version: 66.08
glider: 502
mission: 3
dive: 122
start: 12 3 110 12 34 7
data:
$ID,502
$MISSION,3
$DIVE,122
$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,-26254.83
$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,35
$R_STBD_OVSHOOT,30
$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
$GPS1,031210,122007,-7726.602,16511.648,43,1.0,44,144.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-57.9
$GPS2,031210,123344,-7726.592,16511.400,14,1.5,14,144.2
$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,194.5,7139,-17.5,-10.000
$D_GRID,552
$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,-146.0,0.0,0.0,0,104,0.00,0.00,-85.95,0.000,2,0.000,0.000,411,2672,2859,0,0,0,0,0,0
$GC,106,-0.76,-146.0,3.2,-4.4,13,153,9.05,1.88,-29.45,0.000,4,0.209,0.084,2799,3760,3559,0,0,0,0,0,0
$GC,399,-0.76,-146.0,51.4,-16.2,65,406,0.00,1.77,0.00,0.000,6,0.000,0.045,2799,2633,3562,0,0,0,0,0,0
$GC,535,-0.76,-146.0,74.0,-16.3,90,544,0.00,1.90,0.00,0.000,4,0.000,0.067,2791,3758,3563,0,0,0,0,0,0
$GC,600,-0.76,-146.0,85.2,-18.3,101,607,0.00,1.77,0.00,0.000,6,0.000,0.044,2790,2630,3563,0,0,0,0,0,0
$GC,738,-0.76,-146.0,110.0,-18.4,121,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2628,3563,0,0,0,0,0,0
$GC,864,-0.76,-146.0,133.2,-18.3,133,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2628,3563,0,0,0,0,0,0
$GC,992,-0.76,-146.0,155.2,-16.8,145,995,0.00,1.85,0.00,0.000,4,0.000,0.067,2781,3759,3563,0,0,0,0,0,0
$GC,1037,-0.76,-146.0,163.4,-17.8,149,1041,0.12,1.73,0.00,0.000,6,0.176,0.044,2814,2647,3563,0,0,0,0,0,0
$GC,1177,-0.76,-146.0,185.3,-15.4,162,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2645,3563,0,0,0,0,0,0
$GC,1304,-0.76,-146.0,204.3,-14.8,174,1307,0.00,1.80,0.00,0.000,4,0.000,0.065,2807,3756,3563,0,0,0,0,0,0
$GC,1339,-0.76,-146.0,209.8,-16.6,177,1343,0.00,1.70,0.00,0.000,6,0.000,0.044,2807,2662,3563,0,0,0,0,0,0
$GC,1481,-0.76,-146.0,232.6,-15.9,190,1482,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2660,3563,0,0,0,0,0,0
$GC,1605,-0.76,-146.0,252.8,-15.8,202,1609,0.00,2.25,0.00,0.000,4,0.000,0.053,2807,1237,3563,0,0,0,0,0,0
$GC,1631,-0.76,-146.0,257.4,-15.8,204,1639,0.00,2.33,0.00,0.000,6,0.000,0.059,2797,2647,3563,0,0,0,0,0,0
$GC,1831,-0.76,-146.0,289.7,-16.1,223,1834,0.00,1.77,0.00,0.000,4,0.000,0.065,2789,3763,3563,0,0,0,0,0,0
$GC,1879,-0.76,-146.0,298.4,-16.3,227,1887,0.00,1.75,0.00,0.000,6,0.000,0.044,2789,2659,3563,0,0,0,0,0,0
$GC,2079,-0.76,-146.0,329.5,-15.6,246,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2658,3563,0,0,0,0,0,0
$GC,2269,-0.76,-146.0,359.8,-15.7,264,2272,0.00,1.80,0.00,0.000,4,0.000,0.067,2780,3768,3563,0,0,0,0,0,0
$GC,2314,-0.76,-146.0,367.4,-17.4,268,2318,0.12,1.73,0.00,0.000,6,0.172,0.044,2813,2652,3563,0,0,0,0,0,0
$GC,2517,-0.76,-146.0,396.9,-14.5,287,2518,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2651,3563,0,0,0,0,0,0
