version: 66.08
glider: 502
mission: 3
dive: 118
start: 12 3 110 2 14 55
data:
$ID,502
$MISSION,3
$DIVE,118
$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,-26249.797
$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,32
$R_STBD_OVSHOOT,28
$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
$GPS1,031210,020831,-7726.390,16515.025,40,1.3,41,144.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-63.4
$GPS2,031210,021432,-7726.397,16514.891,10,1.7,10,144.1
$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,1.2,3610,-17.5,-10.000
$D_GRID,611
$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,-146.0,0.0,0.0,0,130,0.00,0.00,-111.45,0.000,2,0.000,0.000,418,2669,3365,0,0,0,0,0,0
$GC,132,-0.76,-146.0,3.4,-2.2,17,153,9.10,2.35,-5.45,0.000,4,0.209,0.063,2810,1233,3560,0,0,0,0,0,0
$GC,161,-0.76,-146.0,10.5,-19.0,21,168,0.00,2.38,0.00,0.000,6,0.000,0.060,2801,2654,3562,0,0,0,0,0,0
$GC,298,-0.76,-146.0,32.5,-17.4,46,306,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2653,3563,0,0,0,0,0,0
$GC,439,-0.76,-146.0,53.3,-14.7,71,445,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2654,3564,0,0,0,0,0,0
$GC,576,-0.76,-146.0,74.8,-15.0,96,584,0.00,2.30,0.00,0.000,4,0.000,0.052,2801,1242,3564,0,0,0,0,0,0
$GC,601,-0.76,-146.0,78.9,-15.6,100,609,0.00,2.35,0.00,0.000,6,0.000,0.060,2791,2651,3564,0,0,0,0,0,0
$GC,740,-0.76,-146.0,102.7,-17.4,124,744,0.00,1.80,0.00,0.000,4,0.000,0.065,2783,3772,3564,0,0,0,0,0,0
$GC,766,-0.76,-146.0,107.9,-17.7,126,775,0.10,1.77,0.00,0.000,6,0.158,0.044,2814,2661,3564,0,0,0,0,0,0
$GC,903,-0.76,-146.0,128.0,-14.7,139,906,0.00,1.80,0.00,0.000,4,0.000,0.065,2807,3766,3564,0,0,0,0,0,0
$GC,928,-0.76,-146.0,132.6,-15.6,141,938,0.00,1.73,0.00,0.000,6,0.000,0.044,2807,2678,3564,0,0,0,0,0,0
$GC,1065,-0.76,-146.0,152.6,-14.8,154,1069,0.00,2.25,0.00,0.000,4,0.000,0.052,2807,1244,3564,0,0,0,0,0,0
$GC,1093,-0.76,-146.0,156.8,-15.0,156,1097,0.00,2.33,0.00,0.000,6,0.000,0.059,2798,2676,3564,0,0,0,0,0,0
$GC,1229,-0.76,-146.0,177.3,-15.4,168,1233,0.00,1.75,0.00,0.000,4,0.000,0.065,2790,3770,3564,0,0,0,0,0,0
$GC,1298,-0.76,-146.0,189.8,-17.2,174,1307,0.00,1.73,0.00,0.000,6,0.000,0.044,2790,2684,3564,0,0,0,0,0,0
$GC,1434,-0.76,-146.0,212.0,-16.7,187,1438,0.00,1.75,0.00,0.000,4,0.000,0.066,2782,3763,3564,0,0,0,0,0,0
$GC,1469,-0.76,-146.0,218.3,-18.1,190,1473,0.12,1.65,0.00,0.000,6,0.177,0.044,2815,2694,3564,0,0,0,0,0,0
$GC,1611,-0.76,-146.0,238.5,-13.8,203,1618,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2693,3564,0,0,0,0,0,0
