version: 66.08
glider: 502
mission: 3
dive: 97
start: 11 30 110 23 57 32
data:
$ID,502
$MISSION,3
$DIVE,97
$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,-25492.805
$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,26
$R_STBD_OVSHOOT,27
$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
$GPS1,301110,235107,-7726.812,16516.092,50,0.9,51,144.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-66.5
$GPS2,301110,235708,-7726.806,16516.029,11,1.3,11,144.1
$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,183.6,8343,-17.5,-10.000
$D_GRID,602
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,129,0.00,0.00,-112.03,0.000,2,0.000,0.000,423,2657,3334,0,0,0,0,0,0
$GC,131,-0.76,-146.0,3.1,-1.4,17,153,9.18,2.40,-6.72,0.000,4,0.215,0.067,2810,1232,3560,0,0,0,0,0,0
$GC,400,-0.76,-146.0,43.1,-13.1,65,407,0.00,2.35,0.00,0.000,6,0.000,0.060,2801,2649,3564,0,0,0,0,0,0
$GC,537,-0.76,-146.0,63.1,-14.6,90,545,0.00,2.33,0.00,0.000,4,0.000,0.054,2802,1234,3564,0,0,0,0,0,0
$GC,561,-0.76,-146.0,66.9,-15.1,94,569,0.00,2.38,0.00,0.000,6,0.000,0.060,2792,2651,3564,0,0,0,0,0,0
$GC,701,-0.76,-146.0,88.1,-15.7,119,708,0.00,1.80,0.00,0.000,4,0.000,0.066,2783,3766,3564,0,0,0,0,0,0
$GC,730,-0.76,-146.0,93.1,-16.5,124,738,0.08,1.80,0.00,0.000,6,0.166,0.047,2808,2646,3563,0,0,0,0,0,0
$GC,874,-0.76,-146.0,114.0,-14.7,141,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2645,3564,0,0,0,0,0,0
$GC,1001,-0.76,-146.0,132.2,-14.2,153,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2645,3564,0,0,0,0,0,0
$GC,1129,-0.76,-146.0,150.4,-13.9,165,1132,0.00,1.83,0.00,0.000,4,0.000,0.067,2801,3765,3564,0,0,0,0,0,0
$GC,1154,-0.76,-146.0,154.6,-15.5,167,1163,0.00,1.77,0.00,0.000,6,0.000,0.046,2801,2654,3563,0,0,0,0,0,0
$GC,1289,-0.76,-146.0,174.1,-14.5,180,1291,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2653,3563,0,0,0,0,0,0
$GC,1417,-0.76,-146.0,192.9,-15.0,192,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2653,3564,0,0,0,0,0,0
$GC,1545,-0.76,-146.0,211.0,-14.1,204,1548,0.00,1.83,0.00,0.000,4,0.000,0.070,2793,3768,3564,0,0,0,0,0,0
$GC,1579,-0.76,-146.0,216.3,-15.7,207,1582,0.00,1.73,0.00,0.000,6,0.000,0.047,2793,2666,3563,0,0,0,0,0,0
$GC,1719,-0.76,-146.0,237.3,-15.2,220,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2663,3564,0,0,0,0,0,0
$GC,1845,-0.76,-146.0,256.4,-14.9,232,1846,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2663,3564,0,0,0,0,0,0
$GC,2037,-0.76,-146.0,284.9,-14.8,250,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2663,3564,0,0,0,0,0,0
$GC,2227,-0.76,-146.0,312.7,-14.4,268,2231,0.00,1.80,0.00,0.000,4,0.000,0.068,2785,3767,3564,0,0,0,0,0,0
$GC,2253,-0.76,-146.0,317.1,-15.4,270,2262,0.08,1.77,0.00,0.000,6,0.163,0.046,2809,2662,3563,0,0,0,0,0,0
$GC,2452,-0.76,-146.0,342.8,-12.7,289,2456,0.00,1.85,0.00,0.000,4,0.000,0.067,2802,3770,3564,0,0,0,0,0,0
$GC,2485,-0.76,-146.0,347.5,-14.2,292,2489,0.00,1.75,0.00,0.000,6,0.000,0.046,2802,2677,3563,0,0,0,0,0,0
$GC,2688,-0.76,-146.0,374.8,-13.5,311,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2676,3563,0,0,0,0,0,0
$GC,2880,-0.76,-146.0,400.6,-13.4,329,2884,0.00,1.77,0.00,0.000,4,0.000,0.069,2795,3767,3563,0,0,0,0,0,0
$GC,2918,-0.76,-146.0,406.5,-15.1,332,2926,0.00,1.75,0.00,0.000,6,0.000,0.046,2795,2674,3563,0,0,0,0,0,0
