version: 66.08
glider: 502
mission: 3
dive: 120
start: 12 3 110 7 25 55
data:
$ID,502
$MISSION,3
$DIVE,120
$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,-26252.312
$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,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
$GPS1,031210,071930,-7727.544,16515.537,43,1.5,43,144.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-57.0
$GPS2,031210,072532,-7727.543,16515.445,16,1.5,16,144.2
$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,189.1,9416,-17.5,-10.000
$D_GRID,597
$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,-146.0,0.0,0.0,0,123,0.00,0.00,-104.95,0.000,2,0.000,0.000,409,2620,3246,0,0,0,0,0,0
$GC,125,-0.76,-146.0,3.2,-2.5,16,154,9.10,2.30,-10.30,0.000,4,0.209,0.070,2806,1244,3560,0,0,0,0,0,0
$GC,400,-0.76,-146.0,44.2,-16.6,65,407,0.00,2.33,0.00,0.000,6,0.000,0.063,2798,2648,3563,0,0,0,0,0,0
$GC,536,-0.76,-146.0,68.1,-17.3,90,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2648,3563,0,0,0,0,0,0
$GC,677,-0.76,-146.0,92.3,-17.8,115,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2648,3563,0,0,0,0,0,0
$GC,818,-0.76,-146.0,117.1,-17.5,132,822,0.00,1.80,0.00,0.000,4,0.000,0.064,2790,3771,3563,0,0,0,0,0,0
$GC,842,-0.76,-146.0,121.4,-18.3,134,845,0.00,1.75,0.00,0.000,6,0.000,0.044,2790,2645,3563,0,0,0,0,0,0
$GC,982,-0.76,-146.0,145.5,-16.7,147,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2644,3562,0,0,0,0,0,0
$GC,1109,-0.76,-146.0,166.8,-16.9,159,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2643,3563,0,0,0,0,0,0
$GC,1237,-0.76,-146.0,188.4,-16.7,171,1240,0.00,1.83,0.00,0.000,4,0.000,0.066,2780,3768,3563,0,0,0,0,0,0
$GC,1271,-0.76,-146.0,194.6,-18.3,174,1275,0.12,1.73,0.00,0.000,6,0.173,0.044,2814,2654,3563,0,0,0,0,0,0
$GC,1410,-0.76,-146.0,216.1,-14.8,187,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2654,3563,0,0,0,0,0,0
$GC,1538,-0.76,-146.0,235.2,-15.1,199,1539,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2653,3563,0,0,0,0,0,0
$GC,1666,-0.76,-146.0,254.4,-14.9,211,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2653,3563,0,0,0,0,0,0
$GC,1855,-0.76,-146.0,281.8,-13.7,229,1859,0.00,1.80,0.00,0.000,4,0.000,0.067,2807,3763,3563,0,0,0,0,0,0
$GC,1889,-0.76,-146.0,286.9,-15.4,232,1893,0.00,1.70,0.00,0.000,6,0.000,0.044,2807,2662,3563,0,0,0,0,0,0
$GC,2092,-0.76,-146.0,315.7,-14.2,251,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2659,3563,0,0,0,0,0,0
$GC,2284,-0.76,-146.0,342.5,-13.7,269,2288,0.00,1.80,0.00,0.000,4,0.000,0.068,2799,3767,3563,0,0,0,0,0,0
$GC,2334,-0.76,-146.0,350.4,-14.9,273,2341,0.00,1.73,0.00,0.000,6,0.000,0.045,2798,2651,3563,0,0,0,0,0,0
$GC,2533,-0.76,-146.0,378.7,-14.1,292,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2651,3563,0,0,0,0,0,0
$GC,2722,-0.76,-146.0,405.6,-13.9,310,2726,0.00,1.80,0.00,0.000,4,0.000,0.067,2790,3761,3563,0,0,0,0,0,0
$GC,2771,-0.76,-146.0,413.3,-15.9,314,2779,0.00,1.73,0.00,0.000,6,0.000,0.044,2790,2674,3563,0,0,0,0,0,0
$GC,2971,-0.76,-146.0,441.8,-14.2,333,2972,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2674,3563,0,0,0,0,0,0