$GC,2707,-0.76,-146.0,424.2,-13.9,305,2711,0.00,1.80,0.00,0.000,4,0.000,0.067,2806,3763,3563,0,0,0,0,0,0
$GC,2756,-0.76,-146.0,431.8,-15.0,309,2764,0.00,1.73,0.00,0.000,6,0.000,0.044,2806,2673,3562,0,0,0,0,0,0
$GC,2954,-0.76,-146.0,459.6,-14.0,328,2955,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2672,3563,0,0,0,0,0,0
$GC,3145,-0.76,-146.0,485.8,-13.4,346,3146,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2672,3563,0,0,0,0,0,0
$GC,3354,-0.76,-146.0,513.6,-13.5,360,3357,0.00,1.77,0.00,0.000,4,0.000,0.067,2798,3766,3563,0,0,0,0,0,0
$GC,3402,-0.76,-146.0,520.8,-14.1,361,3407,0.00,1.75,0.00,0.000,6,0.000,0.044,2798,2666,3562,0,0,0,0,0,0
$GC,3605,-0.76,-146.0,549.3,-14.0,368,3614,0.00,1.77,0.00,0.000,4,0.000,0.066,2790,3763,3562,0,0,0,0,0,0
$STATE,3622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3622,begin apogee
$GC,3628,-0.17,0.0,552.5,14.4,368,3769,0.68,0.00,133.35,1.170,4,0.135,0.000,3005,2490,2960,0,0,0,0,0,0
$STATE,3770,end apogee,CONTROL_FINISHED_OK
$STATE,3770,begin climb
$GC,3772,0.76,146.0,557.1,0.0,373,3929,0.95,2.53,144.50,1.091,4,0.076,0.052,3307,1099,2362,0,0,0,0,0,0
$GC,4013,0.76,146.0,533.6,12.3,380,4017,0.00,2.45,0.00,0.000,6,0.000,0.054,3308,2500,2353,0,0,0,0,0,0
$GC,4214,0.76,146.0,508.3,12.7,387,4218,0.00,2.30,0.00,0.000,4,0.000,0.051,3318,1098,2349,0,0,0,0,0,0
$GC,4343,0.76,146.0,492.0,12.8,393,4348,0.00,2.35,0.00,0.000,6,0.000,0.055,3318,2525,2346,0,0,0,0,0,0
$GC,4540,0.76,146.0,465.6,13.5,411,4544,0.00,2.03,0.00,0.000,4,0.000,0.062,3318,3767,2345,0,0,0,0,0,0
$GC,4630,0.76,146.0,451.7,15.9,419,4634,0.00,1.92,0.00,0.000,6,0.000,0.043,3327,2536,2345,0,0,0,0,0,0
$GC,4832,0.76,146.0,422.9,14.2,438,4836,0.00,2.00,0.00,0.000,4,0.000,0.062,3327,3768,2343,0,0,0,0,0,0
$GC,4866,0.76,146.0,417.7,15.7,441,4870,0.00,1.92,0.00,0.000,6,0.000,0.044,3337,2535,2343,0,0,0,0,0,0
$GC,5069,0.76,146.0,386.6,15.9,460,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2532,2342,0,0,0,0,0,0
$GC,5260,0.76,146.0,355.3,16.3,478,5263,0.00,1.98,0.00,0.000,4,0.000,0.062,3337,3763,2342,0,0,0,0,0,0
$GC,5327,0.76,146.0,343.0,17.9,484,5331,0.12,1.90,0.00,0.000,6,0.177,0.043,3314,2538,2342,0,0,0,0,0,0
$GC,5529,0.76,146.0,313.9,14.5,503,5533,0.00,1.98,0.00,0.000,4,0.000,0.062,3314,3761,2341,0,0,0,0,0,0
$GC,5563,0.76,146.0,308.5,16.2,506,5567,0.00,1.90,0.00,0.000,6,0.000,0.044,3322,2540,2341,0,0,0,0,0,0
$GC,5765,0.76,146.0,277.5,14.4,525,5769,0.00,1.98,0.00,0.000,4,0.000,0.062,3321,3761,2341,0,0,0,0,0,0
$GC,5792,0.76,146.0,272.8,16.6,527,5799,0.00,1.92,0.00,0.000,6,0.000,0.044,3331,2547,2341,0,0,0,0,0,0
$GC,5991,0.76,146.0,244.1,13.9,546,5995,0.00,1.98,0.00,0.000,4,0.000,0.063,3331,3768,2340,0,0,0,0,0,0
$GC,6039,0.76,146.0,236.0,16.3,550,6048,0.00,1.92,0.00,0.000,6,0.000,0.043,3340,2557,2341,0,0,0,0,0,0
$GC,6176,0.76,146.0,215.6,15.0,563,6180,0.00,1.95,0.00,0.000,4,0.000,0.061,3340,3766,2340,0,0,0,0,0,0