$GC,3118,-0.76,-146.0,434.0,-13.9,351,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2674,3563,0,0,0,0,0,0
$GC,3307,-0.76,-146.0,460.4,-13.6,369,3311,0.00,1.77,0.00,0.000,4,0.000,0.067,2786,3767,3563,0,0,0,0,0,0
$GC,3340,-0.76,-146.0,465.4,-15.1,372,3344,0.12,1.70,0.00,0.000,6,0.178,0.047,2819,2676,3563,0,0,0,0,0,0
$GC,3543,-0.76,-146.0,490.8,-11.9,391,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2674,3563,0,0,0,0,0,0
$GC,3751,-0.76,-146.0,515.6,-12.0,403,3754,0.00,1.77,0.00,0.000,4,0.000,0.069,2812,3764,3563,0,0,0,0,0,0
$GC,3777,-0.76,-146.0,519.2,-12.6,403,3785,0.00,1.73,0.00,0.000,6,0.000,0.046,2813,2684,3563,0,0,0,0,0,0
$GC,3969,-0.76,-146.0,542.1,-12.0,410,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2684,3563,0,0,0,0,0,0
$GC,4151,-0.76,-146.0,564.5,-12.2,416,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2684,3563,0,0,0,0,0,0
$GC,4335,-0.76,-146.0,586.9,-12.1,422,4338,0.00,1.77,0.00,0.000,4,0.000,0.070,2804,3772,3563,0,0,0,0,0,0
$GC,4372,-0.76,-146.0,592.0,-13.7,423,4377,0.00,1.73,0.00,0.000,6,0.000,0.047,2804,2690,3563,0,0,0,0,0,0
$STATE,4466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4466,begin apogee
$GC,4471,-0.17,0.0,603.3,12.4,426,4610,0.62,0.00,135.23,1.197,4,0.135,0.000,3005,2480,2961,0,0,0,0,0,0
$STATE,4611,end apogee,CONTROL_FINISHED_OK
$STATE,4611,begin climb
$GC,4613,0.76,146.0,608.3,0.0,430,4768,0.95,2.53,145.52,1.125,4,0.071,0.052,3310,1091,2364,0,0,0,0,0,0
$GC,4863,0.76,146.0,583.3,13.8,438,4867,0.00,2.50,0.00,0.000,6,0.000,0.054,3310,2502,2352,0,0,0,0,0,0
$GC,5065,0.76,146.0,554.6,14.5,445,5069,0.00,2.33,0.00,0.000,4,0.000,0.053,3320,1090,2347,0,0,0,0,0,0
$GC,5180,0.76,146.0,538.2,14.4,448,5185,0.00,2.42,0.00,0.000,6,0.000,0.057,3320,2526,2345,0,0,0,0,0,0
$GC,5377,0.76,146.0,508.9,15.4,455,5380,0.00,2.03,0.00,0.000,4,0.000,0.065,3320,3770,2344,0,0,0,0,0,0
$GC,5478,0.76,146.0,491.4,17.4,460,5482,0.00,1.95,0.00,0.000,6,0.000,0.047,3329,2543,2343,0,0,0,0,0,0
$GC,5682,0.76,146.0,459.4,15.6,479,5685,0.00,2.00,0.00,0.000,4,0.000,0.066,3329,3764,2342,0,0,0,0,0,0
$GC,5730,0.76,146.0,450.3,18.3,483,5738,0.00,1.98,0.00,0.000,6,0.000,0.046,3338,2538,2342,0,0,0,0,0,0
$GC,5928,0.76,146.0,418.2,16.3,502,5932,0.00,2.00,0.00,0.000,4,0.000,0.064,3338,3770,2341,0,0,0,0,0,0
$GC,5966,0.76,146.0,411.3,18.1,505,5974,0.10,1.95,0.00,0.000,6,0.162,0.047,3317,2556,2341,0,0,0,0,0,0
$GC,6166,0.76,146.0,383.0,13.9,524,6170,0.00,1.98,0.00,0.000,4,0.000,0.065,3317,3770,2341,0,0,0,0,0,0
$GC,6200,0.76,146.0,377.5,15.5,527,6203,0.00,1.90,0.00,0.000,6,0.000,0.047,3324,2558,2340,0,0,0,0,0,0
$GC,6403,0.76,146.0,348.2,14.0,546,6406,0.00,1.98,0.00,0.000,4,0.000,0.065,3324,3773,2340,0,0,0,0,0,0
$GC,6436,0.76,146.0,343.0,15.8,549,6440,0.00,1.90,0.00,0.000,6,0.000,0.047,3334,2561,2340,0,0,0,0,0,0
$GC,6639,0.76,146.0,312.5,15.0,568,6640,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2559,2340,0,0,0,0,0,0
$GC,6830,0.76,146.0,284.3,14.8,586,6834,0.00,1.95,0.00,0.000,4,0.000,0.065,3334,3764,2339,0,0,0,0,0,0
$GC,6901,0.76,146.0,272.1,17.4,592,6910,0.08,1.90,0.00,0.000,6,0.158,0.046,3318,2577,2339,0,0,0,0,0,0
$GC,7101,0.76,146.0,245.1,13.2,611,7105,0.00,1.92,0.00,0.000,4,0.000,0.066,3318,3764,2339,0,0,0,0,0,0
