version: 66.08
glider: 502
mission: 3
dive: 113
start: 12 2 110 15 28 13
data:
$ID,502
$MISSION,3
$DIVE,113
$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,-26243.506
$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,30
$R_STBD_OVSHOOT,24
$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
$GPS1,021210,152206,-7724.835,16509.123,22,0.9,39,144.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-65.4
$GPS2,021210,152750,-7724.818,16509.170,14,1.0,14,144.2
$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,189.2,3766,-17.5,-10.000
$D_GRID,512
$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,-146.0,0.0,0.0,0,130,0.00,0.00,-112.07,0.000,2,0.000,0.000,413,2654,3368,0,0,0,0,0,0
$GC,133,-0.76,-146.0,3.2,-1.8,17,154,9.12,2.33,-5.62,0.000,4,0.210,0.065,2811,1230,3559,0,0,0,0,0,0
$GC,336,-0.76,-146.0,36.9,-14.8,53,343,0.00,2.35,0.00,0.000,6,0.000,0.059,2802,2653,3562,0,0,0,0,0,0
$GC,472,-0.76,-146.0,56.7,-14.7,78,481,0.00,1.83,0.00,0.000,4,0.000,0.065,2794,3756,3562,0,0,0,0,0,0
$GC,505,-0.76,-146.0,62.0,-17.2,83,512,0.00,1.77,0.00,0.000,6,0.000,0.045,2794,2628,3563,0,0,0,0,0,0
$GC,642,-0.76,-146.0,84.3,-16.1,108,650,0.00,1.90,0.00,0.000,4,0.000,0.065,2785,3758,3563,0,0,0,0,0,0
$GC,685,-0.76,-146.0,91.5,-17.5,115,692,0.12,1.75,0.00,0.000,6,0.176,0.045,2818,2667,3563,0,0,0,0,0,0
$GC,829,-0.76,-146.0,113.2,-14.8,133,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2667,3563,0,0,0,0,0,0
$GC,955,-0.76,-146.0,131.3,-14.6,145,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2667,3563,0,0,0,0,0,0
$GC,1083,-0.76,-146.0,150.2,-14.9,157,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2667,3563,0,0,0,0,0,0
$GC,1210,-0.76,-146.0,168.9,-15.0,169,1214,0.00,1.77,0.00,0.000,4,0.000,0.066,2811,3763,3563,0,0,0,0,0,0
$GC,1246,-0.76,-146.0,173.9,-14.7,172,1250,0.00,1.70,0.00,0.000,6,0.000,0.044,2811,2667,3562,0,0,0,0,0,0
$GC,1386,-0.76,-146.0,194.5,-13.4,185,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2665,3564,0,0,0,0,0,0
$GC,1514,-0.76,-146.0,212.1,-13.9,197,1515,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2665,3563,0,0,0,0,0,0
$GC,1641,-0.76,-146.0,231.3,-15.4,209,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2665,3563,0,0,0,0,0,0
$GC,1769,-0.76,-146.0,250.1,-14.1,221,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2665,3563,0,0,0,0,0,0
$GC,1959,-0.76,-146.0,277.5,-14.4,239,1963,0.00,1.83,0.00,0.000,4,0.000,0.066,2802,3760,3563,0,0,0,0,0,0
$GC,1998,-0.76,-146.0,283.7,-15.6,242,2004,0.00,1.73,0.00,0.000,6,0.000,0.044,2802,2676,3562,0,0,0,0,0,0
$GC,2195,-0.76,-146.0,313.4,-15.7,261,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2676,3562,0,0,0,0,0,0
$GC,2386,-0.76,-146.0,342.4,-15.1,279,2390,0.00,1.83,0.00,0.000,4,0.000,0.069,2794,3766,3562,0,0,0,0,0,0
$GC,2419,-0.76,-146.0,347.7,-15.9,282,2423,0.00,1.73,0.00,0.000,6,0.000,0.044,2794,2682,3562,0,0,0,0,0,0
