version: 66.08
glider: 502
mission: 3
dive: 125
start: 12 3 110 19 26 47
data:
$ID,502
$MISSION,3
$DIVE,125
$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,-26258.605
$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,26
$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
$GPS1,031210,191443,-7724.247,16508.014,11,1.3,12,144.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-59.5
$GPS2,031210,192624,-7724.160,16507.432,68,2.0,85,144.2
$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,191.2,2363,-19.0,-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,-0.79,-125.1,0.0,0.0,0,116,0.00,0.00,-98.07,0.000,2,0.000,0.000,408,2659,3118,0,0,0,0,0,0
$GC,119,-0.81,-146.0,3.1,-3.0,15,148,9.05,1.90,-13.52,0.000,4,0.211,0.082,2784,3763,3560,0,0,0,0,0,0
$GC,391,-0.81,-146.0,52.3,-19.3,64,399,0.00,1.80,0.00,0.000,6,0.000,0.045,2785,2640,3563,0,0,0,0,0,0
$GC,530,-0.81,-146.0,75.8,-17.4,89,537,0.00,1.85,0.00,0.000,4,0.000,0.064,2776,3766,3563,0,0,0,0,0,0
$GC,636,-0.81,-146.0,95.7,-18.5,108,644,0.00,1.77,0.00,0.000,6,0.000,0.044,2776,2658,3563,0,0,0,0,0,0
$GC,781,-0.81,-146.0,123.3,-19.2,123,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2657,3563,0,0,0,0,0,0
$GC,915,-0.81,-146.0,149.6,-19.1,136,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2657,3563,0,0,0,0,0,0
$GC,1043,-0.81,-146.0,173.1,-18.1,148,1046,0.00,1.80,0.00,0.000,4,0.000,0.066,2768,3763,3563,0,0,0,0,0,0
$GC,1077,-0.81,-146.0,179.6,-18.8,151,1081,0.12,1.70,0.00,0.000,6,0.177,0.044,2799,2661,3563,0,0,0,0,0,0
$GC,1216,-0.81,-146.0,203.9,-17.3,164,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2660,3563,0,0,0,0,0,0
$GC,1344,-0.81,-146.0,225.8,-16.9,176,1347,0.00,1.80,0.00,0.000,4,0.000,0.066,2793,3767,3563,0,0,0,0,0,0
$GC,1390,-0.81,-146.0,234.1,-18.9,180,1393,0.00,1.70,0.00,0.000,6,0.000,0.044,2793,2667,3563,0,0,0,0,0,0
$GC,1529,-0.81,-146.0,256.8,-16.1,193,1530,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2666,3564,0,0,0,0,0,0
$GC,1720,-0.81,-146.0,287.3,-15.7,211,1724,0.00,1.83,0.00,0.000,4,0.000,0.066,2784,3759,3563,0,0,0,0,0,0
$GC,1746,-0.81,-146.0,292.1,-16.8,213,1754,0.00,1.73,0.00,0.000,6,0.000,0.044,2784,2676,3563,0,0,0,0,0,0
$GC,1944,-0.81,-146.0,325.1,-17.8,232,1945,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2675,3563,0,0,0,0,0,0
$GC,2135,-0.81,-146.0,356.8,-16.7,250,2139,0.00,1.77,0.00,0.000,4,0.000,0.066,2776,3767,3563,0,0,0,0,0,0
$GC,2150,-0.81,-146.0,359.9,-17.5,251,2158,0.00,1.75,0.00,0.000,6,0.000,0.044,2776,2668,3563,0,0,0,0,0,0
