version: 66.08
glider: 502
mission: 3
dive: 126
start: 12 3 110 21 28 57
data:
$ID,502
$MISSION,3
$DIVE,126
$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,-26259.959
$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,38
$R_STBD_OVSHOOT,23
$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
$GPS1,031210,211806,-7723.354,16505.316,34,1.1,40,144.2
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-60.6
$GPS2,031210,212833,-7723.282,16504.719,13,1.7,32,144.2
$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,0.7,10680,-17.5,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,103,0.00,0.00,-85.93,0.000,2,0.000,0.000,419,2656,2879,0,0,0,0,0,0
$GC,106,-0.76,-146.0,3.0,-2.6,13,153,9.15,2.30,-29.35,0.000,4,0.215,0.064,2810,1236,3560,0,0,0,0,0,0
$GC,251,-0.76,-146.0,26.0,-21.1,38,259,0.00,2.35,0.00,0.000,6,0.000,0.058,2801,2649,3563,0,0,0,0,0,0
$GC,391,-0.76,-146.0,52.5,-20.1,63,398,0.00,1.83,0.00,0.000,4,0.000,0.065,2793,3763,3563,0,0,0,0,0,0
$GC,427,-0.76,-146.0,59.7,-20.3,69,434,0.00,1.77,0.00,0.000,6,0.000,0.044,2793,2632,3563,0,0,0,0,0,0
$GC,565,-0.76,-146.0,78.4,-15.7,94,573,0.00,1.90,0.00,0.000,4,0.000,0.067,2784,3762,3563,0,0,0,0,0,0
$GC,612,-0.76,-146.0,88.2,-22.0,102,620,0.08,1.75,0.00,0.000,6,0.162,0.044,2808,2666,3563,0,0,0,0,0,0
$GC,756,-0.76,-146.0,113.8,-17.6,121,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2666,3563,0,0,0,0,0,0
$GC,883,-0.76,-146.0,140.3,-23.5,133,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2666,3563,0,0,0,0,0,0
$GC,1011,-0.76,-146.0,166.8,-20.3,145,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2666,3563,0,0,0,0,0,0
$GC,1138,-0.76,-146.0,189.7,-18.2,157,1142,0.00,2.25,0.00,0.000,4,0.000,0.053,2808,1231,3563,0,0,0,0,0,0
$GC,1191,-0.76,-146.0,198.9,-14.7,161,1201,0.00,2.33,0.00,0.000,6,0.000,0.058,2799,2641,3563,0,0,0,0,0,0
$GC,1329,-0.76,-146.0,221.7,-17.4,174,1332,0.00,1.80,0.00,0.000,4,0.000,0.064,2790,3767,3564,0,0,0,0,0,0
$GC,1365,-0.76,-146.0,229.8,-20.8,177,1374,0.00,1.77,0.00,0.000,6,0.000,0.045,2790,2645,3563,0,0,0,0,0,0
$GC,1500,-0.76,-146.0,253.5,-17.0,190,1504,0.00,2.20,0.00,0.000,4,0.000,0.054,2790,1243,3563,0,0,0,0,0,0
$GC,1528,-0.76,-146.0,257.8,-14.5,192,1532,0.12,2.30,0.00,0.000,6,0.177,0.059,2813,2653,3563,0,0,0,0,0,0
$GC,1725,-0.76,-146.0,291.5,-18.0,210,1728,0.00,1.77,0.00,0.000,4,0.000,0.063,2806,3768,3563,0,0,0,0,0,0
$GC,1770,-0.76,-146.0,298.7,-14.2,214,1773,0.00,1.75,0.00,0.000,6,0.000,0.044,2806,2636,3563,0,0,0,0,0,0
$GC,1973,-0.76,-146.0,329.7,-16.1,233,1976,0.00,1.83,0.00,0.000,4,0.000,0.066,2798,3761,3563,0,0,0,0,0,0
$GC,1999,-0.76,-146.0,333.8,-13.8,235,2007,0.00,1.73,0.00,0.000,6,0.000,0.043,2798,2672,3563,0,0,0,0,0,0
