version: 66.08
glider: 502
mission: 3
dive: 131
start: 12 4 110 8 51 56
data:
$ID,502
$MISSION,3
$DIVE,131
$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,-26266.334
$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,32
$R_STBD_OVSHOOT,22
$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
$GPS1,041210,083607,-7728.106,16516.074,49,1.5,50,144.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-65.0
$GPS2,041210,085131,-7728.057,16515.262,17,1.5,34,144.2
$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,191.9,10245,-17.5,-10.000
$D_GRID,604
$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,-146.0,0.0,0.0,0,122,0.00,0.00,-104.82,0.000,2,0.000,0.000,412,2661,3254,0,0,0,0,0,0
$GC,124,-0.76,-146.0,3.1,-1.3,16,153,9.05,2.35,-9.85,0.000,4,0.208,0.067,2812,1243,3560,0,0,0,0,0,0
$GC,398,-0.76,-146.0,50.2,-16.5,65,405,0.00,2.33,0.00,0.000,6,0.000,0.059,2803,2655,3563,0,0,0,0,0,0
$GC,535,-0.76,-146.0,73.9,-19.9,90,542,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2656,3563,0,0,0,0,0,0
$GC,675,-0.76,-146.0,100.9,-19.1,115,678,0.00,1.77,0.00,0.000,4,0.000,0.063,2794,3770,3563,0,0,0,0,0,0
$GC,711,-0.76,-146.0,108.3,-18.0,118,720,0.00,1.77,0.00,0.000,6,0.000,0.044,2794,2658,3563,0,0,0,0,0,0
$GC,847,-0.76,-146.0,134.0,-19.7,131,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2657,3563,0,0,0,0,0,0
$GC,974,-0.76,-146.0,157.6,-17.7,143,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2657,3564,0,0,0,0,0,0
$GC,1102,-0.76,-146.0,179.4,-17.4,155,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2657,3563,0,0,0,0,0,0
$GC,1229,-0.76,-146.0,202.7,-18.4,167,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2657,3563,0,0,0,0,0,0
$GC,1356,-0.76,-146.0,226.1,-17.8,179,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2657,3563,0,0,0,0,0,0
$GC,1484,-0.76,-146.0,247.6,-16.6,191,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2657,3563,0,0,0,0,0,0
$GC,1610,-0.76,-146.0,269.2,-16.7,203,1614,0.00,1.80,0.00,0.000,4,0.000,0.067,2786,3764,3563,0,0,0,0,0,0
$GC,1644,-0.76,-146.0,275.3,-18.4,206,1649,0.12,1.73,0.00,0.000,6,0.180,0.044,2818,2651,3563,0,0,0,0,0,0
$GC,1847,-0.76,-146.0,307.1,-15.4,225,1850,0.00,1.83,0.00,0.000,4,0.000,0.066,2811,3769,3563,0,0,0,0,0,0
$GC,1915,-0.76,-146.0,317.8,-15.9,231,1919,0.00,1.75,0.00,0.000,6,0.000,0.044,2811,2670,3563,0,0,0,0,0,0
$GC,2117,-0.76,-146.0,346.8,-14.0,250,2118,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2668,3563,0,0,0,0,0,0
$GC,2309,-0.76,-146.0,372.8,-13.5,268,2312,0.00,1.77,0.00,0.000,4,0.000,0.065,2802,3764,3563,0,0,0,0,0,0
$GC,2346,-0.76,-146.0,378.4,-14.1,271,2354,0.00,1.75,0.00,0.000,6,0.000,0.044,2802,2667,3563,0,0,0,0,0,0
$GC,2544,-0.76,-146.0,405.9,-13.8,290,2548,0.00,1.77,0.00,0.000,4,0.000,0.065,2794,3764,3563,0,0,0,0,0,0
$GC,2571,-0.76,-146.0,410.1,-14.5,292,2579,0.00,1.75,0.00,0.000,6,0.000,0.044,2794,2663,3563,0,0,0,0,0,0
$GC,2769,-0.76,-146.0,437.8,-13.8,311,2773,0.00,1.80,0.00,0.000,4,0.000,0.065,2786,3773,3563,0,0,0,0,0,0
$GC,2795,-0.76,-146.0,442.0,-14.7,313,2804,0.08,1.75,0.00,0.000,6,0.158,0.044,2810,2674,3563,0,0,0,0,0,0