$GC,7135,0.76,146.0,240.0,15.1,614,7139,0.00,1.85,0.00,0.000,6,0.000,0.046,3326,2571,2339,0,0,0,0,0,0
$GC,7276,0.76,146.0,219.9,14.0,627,7277,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2568,2338,0,0,0,0,0,0
$GC,7403,0.76,146.0,201.5,14.4,639,7407,0.00,1.95,0.00,0.000,4,0.000,0.067,3326,3770,2338,0,0,0,0,0,0
$GC,7448,0.76,146.0,194.4,16.4,643,7452,0.00,1.85,0.00,0.000,6,0.000,0.047,3335,2579,2338,0,0,0,0,0,0
$GC,7589,0.76,146.0,173.5,14.4,656,7590,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2576,2338,0,0,0,0,0,0
$GC,7716,0.76,146.0,155.0,14.6,668,7719,0.00,1.92,0.00,0.000,4,0.000,0.064,3335,3768,2339,0,0,0,0,0,0
$GC,7774,0.76,146.0,145.0,17.4,673,7783,0.10,1.88,0.00,0.000,6,0.157,0.046,3313,2590,2337,0,0,0,0,0,0
$GC,7911,0.76,146.0,126.8,13.3,686,7915,0.00,1.90,0.00,0.000,4,0.000,0.067,3313,3764,2338,0,0,0,0,0,0
$GC,7936,0.76,146.0,122.5,14.8,688,7946,0.00,1.85,0.00,0.000,6,0.000,0.045,3321,2602,2338,0,0,0,0,0,0
$GC,8072,0.76,146.0,104.2,13.7,701,8074,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2601,2338,0,0,0,0,0,0
$GC,8199,0.76,146.0,86.7,14.2,722,8207,0.00,1.92,0.00,0.000,4,0.000,0.065,3320,3761,2337,0,0,0,0,0,0
$GC,8235,0.76,146.0,81.4,14.8,728,8243,0.00,1.85,0.00,0.000,6,0.000,0.046,3329,2606,2338,0,0,0,0,0,0
$GC,8377,0.76,146.0,60.9,14.3,753,8383,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2605,2338,0,0,0,0,0,0
$GC,8512,0.76,146.0,41.2,14.7,778,8519,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2605,2338,0,0,0,0,0,0
$GC,8652,0.76,146.0,20.0,16.9,803,8662,0.00,1.90,0.00,0.000,4,0.000,0.066,3329,3771,2338,0,0,0,0,0,0
$FREEZE,8.56,-1.522,-1.903,2,1,0
$FREEZE,7.70,-1.522,-1.902,2,1,0
$FREEZE,7.14,-1.523,-1.902,2,1,0
$GC,8736,0.76,146.0,7.1,14.5,817,8743,0.00,1.85,0.00,0.000,6,0.000,0.046,3338,2608,2337,0,0,0,0,0,0
$FREEZE,5.41,-1.521,-1.900,2,1,0
$FREEZE,4.60,-1.520,-1.900,2,1,0
$FREEZE,3.59,-1.520,-1.899,2,1,0
$FREEZE,2.51,-1.518,-1.898,2,1,0
$STATE,8765,end climb,SURFACE_DEPTH_REACHED
$STATE,8766,begin surface coast
$FREEZE,1.82,-1.518,-1.898,2,1,0
$FREEZE,1.09,-1.518,-1.897,2,1,0
$FREEZE,1.16,-1.560,-1.900,2,1,0
$FREEZE,1.09,-1.693,-1.908,2,1,0
$FINISH,1.1,1.027963
$STATE,8793,end surface coast,CONTROL_FINISHED_OK
$STATE,8793,begin surface
$SM_CCo,8807,128.65,0.766,1,0,1329,400.08
$SM_GC,1.81,0.00,0.00,128.65,0.000,0.000,0.766,434,2668,1329,-8.22,0.51,400.08
$IRIDIUM_FIX,-7639.69,16529.00,301110,212122
$TT8_MAMPS,0.028462
$HUMID,51.53
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.10
$XPDR_PINGS,7
$ALTIM_TOP_PING,18.7,17.0
$ALTIM_BOTTOM_PING,603.3,23.2
$24V_AH,21.3,28.027
$10V_AH,10.0,15.949
$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,18.750,97.700,280.750,128.650,0.000,29.935,38.742,199.947,4.500,0.000,12.532,2068.081,4310.670,557.016,2235.265,135.650,0.000,1423.102,0.000,1434.339,0.000,22.032,0.000
$DEVICE_MAMPS,214.965,109.395,1197.225,765.765,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,583.752,1013.311,890.905,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276064
$DATA_FILE_SIZE,57237,826
$CAP_FILE_SIZE,122402,0
$CFSIZE,260165632,247599104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,011210,022754,-7726.065,16513.451,44,1.7,45,144.1