version: 66.08
glider: 502
mission: 3
dive: 117
start: 12 2 110 23 53 45
data:
$ID,502
$MISSION,3
$DIVE,117
$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,-26248.539
$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,28
$R_STBD_OVSHOOT,22
$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
$GPS1,021210,234655,-7725.107,16510.889,20,1.6,33,144.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-54.5
$GPS2,021210,235322,-7725.095,16510.695,16,3.0,35,144.1
$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,1.1,6553,-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,-146.0,0.0,0.0,0,110,0.00,0.00,-91.85,0.000,2,0.000,0.000,410,2646,2997,0,0,0,0,0,0
$GC,112,-0.76,-146.0,3.1,-2.7,14,154,9.10,2.35,-22.67,0.000,4,0.209,0.065,2816,1233,3559,0,0,0,0,0,0
$GC,291,-0.76,-146.0,26.7,-14.4,45,297,0.00,2.35,0.00,0.000,6,0.000,0.059,2806,2652,3562,0,0,0,0,0,0
$GC,428,-0.76,-146.0,47.6,-12.5,70,436,0.00,2.30,0.00,0.000,4,0.000,0.051,2807,1241,3562,0,0,0,0,0,0
$GC,449,-0.76,-146.0,50.4,-13.9,73,456,0.00,2.33,0.00,0.000,6,0.000,0.059,2798,2650,3562,0,0,0,0,0,0
$GC,587,-0.76,-146.0,74.2,-17.5,98,595,0.00,1.85,0.00,0.000,4,0.000,0.065,2790,3761,3562,0,0,0,0,0,0
$GC,623,-0.76,-146.0,80.4,-16.3,104,631,0.00,1.83,0.00,0.000,6,0.000,0.044,2790,2622,3562,0,0,0,0,0,0
$GC,762,-0.76,-146.0,103.7,-16.1,127,766,0.00,2.17,0.00,0.000,4,0.000,0.052,2790,1241,3562,0,0,0,0,0,0
$GC,781,-0.76,-146.0,107.4,-16.0,128,792,0.10,2.28,0.00,0.000,6,0.152,0.059,2815,2614,3562,0,0,0,0,0,0
$GC,918,-0.76,-146.0,126.7,-14.7,141,921,0.00,1.85,0.00,0.000,4,0.000,0.065,2808,3767,3562,0,0,0,0,0,0
$GC,964,-0.76,-146.0,134.7,-15.2,145,974,0.00,1.80,0.00,0.000,6,0.000,0.044,2808,2630,3562,0,0,0,0,0,0
$GC,1101,-0.76,-146.0,154.5,-14.7,158,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2630,3562,0,0,0,0,0,0
$GC,1228,-0.76,-146.0,173.1,-14.5,170,1231,0.00,1.88,0.00,0.000,4,0.000,0.068,2800,3777,3562,0,0,0,0,0,0
$GC,1284,-0.76,-146.0,181.9,-16.6,175,1288,0.00,1.77,0.00,0.000,6,0.000,0.045,2799,2634,3562,0,0,0,0,0,0
$GC,1426,-0.76,-146.0,203.5,-15.5,188,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2633,3562,0,0,0,0,0,0
$GC,1551,-0.76,-146.0,222.6,-15.3,200,1555,0.00,1.85,0.00,0.000,4,0.000,0.067,2790,3767,3562,0,0,0,0,0,0
$GC,1596,-0.76,-146.0,229.6,-16.3,204,1600,0.00,1.75,0.00,0.000,6,0.000,0.045,2790,2638,3562,0,0,0,0,0,0