$GC,2994,-0.76,-146.0,467.1,-12.7,332,2998,0.00,1.77,0.00,0.000,4,0.000,0.064,2803,3770,3563,0,0,0,0,0,0
$GC,3017,-0.76,-146.0,470.2,-13.2,334,3021,0.00,1.70,0.00,0.000,6,0.000,0.044,2803,2673,3563,0,0,0,0,0,0
$GC,3220,-0.76,-146.0,496.3,-12.8,353,3224,0.00,1.83,0.00,0.000,4,0.000,0.065,2795,3767,3563,0,0,0,0,0,0
$GC,3258,-0.76,-146.0,502.1,-14.8,356,3263,0.00,1.73,0.00,0.000,6,0.000,0.044,2795,2683,3563,0,0,0,0,0,0
$GC,3471,-0.76,-146.0,530.8,-13.6,363,3472,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2681,3563,0,0,0,0,0,0
$GC,3655,-0.76,-146.0,556.1,-13.8,369,3656,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2681,3563,0,0,0,0,0,0
$GC,3838,-0.76,-146.0,581.8,-14.0,375,3842,0.00,1.80,0.00,0.000,4,0.000,0.067,2786,3758,3563,0,0,0,0,0,0
$STATE,3858,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3858,begin apogee
$GC,3864,-0.17,0.0,585.1,15.0,375,4004,0.68,0.00,133.90,1.183,4,0.138,0.000,3002,2491,2960,0,0,0,0,0,0
$STATE,4005,end apogee,CONTROL_FINISHED_OK
$STATE,4005,begin climb
$GC,4006,0.76,146.0,590.1,0.0,380,4160,0.98,2.55,144.88,1.108,4,0.075,0.052,3312,1097,2364,0,0,0,0,0,0
$GC,4255,0.76,146.0,566.0,13444.2,387,4262,0.00,2.45,0.00,0.000,6,0.000,0.053,3312,2500,2352,0,0,0,0,0,0
$GC,4445,0.76,146.0,540.2,13444.2,394,4449,0.00,2.33,0.00,0.000,4,0.000,0.052,3322,1090,2348,0,0,0,0,0,0
$GC,4568,0.76,146.0,523.7,13444.2,397,4575,0.00,2.38,0.00,0.000,6,0.000,0.056,3322,2521,2346,0,0,0,0,0,0
$GC,4758,0.76,146.0,497.3,13444.2,404,4761,0.00,2.03,0.00,0.000,4,0.000,0.060,3322,3775,2345,0,0,0,0,0,0
$GC,4851,0.76,146.0,482.0,13444.2,412,4859,0.00,1.98,0.00,0.000,6,0.000,0.044,3332,2546,2345,0,0,0,0,0,0
$GC,5050,0.76,146.0,453.8,13444.2,431,5054,0.00,1.98,0.00,0.000,4,0.000,0.063,3332,3764,2343,0,0,0,0,0,0
$GC,5109,0.76,146.0,443.9,13444.2,436,5118,0.08,1.95,0.00,0.000,6,0.151,0.042,3317,2550,2343,0,0,0,0,0,0
$GC,5308,0.76,146.0,417.3,13444.2,455,5312,0.00,2.03,0.00,0.000,4,0.000,0.063,3317,3786,2342,0,0,0,0,0,0
$GC,5375,0.76,146.0,407.0,13444.2,461,5379,0.00,1.92,0.00,0.000,6,0.000,0.043,3325,2550,2342,0,0,0,0,0,0
$GC,5578,0.76,146.0,379.1,13444.2,480,5581,0.00,1.98,0.00,0.000,4,0.000,0.063,3325,3769,2342,0,0,0,0,0,0
$GC,5638,0.76,146.0,369.5,13444.2,485,5645,0.00,1.90,0.00,0.000,6,0.000,0.043,3334,2572,2342,0,0,0,0,0,0
$GC,5838,0.76,146.0,341.7,13444.2,504,5841,0.00,1.92,0.00,0.000,4,0.000,0.062,3334,3767,2341,0,0,0,0,0,0
$GC,5886,0.76,146.0,333.7,13444.2,508,5895,0.08,1.88,0.00,0.000,6,0.149,0.042,3318,2587,2341,0,0,0,0,0,0
$GC,6085,0.76,146.0,308.9,13444.2,527,6089,0.00,1.95,0.00,0.000,4,0.000,0.063,3318,3764,2341,0,0,0,0,0,0
$GC,6130,0.76,146.0,302.6,13444.2,531,6133,0.00,1.83,0.00,0.000,6,0.000,0.042,3325,2585,2341,0,0,0,0,0,0
$GC,6332,0.76,146.0,275.7,13444.2,550,6336,0.00,1.90,0.00,0.000,4,0.000,0.061,3325,3764,2341,0,0,0,0,0,0
$GC,6392,0.76,146.0,266.3,13444.2,555,6400,0.00,1.85,0.00,0.000,6,0.000,0.042,3334,2594,2340,0,0,0,0,0,0
$GC,6594,0.76,146.0,239.6,13444.2,574,6598,0.00,1.90,0.00,0.000,4,0.000,0.062,3334,3773,2340,0,0,0,0,0,0