$GC,3161,-0.76,-146.0,469.6,-14.5,351,3164,0.00,1.77,0.00,0.000,4,0.000,0.067,2781,3766,3563,0,0,0,0,0,0
$GC,3194,-0.76,-146.0,475.0,-16.1,354,3199,0.12,1.70,0.00,0.000,6,0.176,0.045,2813,2669,3563,0,0,0,0,0,0
$GC,3418,-0.76,-146.0,504.2,-12.9,373,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2667,3563,0,0,0,0,0,0
$GC,3601,-0.76,-146.0,528.3,-13.1,379,3605,0.00,1.83,0.00,0.000,4,0.000,0.065,2807,3767,3562,0,0,0,0,0,0
$GC,3638,-0.76,-146.0,533.9,-14.5,380,3644,0.00,1.73,0.00,0.000,6,0.000,0.044,2806,2683,3563,0,0,0,0,0,0
$GC,3852,-0.76,-146.0,562.5,-13.4,387,3853,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2681,3562,0,0,0,0,0,0
$GC,4036,-0.76,-146.0,586.7,-13.1,393,4039,0.00,1.75,0.00,0.000,4,0.000,0.068,2798,3761,3563,0,0,0,0,0,0
$GC,4073,-0.76,-146.0,592.2,-14.6,394,4078,0.00,1.70,0.00,0.000,6,0.000,0.044,2798,2684,3563,0,0,0,0,0,0
$STATE,4134,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4135,begin apogee
$GC,4139,-0.17,0.0,600.2,13.4,396,4278,0.62,0.00,134.50,1.194,4,0.135,0.000,2999,2490,2961,0,0,0,0,0,0
$STATE,4279,end apogee,CONTROL_FINISHED_OK
$STATE,4279,begin climb
$GC,4280,0.76,146.0,604.5,0.0,400,4432,0.95,0.00,146.40,1.121,6,0.080,0.000,3305,2490,2365,0,0,0,0,0,0
$GC,4627,0.76,146.0,565.3,13.2,412,4631,0.00,2.20,0.00,0.000,4,0.000,0.063,3305,3769,2350,0,0,0,0,0,0
$GC,4723,0.76,146.0,550.7,15.5,415,4727,0.00,2.03,0.00,0.000,6,0.000,0.044,3315,2522,2349,0,0,0,0,0,0
$GC,4941,0.76,146.0,520.3,13.7,422,4945,0.00,2.05,0.00,0.000,4,0.000,0.062,3315,3763,2346,0,0,0,0,0,0
$GC,4978,0.76,146.0,514.2,16.5,423,4983,0.00,2.00,0.00,0.000,6,0.000,0.043,3324,2526,2345,0,0,0,0,0,0
$GC,5173,0.76,146.0,485.9,14.4,434,5177,0.00,2.03,0.00,0.000,4,0.000,0.062,3324,3768,2344,0,0,0,0,0,0
$GC,5211,0.76,146.0,479.7,15.9,437,5219,0.00,1.98,0.00,0.000,6,0.000,0.043,3333,2540,2344,0,0,0,0,0,0
$GC,5411,0.76,146.0,451.0,14.5,456,5414,0.00,2.00,0.00,0.000,4,0.000,0.063,3334,3770,2342,0,0,0,0,0,0
$GC,5459,0.76,146.0,442.4,17.1,460,5468,0.08,1.98,0.00,0.000,6,0.155,0.044,3318,2539,2342,0,0,0,0,0,0
$GC,5659,0.76,146.0,414.3,13.4,479,5660,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2538,2342,0,0,0,0,0,0
$GC,5849,0.76,146.0,388.1,13.3,497,5852,0.00,1.98,0.00,0.000,4,0.000,0.062,3318,3763,2342,0,0,0,0,0,0
$GC,5905,0.76,146.0,379.3,16.3,502,5909,0.00,1.90,0.00,0.000,6,0.000,0.044,3327,2543,2341,0,0,0,0,0,0
$GC,6108,0.76,146.0,349.5,14.6,521,6111,0.00,1.98,0.00,0.000,4,0.000,0.063,3327,3762,2341,0,0,0,0,0,0
$GC,6135,0.76,146.0,344.7,17.0,523,6142,0.00,1.88,0.00,0.000,6,0.000,0.044,3336,2552,2341,0,0,0,0,0,0
$GC,6333,0.76,146.0,314.3,15.3,542,6336,0.00,1.95,0.00,0.000,4,0.000,0.063,3336,3762,2341,0,0,0,0,0,0
$GC,6370,0.76,146.0,307.6,17.6,545,6379,0.10,1.90,0.00,0.000,6,0.149,0.043,3313,2563,2341,0,0,0,0,0,0
$GC,6570,0.76,146.0,280.3,13.6,564,6574,0.00,1.95,0.00,0.000,4,0.000,0.062,3313,3770,2341,0,0,0,0,0,0
$GC,6604,0.76,146.0,275.0,15.8,567,6608,0.00,1.88,0.00,0.000,6,0.000,0.044,3321,2559,2341,0,0,0,0,0,0
$GC,6809,0.76,146.0,246.5,13.8,586,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2557,2340,0,0,0,0,0,0
$GC,6936,0.76,146.0,228.9,13.9,598,6939,0.00,1.95,0.00,0.000,4,0.000,0.063,3321,3767,2340,0,0,0,0,0,0