$GC,1744,-0.76,-146.0,257.6,-14.2,216,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2693,3564,0,0,0,0,0,0
$GC,1935,-0.76,-146.0,284.9,-14.3,234,1939,0.00,1.75,0.00,0.000,4,0.000,0.067,2809,3769,3564,0,0,0,0,0,0
$GC,1984,-0.76,-146.0,292.9,-16.0,238,1992,0.00,1.67,0.00,0.000,6,0.000,0.044,2808,2713,3563,0,0,0,0,0,0
$GC,2182,-0.76,-146.0,322.7,-15.0,257,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2711,3563,0,0,0,0,0,0
$GC,2374,-0.76,-146.0,350.4,-14.3,275,2378,0.00,1.70,0.00,0.000,4,0.000,0.067,2801,3763,3563,0,0,0,0,0,0
$GC,2401,-0.76,-146.0,354.9,-14.9,277,2409,0.00,1.67,0.00,0.000,6,0.000,0.043,2800,2706,3563,0,0,0,0,0,0
$GC,2599,-0.76,-146.0,384.6,-15.2,296,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2705,3563,0,0,0,0,0,0
$GC,2790,-0.76,-146.0,413.7,-15.0,314,2794,0.00,1.73,0.00,0.000,4,0.000,0.067,2793,3764,3563,0,0,0,0,0,0
$GC,2828,-0.76,-146.0,420.0,-16.5,317,2835,0.00,1.65,0.00,0.000,6,0.000,0.044,2793,2720,3563,0,0,0,0,0,0
$GC,3027,-0.76,-146.0,450.6,-15.1,336,3028,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2720,3563,0,0,0,0,0,0
$GC,3219,-0.76,-146.0,479.1,-14.6,354,3220,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2720,3563,0,0,0,0,0,0
$GC,3427,-0.76,-146.0,509.7,-14.6,370,3431,0.00,1.70,0.00,0.000,4,0.000,0.068,2785,3763,3563,0,0,0,0,0,0
$GC,3453,-0.76,-146.0,514.1,-15.8,370,3462,0.08,1.65,0.00,0.000,6,0.161,0.044,2809,2724,3563,0,0,0,0,0,0
$GC,3644,-0.76,-146.0,539.4,-13.0,377,3645,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2723,3563,0,0,0,0,0,0
$GC,3828,-0.76,-146.0,562.9,-12.9,383,3831,0.00,1.70,0.00,0.000,4,0.000,0.067,2803,3767,3562,0,0,0,0,0,0
$GC,3854,-0.76,-146.0,566.8,-14.1,383,3862,0.00,1.65,0.00,0.000,6,0.000,0.044,2803,2723,3562,0,0,0,0,0,0
$GC,4045,-0.76,-146.0,593.4,-14.1,390,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2723,3562,0,0,0,0,0,0
$STATE,4197,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4197,begin apogee
$GC,4201,-0.17,0.0,614.6,13.9,395,4340,0.62,0.00,134.95,1.209,4,0.135,0.000,3003,2499,2961,0,0,0,0,0,0
$STATE,4341,end apogee,CONTROL_FINISHED_OK
$STATE,4341,begin climb
$GC,4342,0.76,146.0,618.8,0.0,399,4497,0.98,2.58,145.95,1.142,4,0.075,0.053,3312,1095,2365,0,0,0,0,0,0
$GC,4597,0.76,146.0,593.8,12.8,407,4602,0.00,2.47,0.00,0.000,6,0.000,0.053,3313,2494,2353,0,0,0,0,0,0
$GC,4793,0.76,146.0,566.4,14.5,414,4797,0.00,2.30,0.00,0.000,4,0.000,0.052,3323,1094,2348,0,0,0,0,0,0