$GC,1738,-0.76,-146.0,251.3,-15.8,217,1741,0.00,1.85,0.00,0.000,4,0.000,0.067,2782,3776,3563,0,0,0,0,0,0
$GC,1765,-0.76,-146.0,256.1,-16.4,219,1773,0.10,1.77,0.00,0.000,6,0.152,0.044,2814,2657,3562,0,0,0,0,0,0
$GC,1962,-0.76,-146.0,283.1,-13.2,238,1966,0.00,1.80,0.00,0.000,4,0.000,0.067,2807,3767,3562,0,0,0,0,0,0
$GC,1988,-0.76,-146.0,287.0,-14.5,240,1997,0.00,1.77,0.00,0.000,6,0.000,0.044,2807,2649,3562,0,0,0,0,0,0
$GC,2189,-0.76,-146.0,314.9,-14.3,259,2192,0.00,1.83,0.00,0.000,4,0.000,0.067,2799,3770,3562,0,0,0,0,0,0
$GC,2224,-0.76,-146.0,320.3,-15.0,262,2228,0.00,1.70,0.00,0.000,6,0.000,0.045,2799,2670,3562,0,0,0,0,0,0
$GC,2427,-0.76,-146.0,350.7,-15.0,281,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2667,3562,0,0,0,0,0,0
$GC,2620,-0.76,-146.0,379.2,-15.1,299,2623,0.00,1.80,0.00,0.000,4,0.000,0.067,2790,3774,3562,0,0,0,0,0,0
$GC,2676,-0.76,-146.0,388.6,-16.6,304,2679,0.00,1.70,0.00,0.000,6,0.000,0.045,2790,2679,3562,0,0,0,0,0,0
$GC,2878,-0.76,-146.0,420.3,-15.4,323,2882,0.00,1.77,0.00,0.000,4,0.000,0.069,2782,3767,3562,0,0,0,0,0,0
$GC,2902,-0.76,-146.0,423.9,-16.3,325,2906,0.12,1.67,0.00,0.000,6,0.175,0.045,2815,2683,3562,0,0,0,0,0,0
$GC,3104,-0.76,-146.0,452.6,-13.9,344,3108,0.00,1.77,0.00,0.000,4,0.000,0.068,2808,3769,3562,0,0,0,0,0,0
$GC,3130,-0.76,-146.0,457.0,-15.6,346,3138,0.00,1.70,0.00,0.000,6,0.000,0.044,2808,2693,3562,0,0,0,0,0,0
$GC,3331,-0.76,-146.0,485.7,-14.5,365,3334,0.00,1.75,0.00,0.000,4,0.000,0.067,2800,3771,3562,0,0,0,0,0,0
$GC,3366,-0.76,-146.0,491.0,-15.5,368,3369,0.00,1.65,0.00,0.000,6,0.000,0.045,2800,2702,3562,0,0,0,0,0,0
$GC,3584,-0.76,-146.0,524.0,-14.8,379,3587,0.00,1.75,0.00,0.000,4,0.000,0.069,2793,3775,3562,0,0,0,0,0,0
$GC,3604,-0.76,-146.0,527.5,-15.2,379,3609,0.00,1.70,0.00,0.000,6,0.000,0.044,2794,2704,3562,0,0,0,0,0,0
$STATE,3738,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3738,begin apogee
$GC,3742,-0.17,0.0,547.6,15.0,384,3882,0.65,0.00,133.15,1.168,4,0.138,0.000,3002,2494,2960,0,0,0,0,0,0
$STATE,3883,end apogee,CONTROL_FINISHED_OK
$STATE,3883,begin climb
$GC,3884,0.76,146.0,553.4,0.0,388,4039,0.98,2.53,144.52,1.102,4,0.077,0.052,3311,1102,2364,0,0,0,0,0,0
$GC,4134,0.76,146.0,531.7,11.9,396,4138,0.00,2.45,0.00,0.000,6,0.000,0.054,3311,2507,2353,0,0,0,0,0,0
$GC,4341,0.76,146.0,505.4,12.8,403,4345,0.00,2.33,0.00,0.000,4,0.000,0.052,3321,1094,2349,0,0,0,0,0,0
$GC,4473,0.76,146.0,487.8,13.4,411,4481,0.00,2.38,0.00,0.000,6,0.000,0.054,3322,2509,2347,0,0,0,0,0,0
