version: 66.08
glider: 502
mission: 3
dive: 121
start: 12 3 110 9 59 0
data:
$ID,502
$MISSION,3
$DIVE,121
$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,-26253.57
$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,31
$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
$GPS1,031210,095200,-7727.003,16513.150,45,2.0,51,144.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-58.5
$GPS2,031210,095837,-7727.008,16513.039,11,1.2,16,144.2
$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,192.1,8103,-17.5,-10.000
$D_GRID,582
$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,-146.0,0.0,0.0,0,122,0.00,0.00,-104.20,0.000,2,0.000,0.000,410,2656,3234,0,0,0,0,0,0
$GC,125,-0.76,-146.0,3.1,-1.9,16,153,9.12,2.35,-9.82,0.000,4,0.210,0.067,2807,1243,3560,0,0,0,0,0,0
$GC,356,-0.76,-146.0,42.9,-17.1,57,363,0.00,2.33,0.00,0.000,6,0.000,0.059,2799,2656,3563,0,0,0,0,0,0
$GC,494,-0.76,-146.0,70.1,-16.6,82,502,0.00,1.83,0.00,0.000,4,0.000,0.065,2790,3762,3563,0,0,0,0,0,0
$GC,591,-0.76,-146.0,87.0,-18.0,99,598,0.00,1.77,0.00,0.000,6,0.000,0.044,2790,2630,3563,0,0,0,0,0,0
$GC,735,-0.76,-146.0,112.0,-17.8,119,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2628,3564,0,0,0,0,0,0
$GC,860,-0.76,-146.0,133.7,-17.4,131,864,0.00,1.85,0.00,0.000,4,0.000,0.067,2781,3762,3563,0,0,0,0,0,0
$GC,896,-0.76,-146.0,140.1,-18.7,134,901,0.12,1.73,0.00,0.000,6,0.176,0.044,2814,2651,3563,0,0,0,0,0,0
$GC,1038,-0.76,-146.0,161.7,-14.3,147,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2650,3563,0,0,0,0,0,0
$GC,1164,-0.76,-146.0,180.2,-15.0,159,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2649,3563,0,0,0,0,0,0
$GC,1291,-0.76,-146.0,198.3,-14.0,171,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2650,3563,0,0,0,0,0,0
$GC,1419,-0.76,-146.0,216.4,-14.6,183,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2650,3563,0,0,0,0,0,0
$GC,1546,-0.76,-146.0,234.9,-14.8,195,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2650,3563,0,0,0,0,0,0
$GC,1672,-0.76,-146.0,253.2,-14.5,207,1676,0.00,1.85,0.00,0.000,4,0.000,0.068,2806,3773,3563,0,0,0,0,0,0
$GC,1722,-0.76,-146.0,261.4,-16.0,211,1729,0.00,1.73,0.00,0.000,6,0.000,0.044,2807,2659,3563,0,0,0,0,0,0
$GC,1919,-0.76,-146.0,291.9,-15.6,230,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2659,3563,0,0,0,0,0,0
$GC,2110,-0.76,-146.0,322.1,-15.5,248,2114,0.00,1.80,0.00,0.000,4,0.000,0.066,2798,3769,3564,0,0,0,0,0,0
$GC,2137,-0.76,-146.0,326.8,-16.9,250,2145,0.00,1.75,0.00,0.000,6,0.000,0.044,2798,2664,3563,0,0,0,0,0,0
$GC,2335,-0.76,-146.0,357.7,-15.3,269,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2663,3563,0,0,0,0,0,0
$GC,2526,-0.76,-146.0,386.4,-14.7,287,2530,0.00,1.77,0.00,0.000,4,0.000,0.066,2790,3762,3563,0,0,0,0,0,0
$GC,2575,-0.76,-146.0,394.3,-15.6,291,2583,0.00,1.73,0.00,0.000,6,0.000,0.044,2790,2671,3563,0,0,0,0,0,0