$GC,4915,0.76,146.0,549.4,13.3,417,4919,0.00,2.40,0.00,0.000,6,0.000,0.055,3323,2518,2346,0,0,0,0,0,0
$GC,5111,0.76,146.0,521.5,14.5,424,5114,0.00,2.00,0.00,0.000,4,0.000,0.060,3322,3764,2345,0,0,0,0,0,0
$GC,5199,0.76,146.0,506.3,17.3,426,5204,0.00,1.98,0.00,0.000,6,0.000,0.043,3333,2538,2345,0,0,0,0,0,0
$GC,5402,0.76,146.0,475.8,15.2,443,5405,0.00,2.00,0.00,0.000,4,0.000,0.062,3332,3771,2343,0,0,0,0,0,0
$GC,5450,0.76,146.0,467.3,17.3,447,5458,0.00,1.98,0.00,0.000,6,0.000,0.044,3342,2542,2344,0,0,0,0,0,0
$GC,5649,0.76,146.0,436.6,15.6,466,5653,0.12,2.00,0.00,0.000,4,0.172,0.063,3310,3772,2342,0,0,0,0,0,0
$GC,5699,0.76,146.0,428.7,15.1,470,5702,0.00,1.90,0.00,0.000,6,0.000,0.044,3318,2555,2342,0,0,0,0,0,0
$GC,5901,0.76,146.0,400.6,13.7,489,5905,0.00,1.98,0.00,0.000,4,0.000,0.063,3318,3773,2342,0,0,0,0,0,0
$GC,5935,0.76,146.0,395.6,15.7,492,5939,0.00,1.88,0.00,0.000,6,0.000,0.044,3327,2565,2342,0,0,0,0,0,0
$GC,6138,0.76,146.0,366.8,14.2,511,6141,0.00,1.95,0.00,0.000,4,0.000,0.062,3326,3771,2341,0,0,0,0,0,0
$GC,6164,0.76,146.0,362.5,15.7,513,6172,0.00,1.90,0.00,0.000,6,0.000,0.044,3336,2575,2341,0,0,0,0,0,0
$GC,6364,0.76,146.0,333.6,14.8,532,6368,0.00,1.92,0.00,0.000,4,0.000,0.062,3336,3770,2341,0,0,0,0,0,0
$GC,6398,0.76,146.0,327.8,17.2,535,6402,0.12,1.85,0.00,0.000,6,0.176,0.044,3313,2574,2341,0,0,0,0,0,0
$GC,6600,0.76,146.0,300.7,13.3,554,6604,0.00,1.92,0.00,0.000,4,0.000,0.064,3313,3764,2340,0,0,0,0,0,0
$GC,6634,0.76,146.0,295.7,15.0,557,6637,0.00,1.83,0.00,0.000,6,0.000,0.044,3320,2582,2340,0,0,0,0,0,0
$GC,6836,0.76,146.0,266.9,14.3,576,6840,0.00,1.92,0.00,0.000,4,0.000,0.062,3320,3775,2340,0,0,0,0,0,0
$GC,6874,0.76,146.0,260.8,16.6,579,6881,0.00,1.88,0.00,0.000,6,0.000,0.043,3330,2596,2340,0,0,0,0,0,0
$GC,7073,0.76,146.0,231.8,15.0,598,7077,0.00,1.90,0.00,0.000,4,0.000,0.063,3329,3774,2340,0,0,0,0,0,0
$GC,7108,0.76,146.0,226.2,16.7,601,7111,0.00,1.83,0.00,0.000,6,0.000,0.043,3338,2596,2340,0,0,0,0,0,0
$GC,7250,0.76,146.0,203.1,17.3,614,7253,0.00,1.90,0.00,0.000,4,0.000,0.063,3338,3771,2340,0,0,0,0,0,0
$GC,7275,0.76,146.0,197.8,19.1,616,7285,0.10,1.85,0.00,0.000,6,0.155,0.042,3315,2607,2340,0,0,0,0,0,0
$GC,7411,0.76,146.0,176.8,15.4,629,7412,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2606,2340,0,0,0,0,0,0
$GC,7537,0.76,146.0,157.1,15.5,641,7541,0.00,1.88,0.00,0.000,4,0.000,0.063,3315,3767,2340,0,0,0,0,0,0
$GC,7562,0.76,146.0,152.5,16.3,643,7572,0.00,1.83,0.00,0.000,6,0.000,0.042,3322,2613,2340,0,0,0,0,0,0
