version: 66.08
glider: 502
mission: 3
dive: 119
start: 12 3 110 4 48 26
data:
$ID,502
$MISSION,3
$DIVE,119
$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,-26251.055
$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,25
$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
$GPS1,031210,044231,-7728.021,16518.451,48,1.1,49,144.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-55.7
$GPS2,031210,044802,-7728.034,16518.297,10,1.3,10,144.1
$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,185.9,10764,-17.5,-10.000
$D_GRID,635
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,129,0.00,0.00,-111.80,0.000,2,0.000,0.000,417,2660,3362,0,0,0,0,0,0
$GC,132,-0.76,-146.0,3.1,-1.4,17,153,9.23,1.85,-5.60,0.000,4,0.215,0.079,2806,3768,3558,0,0,0,0,0,0
$GC,328,-0.76,-146.0,39.3,-17.9,52,337,0.00,1.80,0.00,0.000,6,0.000,0.045,2806,2649,3561,0,0,0,0,0,0
$GC,468,-0.76,-146.0,63.7,-17.2,77,475,0.00,1.85,0.00,0.000,4,0.000,0.066,2798,3766,3562,0,0,0,0,0,0
$GC,508,-0.76,-146.0,70.3,-17.0,84,516,0.00,1.77,0.00,0.000,6,0.000,0.046,2798,2662,3562,0,0,0,0,0,0
$GC,649,-0.76,-146.0,94.0,-17.2,109,655,0.00,1.83,0.00,0.000,4,0.000,0.066,2789,3769,3561,0,0,0,0,0,0
$GC,666,-0.76,-146.0,97.6,-17.6,112,675,0.00,1.77,0.00,0.000,6,0.000,0.044,2790,2660,3561,0,0,0,0,0,0
$GC,810,-0.76,-146.0,123.5,-18.2,126,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2659,3562,0,0,0,0,0,0
$GC,937,-0.76,-146.0,146.2,-17.7,138,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2659,3561,0,0,0,0,0,0
$GC,1065,-0.76,-146.0,167.9,-16.5,150,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2659,3561,0,0,0,0,0,0
$GC,1192,-0.76,-146.0,188.0,-15.3,162,1196,0.00,1.80,0.00,0.000,4,0.000,0.067,2781,3764,3561,0,0,0,0,0,0
$GC,1218,-0.76,-146.0,192.6,-16.9,164,1227,0.10,1.77,0.00,0.000,6,0.152,0.044,2813,2647,3561,0,0,0,0,0,0
$GC,1355,-0.76,-146.0,211.7,-14.0,177,1359,0.00,1.80,0.00,0.000,4,0.000,0.066,2806,3759,3562,0,0,0,0,0,0
$GC,1380,-0.76,-146.0,216.3,-16.1,179,1390,0.00,1.73,0.00,0.000,6,0.000,0.044,2806,2667,3562,0,0,0,0,0,0
$GC,1516,-0.76,-146.0,236.9,-15.2,192,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2667,3562,0,0,0,0,0,0
$GC,1642,-0.76,-146.0,256.6,-15.1,204,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2667,3562,0,0,0,0,0,0
$GC,1835,-0.76,-146.0,284.3,-14.5,222,1839,0.00,1.77,0.00,0.000,4,0.000,0.066,2798,3767,3562,0,0,0,0,0,0
$GC,1891,-0.76,-146.0,293.2,-14.7,227,1895,0.00,1.70,0.00,0.000,6,0.000,0.045,2798,2666,3561,0,0,0,0,0,0
