version: 66.08
glider: 502
mission: 3
dive: 130
start: 12 4 110 6 15 19
data:
$ID,502
$MISSION,3
$DIVE,130
$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,-26264.986
$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,21
$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
$GPS1,041210,060906,-7727.188,16513.410,43,1.1,44,144.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-58.3
$GPS2,041210,061456,-7727.163,16513.137,15,1.2,15,144.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SOUND1
$TGT_LATLONG,-7728.000,16520.000
$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,335.1,3164,-17.9,-10.000
$D_GRID,620
$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,-0.77,-140.4,0.0,0.0,0,130,0.00,0.00,-111.88,0.000,2,0.000,0.000,411,2676,3372,0,0,0,0,0,0
$GC,132,-0.78,-146.0,3.3,-1.9,17,154,9.25,2.35,-5.62,0.000,4,0.216,0.062,2802,1234,3560,0,0,0,0,0,0
$GC,209,-0.78,-146.0,14.5,-11.7,30,217,0.00,2.40,0.00,0.000,6,0.000,0.062,2793,2647,3562,0,0,0,0,0,0
$GC,350,-0.78,-146.0,31.7,-13.6,55,357,0.00,1.80,0.00,0.000,4,0.000,0.061,2784,3764,3563,0,0,0,0,0,0
$GC,430,-0.78,-146.0,44.7,-15.7,69,438,0.10,1.77,0.00,0.000,6,0.187,0.043,2809,2635,3563,0,0,0,0,0,0
$GC,568,-0.78,-146.0,59.9,-11.0,94,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2635,3563,0,0,0,0,0,0
$GC,708,-0.78,-146.0,77.8,-14.7,119,714,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2635,3562,0,0,0,0,0,0
$GC,844,-0.78,-146.0,98.5,-16.0,144,852,0.00,1.88,0.00,0.000,4,0.000,0.066,2802,3757,3563,0,0,0,0,0,0
$GC,872,-0.78,-146.0,102.7,-16.1,147,876,0.00,1.70,0.00,0.000,6,0.000,0.044,2802,2665,3563,0,0,0,0,0,0
$GC,1013,-0.78,-146.0,125.4,-16.5,160,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2663,3562,0,0,0,0,0,0
$GC,1140,-0.78,-146.0,147.4,-16.5,172,1144,0.00,1.80,0.00,0.000,4,0.000,0.066,2794,3770,3562,0,0,0,0,0,0
$GC,1207,-0.78,-146.0,159.0,-18.1,178,1211,0.00,1.70,0.00,0.000,6,0.000,0.044,2794,2676,3563,0,0,0,0,0,0
$GC,1349,-0.78,-146.0,183.5,-17.2,191,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2675,3563,0,0,0,0,0,0
$GC,1475,-0.78,-146.0,204.9,-17.5,203,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2674,3563,0,0,0,0,0,0
$GC,1601,-0.78,-146.0,226.4,-15.4,215,1605,0.00,1.77,0.00,0.000,4,0.000,0.067,2785,3765,3563,0,0,0,0,0,0
$GC,1637,-0.78,-146.0,232.4,-17.9,218,1640,0.00,1.67,0.00,0.000,6,0.000,0.045,2785,2683,3562,0,0,0,0,0,0
$GC,1776,-0.78,-146.0,257.2,-17.7,231,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2682,3562,0,0,0,0,0,0
$GC,1969,-0.78,-146.0,289.8,-17.2,249,1970,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2681,3563,0,0,0,0,0,0
$GC,2158,-0.78,-146.0,321.7,-16.7,267,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2682,3563,0,0,0,0,0,0
$GC,2349,-0.78,-146.0,352.3,-15.6,285,2353,0.00,1.77,0.00,0.000,4,0.000,0.067,2777,3773,3562,0,0,0,0,0,0
$GC,2375,-0.78,-146.0,357.0,-17.2,287,2384,0.10,1.73,0.00,0.000,6,0.152,0.044,2809,2684,3562,0,0,0,0,0,0
$GC,2576,-0.78,-146.0,385.1,-14.3,306,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2684,3562,0,0,0,0,0,0