$GC,2349,-0.81,-146.0,395.4,-16.7,270,2352,0.00,1.77,0.00,0.000,4,0.000,0.065,2767,3764,3563,0,0,0,0,0,0
$GC,2433,-0.81,-146.0,411.9,-19.9,277,2440,0.12,1.70,0.00,0.000,6,0.174,0.044,2800,2666,3563,0,0,0,0,0,0
$GC,2630,-0.81,-146.0,442.7,-14.8,296,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2665,3563,0,0,0,0,0,0
$GC,2821,-0.81,-146.0,471.0,-14.9,314,2825,0.00,1.77,0.00,0.000,4,0.000,0.064,2792,3763,3563,0,0,0,0,0,0
$GC,2858,-0.81,-146.0,477.1,-15.6,317,2866,0.00,1.70,0.00,0.000,6,0.000,0.044,2793,2689,3563,0,0,0,0,0,0
$STATE,2938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2939,begin apogee
$GC,2943,-0.17,0.0,488.9,14.8,325,3085,0.65,0.00,131.65,1.125,4,0.137,0.000,3001,2496,2960,0,0,0,0,0,0
$STATE,3086,end apogee,CONTROL_FINISHED_OK
$STATE,3086,begin climb
$GC,3088,0.81,146.0,494.0,0.0,338,3241,1.02,2.53,142.45,1.057,4,0.076,0.051,3329,1092,2363,0,0,0,0,0,0
$GC,3357,0.81,146.0,466.2,13.0,362,3365,0.00,2.47,0.00,0.000,6,0.000,0.054,3330,2493,2352,0,0,0,0,0,0
$GC,3557,0.81,146.0,438.3,13.9,381,3561,0.00,2.28,0.00,0.000,4,0.000,0.051,3340,1098,2349,0,0,0,0,0,0
$GC,3686,0.81,146.0,421.1,13.0,392,3690,0.00,2.35,0.00,0.000,6,0.000,0.055,3340,2530,2346,0,0,0,0,0,0
$GC,3883,0.81,146.0,394.8,13.5,410,3887,0.00,1.98,0.00,0.000,4,0.000,0.060,3340,3762,2346,0,0,0,0,0,0
$GC,3984,0.81,146.0,378.7,16.6,419,3988,0.00,1.92,0.00,0.000,6,0.000,0.044,3349,2535,2345,0,0,0,0,0,0
$GC,4187,0.81,146.0,349.5,14.7,438,4190,0.00,1.98,0.00,0.000,4,0.000,0.059,3349,3762,2344,0,0,0,0,0,0
$GC,4247,0.81,146.0,339.0,19.5,443,4255,0.08,1.95,0.00,0.000,6,0.179,0.042,3336,2534,2344,0,0,0,0,0,0
$GC,4445,0.81,146.0,307.4,15.4,462,4449,0.00,1.98,0.00,0.000,4,0.000,0.060,3336,3762,2343,0,0,0,0,0,0
$GC,4467,0.81,146.0,303.4,17.3,464,4471,0.00,1.88,0.00,0.000,6,0.000,0.043,3344,2552,2343,0,0,0,0,0,0
$GC,4670,0.81,146.0,272.0,14.4,483,4674,0.00,1.98,0.00,0.000,4,0.000,0.063,3344,3767,2342,0,0,0,0,0,0
$GC,4714,0.81,146.0,265.0,15.4,487,4718,0.00,1.88,0.00,0.000,6,0.000,0.043,3352,2553,2342,0,0,0,0,0,0
$GC,4919,0.81,146.0,232.7,17.1,506,4922,0.00,1.98,0.00,0.000,4,0.000,0.063,3352,3771,2342,0,0,0,0,0,0
$GC,4965,0.81,146.0,224.5,16.7,510,4975,0.10,1.92,0.00,0.000,6,0.166,0.042,3331,2559,2342,0,0,0,0,0,0
$GC,5103,0.81,146.0,206.2,13.3,523,5107,0.00,1.95,0.00,0.000,4,0.000,0.062,3331,3764,2342,0,0,0,0,0,0
$GC,5159,0.81,146.0,198.4,14.2,528,5162,0.00,1.85,0.00,0.000,6,0.000,0.043,3338,2565,2341,0,0,0,0,0,0
$GC,5301,0.81,146.0,178.6,14.2,541,5304,0.00,1.92,0.00,0.000,4,0.000,0.061,3338,3763,2341,0,0,0,0,0,0