$GC,6970,0.76,146.0,223.7,15.2,601,6974,0.00,1.85,0.00,0.000,6,0.000,0.043,3330,2567,2340,0,0,0,0,0,0
$GC,7112,0.76,146.0,203.9,14.0,614,7116,0.00,2.33,0.00,0.000,4,0.000,0.053,3341,1081,2340,0,0,0,0,0,0
$GC,7140,0.76,146.0,199.8,13.4,616,7145,0.00,2.40,0.00,0.000,6,0.000,0.055,3341,2581,2339,0,0,0,0,0,0
$GC,7277,0.76,146.0,180.8,14.3,628,7280,0.00,1.88,0.00,0.000,4,0.000,0.061,3340,3765,2339,0,0,0,0,0,0
$GC,7322,0.76,146.0,173.0,17.5,632,7326,0.15,1.83,0.00,0.000,6,0.173,0.043,3309,2580,2339,0,0,0,0,0,0
$GC,7463,0.76,146.0,154.8,12.5,645,7464,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2578,2339,0,0,0,0,0,0
$GC,7590,0.76,146.0,139.1,12.3,657,7594,0.00,2.33,0.00,0.000,4,0.000,0.052,3319,1088,2339,0,0,0,0,0,0
$GC,7609,0.76,146.0,136.4,12.0,658,7619,0.00,2.45,0.00,0.000,6,0.000,0.054,3319,2587,2339,0,0,0,0,0,0
$GC,7746,0.76,146.0,119.1,13.5,671,7750,0.00,1.88,0.00,0.000,4,0.000,0.062,3319,3771,2338,0,0,0,0,0,0
$GC,7793,0.76,146.0,111.2,16.2,675,7803,0.00,1.85,0.00,0.000,6,0.000,0.043,3328,2598,2339,0,0,0,0,0,0
$GC,7930,0.76,146.0,91.7,14.9,693,7937,0.00,1.88,0.00,0.000,4,0.000,0.061,3328,3763,2338,0,0,0,0,0,0
$GC,7966,0.76,146.0,85.8,16.3,699,7973,0.00,1.80,0.00,0.000,6,0.000,0.044,3337,2603,2338,0,0,0,0,0,0
$GC,8104,0.76,146.0,65.5,15.3,724,8112,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2601,2338,0,0,0,0,0,0
$GC,8246,0.80,175.1,45.7,8.7,749,8274,0.00,2.00,22.73,0.858,4,0.000,0.062,3336,3767,2246,0,0,0,0,0,0
$GC,8387,0.80,175.1,22.9,15.0,774,8395,0.00,1.85,0.00,0.000,6,0.000,0.044,3345,2617,2243,0,0,0,0,0,0
$FREEZE,8.48,-1.819,-1.908,2,1,0
$FREEZE,7.42,-1.819,-1.907,2,1,0
$FREEZE,6.80,-1.823,-1.906,2,1,0
$FREEZE,5.73,-1.820,-1.905,2,1,0
$FREEZE,4.63,-1.818,-1.905,2,1,0
$FREEZE,3.51,-1.819,-1.904,2,1,0
$FREEZE,3.06,-1.826,-1.903,2,1,0
$FREEZE,2.43,-1.823,-1.903,2,1,0
$STATE,8512,end climb,SURFACE_DEPTH_REACHED
$STATE,8512,begin surface coast
$FREEZE,1.68,-1.823,-1.902,2,1,0
$FREEZE,1.22,-1.826,-1.902,2,1,0
$FREEZE,1.20,-1.864,-0.579,2,1,0
$FINISH,1.2,1.008411
$STATE,8532,end surface coast,FINISH_DEPTH_REACHED
$STATE,8532,begin surface
$SM_CCo,8546,125.82,0.766,1,0,1328,400.08
$SM_GC,1.88,0.00,0.00,125.82,0.000,0.000,0.766,416,2656,1328,-8.27,0.17,400.08
$IRIDIUM_FIX,-7639.69,16516.90,031210,040451
$TT8_MAMPS,0.028462
$HUMID,51.06
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,13.90
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.9,18.7
$ALTIM_BOTTOM_PING,600.2,14.7
$24V_AH,21.1,31.353
$10V_AH,10.0,18.095
$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,18.975,93.000,303.625,125.825,0.000,29.335,52.169,184.185,3.750,0.000,17.515,2000.251,4195.488,547.309,2150.732,150.019,0.000,1390.392,0.000,1386.010,0.000,22.009,0.000
$DEVICE_MAMPS,208.845,131.580,1194.165,765.765,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,564.604,972.147,853.778,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,275948
$DATA_FILE_SIZE,53673,799
$CAP_FILE_SIZE,118604,0
$CFSIZE,260165632,246194176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031210,095200,-7727.003,16513.150,45,2.0,51,144.2