$GC,6212,0.76,146.0,209.9,17.9,566,6216,0.12,1.85,0.00,0.000,6,0.178,0.043,3316,2565,2340,0,0,0,0,0,0
$GC,6353,0.76,146.0,191.0,12.8,579,6357,0.00,1.95,0.00,0.000,4,0.000,0.063,3316,3770,2340,0,0,0,0,0,0
$GC,6398,0.76,146.0,184.4,15.4,583,6402,0.00,1.85,0.00,0.000,6,0.000,0.044,3323,2570,2340,0,0,0,0,0,0
$GC,6539,0.76,146.0,165.3,14.4,596,6540,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2568,2340,0,0,0,0,0,0
$GC,6666,0.76,146.0,146.8,15.8,608,6670,0.00,1.92,0.00,0.000,4,0.000,0.064,3323,3760,2340,0,0,0,0,0,0
$GC,6724,0.76,146.0,136.9,16.2,613,6734,0.00,1.85,0.00,0.000,6,0.000,0.043,3332,2588,2340,0,0,0,0,0,0
$GC,6862,0.76,146.0,118.7,13.0,626,6865,0.00,1.90,0.00,0.000,4,0.000,0.063,3333,3766,2340,0,0,0,0,0,0
$GC,6909,0.76,146.0,110.8,15.0,630,6919,0.08,1.85,0.00,0.000,6,0.155,0.042,3317,2598,2340,0,0,0,0,0,0
$GC,7045,0.76,146.0,93.8,12.9,647,7051,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2597,2340,0,0,0,0,0,0
$GC,7184,0.76,146.0,73.8,15.4,672,7192,0.00,1.92,0.00,0.000,4,0.000,0.063,3317,3764,2340,0,0,0,0,0,0
$GC,7231,0.76,146.0,66.8,14.2,680,7239,0.00,1.80,0.00,0.000,6,0.000,0.043,3324,2623,2340,0,0,0,0,0,0
$GC,7371,0.76,146.0,44.9,18.2,705,7377,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2621,2340,0,0,0,0,0,0
$GC,7508,0.76,146.0,24.4,15.3,730,7516,0.00,1.88,0.00,0.000,4,0.000,0.064,3324,3754,2340,0,0,0,0,0,0
$GC,7556,0.76,146.0,17.1,16.1,738,7564,0.00,1.77,0.00,0.000,6,0.000,0.044,3333,2633,2340,0,0,0,0,0,0
$FREEZE,8.64,-1.853,-1.908,2,1,0
$FREEZE,7.58,-1.853,-1.907,2,1,0
$FREEZE,6.40,-1.852,-1.906,2,1,0
$FREEZE,5.53,-1.853,-1.906,2,1,0
$FREEZE,4.27,-1.851,-1.905,2,1,0
$FREEZE,3.39,-1.853,-1.904,2,1,0
$FREEZE,2.44,-1.851,-1.903,2,1,0
$STATE,7636,end climb,SURFACE_DEPTH_REACHED
$STATE,7636,begin surface coast
$FREEZE,1.93,-1.854,-1.903,2,1,0
$FREEZE,1.35,-1.854,-1.902,2,1,0
$FREEZE,1.16,-1.870,-1.903,2,1,0
$FINISH,1.2,1.027899
$STATE,7656,end surface coast,CONTROL_FINISHED_OK
$STATE,7656,begin surface
$SM_CCo,7670,133.40,0.776,1,0,1329,400.08
$SM_GC,1.95,0.00,0.00,133.40,0.000,0.000,0.776,413,2626,1329,-8.28,-0.68,400.08
$IRIDIUM_FIX,-7639.69,16521.92,031210,121213
$TT8_MAMPS,0.027713
$HUMID,50.82
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,13.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,18.0
$ALTIM_BOTTOM_PING,550.2,23.6
$24V_AH,21.2,31.639
$10V_AH,9.9,18.280
$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,18.825,92.425,277.850,133.400,0.000,95.966,148.013,342.512,3.000,0.000,15.050,1887.871,3642.114,544.131,2408.078,148.574,0.000,1351.313,0.000,1328.705,0.000,17.411,0.000
$DEVICE_MAMPS,208.845,84.150,1169.685,776.475,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,533.423,915.692,835.537,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50499,755
$CAP_FILE_SIZE,117490,0
$CFSIZE,260165632,246083584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031210,144525,-7726.049,16511.221,22,1.5,34,144.2