$GC,2094,-0.76,-146.0,322.5,-15.1,246,2095,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2663,3562,0,0,0,0,0,0
$GC,2286,-0.76,-146.0,350.4,-14.5,264,2290,0.00,1.77,0.00,0.000,4,0.000,0.066,2790,3766,3562,0,0,0,0,0,0
$GC,2324,-0.76,-146.0,356.8,-16.0,267,2331,0.00,1.73,0.00,0.000,6,0.000,0.043,2790,2672,3561,0,0,0,0,0,0
$GC,2524,-0.76,-146.0,388.4,-16.1,286,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2671,3561,0,0,0,0,0,0
$GC,2712,-0.76,-146.0,418.4,-15.5,304,2716,0.00,1.75,0.00,0.000,4,0.000,0.067,2781,3758,3562,0,0,0,0,0,0
$GC,2761,-0.76,-146.0,426.7,-16.9,308,2770,0.10,1.73,0.00,0.000,6,0.150,0.044,2814,2671,3561,0,0,0,0,0,0
$GC,2960,-0.76,-146.0,453.8,-13.4,327,2964,0.00,1.75,0.00,0.000,4,0.000,0.066,2807,3759,3561,0,0,0,0,0,0
$GC,2994,-0.76,-146.0,458.8,-15.0,330,2998,0.00,1.67,0.00,0.000,6,0.000,0.045,2807,2673,3561,0,0,0,0,0,0
$GC,3197,-0.76,-146.0,486.9,-14.0,349,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2672,3562,0,0,0,0,0,0
$GC,3384,-0.76,-146.0,512.3,-13.4,361,3387,0.00,1.75,0.00,0.000,4,0.000,0.067,2798,3759,3561,0,0,0,0,0,0
$GC,3432,-0.76,-146.0,519.8,-14.8,362,3437,0.00,1.70,0.00,0.000,6,0.000,0.044,2798,2683,3561,0,0,0,0,0,0
$GC,3635,-0.76,-146.0,548.2,-14.1,369,3639,0.00,1.75,0.00,0.000,4,0.000,0.067,2790,3763,3561,0,0,0,0,0,0
$GC,3669,-0.76,-146.0,553.4,-15.3,370,3672,0.00,1.65,0.00,0.000,6,0.000,0.044,2790,2691,3561,0,0,0,0,0,0
$GC,3886,-0.76,-146.0,586.0,-15.0,377,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2690,3561,0,0,0,0,0,0
$GC,4070,-0.76,-146.0,612.9,-14.5,383,4074,0.00,1.73,0.00,0.000,4,0.000,0.067,2782,3759,3561,0,0,0,0,0,0
$GC,4119,-0.76,-146.0,620.6,-15.1,384,4124,0.10,1.67,0.00,0.000,6,0.149,0.044,2814,2698,3561,0,0,0,0,0,0
$STATE,4197,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4197,begin apogee
$GC,4201,-0.17,0.0,629.9,11.9,387,4340,0.57,0.00,134.55,1.214,4,0.130,0.000,3003,2492,2960,0,0,0,0,0,0
$STATE,4341,end apogee,CONTROL_FINISHED_OK
$STATE,4341,begin climb
$GC,4342,0.76,146.0,634.8,0.0,391,4496,0.95,0.00,146.75,1.141,6,0.080,0.000,3306,2492,2364,0,0,0,0,0,0
$GC,4698,0.76,146.0,595.4,13.6,403,4702,0.00,2.17,0.00,0.000,4,0.000,0.063,3306,3762,2350,0,0,0,0,0,0
$GC,4808,0.76,146.0,577.7,16.3,406,4813,0.00,2.05,0.00,0.000,6,0.000,0.043,3316,2515,2349,0,0,0,0,0,0
$GC,5010,0.76,146.0,548.9,14.2,413,5014,0.00,2.05,0.00,0.000,4,0.000,0.060,3316,3767,2345,0,0,0,0,0,0
$GC,5053,0.76,146.0,541.7,16.8,414,5058,0.00,2.00,0.00,0.000,6,0.000,0.043,3325,2522,2345,0,0,0,0,0,0