$GC,2765,-0.78,-146.0,411.4,-13.8,324,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2684,3562,0,0,0,0,0,0
$GC,2956,-0.78,-146.0,437.7,-14.0,342,2960,0.00,1.75,0.00,0.000,4,0.000,0.066,2802,3764,3563,0,0,0,0,0,0
$GC,2979,-0.78,-146.0,440.9,-14.4,344,2982,0.00,1.67,0.00,0.000,6,0.000,0.044,2801,2682,3562,0,0,0,0,0,0
$GC,3183,-0.78,-146.0,469.5,-14.4,363,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2680,3562,0,0,0,0,0,0
$GC,3373,-0.78,-146.0,496.3,-13.6,381,3374,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2680,3562,0,0,0,0,0,0
$GC,3557,-0.78,-146.0,522.2,-13.9,389,3561,0.00,1.77,0.00,0.000,4,0.000,0.067,2794,3770,3562,0,0,0,0,0,0
$GC,3595,-0.78,-146.0,528.1,-15.5,390,3600,0.00,1.73,0.00,0.000,6,0.000,0.044,2794,2690,3562,0,0,0,0,0,0
$GC,3808,-0.78,-146.0,558.3,-14.2,397,3810,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2689,3562,0,0,0,0,0,0
$STATE,3991,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3991,begin apogee
$GC,3995,-0.17,0.0,584.6,14.4,403,4134,0.65,0.00,133.02,1.183,4,0.135,0.000,3003,2491,2962,0,0,0,0,0,0
$STATE,4135,end apogee,CONTROL_FINISHED_OK
$STATE,4135,begin climb
$GC,4137,0.78,146.0,589.8,0.0,407,4292,0.98,2.55,146.02,1.114,4,0.076,0.053,3313,1101,2363,0,0,0,0,0,0
$GC,4397,0.78,146.0,564.9,12.2,415,4402,0.00,2.47,0.00,0.000,6,0.000,0.054,3313,2498,2352,0,0,0,0,0,0
$GC,4595,0.78,146.0,539.6,13.0,422,4599,0.00,2.30,0.00,0.000,4,0.000,0.052,3322,1101,2348,0,0,0,0,0,0
$GC,4712,0.78,146.0,523.9,13.0,425,4716,0.00,2.38,0.00,0.000,6,0.000,0.056,3323,2514,2345,0,0,0,0,0,0
$GC,4908,0.78,146.0,497.2,13.6,432,4912,0.00,2.03,0.00,0.000,4,0.000,0.061,3323,3767,2345,0,0,0,0,0,0
$GC,4998,0.78,146.0,482.8,16.0,440,5002,0.00,1.98,0.00,0.000,6,0.000,0.044,3332,2541,2345,0,0,0,0,0,0
$GC,5200,0.78,146.0,453.5,13.9,459,5204,0.00,2.00,0.00,0.000,4,0.000,0.061,3333,3771,2343,0,0,0,0,0,0
$GC,5238,0.78,146.0,447.0,17.2,462,5246,0.00,1.98,0.00,0.000,6,0.000,0.042,3342,2536,2343,0,0,0,0,0,0
$GC,5438,0.78,146.0,416.3,15.5,481,5441,0.00,2.00,0.00,0.000,4,0.000,0.062,3342,3773,2342,0,0,0,0,0,0
$GC,5483,0.78,146.0,408.2,18.1,485,5487,0.12,1.90,0.00,0.000,6,0.181,0.043,3319,2553,2342,0,0,0,0,0,0
$GC,5685,0.78,146.0,379.9,13.7,504,5688,0.00,1.98,0.00,0.000,4,0.000,0.062,3319,3771,2342,0,0,0,0,0,0
$GC,5741,0.78,146.0,371.0,16.9,509,5745,0.00,1.88,0.00,0.000,6,0.000,0.043,3327,2563,2342,0,0,0,0,0,0
$GC,5944,0.78,146.0,342.4,14.0,528,5947,0.00,1.95,0.00,0.000,4,0.000,0.063,3327,3765,2341,0,0,0,0,0,0
$GC,5992,0.78,146.0,334.6,15.9,532,6000,0.00,1.90,0.00,0.000,6,0.000,0.042,3337,2566,2341,0,0,0,0,0,0
$GC,6191,0.78,146.0,305.6,15.1,551,6194,0.00,1.92,0.00,0.000,4,0.000,0.063,3336,3764,2341,0,0,0,0,0,0
$GC,6239,0.78,146.0,297.1,17.1,555,6248,0.08,1.85,0.00,0.000,6,0.159,0.043,3321,2599,2341,0,0,0,0,0,0
$GC,6438,0.78,146.0,268.5,14.2,574,6439,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2598,2341,0,0,0,0,0,0
$GC,6630,0.78,146.0,241.3,14.2,592,6634,0.00,1.88,0.00,0.000,4,0.000,0.062,3321,3764,2340,0,0,0,0,0,0
