version: 66.08
glider: 502
mission: 3
dive: 88
start: 11 29 110 19 46 1
data:
$ID,502
$MISSION,3
$DIVE,88
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$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,200
$T_MISSION,250
$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,623.29712
$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,-25481.363
$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,0.02
$PITCH_ADJ_DBAND,1
$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,30
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,1
$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
$GPS1,291110,192536,-7726.998,16518.123,72,1.3,72,144.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-51.2
$GPS2,291110,194537,-7726.912,16517.840,43,1.0,43,144.1
$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,12.6,2195,-25.8,-10.000
$D_GRID,635
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.95,-70.0,0.0,0.0,0,180,0.00,0.00,-160.73,0.000,6,0.000,0.000,415,2653,3251,0,0,0,0,0,0
$GC,182,-1.04,-146.0,1.7,-1.4,25,216,7.35,1.85,-18.88,0.000,4,0.142,0.084,2715,3766,3556,0,0,0,0,0,0
$GC,246,-0.94,-146.0,1.6,-0.4,35,254,0.17,1.77,0.00,0.000,6,0.185,0.044,2761,2638,3558,0,0,0,0,0,0
$GC,387,-0.89,-146.0,17.8,-20.4,60,395,0.00,1.88,0.00,0.000,4,0.000,0.067,2754,3756,3559,0,0,0,0,0,0
$GC,473,-0.85,-146.0,35.7,-20.6,75,480,0.12,1.75,0.00,0.000,6,0.181,0.047,2785,2642,3559,0,0,0,0,0,0
$GC,613,-0.85,-146.0,59.6,-17.1,100,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2641,3560,0,0,0,0,0,0
$GC,753,-0.85,-146.0,83.2,-17.7,125,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2641,3559,0,0,0,0,0,0
$GC,896,-0.87,-146.0,107.5,-16.7,147,900,0.00,1.83,0.00,0.000,4,0.000,0.067,2779,3763,3559,0,0,0,0,0,0
$GC,930,-0.87,-146.0,113.7,-18.8,150,934,0.00,1.75,0.00,0.000,6,0.000,0.047,2779,2645,3559,0,0,0,0,0,0
$GC,1071,-0.87,-146.0,137.8,-17.3,163,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2643,3560,0,0,0,0,0,0
$GC,1198,-0.87,-146.0,159.3,-17.2,175,1202,0.00,1.83,0.00,0.000,4,0.000,0.067,2771,3763,3559,0,0,0,0,0,0
$GC,1233,-0.87,-146.0,165.5,-17.8,178,1237,0.00,1.75,0.00,0.000,6,0.000,0.047,2771,2640,3560,0,0,0,0,0,0
$GC,1374,-0.87,-146.0,190.1,-17.0,191,1375,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2638,3560,0,0,0,0,0,0
$GC,1501,-0.87,-146.0,211.8,-17.1,203,1504,0.00,1.85,0.00,0.000,4,0.000,0.068,2762,3770,3559,0,0,0,0,0,0
$GC,1526,-0.85,-146.0,215.9,-17.8,205,1530,0.10,1.75,0.00,0.000,6,0.190,0.047,2785,2651,3560,0,0,0,0,0,0
$GC,1668,-0.87,-146.0,238.8,-15.7,218,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2648,3560,0,0,0,0,0,0
$GC,1801,-0.90,-146.0,260.4,-15.9,231,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2648,3560,0,0,0,0,0,0
$GC,1994,-0.93,-146.0,290.2,-16.0,249,1998,0.00,1.83,0.00,0.000,4,0.000,0.067,2779,3770,3560,0,0,0,0,0,0
$GC,2020,-0.93,-146.0,295.1,-16.9,251,2028,0.00,1.80,0.00,0.000,6,0.000,0.047,2779,2645,3560,0,0,0,0,0,0
$GC,2218,-0.93,-146.0,326.5,-15.7,270,2222,0.00,1.83,0.00,0.000,4,0.000,0.068,2771,3763,3560,0,0,0,0,0,0
$GC,2244,-0.93,-146.0,331.3,-17.1,272,2253,0.00,1.77,0.00,0.000,6,0.000,0.046,2771,2649,3560,0,0,0,0,0,0