$GC,2622,-0.76,-146.0,378.0,-14.7,301,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2680,3561,0,0,0,0,0,0
$GC,2812,-0.76,-146.0,406.8,-14.8,319,2816,0.00,1.77,0.00,0.000,4,0.000,0.067,2786,3769,3562,0,0,0,0,0,0
$GC,2868,-0.76,-146.0,416.0,-16.8,324,2873,0.12,1.67,0.00,0.000,6,0.177,0.044,2818,2683,3562,0,0,0,0,0,0
$GC,3071,-0.76,-146.0,443.1,-12.7,343,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2681,3562,0,0,0,0,0,0
$GC,3262,-0.76,-146.0,467.5,-12.7,361,3266,0.00,1.77,0.00,0.000,4,0.000,0.069,2812,3770,3562,0,0,0,0,0,0
$GC,3290,-0.76,-146.0,471.4,-13.9,363,3296,0.00,1.67,0.00,0.000,6,0.000,0.044,2812,2684,3562,0,0,0,0,0,0
$GC,3487,-0.76,-146.0,497.4,-13.3,382,3491,0.00,1.75,0.00,0.000,4,0.000,0.068,2803,3763,3562,0,0,0,0,0,0
$GC,3514,-0.76,-146.0,501.4,-14.6,384,3522,0.00,1.67,0.00,0.000,6,0.000,0.044,2803,2698,3562,0,0,0,0,0,0
$STATE,3611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3612,begin apogee
$GC,3616,-0.17,0.0,514.8,13.8,388,3754,0.62,0.00,131.85,1.136,4,0.135,0.000,3004,2489,2960,0,0,0,0,0,0
$STATE,3755,end apogee,CONTROL_FINISHED_OK
$STATE,3755,begin climb
$GC,3757,0.76,146.0,519.1,0.0,392,3908,0.95,2.53,142.98,1.067,4,0.076,0.052,3306,1098,2365,0,0,0,0,0,0
$GC,4015,0.76,146.0,494.4,12.1,402,4019,0.00,2.42,0.00,0.000,6,0.000,0.054,3306,2501,2352,0,0,0,0,0,0
$GC,4212,0.76,146.0,468.5,13.3,420,4216,0.00,2.30,0.00,0.000,4,0.000,0.050,3316,1098,2348,0,0,0,0,0,0
$GC,4333,0.76,146.0,452.1,12.9,430,4341,0.00,2.38,0.00,0.000,6,0.000,0.053,3316,2515,2346,0,0,0,0,0,0
$GC,4533,0.76,146.0,424.4,13.8,449,4537,0.00,2.03,0.00,0.000,4,0.000,0.063,3316,3766,2345,0,0,0,0,0,0
$GC,4634,0.76,146.0,408.2,16.2,458,4638,0.00,1.95,0.00,0.000,6,0.000,0.044,3325,2525,2345,0,0,0,0,0,0
$GC,4839,0.76,146.0,379.6,13.9,477,4842,0.00,2.03,0.00,0.000,4,0.000,0.064,3325,3767,2343,0,0,0,0,0,0
$GC,4917,0.76,146.0,367.2,16.2,484,4921,0.00,1.92,0.00,0.000,6,0.000,0.044,3335,2537,2343,0,0,0,0,0,0
$GC,5120,0.76,146.0,338.9,13.9,503,5124,0.00,2.00,0.00,0.000,4,0.000,0.063,3335,3771,2342,0,0,0,0,0,0
$GC,5180,0.76,146.0,329.2,16.4,508,5189,0.10,1.95,0.00,0.000,6,0.149,0.044,3313,2553,2342,0,0,0,0,0,0
$GC,5378,0.76,146.0,303.5,12.7,527,5382,0.00,1.98,0.00,0.000,4,0.000,0.063,3312,3771,2342,0,0,0,0,0,0
$GC,5424,0.76,146.0,297.0,14.8,531,5428,0.00,1.92,0.00,0.000,6,0.000,0.044,3320,2559,2342,0,0,0,0,0,0
$GC,5626,0.76,146.0,269.4,13.9,550,5630,0.00,1.98,0.00,0.000,4,0.000,0.064,3320,3777,2341,0,0,0,0,0,0
$GC,5660,0.76,146.0,264.3,15.3,553,5663,0.00,1.88,0.00,0.000,6,0.000,0.044,3330,2563,2341,0,0,0,0,0,0
$GC,5864,0.76,146.0,234.7,14.9,572,5867,0.00,1.95,0.00,0.000,4,0.000,0.063,3329,3767,2341,0,0,0,0,0,0
$GC,5942,0.76,146.0,221.5,17.5,579,5945,0.00,1.85,0.00,0.000,6,0.000,0.043,3339,2569,2341,0,0,0,0,0,0
$GC,6082,0.76,146.0,199.6,15.3,592,6086,0.00,1.95,0.00,0.000,4,0.000,0.065,3339,3770,2341,0,0,0,0,0,0
$GC,6117,0.76,146.0,193.8,17.3,595,6121,0.12,1.85,0.00,0.000,6,0.177,0.044,3316,2573,2340,0,0,0,0,0,0