$GC,6641,0.76,146.0,232.4,13444.2,578,6651,0.08,1.85,0.00,0.000,6,0.157,0.042,3319,2602,2340,0,0,0,0,0,0
$GC,6776,0.76,146.0,217.4,13444.2,591,6778,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2602,2340,0,0,0,0,0,0
$GC,6904,0.76,146.0,202.6,13444.2,603,6908,0.00,1.88,0.00,0.000,4,0.000,0.061,3319,3768,2340,0,0,0,0,0,0
$GC,6971,0.76,146.0,193.8,13444.2,609,6974,0.00,1.80,0.00,0.000,6,0.000,0.043,3327,2604,2340,0,0,0,0,0,0
$GC,7111,0.76,146.0,175.3,13444.2,622,7114,0.00,1.88,0.00,0.000,4,0.000,0.062,3326,3767,2340,0,0,0,0,0,0
$GC,7137,0.76,146.0,171.3,13444.2,624,7146,0.00,1.83,0.00,0.000,6,0.000,0.042,3335,2614,2339,0,0,0,0,0,0
$GC,7272,0.76,146.0,154.1,13444.2,637,7273,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2613,2340,0,0,0,0,0,0
$GC,7400,0.76,146.0,138.7,13444.2,649,7401,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2613,2340,0,0,0,0,0,0
$GC,7527,0.76,146.0,120.7,13444.2,661,7529,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2613,2339,0,0,0,0,0,0
$GC,7655,0.76,146.0,101.5,13444.2,673,7658,0.00,1.88,0.00,0.000,4,0.000,0.064,3336,3772,2339,0,0,0,0,0,0
$GC,7719,0.76,146.0,90.2,13444.2,684,7727,0.10,1.80,0.00,0.000,6,0.151,0.044,3312,2633,2339,0,0,0,0,0,0
$GC,7861,0.76,146.0,71.2,13444.2,709,7867,0.00,1.85,0.00,0.000,4,0.000,0.065,3312,3764,2339,0,0,0,0,0,0
$GC,7900,0.76,146.0,66.4,13444.2,716,7908,0.00,1.80,0.00,0.000,6,0.000,0.043,3319,2626,2339,0,0,0,0,0,0
$GC,8041,0.76,146.0,49.0,13444.2,741,8047,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2624,2339,0,0,0,0,0,0
$GC,8178,0.76,146.0,28.9,13444.2,766,8185,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2624,2339,0,0,0,0,0,0
$FREEZE,8.99,-1.864,-1.908,2,1,0
$GC,8319,0.76,146.0,9.0,13444.2,791,8326,0.00,1.85,0.00,0.000,4,0.000,0.060,3319,3771,2339,0,0,0,0,0,0
$FREEZE,6.45,-1.868,-1.906,2,1,0
$FREEZE,5.39,-1.869,-1.906,2,1,0
$FREEZE,4.48,-1.869,-1.905,2,1,0
$FREEZE,3.41,-1.866,-1.904,2,1,0
$FREEZE,2.64,-1.867,-1.903,2,1,0
$STATE,8356,end climb,SURFACE_DEPTH_REACHED
$STATE,8356,begin surface coast
$FREEZE,1.82,-1.866,-1.903,2,1,0
$FINISH,1.8,1.027888
$STATE,8364,end surface coast,CONTROL_FINISHED_OK
$STATE,8364,begin surface
$SM_CCo,8380,133.73,0.779,1,0,1330,400.08
$SM_GC,1.89,0.00,0.00,133.73,0.000,0.000,0.779,423,2633,1330,-8.25,-0.45,400.08
$IRIDIUM_FIX,-7639.69,16512.38,041210,080828
$TT8_MAMPS,0.028462
$HUMID,51.10
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,20.0,18.2
$ALTIM_BOTTOM_PING,551.9,48.1
$24V_AH,21.1,32.870
$10V_AH,9.9,19.081
$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,18.675,95.650,278.775,133.725,0.000,90.970,131.612,398.518,3.250,0.000,35.717,1986.594,4144.006,562.400,2605.017,153.100,0.000,1406.955,0.000,1400.976,0.000,20.425,0.000
$DEVICE_MAMPS,208.080,66.555,1183.455,778.770,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,563.472,966.527,854.999,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,275932
$DATA_FILE_SIZE,53608,798
$CAP_FILE_SIZE,127438,0
$CFSIZE,260165632,245518336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041210,111507,-7727.197,16511.398,35,1.1,36,144.2