version: 66.08
glider: 502
mission: 3
dive: 124
start: 12 3 110 17 8 49
data:
$ID,502
$MISSION,3
$DIVE,124
$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,-26257.348
$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,33
$R_STBD_OVSHOOT,23
$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
$GPS1,031210,170127,-7725.188,16509.699,27,2.1,47,144.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-57.9
$GPS2,031210,170826,-7725.174,16509.412,27,2.4,46,144.2
$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,191.9,4405,-17.5,-10.000
$D_GRID,514
$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,-146.0,0.0,0.0,0,117,0.00,0.00,-98.80,0.000,2,0.000,0.000,409,2642,3134,0,0,0,0,0,0
$GC,119,-0.76,-146.0,3.0,-0.4,15,148,9.20,1.95,-13.52,0.000,4,0.214,0.083,2806,3764,3559,0,0,0,0,0,0
$GC,392,-0.76,-146.0,45.2,-14.8,64,400,0.00,1.80,0.00,0.000,6,0.000,0.046,2806,2651,3563,0,0,0,0,0,0
$GC,531,-0.76,-146.0,69.3,-19.9,89,538,0.00,1.85,0.00,0.000,4,0.000,0.068,2798,3766,3563,0,0,0,0,0,0
$GC,627,-0.76,-146.0,84.7,-15.2,106,635,0.00,1.80,0.00,0.000,6,0.000,0.046,2798,2641,3563,0,0,0,0,0,0
$GC,771,-0.76,-146.0,105.0,-14.4,129,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2640,3563,0,0,0,0,0,0
$GC,899,-0.76,-146.0,123.8,-14.5,141,902,0.00,1.83,0.00,0.000,4,0.000,0.066,2789,3762,3563,0,0,0,0,0,0
$GC,945,-0.76,-146.0,130.9,-14.9,145,948,0.00,1.73,0.00,0.000,6,0.000,0.044,2789,2655,3563,0,0,0,0,0,0
$GC,1087,-0.76,-146.0,153.5,-12.8,158,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2652,3563,0,0,0,0,0,0
$GC,1213,-0.76,-146.0,174.8,-19.5,170,1216,0.00,1.80,0.00,0.000,4,0.000,0.066,2781,3763,3563,0,0,0,0,0,0
$GC,1238,-0.76,-146.0,179.6,-15.7,172,1248,0.08,1.75,0.00,0.000,6,0.159,0.044,2805,2662,3563,0,0,0,0,0,0
$GC,1374,-0.76,-146.0,200.4,-16.3,185,1377,0.00,1.80,0.00,0.000,4,0.000,0.064,2798,3772,3563,0,0,0,0,0,0
$GC,1409,-0.76,-146.0,206.3,-17.1,188,1413,0.00,1.73,0.00,0.000,6,0.000,0.045,2799,2662,3563,0,0,0,0,0,0
$GC,1551,-0.76,-146.0,227.6,-14.4,201,1555,0.00,1.80,0.00,0.000,4,0.000,0.065,2790,3771,3563,0,0,0,0,0,0
$GC,1576,-0.76,-146.0,232.2,-15.5,203,1586,0.00,1.77,0.00,0.000,6,0.000,0.044,2790,2655,3563,0,0,0,0,0,0
$GC,1711,-0.76,-146.0,252.7,-15.3,216,1713,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2654,3563,0,0,0,0,0,0
$GC,1904,-0.76,-146.0,280.7,-14.3,234,1907,0.00,1.80,0.00,0.000,4,0.000,0.066,2781,3764,3563,0,0,0,0,0,0
$GC,1930,-0.76,-146.0,285.4,-17.0,236,1939,0.10,1.75,0.00,0.000,6,0.151,0.044,2813,2665,3563,0,0,0,0,0,0
$GC,2129,-0.76,-146.0,311.8,-13.2,255,2133,0.00,1.77,0.00,0.000,4,0.000,0.064,2806,3764,3563,0,0,0,0,0,0
$GC,2155,-0.76,-146.0,316.2,-15.2,257,2163,0.00,1.73,0.00,0.000,6,0.000,0.043,2807,2679,3563,0,0,0,0,0,0
$GC,2355,-0.76,-146.0,345.5,-15.5,276,2359,0.00,2.25,0.00,0.000,4,0.000,0.053,2806,1241,3563,0,0,0,0,0,0