$GC,6258,0.76,146.0,174.8,12.4,608,6259,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2570,2341,0,0,0,0,0,0
$GC,6384,0.76,146.0,160.0,11.0,620,6388,0.00,1.92,0.00,0.000,4,0.000,0.063,3316,3768,2341,0,0,0,0,0,0
$GC,6420,0.76,146.0,155.3,13.3,623,6429,0.00,1.88,0.00,0.000,6,0.000,0.044,3322,2586,2341,0,0,0,0,0,0
$GC,6556,0.76,146.0,139.3,12.1,636,6557,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2585,2341,0,0,0,0,0,0
$GC,6683,0.76,146.0,124.5,11.4,648,6687,0.00,1.92,0.00,0.000,4,0.000,0.065,3323,3773,2341,0,0,0,0,0,0
$GC,6709,0.76,146.0,121.2,11.5,650,6718,0.00,1.88,0.00,0.000,6,0.000,0.044,3333,2593,2341,0,0,0,0,0,0
$GC,6845,0.76,146.0,104.3,12.9,663,6846,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2592,2340,0,0,0,0,0,0
$GC,6974,0.76,146.0,89.8,11.2,683,6981,0.00,1.92,0.00,0.000,4,0.000,0.064,3332,3777,2340,0,0,0,0,0,0
$GC,7025,0.76,146.0,83.1,13.7,692,7034,0.08,1.88,0.00,0.000,6,0.155,0.044,3317,2596,2340,0,0,0,0,0,0
$GC,7166,0.83,199.0,69.7,7.6,717,7220,0.00,2.05,45.35,0.884,4,0.000,0.065,3317,3768,2148,0,0,0,0,0,0
$GC,7257,0.83,199.0,58.9,16.0,731,7263,0.00,1.85,0.00,0.000,6,0.000,0.043,3324,2620,2145,0,0,0,0,0,0
$GC,7393,0.83,199.0,37.4,12.3,756,7401,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2618,2140,0,0,0,0,0,0
$GC,7534,0.83,199.0,17.1,13.6,781,7540,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2618,2138,0,0,0,0,0,0
$FREEZE,8.83,-1.859,-1.908,2,1,0
$FREEZE,7.91,-1.859,-1.907,2,1,0
$FREEZE,7.21,-1.859,-1.907,2,1,0
$FREEZE,6.33,-1.856,-1.906,2,1,0
$FREEZE,5.77,-1.858,-1.906,2,1,0
$FREEZE,5.10,-1.863,-1.905,2,1,0
$FREEZE,4.16,-1.857,-1.904,2,1,0
$FREEZE,3.10,-1.858,-1.904,2,1,0
$FREEZE,2.21,-1.858,-1.903,2,1,0
$STATE,7637,end climb,SURFACE_DEPTH_REACHED
$STATE,7637,begin surface coast
$FREEZE,1.19,-1.863,-1.902,2,1,0
$FREEZE,1.16,-1.875,-1.109,2,1,0
$FINISH,1.2,1.016362
$STATE,7651,end surface coast,FINISH_DEPTH_REACHED
$STATE,7651,begin surface
$SM_CCo,7666,110.90,0.766,1,0,1329,400.08
$SM_GC,1.89,0.00,0.00,110.90,0.000,0.000,0.766,424,2658,1329,-8.24,0.23,400.08
$IRIDIUM_FIX,-7639.69,16500.29,021210,131349
$TT8_MAMPS,0.028462
$HUMID,51.49
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,20.0,18.0
$ALTIM_BOTTOM_PING,500.4,45.8
$24V_AH,21.3,30.407
$10V_AH,10.0,17.472
$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,18.850,85.350,320.175,110.900,0.000,28.158,43.257,178.118,2.750,0.000,15.180,1970.297,3332.599,543.099,2154.871,130.740,0.000,1372.261,0.000,1364.174,0.000,15.755,0.000
$DEVICE_MAMPS,210.375,126.225,1136.025,765.765,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,565.337,971.825,925.002,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,275976
$DATA_FILE_SIZE,53759,801
$CAP_FILE_SIZE,112817,0
$CFSIZE,260165632,246628352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021210,173850,-7724.050,16507.279,19,1.5,20,144.2