$GC,4673,0.76,146.0,459.7,14.3,430,4676,0.00,2.03,0.00,0.000,4,0.000,0.062,3322,3764,2345,0,0,0,0,0,0
$GC,4756,0.76,146.0,445.7,16.5,437,4763,0.00,1.98,0.00,0.000,6,0.000,0.043,3331,2532,2345,0,0,0,0,0,0
$GC,4954,0.76,146.0,416.3,14.4,456,4957,0.00,2.00,0.00,0.000,4,0.000,0.061,3332,3765,2344,0,0,0,0,0,0
$GC,4980,0.76,146.0,411.7,16.7,458,4988,0.00,1.98,0.00,0.000,6,0.000,0.043,3341,2533,2344,0,0,0,0,0,0
$GC,5180,0.76,146.0,380.9,15.9,477,5184,0.00,2.00,0.00,0.000,4,0.000,0.061,3341,3770,2343,0,0,0,0,0,0
$GC,5224,0.76,146.0,373.1,17.3,481,5229,0.15,1.90,0.00,0.000,6,0.173,0.044,3310,2551,2342,0,0,0,0,0,0
$GC,5422,0.76,146.0,348.0,11.8,499,5425,0.00,1.98,0.00,0.000,4,0.000,0.064,3310,3765,2342,0,0,0,0,0,0
$GC,5448,0.76,146.0,344.1,13.7,501,5456,0.00,1.92,0.00,0.000,6,0.000,0.043,3318,2555,2342,0,0,0,0,0,0
$GC,5648,0.76,146.0,318.3,13.0,520,5651,0.00,1.95,0.00,0.000,4,0.000,0.061,3318,3763,2342,0,0,0,0,0,0
$GC,5682,0.76,146.0,313.1,15.2,523,5686,0.00,1.88,0.00,0.000,6,0.000,0.044,3327,2556,2342,0,0,0,0,0,0
$GC,5884,0.76,146.0,284.4,14.0,542,5888,0.00,1.95,0.00,0.000,4,0.000,0.060,3327,3764,2341,0,0,0,0,0,0
$GC,5922,0.76,146.0,278.3,15.9,545,5930,0.00,1.90,0.00,0.000,6,0.000,0.043,3337,2566,2341,0,0,0,0,0,0
$GC,6122,0.76,146.0,249.5,14.7,564,6126,0.00,1.95,0.00,0.000,4,0.000,0.063,3337,3768,2341,0,0,0,0,0,0
$GC,6145,0.76,146.0,245.7,15.7,566,6150,0.12,1.85,0.00,0.000,6,0.180,0.043,3314,2569,2341,0,0,0,0,0,0
$GC,6286,0.76,146.0,226.6,13.0,579,6289,0.00,1.95,0.00,0.000,4,0.000,0.065,3313,3771,2341,0,0,0,0,0,0
$GC,6342,0.76,146.0,218.5,14.8,584,6345,0.00,1.85,0.00,0.000,6,0.000,0.044,3321,2574,2341,0,0,0,0,0,0
$GC,6484,0.76,146.0,199.2,13.3,597,6485,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2572,2340,0,0,0,0,0,0
$GC,6609,0.76,146.0,182.6,13.2,609,6613,0.00,1.92,0.00,0.000,4,0.000,0.065,3321,3761,2340,0,0,0,0,0,0
$GC,6654,0.76,146.0,176.2,15.7,613,6658,0.00,1.80,0.00,0.000,6,0.000,0.044,3330,2594,2340,0,0,0,0,0,0
$GC,6795,0.76,146.0,156.4,14.2,626,6798,0.00,1.90,0.00,0.000,4,0.000,0.064,3330,3764,2340,0,0,0,0,0,0
$GC,6820,0.76,146.0,152.1,14.7,628,6829,0.00,1.85,0.00,0.000,6,0.000,0.043,3339,2599,2340,0,0,0,0,0,0
$GC,6956,0.76,146.0,133.0,14.6,641,6957,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2598,2340,0,0,0,0,0,0
$GC,7083,0.76,146.0,115.2,13.9,653,7087,0.00,1.88,0.00,0.000,4,0.000,0.063,3339,3763,2340,0,0,0,0,0,0