$GC,5261,0.76,146.0,510.7,15.1,421,5265,0.00,2.03,0.00,0.000,4,0.000,0.063,3325,3760,2343,0,0,0,0,0,0
$GC,5316,0.76,146.0,501.4,16.8,422,5320,0.00,1.98,0.00,0.000,6,0.000,0.044,3335,2529,2344,0,0,0,0,0,0
$GC,5519,0.76,146.0,469.4,16.2,441,5523,0.00,2.00,0.00,0.000,4,0.000,0.063,3335,3760,2342,0,0,0,0,0,0
$GC,5568,0.76,146.0,460.7,17.7,445,5577,0.10,1.95,0.00,0.000,6,0.150,0.043,3313,2542,2342,0,0,0,0,0,0
$GC,5768,0.76,146.0,434.3,12.5,464,5772,0.00,1.98,0.00,0.000,4,0.000,0.063,3313,3764,2342,0,0,0,0,0,0
$GC,5805,0.76,146.0,428.6,15.0,467,5813,0.00,1.92,0.00,0.000,6,0.000,0.044,3320,2552,2342,0,0,0,0,0,0
$GC,6003,0.76,146.0,401.9,14.0,486,6007,0.00,1.95,0.00,0.000,4,0.000,0.063,3321,3761,2341,0,0,0,0,0,0
$GC,6041,0.76,146.0,395.8,15.5,489,6048,0.00,1.92,0.00,0.000,6,0.000,0.044,3330,2550,2341,0,0,0,0,0,0
$GC,6240,0.76,146.0,367.7,14.1,508,6244,0.00,1.95,0.00,0.000,4,0.000,0.063,3330,3759,2341,0,0,0,0,0,0
$GC,6275,0.76,146.0,362.3,16.0,511,6278,0.00,1.85,0.00,0.000,6,0.000,0.044,3339,2558,2341,0,0,0,0,0,0
$GC,6477,0.76,146.0,332.2,14.7,530,6481,0.00,1.95,0.00,0.000,4,0.000,0.061,3339,3771,2341,0,0,0,0,0,0
$GC,6512,0.76,146.0,326.7,17.5,533,6516,0.12,1.88,0.00,0.000,6,0.181,0.044,3317,2558,2341,0,0,0,0,0,0
$GC,6714,0.76,146.0,299.4,13.3,552,6715,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2556,2340,0,0,0,0,0,0
$GC,6905,0.76,146.0,274.9,12.9,570,6909,0.00,1.95,0.00,0.000,4,0.000,0.063,3316,3769,2340,0,0,0,0,0,0
$GC,6954,0.76,146.0,267.4,15.1,574,6962,0.00,1.90,0.00,0.000,6,0.000,0.043,3324,2566,2340,0,0,0,0,0,0
$GC,7155,0.76,146.0,240.0,13.8,593,7163,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2566,2340,0,0,0,0,0,0
$GC,7290,0.76,146.0,221.0,13.9,606,7293,0.00,1.92,0.00,0.000,4,0.000,0.065,3324,3758,2339,0,0,0,0,0,0
$GC,7335,0.76,146.0,214.0,16.7,610,7338,0.00,1.83,0.00,0.000,6,0.000,0.044,3333,2572,2339,0,0,0,0,0,0
$GC,7477,0.76,146.0,193.0,14.6,623,7481,0.00,2.33,0.00,0.000,4,0.000,0.052,3344,1080,2339,0,0,0,0,0,0
$GC,7505,0.76,146.0,188.8,14.0,625,7510,0.12,2.40,0.00,0.000,6,0.165,0.055,3311,2579,2339,0,0,0,0,0,0
$GC,7641,0.76,146.0,171.1,13.2,637,7645,0.00,1.88,0.00,0.000,4,0.000,0.063,3311,3761,2339,0,0,0,0,0,0
$GC,7699,0.76,146.0,161.9,15.0,642,7708,0.00,1.85,0.00,0.000,6,0.000,0.044,3318,2583,2339,0,0,0,0,0,0
$GC,7837,0.76,146.0,144.5,12.5,655,7838,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2582,2339,0,0,0,0,0,0
$GC,7962,0.76,146.0,127.8,12.7,667,7966,0.00,1.90,0.00,0.000,4,0.000,0.062,3318,3765,2339,0,0,0,0,0,0
