version: 66.08
glider: 502
mission: 3
dive: 115
start: 12 2 110 19 30 13
data:
$ID,502
$MISSION,3
$DIVE,115
$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,-26246.021
$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,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
$GPS1,021210,192401,-7723.298,16505.592,12,1.7,29,144.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-66.0
$GPS2,021210,192949,-7723.241,16505.539,17,0.9,34,144.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SOUND1
$TGT_LATLONG,-7728.000,16520.000
$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,2.4,10557,-17.5,-10.000
$D_GRID,492
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,128,0.00,0.00,-111.12,0.000,2,0.000,0.000,421,2656,3344,0,0,0,0,0,0
$GC,131,-0.76,-146.0,3.1,-1.5,17,151,9.12,0.00,-6.43,0.000,6,0.213,0.000,2811,2656,3560,0,0,0,0,0,0
$GC,284,-0.76,-146.0,28.2,-14.9,44,292,0.00,1.85,0.00,0.000,4,0.000,0.066,2804,3759,3563,0,0,0,0,0,0
$GC,309,-0.76,-146.0,32.7,-16.2,48,317,0.00,1.77,0.00,0.000,6,0.000,0.044,2804,2658,3563,0,0,0,0,0,0
$GC,448,-0.76,-146.0,55.0,-16.6,73,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2658,3563,0,0,0,0,0,0
$GC,586,-0.76,-146.0,77.4,-15.7,98,594,0.00,1.85,0.00,0.000,4,0.000,0.066,2796,3760,3563,0,0,0,0,0,0
$GC,611,-0.76,-146.0,81.4,-16.2,102,619,0.00,1.77,0.00,0.000,6,0.000,0.044,2796,2651,3563,0,0,0,0,0,0
$GC,750,-0.76,-146.0,103.8,-16.1,125,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2650,3563,0,0,0,0,0,0
$GC,878,-0.76,-146.0,124.0,-15.8,137,882,0.00,1.83,0.00,0.000,4,0.000,0.067,2788,3761,3563,0,0,0,0,0,0
$GC,913,-0.76,-146.0,130.1,-18.3,140,917,0.10,1.70,0.00,0.000,6,0.187,0.043,2813,2663,3563,0,0,0,0,0,0
$GC,1054,-0.76,-146.0,151.3,-14.3,153,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2662,3564,0,0,0,0,0,0
$GC,1180,-0.76,-146.0,169.6,-14.5,165,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2662,3563,0,0,0,0,0,0
$GC,1307,-0.76,-146.0,188.1,-14.8,177,1311,0.00,1.77,0.00,0.000,4,0.000,0.066,2806,3761,3564,0,0,0,0,0,0
$GC,1330,-0.76,-146.0,191.6,-15.5,179,1334,0.00,1.70,0.00,0.000,6,0.000,0.044,2806,2665,3563,0,0,0,0,0,0
$GC,1471,-0.76,-146.0,213.6,-15.9,192,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2662,3564,0,0,0,0,0,0
$GC,1598,-0.76,-146.0,231.8,-13.7,204,1602,0.00,1.77,0.00,0.000,4,0.000,0.067,2798,3760,3563,0,0,0,0,0,0
$GC,1656,-0.76,-146.0,240.7,-14.4,209,1665,0.00,1.73,0.00,0.000,6,0.000,0.044,2798,2677,3563,0,0,0,0,0,0
$GC,1791,-0.76,-146.0,258.7,-13.7,222,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2677,3563,0,0,0,0,0,0
$GC,1981,-0.76,-146.0,288.6,-15.8,240,1985,0.00,1.77,0.00,0.000,4,0.000,0.068,2790,3766,3563,0,0,0,0,0,0
$GC,2007,-0.76,-146.0,293.0,-16.7,242,2015,0.00,1.73,0.00,0.000,6,0.000,0.044,2790,2680,3563,0,0,0,0,0,0
$GC,2206,-0.76,-146.0,323.5,-15.3,261,2210,0.00,1.80,0.00,0.000,4,0.000,0.067,2781,3760,3563,0,0,0,0,0,0
$GC,2232,-0.76,-146.0,328.2,-16.1,263,2240,0.10,1.70,0.00,0.000,6,0.155,0.044,2814,2689,3563,0,0,0,0,0,0
