579,2341,0,0,0,0,0,0
$GC,6393,0.76,146.0,159.3,13.5,612,6394,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2578,2341,0,0,0,0,0,0
$GC,6520,0.76,146.0,141.3,13.7,624,6524,0.00,1.92,0.00,0.000,4,0.000,0.064,3325,3765,2341,0,0,0,0,0,0
$GC,6579,0.76,146.0,131.3,17.1,629,6588,0.00,1.85,0.00,0.000,6,0.000,0.044,3334,2593,2340,0,0,0,0,0,0
$GC,6716,0.76,146.0,111.9,14.0,642,6721,0.00,2.35,0.00,0.000,4,0.000,0.053,3345,1088,2341,0,0,0,0,0,0
$GC,6747,0.76,146.0,107.2,12.9,644,6757,0.10,2.45,0.00,0.000,6,0.141,0.054,3312,2589,2340,0,0,0,0,0,0
$GC,6885,0.76,146.0,91.1,11.5,663,6892,0.00,1.88,0.00,0.000,4,0.000,0.063,3312,3762,2340,0,0,0,0,0,0
$GC,6952,0.76,146.0,81.7,14.6,675,6959,0.00,1.83,0.00,0.000,6,0.000,0.044,3319,2590,2340,0,0,0,0,0,0
$GC,7090,0.76,146.0,64.0,12.6,700,7098,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2589,2340,0,0,0,0,0,0
$GC,7230,0.76,146.0,45.8,13.2,725,7237,0.00,1.92,0.00,0.000,4,0.000,0.067,3319,3768,2340,0,0,0,0,0,0
$GC,7291,0.76,146.0,37.3,14.6,736,7299,0.00,1.85,0.00,0.000,6,0.000,0.044,3329,2601,2340,0,0,0,0,0,0
$GC,7433,0.76,146.0,17.5,14.9,761,7440,0.00,1.90,0.00,0.000,4,0.000,0.063,3329,3772,2340,0,0,0,0,0,0
$GC,7458,0.76,146.0,13.2,16.7,765,7465,0.00,1.80,0.00,0.000,6,0.000,0.044,3338,2613,2340,0,0,0,0,0,0
$FREEZE,8.83,-1.826,-1.908,2,1,0
$FREEZE,7.76,-1.827,-1.907,2,1,0
$FREEZE,6.98,-1.828,-1.906,2,1,0
$FREEZE,6.07,-1.830,-1.905,2,1,0
$FREEZE,5.46,-1.830,-1.905,2,1,0
$FREEZE,4.53,-1.832,-1.904,2,1,0
$FREEZE,3.84,-1.831,-1.904,2,1,0
$FREEZE,2.80,-1.831,-1.903,2,1,0
$STATE,7524,end climb,SURFACE_DEPTH_REACHED
$STATE,7524,begin surface coast
$FREEZE,1.87,-1.836,-1.902,2,1,0
$FREEZE,1.19,-1.838,-1.902,2,1,0
$FREEZE,1.15,-2.058,-1.784,2,1,0
$FINISH,1.2,1.026211
$STATE,7544,end surface coast,FINISH_DEPTH_REACHED
$STATE,7544,begin surface
$SM_CCo,7558,130.88,0.767,1,0,1330,400.08
$SM_GC,1.96,0.00,0.00,130.88,0.000,0.000,0.767,419,2654,1330,-8.26,0.11,400.08
$IRIDIUM_FIX,-7639.69,16512.38,021210,101014
$TT8_MAMPS,0.027713
$HUMID,51.10
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,13.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.3,17.6
$24V_AH,21.3,30.273
$10V_AH,10.0,17.379
$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,18.700,89.000,275.250,130.875,0.000,23.457,38.562,181.149,2.750,0.000,16.672,1932.886,3315.002,557.686,2096.532,134.851,0.000,1370.705,0.000,1342.981,0.000,15.816,0.000
$DEVICE_MAMPS,207.315,121.635,1145.205,766.530,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,549.793,938.803,868.976,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276016
$DATA_FILE_SIZE,53604,779
$CAP_FILE_SIZE,111830,0
$CFSIZE,260165632,246689792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021210,152206,-7724.835,16509.123,22,0.9,39,144.2