$GC,2197,-0.76,-146.0,366.2,-19.2,254,2198,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2671,3563,0,0,0,0,0,0
$GC,2390,-0.76,-146.0,396.7,-15.7,272,2394,0.00,1.77,0.00,0.000,4,0.000,0.064,2790,3767,3563,0,0,0,0,0,0
$GC,2417,-0.76,-146.0,401.7,-16.8,274,2425,0.00,1.75,0.00,0.000,6,0.000,0.044,2790,2662,3563,0,0,0,0,0,0
$GC,2616,-0.76,-146.0,432.2,-15.6,293,2617,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2662,3563,0,0,0,0,0,0
$GC,2806,-0.76,-146.0,461.7,-15.0,311,2810,0.00,1.80,0.00,0.000,4,0.000,0.065,2782,3773,3563,0,0,0,0,0,0
$GC,2844,-0.76,-146.0,468.1,-16.4,314,2852,0.10,1.75,0.00,0.000,6,0.151,0.044,2815,2672,3563,0,0,0,0,0,0
$STATE,2862,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2862,begin apogee
$GC,2866,-0.17,0.0,470.4,15.6,316,3003,0.57,0.00,130.95,1.101,4,0.131,0.000,3003,2494,2961,0,0,0,0,0,0
$STATE,3003,end apogee,CONTROL_FINISHED_OK
$STATE,3003,begin climb
$GC,3005,0.76,146.0,475.7,0.0,328,3159,0.95,2.53,142.07,1.028,4,0.076,0.051,3306,1103,2363,0,0,0,0,0,0
$GC,3242,0.76,146.0,454.1,11.8,349,3250,0.00,2.47,0.00,0.000,6,0.000,0.054,3306,2493,2353,0,0,0,0,0,0
$GC,3440,0.76,146.0,429.3,12.6,368,3445,0.00,2.30,0.00,0.000,4,0.000,0.052,3316,1099,2349,0,0,0,0,0,0
$GC,3585,0.76,146.0,410.4,12.9,380,3593,0.00,2.38,0.00,0.000,6,0.000,0.054,3316,2534,2346,0,0,0,0,0,0
$GC,3783,0.76,146.0,380.8,15.8,399,3787,0.00,1.98,0.00,0.000,4,0.000,0.062,3316,3761,2345,0,0,0,0,0,0
$GC,3888,0.76,146.0,361.3,18.7,408,3896,0.00,1.98,0.00,0.000,6,0.000,0.042,3325,2530,2345,0,0,0,0,0,0
$GC,4087,0.76,146.0,327.2,16.7,427,4091,0.00,2.00,0.00,0.000,4,0.000,0.061,3325,3767,2344,0,0,0,0,0,0
$GC,4147,0.76,146.0,315.8,18.8,432,4155,0.00,1.98,0.00,0.000,6,0.000,0.042,3335,2525,2343,0,0,0,0,0,0
$GC,4345,0.76,146.0,283.0,16.0,451,4349,0.00,2.00,0.00,0.000,4,0.000,0.060,3335,3762,2343,0,0,0,0,0,0
$GC,4379,0.76,146.0,277.0,19.2,454,4384,0.10,1.95,0.00,0.000,6,0.148,0.042,3312,2541,2342,0,0,0,0,0,0
$GC,4583,0.76,146.0,247.4,13.8,473,4587,0.00,1.98,0.00,0.000,4,0.000,0.061,3312,3761,2342,0,0,0,0,0,0
$GC,4619,0.76,146.0,241.5,15.4,476,4629,0.00,1.92,0.00,0.000,6,0.000,0.044,3320,2553,2342,0,0,0,0,0,0
$GC,4756,0.76,146.0,223.0,13.6,489,4759,0.00,1.95,0.00,0.000,4,0.000,0.061,3320,3761,2341,0,0,0,0,0,0
$GC,4791,0.76,146.0,217.8,15.0,492,4795,0.00,1.88,0.00,0.000,6,0.000,0.044,3328,2556,2341,0,0,0,0,0,0
$GC,4932,0.76,146.0,197.7,14.2,505,4933,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2555,2341,0,0,0,0,0,0
$GC,5059,0.76,146.0,180.4,13.5,517,5062,0.00,1.95,0.00,0.000,4,0.000,0.060,3328,3768,2341,0,0,0,0,0,0
$GC,5105,0.76,146.0,172.7,15.3,521,5115,0.00,1.90,0.00,0.000,6,0.000,0.042,3337,2568,2341,0,0,0,0,0,0