$GC,7998,0.76,146.0,122.7,16.0,670,8001,0.00,1.83,0.00,0.000,6,0.000,0.043,3327,2579,2339,0,0,0,0,0,0
$GC,8138,0.76,146.0,102.2,14.0,683,8139,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2576,2339,0,0,0,0,0,0
$GC,8268,0.76,146.0,84.4,13.5,705,8275,0.00,1.92,0.00,0.000,4,0.000,0.063,3327,3768,2339,0,0,0,0,0,0
$GC,8307,0.76,146.0,78.1,15.7,712,8316,0.00,1.85,0.00,0.000,6,0.000,0.044,3337,2597,2338,0,0,0,0,0,0
$GC,8449,0.76,146.0,57.1,14.5,737,8455,0.00,1.90,0.00,0.000,4,0.000,0.064,3337,3770,2339,0,0,0,0,0,0
$GC,8507,0.76,146.0,47.4,17.6,747,8514,0.12,1.83,0.00,0.000,6,0.181,0.044,3314,2595,2339,0,0,0,0,0,0
$GC,8644,0.76,146.0,24.5,17.0,772,8653,0.00,1.92,0.00,0.000,4,0.000,0.065,3313,3758,2339,0,0,0,0,0,0
$GC,8692,0.76,146.0,16.4,16.6,780,8701,0.00,1.80,0.00,0.000,6,0.000,0.045,3320,2625,2338,0,0,0,0,0,0
$FREEZE,8.86,-1.808,-1.908,2,1,0
$FREEZE,8.07,-1.807,-1.907,2,1,0
$FREEZE,7.45,-1.807,-1.907,2,1,0
$FREEZE,6.97,-1.807,-1.906,2,1,0
$FREEZE,6.30,-1.807,-1.906,2,1,0
$FREEZE,5.81,-1.807,-1.905,2,1,0
$FREEZE,5.28,-1.807,-1.905,2,1,0
$FREEZE,4.58,-1.808,-1.904,2,1,0
$FREEZE,3.78,-1.808,-1.904,2,1,0
$FREEZE,3.34,-1.808,-1.903,2,1,0
$FREEZE,2.89,-1.810,-1.903,2,1,0
$STATE,8802,end climb,SURFACE_DEPTH_REACHED
$STATE,8802,begin surface coast
$FREEZE,2.52,-1.811,-1.903,2,1,0
$FREEZE,2.14,-1.812,-1.902,2,1,0
$FREEZE,1.60,-1.810,-1.902,2,1,0
$FREEZE,1.16,-1.814,-1.902,2,1,0
$FREEZE,1.20,-1.814,-1.889,2,1,0
$FINISH,1.2,1.027699
$STATE,8833,end surface coast,CONTROL_FINISHED_OK
$STATE,8833,begin surface
$SM_CCo,8847,131.80,0.767,1,0,1329,400.08
$SM_GC,1.97,0.00,0.00,131.80,0.000,0.000,0.767,413,2621,1329,-8.28,-0.82,400.08
$IRIDIUM_FIX,-7639.69,16521.92,031210,020256
$TT8_MAMPS,0.028462
$HUMID,51.14
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.00
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.2,17.0
$ALTIM_BOTTOM_PING,604.2,38.9
$24V_AH,21.1,31.214
$10V_AH,10.0,18.002
$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,19.050,105.025,281.300,131.800,0.000,25.706,41.644,174.794,4.000,0.000,11.340,2038.764,4420.037,564.855,2152.925,143.480,0.000,1436.407,0.000,1421.534,0.000,19.171,0.000
$DEVICE_MAMPS,214.965,78.795,1214.055,767.295,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,567.916,979.815,839.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,275932
$DATA_FILE_SIZE,53610,804
$CAP_FILE_SIZE,124716,0
$CFSIZE,260165632,246251520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031210,071930,-7727.544,16515.537,43,1.5,43,144.2