$GC,2396,-0.76,-146.0,351.9,-15.0,279,2400,0.00,2.33,0.00,0.000,6,0.000,0.060,2797,2679,3563,0,0,0,0,0,0
$GC,2593,-0.76,-146.0,382.3,-15.4,297,2597,0.00,1.77,0.00,0.000,4,0.000,0.063,2789,3767,3563,0,0,0,0,0,0
$GC,2637,-0.76,-146.0,389.8,-16.6,301,2642,0.10,1.70,0.00,0.000,6,0.184,0.044,2813,2666,3563,0,0,0,0,0,0
$GC,2841,-0.76,-146.0,419.0,-14.0,320,2842,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2665,3563,0,0,0,0,0,0
$GC,3033,-0.76,-146.0,445.7,-14.1,338,3037,0.00,1.77,0.00,0.000,4,0.000,0.063,2807,3764,3563,0,0,0,0,0,0
$GC,3082,-0.76,-146.0,453.3,-14.9,342,3089,0.00,1.73,0.00,0.000,6,0.000,0.043,2807,2675,3563,0,0,0,0,0,0
$GC,3281,-0.76,-146.0,481.8,-14.7,361,3285,0.00,1.77,0.00,0.000,4,0.000,0.066,2798,3768,3563,0,0,0,0,0,0
$GC,3308,-0.76,-146.0,486.3,-15.4,363,3315,0.00,1.73,0.00,0.000,6,0.000,0.044,2798,2681,3563,0,0,0,0,0,0
$GC,3503,-0.76,-146.0,513.5,-13.7,376,3504,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2680,3563,0,0,0,0,0,0
$STATE,3531,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3532,begin apogee
$GC,3536,-0.17,0.0,517.8,13.8,377,3674,0.62,0.00,132.40,1.141,4,0.136,0.000,2999,2486,2960,0,0,0,0,0,0
$STATE,3674,end apogee,CONTROL_FINISHED_OK
$STATE,3674,begin climb
$GC,3676,0.76,146.0,522.7,0.0,381,3827,0.98,2.53,143.05,1.066,4,0.076,0.052,3309,1101,2365,0,0,0,0,0,0
$GC,3946,0.76,146.0,496.3,12.7,390,3950,0.00,2.42,0.00,0.000,6,0.000,0.054,3309,2504,2353,0,0,0,0,0,0
$GC,4143,0.76,146.0,469.0,14.3,408,4147,0.00,2.33,0.00,0.000,4,0.000,0.053,3319,1090,2348,0,0,0,0,0,0
$GC,4287,0.76,146.0,447.9,14.3,420,4295,0.00,2.35,0.00,0.000,6,0.000,0.055,3319,2514,2346,0,0,0,0,0,0
$GC,4485,0.76,146.0,417.0,14.8,439,4488,0.00,2.00,0.00,0.000,4,0.000,0.060,3319,3763,2345,0,0,0,0,0,0
$GC,4586,0.76,146.0,399.7,17.0,448,4590,0.00,1.92,0.00,0.000,6,0.000,0.043,3328,2536,2344,0,0,0,0,0,0
$GC,4789,0.76,146.0,369.6,14.4,467,4792,0.00,2.00,0.00,0.000,4,0.000,0.060,3328,3771,2343,0,0,0,0,0,0
$GC,4834,0.76,146.0,362.3,17.2,471,4838,0.00,1.98,0.00,0.000,6,0.000,0.044,3337,2536,2343,0,0,0,0,0,0
$GC,5036,0.76,146.0,332.5,14.6,490,5040,0.00,1.98,0.00,0.000,4,0.000,0.061,3338,3762,2343,0,0,0,0,0,0
$GC,5062,0.76,146.0,328.0,16.1,492,5071,0.10,1.95,0.00,0.000,6,0.151,0.043,3315,2539,2343,0,0,0,0,0,0
$GC,5261,0.76,146.0,300.6,14.0,511,5265,0.00,1.98,0.00,0.000,4,0.000,0.061,3315,3762,2342,0,0,0,0,0,0
$GC,5295,0.76,146.0,295.6,15.5,514,5298,0.00,1.90,0.00,0.000,6,0.000,0.043,3322,2544,2342,0,0,0,0,0,0
$GC,5498,0.76,146.0,266.1,13.8,533,5501,0.00,1.98,0.00,0.000,4,0.000,0.061,3323,3763,2342,0,0,0,0,0,0
$GC,5531,0.76,146.0,260.7,15.8,536,5535,0.00,1.88,0.00,0.000,6,0.000,0.044,3332,2553,2342,0,0,0,0,0,0
$GC,5735,0.76,146.0,230.4,14.2,555,5739,0.00,1.95,0.00,0.000,4,0.000,0.062,3332,3763,2341,0,0,0,0,0,0
$GC,5782,0.76,146.0,222.4,16.9,559,5791,0.00,1.90,0.00,0.000,6,0.000,0.043,3342,2563,2341,0,0,0,0,0,0
$GC,5920,0.76,146.0,202.7,14.4,572,5923,0.00,1.95,0.00,0.000,4,0.000,0.062,3341,3768,2341,0,0,0,0,0,0
