version: 66.08
glider: 502
mission: 3
dive: 114
start: 12 2 110 17 45 23
data:
$ID,502
$MISSION,3
$DIVE,114
$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,-26244.762
$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,31
$R_STBD_OVSHOOT,24
$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
$GPS1,021210,173850,-7724.050,16507.279,19,1.5,20,144.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-69.1
$GPS2,021210,174500,-7724.021,16507.232,42,1.4,42,144.2
$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,190.3,2097,-21.8,-10.000
$D_GRID,488
$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,-0.85,-96.9,0.0,0.0,0,129,0.00,0.00,-111.55,0.000,6,0.000,0.000,420,2658,3357,0,0,0,0,0,0
$GC,132,-0.91,-146.0,3.2,-1.9,17,153,8.95,2.38,-5.90,0.000,4,0.212,0.064,2763,1238,3560,0,0,0,0,0,0
$GC,359,-0.91,-146.0,46.2,-17.6,58,367,0.00,2.35,0.00,0.000,6,0.000,0.059,2757,2647,3564,0,0,0,0,0,0
$GC,498,-0.91,-146.0,76.1,-23.3,83,504,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2647,3563,0,0,0,0,0,0
$GC,637,-0.91,-146.0,107.4,-22.6,105,640,0.00,1.80,0.00,0.000,4,0.000,0.063,2748,3771,3564,0,0,0,0,0,0
$GC,673,-0.91,-146.0,117.2,-24.8,108,682,0.00,1.77,0.00,0.000,6,0.000,0.044,2748,2658,3563,0,0,0,0,0,0
$GC,808,-0.91,-146.0,145.9,-20.4,121,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2657,3564,0,0,0,0,0,0
$GC,936,-0.91,-146.0,172.4,-20.8,133,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2657,3564,0,0,0,0,0,0
$GC,1063,-0.91,-146.0,198.3,-20.1,145,1067,0.00,1.80,0.00,0.000,4,0.000,0.067,2739,3764,3563,0,0,0,0,0,0
$GC,1108,-0.91,-146.0,207.6,-21.2,149,1113,0.12,1.73,0.00,0.000,6,0.188,0.044,2770,2653,3563,0,0,0,0,0,0
$GC,1250,-0.91,-146.0,233.7,-17.7,162,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2652,3563,0,0,0,0,0,0
$GC,1374,-0.91,-146.0,256.6,-17.6,174,1375,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2652,3563,0,0,0,0,0,0
$GC,1566,-0.91,-146.0,290.1,-17.5,192,1569,0.00,1.80,0.00,0.000,4,0.000,0.067,2762,3760,3563,0,0,0,0,0,0
$GC,1592,-0.91,-146.0,295.4,-18.5,194,1600,0.00,1.75,0.00,0.000,6,0.000,0.044,2763,2662,3564,0,0,0,0,0,0
$GC,1792,-0.91,-146.0,330.7,-18.3,213,1795,0.00,1.80,0.00,0.000,4,0.000,0.067,2755,3769,3563,0,0,0,0,0,0
$GC,1814,-0.91,-146.0,335.3,-18.3,215,1817,0.00,1.73,0.00,0.000,6,0.000,0.045,2755,2655,3563,0,0,0,0,0,0
$GC,2017,-0.91,-146.0,372.2,-17.9,234,2020,0.00,1.80,0.00,0.000,4,0.000,0.067,2747,3760,3563,0,0,0,0,0,0
$GC,2043,-0.91,-146.0,377.6,-19.8,236,2051,0.00,1.73,0.00,0.000,6,0.000,0.044,2747,2673,3563,0,0,0,0,0,0
$GC,2241,-0.91,-146.0,414.5,-18.6,255,2245,0.00,1.80,0.00,0.000,4,0.000,0.067,2738,3757,3563,0,0,0,0,0,0
$GC,2267,-0.91,-146.0,420.1,-19.9,257,2276,0.10,1.73,0.00,0.000,6,0.168,0.044,2769,2669,3563,0,0,0,0,0,0
$GC,2466,-0.91,-146.0,453.7,-17.1,276,2468,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2668,3563,0,0,0,0,0,0
$GC,2657,-0.91,-146.0,485.4,-16.2,294,2661,0.00,1.77,0.00,0.000,4,0.000,0.064,2762,3765,3563,0,0,0,0,0,0
$STATE,2671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2671,begin apogee
$GC,2677,-0.17,0.0,488.3,16.7,295,2814,0.77,0.00,131.82,1.131,4,0.150,0.000,3002,2494,2960,0,0,0,0,0,0
$STATE,2815,end apogee,CONTROL_FINISHED_OK
$STATE,2815,begin climb
$GC,2817,0.91,146.0,493.9,0.0,308,2970,1.10,2.53,142.55,1.057,4,0.076,0.052,3351,1097,2364,0,0,0,0,0,0
$GC,3087,0.91,146.0,463.1,15.5,332,3095,0.00,2.47,0.00,0.000,6,0.000,0.053,3351,2502,2353,0,0,0,0,0,0
$GC,3287,0.91,146.0,431.1,16.7,351,3291,0.00,2.30,0.00,0.000,4,0.000,0.050,3361,1088,2349,0,0,0,0,0,0