$GC,2773,-0.76,-146.0,424.5,-15.7,310,2774,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2671,3563,0,0,0,0,0,0
$GC,2964,-0.76,-146.0,453.7,-14.8,328,2965,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2670,3563,0,0,0,0,0,0
$GC,3156,-0.76,-146.0,482.0,-14.7,346,3159,0.00,1.77,0.00,0.000,4,0.000,0.067,2781,3766,3563,0,0,0,0,0,0
$GC,3206,-0.76,-146.0,489.9,-15.4,350,3213,0.12,1.75,0.00,0.000,6,0.172,0.045,2815,2667,3563,0,0,0,0,0,0
$GC,3408,-0.76,-146.0,514.9,-11.9,362,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2667,3563,0,0,0,0,0,0
$GC,3592,-0.76,-146.0,537.7,-12.4,368,3596,0.00,1.77,0.00,0.000,4,0.000,0.067,2807,3764,3563,0,0,0,0,0,0
$GC,3641,-0.76,-146.0,544.4,-13.2,369,3646,0.00,1.73,0.00,0.000,6,0.000,0.044,2808,2676,3563,0,0,0,0,0,0
$GC,3843,-0.76,-146.0,570.0,-12.7,376,3844,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2674,3563,0,0,0,0,0,0
$STATE,3933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3933,begin apogee
$GC,3938,-0.17,0.0,582.1,13.2,379,4077,0.60,0.00,134.40,1.193,4,0.130,0.000,3002,2493,2961,0,0,0,0,0,0
$STATE,4077,end apogee,CONTROL_FINISHED_OK
$STATE,4077,begin climb
$GC,4079,0.76,146.0,586.1,0.0,383,4234,0.98,2.53,145.32,1.124,4,0.074,0.052,3313,1102,2363,0,0,0,0,0,0
$GC,4314,0.76,146.0,562.3,13.0,391,4318,0.00,2.45,0.00,0.000,6,0.000,0.054,3313,2501,2354,0,0,0,0,0,0
$GC,4526,0.76,146.0,532.9,13.8,398,4530,0.00,2.33,0.00,0.000,4,0.000,0.053,3323,1090,2349,0,0,0,0,0,0
$GC,4647,0.76,146.0,515.5,14.6,401,4655,0.00,2.40,0.00,0.000,6,0.000,0.055,3323,2515,2346,0,0,0,0,0,0
$GC,4840,0.76,146.0,486.6,15.2,412,4844,0.00,2.03,0.00,0.000,4,0.000,0.061,3323,3770,2345,0,0,0,0,0,0
$GC,4936,0.76,146.0,470.2,17.3,420,4942,0.00,1.95,0.00,0.000,6,0.000,0.044,3333,2537,2345,0,0,0,0,0,0
$GC,5133,0.76,146.0,438.2,15.9,439,5136,0.00,2.00,0.00,0.000,4,0.000,0.062,3332,3770,2344,0,0,0,0,0,0
$GC,5170,0.76,146.0,431.2,18.8,442,5179,0.08,1.95,0.00,0.000,6,0.152,0.044,3317,2549,2344,0,0,0,0,0,0
$GC,5370,0.76,146.0,402.0,14.2,461,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2548,2343,0,0,0,0,0,0
$GC,5559,0.76,146.0,375.7,13.4,479,5563,0.00,1.98,0.00,0.000,4,0.000,0.063,3317,3765,2342,0,0,0,0,0,0
$GC,5605,0.76,146.0,368.9,15.5,483,5608,0.00,1.92,0.00,0.000,6,0.000,0.044,3325,2530,2342,0,0,0,0,0,0
$GC,5809,0.76,146.0,339.2,14.4,502,5810,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2526,2342,0,0,0,0,0,0
$GC,5999,0.76,146.0,311.3,13.5,520,6002,0.00,2.00,0.00,0.000,4,0.000,0.063,3325,3764,2341,0,0,0,0,0,0
$GC,6066,0.76,146.0,300.1,17.2,526,6070,0.00,1.88,0.00,0.000,6,0.000,0.043,3335,2550,2341,0,0,0,0,0,0
$GC,6268,0.76,146.0,270.9,14.2,545,6272,0.00,1.98,0.00,0.000,4,0.000,0.063,3334,3771,2341,0,0,0,0,0,0
$GC,6314,0.76,146.0,263.7,16.8,549,6318,0.08,1.92,0.00,0.000,6,0.151,0.045,3318,2562,2341,0,0,0,0,0,0
$GC,6517,0.76,146.0,236.5,13.1,568,6518,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2561,2340,0,0,0,0,0,0