$GC,5243,0.76,146.0,152.4,15.5,534,5247,0.00,1.92,0.00,0.000,4,0.000,0.063,3337,3761,2341,0,0,0,0,0,0
$GC,5266,0.76,146.0,148.4,15.4,536,5271,0.12,1.83,0.00,0.000,6,0.176,0.043,3314,2577,2341,0,0,0,0,0,0
$GC,5407,0.76,146.0,129.0,13.1,549,5411,0.00,1.90,0.00,0.000,4,0.000,0.060,3314,3761,2341,0,0,0,0,0,0
$GC,5423,0.76,146.0,126.5,13.1,550,5431,0.00,1.88,0.00,0.000,6,0.000,0.044,3321,2579,2340,0,0,0,0,0,0
$GC,5558,0.76,146.0,109.3,13.5,563,5559,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2578,2340,0,0,0,0,0,0
$GC,5684,0.76,146.0,91.8,13.1,580,5692,0.00,1.95,0.00,0.000,4,0.000,0.061,3322,3762,2340,0,0,0,0,0,0
$GC,5716,0.76,146.0,87.2,15.1,585,5723,0.00,1.83,0.00,0.000,6,0.000,0.043,3330,2588,2340,0,0,0,0,0,0
$GC,5853,0.76,146.0,66.9,15.2,610,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2587,2340,0,0,0,0,0,0
$GC,5993,0.76,146.0,46.5,16.2,635,6000,0.00,1.92,0.00,0.000,4,0.000,0.063,3330,3769,2340,0,0,0,0,0,0
$GC,6022,0.76,146.0,41.3,18.3,640,6030,0.00,1.85,0.00,0.000,6,0.000,0.043,3339,2602,2340,0,0,0,0,0,0
$GC,6164,0.76,146.0,17.9,16.8,665,6170,0.00,1.88,0.00,0.000,4,0.000,0.060,3339,3762,2340,0,0,0,0,0,0
$GC,6193,0.76,146.0,11.4,19.9,670,6202,0.10,1.83,0.00,0.000,6,0.156,0.045,3316,2616,2340,0,0,0,0,0,0
$FREEZE,8.88,-1.851,-1.908,2,1,0
$FREEZE,8.11,-1.851,-1.908,2,1,0
$FREEZE,7.20,-1.851,-1.907,2,1,0
$FREEZE,6.41,-1.851,-1.907,2,1,0
$FREEZE,5.55,-1.851,-1.906,2,1,0
$FREEZE,4.81,-1.854,-1.905,2,1,0
$FREEZE,3.75,-1.854,-1.905,2,1,0
$FREEZE,2.91,-1.852,-1.904,2,1,0
$STATE,6249,end climb,SURFACE_DEPTH_REACHED
$STATE,6249,begin surface coast
$FREEZE,1.66,-1.852,-1.903,2,1,0
$FREEZE,1.29,-2.066,-1.267,2,1,0
$FINISH,1.3,1.018703
$STATE,6262,end surface coast,FINISH_DEPTH_REACHED
$STATE,6262,begin surface
$SM_CCo,6276,131.70,0.773,1,0,1329,400.08
$SM_GC,1.98,0.00,0.00,131.70,0.000,0.000,0.773,418,2655,1329,-8.27,0.14,400.08
$IRIDIUM_FIX,-7603.11,15716.93,031210,212141
$TT8_MAMPS,0.028462
$HUMID,50.55
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,18.3
$ALTIM_BOTTOM_PING,450.4,33.0
$24V_AH,21.3,32.175
$10V_AH,9.9,18.627
$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,18.650,90.925,273.025,131.700,0.000,60.406,114.832,274.767,2.000,0.000,33.403,1647.502,2633.203,561.689,2090.463,116.787,0.000,1282.423,0.000,1145.233,0.000,14.004,0.000
$DEVICE_MAMPS,214.965,128.520,1100.835,772.650,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,477.837,821.841,798.940,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,275960
$DATA_FILE_SIZE,47053,681
$CAP_FILE_SIZE,102643,0
$CFSIZE,260165632,245858304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031210,231655,-7723.958,16505.855,12,1.4,29,144.2