$GC,6666,0.78,146.0,235.1,16.4,595,6675,0.00,1.85,0.00,0.000,6,0.000,0.042,3329,2596,2340,0,0,0,0,0,0
$GC,6802,0.78,146.0,214.9,15.3,608,6804,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2595,2340,0,0,0,0,0,0
$GC,6929,0.78,146.0,196.4,14.5,620,6933,0.00,1.90,0.00,0.000,4,0.000,0.063,3328,3772,2340,0,0,0,0,0,0
$GC,6987,0.78,146.0,187.3,16.1,625,6997,0.00,1.85,0.00,0.000,6,0.000,0.043,3338,2603,2340,0,0,0,0,0,0
$GC,7124,0.78,146.0,168.3,15.2,638,7127,0.00,1.88,0.00,0.000,4,0.000,0.062,3338,3768,2340,0,0,0,0,0,0
$GC,7159,0.78,146.0,162.6,17.5,641,7163,0.12,1.80,0.00,0.000,6,0.177,0.044,3314,2603,2339,0,0,0,0,0,0
$GC,7300,0.78,146.0,143.2,13.5,654,7304,0.00,1.88,0.00,0.000,4,0.000,0.062,3314,3767,2340,0,0,0,0,0,0
$GC,7337,0.78,146.0,137.3,16.3,657,7345,0.00,1.83,0.00,0.000,6,0.000,0.042,3321,2615,2340,0,0,0,0,0,0
$GC,7472,0.78,146.0,115.7,16.8,670,7476,0.00,1.85,0.00,0.000,4,0.000,0.064,3321,3763,2340,0,0,0,0,0,0
$GC,7527,0.78,146.0,105.0,20.4,675,7531,0.00,1.77,0.00,0.000,6,0.000,0.043,3330,2615,2339,0,0,0,0,0,0
$GC,7665,0.78,146.0,80.7,17.1,697,7671,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2613,2339,0,0,0,0,0,0
$GC,7802,0.78,146.0,59.2,12.9,722,7810,0.00,2.45,0.00,0.000,4,0.000,0.057,3341,1095,2339,0,0,0,0,0,0
$GC,7854,0.78,146.0,51.5,16.9,731,7861,0.00,2.45,0.00,0.000,6,0.000,0.056,3341,2616,2338,0,0,0,0,0,0
$GC,7992,0.78,146.0,31.2,15.6,756,8000,0.00,1.85,0.00,0.000,4,0.000,0.061,3341,3757,2339,0,0,0,0,0,0
$GC,8090,0.78,146.0,14.8,18.9,773,8097,0.12,1.77,0.00,0.000,6,0.178,0.044,3318,2621,2339,0,0,0,0,0,0
$FREEZE,8.74,-1.867,-1.908,2,1,0
$FREEZE,8.23,-1.867,-1.907,2,1,0
$FREEZE,7.84,-1.867,-1.907,2,1,0
$FREEZE,7.37,-1.866,-1.907,2,1,0
$FREEZE,6.80,-1.868,-1.906,2,1,0
$FREEZE,6.30,-1.867,-1.906,2,1,0
$FREEZE,5.59,-1.869,-1.905,2,1,0
$FREEZE,4.69,-1.864,-1.905,2,1,0
$FREEZE,3.90,-1.864,-1.904,2,1,0
$FREEZE,2.99,-1.865,-1.903,2,1,0
$STATE,8189,end climb,SURFACE_DEPTH_REACHED
$STATE,8189,begin surface coast
$FREEZE,2.29,-1.864,-1.903,2,1,0
$FREEZE,1.27,-1.867,-1.902,2,1,0
$FREEZE,1.22,-1.924,-0.321,2,1,0
$FINISH,1.2,1.004496
$STATE,8208,end surface coast,FINISH_DEPTH_REACHED
$STATE,8208,begin surface
$SM_CCo,8222,133.70,0.771,1,0,1329,400.08
$SM_GC,1.96,0.00,0.00,133.70,0.000,0.000,0.771,422,2659,1329,-8.26,0.23,400.08
$IRIDIUM_FIX,-7639.69,16502.85,041210,030324
$TT8_MAMPS,0.029211
$HUMID,51.73
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,18.4
$ALTIM_BOTTOM_PING,553.9,43.8
$24V_AH,21.1,32.717
$10V_AH,10.0,18.983
$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,18.925,89.675,279.050,133.700,0.000,28.493,41.348,179.889,3.250,0.000,16.088,1987.734,3903.383,545.139,2139.131,140.420,0.000,1376.419,0.000,1381.703,0.000,20.415,0.000
$DEVICE_MAMPS,215.730,128.520,1182.690,771.120,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,560.445,973.182,851.754,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,275960
$DATA_FILE_SIZE,53685,793
$CAP_FILE_SIZE,115524,0
$CFSIZE,260165632,245592064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041210,083607,-7728.106,16516.074,49,1.5,50,144.2