$GC,7699,0.76,146.0,132.5,14.5,656,7700,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2612,2340,0,0,0,0,0,0
$GC,7826,0.76,146.0,112.9,16.3,668,7830,0.00,1.88,0.00,0.000,4,0.000,0.064,3322,3770,2340,0,0,0,0,0,0
$GC,7871,0.76,146.0,105.2,17.4,672,7875,0.00,1.77,0.00,0.000,6,0.000,0.043,3332,2614,2340,0,0,0,0,0,0
$GC,8006,0.76,146.0,83.8,15.1,694,8014,0.00,2.42,0.00,0.000,4,0.000,0.052,3343,1090,2339,0,0,0,0,0,0
$GC,8050,0.76,146.0,78.2,13.1,701,8058,0.12,2.47,0.00,0.000,6,0.164,0.055,3310,2627,2339,0,0,0,0,0,0
$GC,8188,0.76,146.0,61.2,11.9,726,8197,0.00,1.85,0.00,0.000,4,0.000,0.063,3310,3764,2339,0,0,0,0,0,0
$GC,8235,0.76,146.0,54.1,15.9,734,8243,0.00,1.83,0.00,0.000,6,0.000,0.044,3318,2611,2339,0,0,0,0,0,0
$GC,8375,0.76,146.0,36.6,14.3,759,8381,0.00,2.40,0.00,0.000,4,0.000,0.051,3327,1082,2339,0,0,0,0,0,0
$GC,8401,0.76,146.0,33.5,12.7,763,8408,0.00,2.50,0.00,0.000,6,0.000,0.054,3328,2636,2339,0,0,0,0,0,0
$GC,8540,0.76,146.0,14.1,15.1,788,8548,0.00,1.83,0.00,0.000,4,0.000,0.060,3328,3764,2338,0,0,0,0,0,0
$FREEZE,8.41,-1.822,-1.907,2,1,0
$FREEZE,7.53,-1.822,-1.906,2,1,0
$FREEZE,6.53,-1.821,-1.906,2,1,0
$GC,8587,0.76,146.0,6.5,17.0,796,8596,0.00,1.80,0.00,0.000,6,0.000,0.039,3336,2610,2339,0,0,0,0,0,0
$FREEZE,3.85,-1.822,-1.903,2,1,0
$FREEZE,2.86,-1.821,-1.903,2,1,0
$STATE,8608,end climb,SURFACE_DEPTH_REACHED
$STATE,8608,begin surface coast
$FREEZE,1.46,-1.820,-1.902,2,1,0
$FREEZE,1.12,-1.841,-0.987,2,1,0
$FINISH,1.1,1.014554
$STATE,8621,end surface coast,FINISH_DEPTH_REACHED
$STATE,8621,begin surface
$SM_CCo,8635,131.93,0.766,1,0,1329,400.08
$SM_GC,1.88,0.00,0.00,131.93,0.000,0.000,0.766,420,2655,1329,-8.26,0.14,400.08
$IRIDIUM_FIX,-7639.69,16521.92,021210,232311
$TT8_MAMPS,0.02996
$HUMID,50.82
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,18.0
$ALTIM_BOTTOM_PING,601.8,41.7
$24V_AH,21.1,31.077
$10V_AH,10.0,17.910
$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,18.900,117.750,280.900,131.925,0.000,31.126,47.812,189.955,3.250,0.000,11.216,2007.566,4228.443,588.499,2174.722,138.504,0.000,1471.089,0.000,1415.638,0.000,19.173,0.000
$DEVICE_MAMPS,208.845,113.985,1209.465,765.765,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,565.072,979.991,841.297,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,275988
$DATA_FILE_SIZE,53842,801
$CAP_FILE_SIZE,125036,0
$CFSIZE,260165632,246317056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031210,044231,-7728.021,16518.451,48,1.1,49,144.1