$GC,6645,0.76,146.0,219.6,13.5,580,6646,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2561,2340,0,0,0,0,0,0
$GC,6772,0.76,146.0,202.7,13.5,592,6776,0.00,1.95,0.00,0.000,4,0.000,0.063,3319,3766,2340,0,0,0,0,0,0
$GC,6807,0.76,146.0,197.7,14.8,595,6811,0.00,1.88,0.00,0.000,6,0.000,0.044,3326,2555,2340,0,0,0,0,0,0
$GC,6949,0.76,146.0,177.5,14.2,608,6950,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2553,2340,0,0,0,0,0,0
$GC,7075,0.76,146.0,159.7,13.9,620,7076,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2553,2340,0,0,0,0,0,0
$GC,7202,0.76,146.0,142.1,13.8,632,7206,0.00,1.95,0.00,0.000,4,0.000,0.062,3327,3763,2340,0,0,0,0,0,0
$GC,7260,0.76,146.0,132.2,16.7,637,7269,0.00,1.90,0.00,0.000,6,0.000,0.044,3336,2561,2340,0,0,0,0,0,0
$GC,7397,0.76,146.0,111.1,15.8,650,7405,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2561,2339,0,0,0,0,0,0
$GC,7532,0.76,146.0,91.3,14.0,668,7540,0.00,1.98,0.00,0.000,4,0.000,0.062,3336,3759,2340,0,0,0,0,0,0
$GC,7576,0.76,146.0,85.1,15.6,675,7584,0.12,1.85,0.00,0.000,6,0.176,0.044,3312,2568,2340,0,0,0,0,0,0
$GC,7714,0.76,146.0,68.8,10.9,700,7722,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2567,2340,0,0,0,0,0,0
$GC,7855,0.76,146.0,52.5,11.9,725,7861,0.00,1.95,0.00,0.000,4,0.000,0.064,3312,3768,2340,0,0,0,0,0,0
$GC,7944,0.76,146.0,41.4,13.8,741,7951,0.00,1.85,0.00,0.000,6,0.000,0.044,3320,2575,2340,0,0,0,0,0,0
$GC,8082,0.76,146.0,22.9,14.8,766,8090,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2573,2340,0,0,0,0,0,0
$FREEZE,8.20,-1.840,-1.907,2,1,0
$FREEZE,7.25,-1.839,-1.907,2,1,0
$FREEZE,6.30,-1.839,-1.906,2,1,0
$FREEZE,5.40,-1.840,-1.905,2,1,0
$FREEZE,4.36,-1.839,-1.905,2,1,0
$FREEZE,3.68,-1.838,-1.904,2,1,0
$FREEZE,2.48,-1.839,-1.903,2,1,0
$STATE,8216,end climb,SURFACE_DEPTH_REACHED
$STATE,8216,begin surface coast
$FREEZE,1.76,-1.839,-1.903,2,1,0
$FREEZE,1.27,-1.845,-1.902,2,1,0
$FREEZE,1.19,-1.949,-0.920,2,1,0
$FINISH,1.2,1.013545
$STATE,8235,end surface coast,FINISH_DEPTH_REACHED
$STATE,8235,begin surface
$SM_CCo,8250,132.48,0.769,1,0,1330,400.08
$SM_GC,1.99,0.00,0.00,132.48,0.000,0.000,0.769,418,2671,1330,-8.26,0.59,400.08
$IRIDIUM_FIX,-7708.23,15446.25,031210,070706
$TT8_MAMPS,0.028462
$HUMID,51.37
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.2,17.3
$24V_AH,21.1,31.490
$10V_AH,10.0,18.187
$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,18.625,74.500,279.725,132.475,0.000,29.904,37.292,232.610,2.750,0.000,17.672,1966.746,3980.285,535.312,2172.167,133.986,0.000,1343.760,0.000,1357.448,0.000,14.639,0.000
$DEVICE_MAMPS,209.610,88.740,1192.635,768.825,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,560.467,974.962,885.245,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53758,793
$CAP_FILE_SIZE,111036,0
$CFSIZE,260165632,246140928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031210,122007,-7726.602,16511.648,43,1.0,44,144.2