version: 66.08
glider: 502
mission: 3
dive: 102
start: 12 1 110 12 37 22
data:
$ID,502
$MISSION,3
$DIVE,102
$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,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,-25741.002
$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,39
$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
$GPS1,011210,121926,-7724.576,16508.836,27,2.5,47,144.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-37.5
$GPS2,011210,121926,-7724.576,16508.836,121,99.0,121,144.2
$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,0.5,7768,-17.5,-10.000
$D_GRID,518
$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
$STATE,13,begin dive
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$GC,659,-0.76,-146.0,63.8,-19.1,109,666,0.00,2.35,0.00,0.000,4,0.000,0.053,2793,1230,3559,0,0,0,0,0,0
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$GC,1180,-0.76,-146.0,156.0,-17.5,175,1182,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2673,3560,0,0,0,0,0,0
$GC,1309,-0.76,-146.0,177.4,-16.5,187,1312,0.00,1.77,0.00,0.000,4,0.000,0.068,2798,3763,3560,0,0,0,0,0,0
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$GC,1620,-0.76,-146.0,229.6,-16.2,216,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2683,3560,0,0,0,0,0,0
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$GC,1986,-0.76,-146.0,290.2,-16.3,250,1989,0.00,1.77,0.00,0.000,4,0.000,0.069,2781,3771,3560,0,0,0,0,0,0
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$GC,2390,-0.76,-146.0,348.3,-13.6,288,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2684,3560,0,0,0,0,0,0
$GC,2581,-0.76,-146.0,374.1,-13.6,306,2585,0.00,1.75,0.00,0.000,4,0.000,0.068,2806,3763,3560,0,0,0,0,0,0
$GC,2615,-0.76,-146.0,379.1,-15.5,309,2619,0.00,1.65,0.00,0.000,6,0.000,0.046,2806,2692,3559,0,0,0,0,0,0
$GC,2818,-0.76,-146.0,407.2,-13.8,328,2819,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2690,3560,0,0,0,0,0,0
$GC,3009,-0.76,-146.0,433.0,-13.4,346,3010,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2690,3560,0,0,0,0,0,0
$GC,3200,-0.76,-146.0,458.0,-13.1,364,3201,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2690,3560,0,0,0,0,0,0
$GC,3393,-0.76,-146.0,482.7,-13.0,382,3397,0.00,1.75,0.00,0.000,4,0.000,0.067,2798,3766,3560,0,0,0,0,0,0
$GC,3419,-0.76,-146.0,486.7,-14.0,384,3427,0.00,1.70,0.00,0.000,6,0.000,0.045,2798,2695,3560,0,0,0,0,0,0
$GC,3613,-0.76,-146.0,512.6,-13.4,397,3614,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2694,3559,0,0,0,0,0,0
$STATE,3673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3673,begin apogee
$GC,3678,-0.17,0.0,520.7,13.4,399,3816,0.62,0.00,131.60,1.141,4,0.135,0.000,3001,2487,2960,0,0,0,0,0,0
$STATE,3817,end apogee,CONTROL_FINISHED_OK
$STATE,3817,begin climb
$GC,3818,0.76,146.0,525.3,0.0,403,3971,0.95,2.50,143.88,1.066,4,0.073,0.052,3307,1099,2365,0,0,0,0,0,0
$GC,4071,0.76,146.0,500.8,12.9,411,4076,0.00,2.47,0.00,0.000,6,0.000,0.053,3308,2498,2353,0,0,0,0,0,0
$GC,4270,0.76,146.0,474.7,13.4,429,4274,0.00,2.33,0.00,0.000,4,0.000,0.053,3317,1088,2348,0,0,0,0,0,0
$GC,4398,0.76,146.0,457.8,13.3,440,4402,0.00,2.38,0.00,0.000,6,0.000,0.056,3316,2526,2346,0,0,0,0,0,0
$GC,4597,0.76,146.0,430.9,13.4,458,4600,0.00,2.00,0.00,0.000,4,0.000,0.064,3317,3761,2345,0,0,0,0,0,0
$GC,4698,0.76,146.0,414.7,15.9,467,4702,0.00,1.92,0.00,0.000,6,0.000,0.046,3326,2541,2343,0,0,0,0,0,0
$GC,4901,0.76,146.0,385.7,14.3,486,4904,0.00,2.00,0.00,0.000,4,0.000,0.066,3326,3762,2343,0,0,0,0,0,0
$GC,4960,0.76,146.0,375.7,16.9,491,4968,0.00,1.95,0.00,0.000,6,0.000,0.045,3335,2549,2342,0,0,0,0,0,0