$GC,5945,0.76,146.0,198.0,16.1,574,5955,0.10,1.90,0.00,0.000,6,0.153,0.042,3318,2566,2341,0,0,0,0,0,0
$GC,6081,0.76,146.0,180.1,13.0,587,6082,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2565,2341,0,0,0,0,0,0
$GC,6208,0.76,146.0,164.1,12.5,599,6211,0.00,1.95,0.00,0.000,4,0.000,0.063,3318,3769,2341,0,0,0,0,0,0
$GC,6254,0.76,146.0,156.8,14.9,603,6264,0.00,1.90,0.00,0.000,6,0.000,0.043,3326,2566,2341,0,0,0,0,0,0
$GC,6391,0.76,146.0,138.0,14.0,616,6395,0.00,1.95,0.00,0.000,4,0.000,0.063,3326,3772,2341,0,0,0,0,0,0
$GC,6436,0.76,146.0,131.0,15.8,620,6440,0.00,1.85,0.00,0.000,6,0.000,0.043,3335,2572,2341,0,0,0,0,0,0
$GC,6576,0.76,146.0,111.1,13.7,633,6577,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2569,2341,0,0,0,0,0,0
$GC,6705,0.76,146.0,92.5,14.9,649,6712,0.00,1.95,0.00,0.000,4,0.000,0.063,3335,3764,2341,0,0,0,0,0,0
$GC,6753,0.76,146.0,85.2,16.3,657,6760,0.12,1.85,0.00,0.000,6,0.177,0.044,3312,2573,2341,0,0,0,0,0,0
$GC,6891,0.76,146.0,68.1,11.3,682,6899,0.00,1.98,0.00,0.000,4,0.000,0.063,3312,3763,2341,0,0,0,0,0,0
$GC,6946,0.76,146.0,59.3,17.1,691,6953,0.00,1.83,0.00,0.000,6,0.000,0.044,3319,2587,2341,0,0,0,0,0,0
$GC,7082,0.76,146.0,38.8,15.0,716,7090,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2585,2341,0,0,0,0,0,0
$GC,7223,0.76,146.0,20.1,12.5,741,7230,0.00,1.92,0.00,0.000,4,0.000,0.064,3319,3764,2341,0,0,0,0,0,0
$FREEZE,8.31,-1.863,-1.908,2,1,0
$FREEZE,7.66,-1.863,-1.907,2,1,0
$FREEZE,6.60,-1.863,-1.907,2,1,0
$GC,7308,0.76,146.0,6.6,15.4,756,7316,0.00,1.85,0.00,0.000,6,0.000,0.044,3328,2600,2341,0,0,0,0,0,0
$FREEZE,4.12,-1.864,-1.905,2,1,0
$FREEZE,3.43,-1.864,-1.904,2,1,0
$FREEZE,2.68,-1.865,-1.904,2,1,0
$STATE,7333,end climb,SURFACE_DEPTH_REACHED
$STATE,7333,begin surface coast
$FREEZE,2.23,-1.866,-1.903,2,1,0
$FREEZE,1.66,-1.867,-1.903,2,1,0
$FREEZE,1.31,-1.868,-1.903,2,1,0
$FINISH,1.3,1.027891
$STATE,7353,end surface coast,CONTROL_FINISHED_OK
$STATE,7353,begin surface
$SM_CCo,7368,134.02,0.773,1,0,1329,400.08
$SM_GC,1.92,0.00,0.00,134.02,0.000,0.000,0.773,415,2655,1329,-8.27,0.14,400.08
$IRIDIUM_FIX,-7639.69,16512.38,031210,141445
$TT8_MAMPS,0.028462
$HUMID,50.70
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.2,17.7
$ALTIM_BOTTOM_PING,500.9,50.8
$24V_AH,21.2,31.902
$10V_AH,10.0,18.458
$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,18.900,99.975,275.450,134.025,0.000,30.607,57.745,201.544,2.750,0.000,47.955,1908.492,3178.651,551.379,2151.578,141.966,0.000,1364.266,0.000,1326.353,0.000,15.766,0.000
$DEVICE_MAMPS,214.200,122.400,1140.615,772.650,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,538.788,926.236,871.836,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50381,763
$CAP_FILE_SIZE,113491,0
$CFSIZE,260165632,245960704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031210,191443,-7724.247,16508.014,11,1.3,12,144.2