$GC,2431,-0.76,-146.0,356.0,-14.0,282,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2689,3563,0,0,0,0,0,0
$GC,2621,-0.76,-146.0,382.1,-13.2,300,2625,0.00,1.75,0.00,0.000,4,0.000,0.067,2807,3767,3563,0,0,0,0,0,0
$GC,2647,-0.76,-146.0,385.9,-14.5,302,2655,0.00,1.70,0.00,0.000,6,0.000,0.044,2807,2694,3563,0,0,0,0,0,0
$GC,2846,-0.76,-146.0,412.7,-13.7,321,2849,0.00,1.77,0.00,0.000,4,0.000,0.067,2799,3757,3563,0,0,0,0,0,0
$GC,2872,-0.76,-146.0,416.9,-14.7,323,2880,0.00,1.67,0.00,0.000,6,0.000,0.044,2798,2704,3563,0,0,0,0,0,0
$GC,3072,-0.76,-146.0,444.8,-14.3,342,3073,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2703,3563,0,0,0,0,0,0
$GC,3261,-0.76,-146.0,471.7,-14.2,360,3265,0.00,1.73,0.00,0.000,4,0.000,0.067,2790,3763,3563,0,0,0,0,0,0
$GC,3284,-0.76,-146.0,475.1,-14.8,362,3287,0.00,1.65,0.00,0.000,6,0.000,0.044,2790,2692,3562,0,0,0,0,0,0
$STATE,3400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3400,begin apogee
$GC,3404,-0.17,0.0,492.4,14.8,373,3547,0.68,0.00,131.95,1.133,4,0.142,0.000,3004,2497,2960,0,0,0,0,0,0
$STATE,3548,end apogee,CONTROL_FINISHED_OK
$STATE,3548,begin climb
$GC,3549,0.76,146.0,497.2,0.0,386,3703,0.95,2.53,142.77,1.064,4,0.078,0.053,3307,1095,2364,0,0,0,0,0,0
$GC,3785,0.76,146.0,475.5,12.2,407,3793,0.00,2.50,0.00,0.000,6,0.000,0.054,3307,2498,2353,0,0,0,0,0,0
$GC,3984,0.76,146.0,450.2,12.5,426,3988,0.00,2.33,0.00,0.000,4,0.000,0.052,3315,1089,2349,0,0,0,0,0,0
$GC,4104,0.76,146.0,434.4,12.6,436,4113,0.00,2.40,0.00,0.000,6,0.000,0.055,3315,2515,2346,0,0,0,0,0,0
$GC,4305,0.76,146.0,408.8,13.2,455,4308,0.00,2.03,0.00,0.000,4,0.000,0.060,3315,3772,2345,0,0,0,0,0,0
$GC,4417,0.76,146.0,391.5,15.6,465,4421,0.00,1.92,0.00,0.000,6,0.000,0.044,3325,2542,2345,0,0,0,0,0,0
$GC,4619,0.76,146.0,363.1,14.1,484,4623,0.00,2.00,0.00,0.000,4,0.000,0.063,3325,3772,2344,0,0,0,0,0,0
$GC,4664,0.76,146.0,355.9,16.5,488,4668,0.00,1.92,0.00,0.000,6,0.000,0.044,3334,2543,2344,0,0,0,0,0,0
$GC,4866,0.76,146.0,326.7,13.9,507,4870,0.00,2.03,0.00,0.000,4,0.000,0.063,3334,3782,2343,0,0,0,0,0,0
$GC,4915,0.76,146.0,318.7,16.7,511,4923,0.10,1.95,0.00,0.000,6,0.148,0.044,3312,2558,2343,0,0,0,0,0,0
$GC,5113,0.76,146.0,293.1,12.7,530,5117,0.00,1.98,0.00,0.000,4,0.000,0.063,3312,3777,2342,0,0,0,0,0,0
$GC,5157,0.76,146.0,286.8,14.9,534,5161,0.00,1.92,0.00,0.000,6,0.000,0.044,3319,2566,2342,0,0,0,0,0,0
$GC,5360,0.76,146.0,262.1,11.5,553,5364,0.00,1.95,0.00,0.000,4,0.000,0.063,3319,3768,2342,0,0,0,0,0,0
$GC,5398,0.76,146.0,256.9,13.4,556,5406,0.00,1.88,0.00,0.000,6,0.000,0.044,3328,2581,2342,0,0,0,0,0,0
$GC,5598,0.76,146.0,231.0,13.7,575,5599,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2580,2341,0,0,0,0,0,0
$GC,5725,0.76,146.0,212.7,14.4,587,5729,0.00,1.92,0.00,0.000,4,0.000,0.063,3328,3773,2341,0,0,0,0,0,0
$GC,5761,0.76,146.0,206.5,16.6,590,5770,0.00,1.90,0.00,0.000,6,0.000,0.043,3338,2574,2341,0,0,0,0,0,0