$GC,2443,-0.93,-146.0,363.4,-16.0,291,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2648,3560,0,0,0,0,0,0
$GC,2634,-0.93,-146.0,394.4,-16.1,309,2637,0.00,1.83,0.00,0.000,4,0.000,0.067,2762,3769,3560,0,0,0,0,0,0
$GC,2669,-0.91,-146.0,400.2,-17.4,312,2672,0.00,1.75,0.00,0.000,6,0.000,0.047,2762,2648,3560,0,0,0,0,0,0
$GC,2871,-0.91,-146.0,434.2,-16.8,331,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2646,3560,0,0,0,0,0,0
$GC,3063,-0.91,-146.0,465.6,-16.2,349,3066,0.00,1.83,0.00,0.000,4,0.000,0.069,2754,3766,3560,0,0,0,0,0,0
$GC,3101,-0.88,-146.0,472.4,-17.4,352,3108,0.00,1.80,0.00,0.000,6,0.000,0.047,2754,2644,3559,0,0,0,0,0,0
$GC,3297,-0.88,-146.0,505.4,-16.8,369,3301,0.00,1.88,0.00,0.000,4,0.000,0.069,2745,3766,3559,0,0,0,0,0,0
$GC,3323,-0.83,-146.0,510.4,-17.9,369,3331,0.15,1.80,0.00,0.000,6,0.157,0.047,2793,2641,3559,0,0,0,0,0,0
$GC,3514,-0.88,-146.0,538.0,-14.3,376,3518,0.00,1.83,0.00,0.000,4,0.000,0.067,2785,3767,3559,0,0,0,0,0,0
$GC,3548,-0.92,-146.0,543.2,-15.6,377,3552,0.00,1.75,0.00,0.000,6,0.000,0.047,2786,2643,3559,0,0,0,0,0,0
$GC,3766,-0.96,-146.0,575.2,-14.5,384,3770,0.00,1.83,0.00,0.000,4,0.000,0.068,2777,3764,3559,0,0,0,0,0,0
$GC,3792,-0.96,-146.0,579.6,-15.4,384,3800,0.00,1.77,0.00,0.000,6,0.000,0.047,2777,2650,3559,0,0,0,0,0,0
$STATE,3955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3956,begin apogee
$GC,3960,-0.17,0.0,603.3,14.9,390,4098,0.73,0.00,133.77,1.197,6,0.141,0.000,3007,2490,2961,0,0,0,0,0,0
$STATE,4099,end apogee,CONTROL_FINISHED_OK
$STATE,4099,begin climb
$GC,4101,1.04,146.0,608.6,0.0,394,4256,1.20,2.60,145.35,1.125,4,0.077,0.051,3403,1101,2363,0,0,0,0,0,0
$GC,4277,0.96,146.0,586.5,18.6,400,4282,0.00,2.50,0.00,0.000,6,0.000,0.052,3403,2499,2357,0,0,0,0,0,0
$GC,4490,0.84,146.0,542.5,21.0,407,4495,0.25,2.12,0.00,0.000,4,0.179,0.059,3334,3763,2349,0,0,0,0,0,0
$GC,4634,0.78,146.0,515.3,18.0,411,4639,0.00,2.05,0.00,0.000,6,0.000,0.045,3343,2516,2346,0,0,0,0,0,0
$GC,4829,0.75,146.0,483.1,16.3,423,4834,0.12,2.08,0.00,0.000,4,0.177,0.062,3312,3772,2344,0,0,0,0,0,0
$GC,4894,0.75,146.0,472.0,16.3,428,4902,0.00,2.08,0.00,0.000,6,0.000,0.047,3320,2499,2343,0,0,0,0,0,0
$GC,5093,0.78,146.0,443.2,14.5,447,5097,0.00,2.08,0.00,0.000,4,0.000,0.065,3320,3764,2342,0,0,0,0,0,0
$GC,5148,0.76,146.0,434.2,16.6,451,5155,0.00,2.05,0.00,0.000,6,0.000,0.046,3329,2493,2342,0,0,0,0,0,0
$GC,5345,0.76,146.0,403.8,15.7,470,5349,0.00,2.08,0.00,0.000,4,0.000,0.065,3328,3763,2341,0,0,0,0,0,0
$GC,5411,0.71,146.0,392.2,17.4,475,5419,0.12,2.03,0.00,0.000,6,0.148,0.046,3298,2501,2340,0,0,0,0,0,0
$GC,5610,0.78,146.0,366.1,12.9,494,5614,0.00,2.08,0.00,0.000,4,0.000,0.067,3298,3768,2340,0,0,0,0,0,0
$GC,5664,0.78,146.0,358.0,14.6,498,5672,0.00,2.05,0.00,0.000,6,0.000,0.046,3307,2492,2339,0,0,0,0,0,0
$GC,5863,0.84,146.0,331.7,12.9,517,5866,0.00,2.08,0.00,0.000,4,0.000,0.066,3307,3763,2339,0,0,0,0,0,0
$GC,5923,0.84,146.0,322.6,15.7,522,5931,0.00,2.03,0.00,0.000,6,0.000,0.047,3316,2503,2339,0,0,0,0,0,0
$GC,6121,0.87,146.0,296.0,13.6,541,6124,0.00,2.08,0.00,0.000,4,0.000,0.067,3316,3771,2339,0,0,0,0,0,0