$GC,3416,0.91,146.0,410.8,15.2,362,3420,0.00,2.35,0.00,0.000,6,0.000,0.054,3361,2523,2347,0,0,0,0,0,0
$GC,3613,0.91,146.0,378.2,17.0,380,3617,0.00,2.00,0.00,0.000,4,0.000,0.060,3361,3769,2345,0,0,0,0,0,0
$GC,3737,0.91,146.0,354.4,19.6,391,3741,0.00,1.92,0.00,0.000,6,0.000,0.043,3370,2538,2345,0,0,0,0,0,0
$GC,3941,0.91,146.0,318.1,17.9,410,3945,0.00,1.98,0.00,0.000,4,0.000,0.062,3370,3761,2343,0,0,0,0,0,0
$GC,4008,0.91,146.0,304.5,20.4,416,4012,0.00,1.90,0.00,0.000,6,0.000,0.043,3379,2541,2343,0,0,0,0,0,0
$GC,4211,0.91,146.0,266.2,19.5,435,4214,0.00,1.98,0.00,0.000,4,0.000,0.061,3379,3763,2343,0,0,0,0,0,0
$GC,4302,0.91,146.0,247.1,20.9,443,4306,0.12,1.88,0.00,0.000,6,0.198,0.043,3359,2550,2343,0,0,0,0,0,0
$GC,4442,0.91,146.0,222.7,16.5,456,4443,0.00,0.00,0.00,0.000,6,0.000,0.000,3359,2548,2342,0,0,0,0,0,0
$GC,4569,0.91,146.0,200.6,17.1,468,4570,0.00,0.00,0.00,0.000,6,0.000,0.000,3359,2548,2342,0,0,0,0,0,0
$GC,4697,0.91,146.0,179.6,16.1,480,4700,0.00,1.98,0.00,0.000,4,0.000,0.063,3359,3771,2341,0,0,0,0,0,0
$GC,4744,0.91,146.0,170.3,18.5,484,4754,0.00,1.90,0.00,0.000,6,0.000,0.043,3367,2569,2342,0,0,0,0,0,0
$GC,4882,0.91,146.0,147.9,16.9,497,4886,0.00,1.92,0.00,0.000,4,0.000,0.063,3367,3763,2342,0,0,0,0,0,0
$GC,4907,0.91,146.0,142.5,18.2,499,4917,0.00,1.88,0.00,0.000,6,0.000,0.044,3376,2576,2342,0,0,0,0,0,0
$GC,5044,0.91,146.0,119.2,17.6,512,5047,0.00,1.92,0.00,0.000,4,0.000,0.063,3376,3770,2341,0,0,0,0,0,0
$GC,5088,0.91,146.0,110.3,19.3,516,5092,0.00,1.83,0.00,0.000,6,0.000,0.044,3384,2585,2342,0,0,0,0,0,0
$GC,5224,0.91,146.0,85.0,18.4,535,5231,0.00,1.92,0.00,0.000,4,0.000,0.063,3385,3767,2342,0,0,0,0,0,0
$GC,5274,0.91,146.0,73.7,22.2,544,5283,0.10,1.85,0.00,0.000,6,0.178,0.044,3364,2596,2342,0,0,0,0,0,0
$GC,5416,0.91,146.0,50.3,16.8,569,5422,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,2594,2341,0,0,0,0,0,0
$GC,5553,0.91,146.0,28.1,16.0,594,5561,0.00,1.92,0.00,0.000,4,0.000,0.063,3364,3757,2341,0,0,0,0,0,0
$GC,5617,0.91,146.0,15.7,20.6,605,5623,0.00,1.80,0.00,0.000,6,0.000,0.044,3372,2597,2341,0,0,0,0,0,0
$FREEZE,8.92,-1.822,-1.908,2,1,0
$FREEZE,7.82,-1.821,-1.907,2,1,0
$FREEZE,6.87,-1.821,-1.906,2,1,0
$FREEZE,5.72,-1.820,-1.905,2,1,0
$FREEZE,4.80,-1.821,-1.905,2,1,0
$FREEZE,3.52,-1.819,-1.903,2,1,0
$FREEZE,2.67,-1.816,-1.903,2,1,0
$STATE,5686,end climb,SURFACE_DEPTH_REACHED
$STATE,5686,begin surface coast
$FREEZE,1.56,-1.811,-1.902,2,1,0
$FREEZE,1.09,-1.804,-1.901,2,1,0
$FREEZE,1.06,-1.804,-0.512,2,1,0
$FINISH,1.1,1.007406
$STATE,5705,end surface coast,FINISH_DEPTH_REACHED
$STATE,5705,begin surface
$SM_CCo,5719,129.73,0.772,1,0,1329,400.08
$SM_GC,1.96,0.00,0.00,129.73,0.000,0.000,0.772,423,2654,1329,-8.26,0.11,400.08
$IRIDIUM_FIX,-7639.69,16453.33,021210,151529
$TT8_MAMPS,0.028462
$HUMID,51.06
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.1,17.7
$24V_AH,21.3,30.534
$10V_AH,10.0,17.546
$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,18.850,70.075,274.375,129.725,0.000,22.452,49.734,177.382,2.250,0.000,43.080,1499.262,2366.810,520.620,1741.670,100.629,0.000,1170.268,0.000,1055.672,0.000,14.116,0.000
$DEVICE_MAMPS,211.905,106.335,1130.670,771.885,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,435.347,737.278,697.973,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,275972
$DATA_FILE_SIZE,40420,620
$CAP_FILE_SIZE,89721,0
$CFSIZE,260165632,246607872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021210,192401,-7723.298,16505.592,12,1.7,29,144.2