$GC,5347,0.81,146.0,170.7,14.7,545,5357,0.00,1.85,0.00,0.000,6,0.000,0.042,3347,2592,2341,0,0,0,0,0,0
$GC,5484,0.81,146.0,151.7,14.7,558,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,2591,2341,0,0,0,0,0,0
$GC,5611,0.81,146.0,131.1,16.0,570,5612,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,2591,2341,0,0,0,0,0,0
$GC,5738,0.81,146.0,109.9,15.9,582,5742,0.00,1.90,0.00,0.000,4,0.000,0.063,3347,3764,2341,0,0,0,0,0,0
$GC,5805,0.81,146.0,97.2,19.7,589,5812,0.00,1.83,0.00,0.000,6,0.000,0.042,3356,2590,2341,0,0,0,0,0,0
$GC,5943,0.81,146.0,77.0,15.1,614,5951,0.00,1.92,0.00,0.000,4,0.000,0.062,3356,3756,2341,0,0,0,0,0,0
$GC,5963,0.81,146.0,73.5,16.7,617,5971,0.15,1.80,0.00,0.000,6,0.187,0.042,3326,2594,2341,0,0,0,0,0,0
$GC,6104,0.81,146.0,51.6,16.4,642,6112,0.00,1.92,0.00,0.000,4,0.000,0.064,3326,3755,2341,0,0,0,0,0,0
$GC,6140,0.81,146.0,45.4,15.7,648,6148,0.00,1.83,0.00,0.000,6,0.000,0.043,3333,2602,2341,0,0,0,0,0,0
$GC,6281,0.81,146.0,26.7,12.1,673,6288,0.00,1.88,0.00,0.000,4,0.000,0.059,3334,3764,2341,0,0,0,0,0,0
$GC,6377,0.81,146.0,11.5,17.6,690,6385,0.00,1.80,0.00,0.000,6,0.000,0.041,3342,2616,2341,0,0,0,0,0,0
$FREEZE,8.29,-1.859,-1.908,2,1,0
$FREEZE,7.52,-1.859,-1.908,2,1,0
$FREEZE,6.71,-1.859,-1.907,2,1,0
$FREEZE,5.60,-1.859,-1.906,2,1,0
$FREEZE,4.63,-1.860,-1.906,2,1,0
$FREEZE,3.66,-1.860,-1.905,2,1,0
$FREEZE,2.80,-1.860,-1.904,2,1,0
$STATE,6431,end climb,SURFACE_DEPTH_REACHED
$STATE,6431,begin surface coast
$FREEZE,1.73,-1.859,-1.903,2,1,0
$FREEZE,1.29,-1.871,-1.903,2,1,0
$FREEZE,1.31,-1.881,-1.900,2,1,0
$FINISH,1.3,1.027848
$STATE,6451,end surface coast,FINISH_DEPTH_REACHED
$STATE,6451,begin surface
$SM_CCo,6466,132.50,0.752,1,0,1330,400.08
$SM_GC,1.90,0.00,0.00,132.50,0.000,0.000,0.752,426,2653,1330,-8.24,0.08,400.08
$IRIDIUM_FIX,-7639.69,16512.38,031210,191958
$TT8_MAMPS,0.029211
$HUMID,51.02
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,18.2
$ALTIM_BOTTOM_PING,450.8,76.1
$24V_AH,21.2,32.040
$10V_AH,9.8,18.543
$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,18.875,80.200,274.100,132.500,0.000,55.018,79.624,318.584,2.500,0.000,86.739,1699.710,2770.724,539.396,2179.632,120.358,0.000,1261.533,0.000,1182.625,0.000,14.121,0.000
$DEVICE_MAMPS,211.140,135.405,1124.550,751.995,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,493.398,836.172,787.714,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,275984
$DATA_FILE_SIZE,47178,702
$CAP_FILE_SIZE,105601,0
$CFSIZE,260165632,245911552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031210,211806,-7723.354,16505.316,34,1.1,40,144.2