$GC,7130,0.76,146.0,107.3,17.1,657,7140,0.10,1.83,0.00,0.000,6,0.160,0.043,3316,2609,2341,0,0,0,0,0,0
$GC,7267,0.76,146.0,90.0,12.9,677,7273,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2609,2340,0,0,0,0,0,0
$GC,7402,0.76,146.0,70.8,13.9,702,7411,0.00,2.42,0.00,0.000,4,0.000,0.052,3326,1089,2340,0,0,0,0,0,0
$GC,7427,0.76,146.0,67.3,14.1,706,7435,0.00,2.50,0.00,0.000,6,0.000,0.056,3326,2621,2340,0,0,0,0,0,0
$GC,7568,0.76,146.0,46.5,14.5,731,7575,0.00,1.83,0.00,0.000,4,0.000,0.063,3326,3764,2340,0,0,0,0,0,0
$GC,7584,0.76,146.0,44.4,13.6,733,7591,0.00,1.83,0.00,0.000,6,0.000,0.046,3335,2600,2340,0,0,0,0,0,0
$GC,7720,0.76,146.0,21.0,18.3,758,7729,0.00,1.92,0.00,0.000,4,0.000,0.063,3335,3759,2340,0,0,0,0,0,0
$GC,7779,0.76,146.0,10.4,17.4,768,7787,0.10,1.83,0.00,0.000,6,0.162,0.044,3313,2608,2340,0,0,0,0,0,0
$FREEZE,7.82,-1.807,-1.906,2,1,0
$FREEZE,7.22,-1.806,-1.906,2,1,0
$FREEZE,6.30,-1.805,-1.905,2,1,0
$FREEZE,5.72,-1.807,-1.905,2,1,0
$FREEZE,4.82,-1.806,-1.904,2,1,0
$FREEZE,4.11,-1.805,-1.904,2,1,0
$FREEZE,3.37,-1.806,-1.903,2,1,0
$FREEZE,2.65,-1.805,-1.902,2,1,0
$STATE,7833,end climb,SURFACE_DEPTH_REACHED
$STATE,7833,begin surface coast
$FREEZE,1.76,-1.804,-1.902,2,1,0
$FREEZE,1.17,-1.806,-1.901,2,1,0
$FREEZE,1.43,-1.809,-1.902,2,1,0
$FREEZE,1.12,-1.805,-1.072,2,1,0
$FINISH,1.1,1.015812
$STATE,7858,end surface coast,FINISH_DEPTH_REACHED
$STATE,7858,begin surface
$SM_CCo,7872,130.88,0.770,1,0,1329,400.08
$SM_GC,1.91,0.00,0.00,130.88,0.000,0.000,0.770,423,2669,1329,-8.26,0.54,400.08
$IRIDIUM_FIX,-7639.69,16524.40,021210,212139
$TT8_MAMPS,0.028462
$HUMID,51.22
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,13.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,18.4,16.8
$24V_AH,21.2,30.940
$10V_AH,10.0,17.817
$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,18.925,120.975,277.675,130.875,0.000,27.541,38.135,207.275,2.500,0.000,37.658,1966.770,3533.902,573.544,2182.088,145.449,0.000,1428.278,0.000,1376.567,0.000,12.923,0.000
$DEVICE_MAMPS,208.845,110.160,1168.155,770.355,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,551.129,948.715,874.893,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,275980
$DATA_FILE_SIZE,53787,781
$CAP_FILE_SIZE,121873,0
$CFSIZE,260165632,246382592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031210,020831,-7726.390,16515.025,40,1.3,41,144.1