$GC,6177,0.87,146.0,287.3,15.9,546,6181,0.00,2.03,0.00,0.000,6,0.000,0.047,3326,2489,2338,0,0,0,0,0,0
$GC,6380,0.90,146.0,257.7,14.8,565,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2487,2338,0,0,0,0,0,0
$GC,6574,0.92,146.0,230.6,14.2,583,6579,0.10,2.08,0.00,0.000,4,0.104,0.064,3373,3764,2338,0,0,0,0,0,0
$GC,6638,0.80,146.0,218.1,19.7,588,6647,0.17,2.03,0.00,0.000,6,0.169,0.047,3329,2497,2337,0,0,0,0,0,0
$GC,6775,0.82,146.0,197.9,14.4,601,6782,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2496,2337,0,0,0,0,0,0
$GC,6910,0.85,146.0,178.2,14.3,614,6911,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2496,2337,0,0,0,0,0,0
$GC,7037,0.87,146.0,160.0,14.1,626,7041,0.00,2.08,0.00,0.000,4,0.000,0.066,3329,3772,2337,0,0,0,0,0,0
$GC,7110,0.84,146.0,148.6,16.0,632,7114,0.00,2.00,0.00,0.000,6,0.000,0.047,3337,2495,2337,0,0,0,0,0,0
$GC,7252,0.84,146.0,128.1,14.1,645,7253,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2494,2337,0,0,0,0,0,0
$GC,7378,0.84,146.0,110.1,14.1,657,7381,0.00,2.05,0.00,0.000,4,0.000,0.065,3337,3763,2337,0,0,0,0,0,0
$GC,7434,0.80,146.0,101.2,16.4,662,7437,0.00,1.98,0.00,0.000,6,0.000,0.047,3347,2500,2337,0,0,0,0,0,0
$GC,7569,0.80,146.0,79.7,15.0,686,7577,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,2498,2337,0,0,0,0,0,0
$GC,7709,0.80,146.0,58.3,15.9,711,7715,0.00,2.08,0.00,0.000,4,0.000,0.067,3347,3768,2337,0,0,0,0,0,0
$GC,7789,0.73,146.0,44.8,17.5,725,7796,0.20,2.00,0.00,0.000,6,0.172,0.046,3302,2499,2336,0,0,0,0,0,0
$GC,7929,0.81,146.0,26.9,12.2,750,7937,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2497,2336,0,0,0,0,0,0
$GC,8070,0.88,146.0,9.1,14.4,775,8077,0.12,0.00,0.00,0.000,6,0.090,0.000,3358,2495,2336,0,0,0,0,0,0
$FREEZE,7.11,-1.494,-1.902,2,4,2
$FREEZE,6.16,-1.487,-1.901,2,4,2
$FREEZE,5.19,-1.487,-1.900,2,4,2
$FREEZE,4.16,-1.485,-1.899,2,4,2
$FREEZE,3.21,-1.483,-1.898,2,4,2
$FREEZE,1.95,-1.481,-1.897,2,4,2
$STATE,8111,end climb,SURFACE_DEPTH_REACHED
$STATE,8111,begin surface coast
$FREEZE,1.06,-1.482,-1.897,2,4,2
$FREEZE,1.18,-1.514,-1.897,2,4,2
$FREEZE,1.05,-1.480,-1.895,2,4,2
$FINISH,1.0,1.027777
$STATE,8130,end surface coast,CONTROL_FINISHED_OK
$STATE,8130,begin surface
$SM_CCo,8144,265.60,0.756,1,0,420,623.30
$SM_GC,1.70,0.00,0.00,265.60,0.000,0.000,0.756,424,2658,420,-8.26,0.23,623.30
$IRIDIUM_FIX,-7639.69,16529.00,291110,191935
$TT8_MAMPS,0.028462
$HUMID,49.52
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,13.90
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.8,18.9
$24V_AH,21.4,26.416
$10V_AH,10.0,14.893
$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,18.400,94.025,279.125,265.600,0.000,83.281,124.304,661.738,4.000,0.000,45.000,1951.922,3912.154,736.470,2828.409,187.445,0.000,1593.230,0.000,1386.901,0.000,19.270,0.000
$DEVICE_MAMPS,190.485,84.150,1197.225,755.820,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,552.974,967.857,860.484,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276032
$DATA_FILE_SIZE,53695,785
$CAP_FILE_SIZE,137528,0
$CFSIZE,260165632,248209408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,291110,220731,-7727.689,16521.838,39,1.5,40,144.0