$GC,5897,0.76,146.0,186.5,14.8,603,5900,0.00,1.92,0.00,0.000,4,0.000,0.063,3337,3770,2341,0,0,0,0,0,0
$GC,5922,0.76,146.0,182.8,15.8,605,5926,0.12,1.83,0.00,0.000,6,0.178,0.043,3314,2586,2341,0,0,0,0,0,0
$GC,6063,0.76,146.0,164.2,12.8,618,6064,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2583,2341,0,0,0,0,0,0
$GC,6189,0.76,146.0,147.6,12.6,630,6192,0.00,1.92,0.00,0.000,4,0.000,0.062,3314,3780,2341,0,0,0,0,0,0
$GC,6224,0.76,146.0,143.2,13.4,633,6228,0.00,1.83,0.00,0.000,6,0.000,0.043,3321,2600,2341,0,0,0,0,0,0
$GC,6366,0.76,146.0,123.2,14.6,646,6367,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2597,2341,0,0,0,0,0,0
$GC,6492,0.78,160.2,109.6,9.3,658,6509,0.00,2.47,9.77,0.865,4,0.000,0.053,3333,1085,2307,0,0,0,0,0,0
$GC,6519,0.83,197.6,107.2,8.3,660,6565,0.00,2.53,36.70,0.892,6,0.000,0.054,3333,2618,2153,0,0,0,0,0,0
$GC,6693,0.83,197.6,89.7,12.4,685,6700,0.00,1.88,0.00,0.000,4,0.000,0.062,3333,3768,2147,0,0,0,0,0,0
$GC,6744,0.84,209.1,85.9,9.5,694,6759,0.00,1.88,11.10,0.830,6,0.000,0.042,3341,2604,2108,0,0,0,0,0,0
$GC,6893,0.91,265.7,75.7,7.4,720,6954,0.00,2.05,52.38,0.859,4,0.000,0.060,3341,3764,1876,0,0,0,0,0,0
$GC,6978,0.91,265.7,66.8,12.7,733,6984,0.00,1.88,0.00,0.000,6,0.000,0.041,3349,2621,1872,0,0,0,0,0,0
$GC,7115,0.91,265.7,46.2,15.5,758,7124,0.00,1.95,0.00,0.000,4,0.000,0.062,3350,3765,1867,0,0,0,0,0,0
$GC,7140,0.91,265.7,41.6,17.9,762,7148,0.00,1.83,0.00,0.000,6,0.000,0.043,3358,2643,1867,0,0,0,0,0,0
$GC,7282,0.91,265.7,15.8,15.5,787,7289,0.00,2.50,0.00,0.000,4,0.000,0.052,3368,1085,1863,0,0,0,0,0,0
$GC,7300,0.91,265.7,12.1,18.0,790,7309,0.00,2.60,0.00,0.000,6,0.000,0.056,3368,2646,1862,0,0,0,0,0,0
$FREEZE,8.24,-1.828,-1.907,2,1,0
$FREEZE,6.96,-1.828,-1.906,2,1,0
$FREEZE,6.00,-1.827,-1.905,2,1,0
$FREEZE,4.76,-1.826,-1.904,2,1,0
$FREEZE,3.62,-1.824,-1.903,2,1,0
$FREEZE,2.14,-1.824,-1.902,2,1,0
$STATE,7348,end climb,SURFACE_DEPTH_REACHED
$STATE,7348,begin surface coast
$FREEZE,1.16,-1.826,-1.901,2,1,0
$FREEZE,1.49,-1.823,-1.900,2,1,0
$FINISH,1.5,1.027856
$STATE,7362,end surface coast,CONTROL_FINISHED_OK
$STATE,7362,begin surface
$SM_CCo,7400,75.88,0.744,1,0,1329,400.08
$SM_GC,1.90,0.00,0.00,75.88,0.000,0.000,0.744,431,2649,1329,-8.23,-0.03,400.08
$IRIDIUM_FIX,-7639.69,16514.88,021210,171714
$TT8_MAMPS,0.028462
$HUMID,51.69
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.3,17.2
$24V_AH,21.3,30.676
$10V_AH,10.0,17.637
$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,18.900,97.500,384.675,75.875,0.000,30.394,37.755,170.483,1.750,0.000,35.552,1907.333,3107.759,583.523,2104.338,136.981,0.000,1428.182,0.000,1322.713,0.000,11.207,0.000
$DEVICE_MAMPS,213.435,68.085,1132.965,744.345,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,561.085,955.381,913.373,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276008
$DATA_FILE_SIZE,53691,800
$CAP_FILE_SIZE,113904,0
$CFSIZE,260165632,246517760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,021210,213607,-7724.074,16507.988,36,0.9,37,144.2