$GC,5160,0.76,146.0,346.1,14.5,510,5164,0.00,1.98,0.00,0.000,4,0.000,0.067,3335,3763,2342,0,0,0,0,0,0
$GC,5217,0.76,146.0,336.4,17.5,515,5221,0.12,1.90,0.00,0.000,6,0.182,0.046,3313,2551,2342,0,0,0,0,0,0
$GC,5415,0.76,146.0,309.0,13.3,533,5419,0.00,1.98,0.00,0.000,4,0.000,0.066,3313,3764,2342,0,0,0,0,0,0
$GC,5453,0.76,146.0,303.0,15.6,536,5461,0.00,1.90,0.00,0.000,6,0.000,0.044,3321,2571,2341,0,0,0,0,0,0
$GC,5651,0.76,146.0,275.8,13.4,555,5655,0.00,1.95,0.00,0.000,4,0.000,0.066,3320,3770,2341,0,0,0,0,0,0
$GC,5701,0.76,146.0,268.0,16.8,559,5708,0.00,1.85,0.00,0.000,6,0.000,0.045,3330,2582,2340,0,0,0,0,0,0
$GC,5900,0.76,146.0,239.6,14.5,578,5903,0.00,1.92,0.00,0.000,4,0.000,0.063,3330,3773,2340,0,0,0,0,0,0
$GC,5947,0.76,146.0,231.4,16.7,582,5957,0.00,1.88,0.00,0.000,6,0.000,0.046,3339,2596,2339,0,0,0,0,0,0
$GC,6083,0.76,146.0,210.7,15.4,595,6087,0.00,1.90,0.00,0.000,4,0.000,0.064,3339,3771,2340,0,0,0,0,0,0
$GC,6119,0.76,146.0,203.9,17.5,598,6129,0.10,1.85,0.00,0.000,6,0.161,0.045,3316,2613,2340,0,0,0,0,0,0
$GC,6256,0.76,146.0,184.2,14.3,611,6260,0.00,1.88,0.00,0.000,4,0.000,0.067,3317,3769,2340,0,0,0,0,0,0
$GC,6292,0.76,146.0,178.5,16.9,614,6295,0.00,1.80,0.00,0.000,6,0.000,0.046,3324,2613,2339,0,0,0,0,0,0
$GC,6432,0.76,146.0,156.5,15.3,627,6436,0.00,1.88,0.00,0.000,4,0.000,0.067,3324,3766,2339,0,0,0,0,0,0
$GC,6457,0.76,146.0,151.7,17.2,629,6467,0.00,1.80,0.00,0.000,6,0.000,0.045,3332,2634,2339,0,0,0,0,0,0
$GC,6593,0.76,146.0,131.1,14.6,642,6594,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2632,2338,0,0,0,0,0,0
$GC,6721,0.76,146.0,112.5,14.2,654,6724,0.00,1.85,0.00,0.000,4,0.000,0.067,3332,3770,2340,0,0,0,0,0,0
$GC,6777,0.76,146.0,103.7,16.4,659,6780,0.00,1.77,0.00,0.000,6,0.000,0.046,3341,2629,2339,0,0,0,0,0,0
$GC,6915,0.76,146.0,84.0,14.1,681,6921,0.00,1.85,0.00,0.000,4,0.000,0.064,3341,3763,2339,0,0,0,0,0,0
$GC,6950,0.76,146.0,78.5,15.3,687,6957,0.15,1.77,0.00,0.000,6,0.174,0.045,3309,2625,2339,0,0,0,0,0,0
$GC,7089,0.76,146.0,55.8,14.4,712,7097,0.00,2.45,0.00,0.000,4,0.000,0.053,3320,1087,2339,0,0,0,0,0,0
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$GC,7255,0.76,146.0,34.0,13.8,741,7261,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2660,2339,0,0,0,0,0,0
$GC,7392,0.76,146.0,13.0,15.8,766,7400,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2660,2338,0,0,0,0,0,0
$FREEZE,8.71,-1.722,-1.905,2,5,0
$FREEZE,7.73,-1.723,-1.905,2,5,0
$STATE,7428,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,7428,begin subsurface finish
$FINISH1,7.7,1.027848,-17
$GC,7433,-0.02,-17.0,7.7,-13.1,772,7468,0.82,0.00,-28.02,0.000,6,0.154,0.000,3064,2479,3034,0,0,0,0,0,0
$FINISH2,3.5
$STATE,7469,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7469,begin surface
$IRIDIUM_FIX,-7639.69,16514.88,011210,121236
$TT8_MAMPS,0.028462
$HUMID,52.67
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,13.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,16.3
$ALTIM_BOTTOM_PING,500.3,51.1
$24V_AH,21.4,28.819
$10V_AH,9.9,16.432
$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,12.150,90.725,275.475,0.000,0.000,83.021,133.171,458.579,2.750,0.000,121.598,1881.520,3378.997,464.336,2656.106,142.737,0.000,1298.528,0.000,1329.604,0.000,15.766,0.000
$DEVICE_MAMPS,216.495,68.850,1141.380,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,546.887,935.763,846.963,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276028
$DATA_FILE_SIZE,53696,777
$CAP_FILE_SIZE,116580,0
$CFSIZE,260165632,247287808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011210,122836,-7639.687,16514.885,0,10000.0,0,144.2