version: 66.08
glider: 502
mission: 3
dive: 132
start: 12 4 110 11 21 43
data:
$ID,502
$MISSION,3
$DIVE,132
$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,-26267.596
$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,42
$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
$GPS1,041210,111507,-7727.197,16511.398,35,1.1,36,144.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-56.7
$GPS2,041210,112120,-7727.140,16511.088,33,1.9,33,144.3
$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,197.9,8052,-17.5,-10.000
$D_GRID,559
$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
$STATE,14,begin dive
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$GC,535,-0.76,-146.0,75.6,-14.8,90,544,0.00,1.90,0.00,0.000,4,0.000,0.067,2797,3763,3561,0,0,0,0,0,0
$GC,623,-0.76,-146.0,88.7,-16.3,105,630,0.00,1.75,0.00,0.000,6,0.000,0.044,2797,2643,3561,0,0,0,0,0,0
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$GC,795,-0.76,-146.0,117.9,-20.1,127,798,0.00,1.75,0.00,0.000,6,0.000,0.044,2788,2644,3561,0,0,0,0,0,0
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$GC,1199,-0.76,-146.0,187.1,-15.8,165,1203,0.00,1.83,0.00,0.000,4,0.000,0.063,2806,3768,3562,0,0,0,0,0,0
$GC,1225,-0.76,-146.0,191.9,-16.7,167,1234,0.00,1.75,0.00,0.000,6,0.000,0.044,2806,2669,3562,0,0,0,0,0,0
$GC,1361,-0.76,-146.0,213.5,-16.3,180,1365,0.00,2.25,0.00,0.000,4,0.000,0.053,2806,1242,3562,0,0,0,0,0,0
$GC,1392,-0.76,-146.0,219.3,-16.7,182,1401,0.00,2.35,0.00,0.000,6,0.000,0.060,2796,2662,3562,0,0,0,0,0,0
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$GC,1777,-0.76,-146.0,286.7,-16.7,218,1782,0.10,1.80,0.00,0.000,4,0.192,0.065,2806,3766,3562,0,0,0,0,0,0
$GC,1800,-0.76,-146.0,290.7,-17.2,220,1804,0.00,1.75,0.00,0.000,6,0.000,0.044,2806,2670,3562,0,0,0,0,0,0
$GC,2002,-0.76,-146.0,321.8,-15.2,239,2003,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2667,3562,0,0,0,0,0,0
$GC,2194,-0.76,-146.0,349.2,-14.3,257,2195,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2667,3561,0,0,0,0,0,0
$GC,2385,-0.76,-146.0,376.0,-14.1,275,2388,0.00,1.77,0.00,0.000,4,0.000,0.065,2798,3764,3562,0,0,0,0,0,0
$GC,2430,-0.76,-146.0,382.6,-14.8,279,2433,0.00,1.70,0.00,0.000,6,0.000,0.044,2798,2668,3562,0,0,0,0,0,0
$GC,2634,-0.76,-146.0,411.1,-13.9,298,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2666,3562,0,0,0,0,0,0
$GC,2823,-0.76,-146.0,436.9,-13.2,316,2827,0.00,1.77,0.00,0.000,4,0.000,0.066,2790,3764,3562,0,0,0,0,0,0
$GC,2868,-0.76,-146.0,443.2,-14.5,320,2871,0.00,1.70,0.00,0.000,6,0.000,0.044,2790,2670,3562,0,0,0,0,0,0
$GC,3071,-0.76,-146.0,471.0,-13.8,339,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2668,3562,0,0,0,0,0,0
$GC,3262,-0.76,-146.0,497.4,-14.0,357,3265,0.00,1.77,0.00,0.000,4,0.000,0.065,2781,3765,3562,0,0,0,0,0,0
$GC,3287,-0.76,-146.0,501.6,-15.3,359,3296,0.10,1.73,0.00,0.000,6,0.148,0.044,2814,2679,3562,0,0,0,0,0,0
$GC,3478,-0.76,-146.0,525.6,-12.4,366,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2679,3562,0,0,0,0,0,0
$GC,3662,-0.76,-146.0,546.1,-10.9,372,3666,0.00,1.83,0.00,0.000,4,0.000,0.069,2811,3767,3562,0,0,0,0,0,0
$STATE,3805,end dive,NO_VERTICAL_VELOCITY
$STATE,3806,begin apogee
$GC,3811,-0.17,0.0,546.2,0.0,376,3950,0.55,0.00,133.18,1.164,4,0.076,0.000,3016,2491,2960,0,0,0,0,0,0
$STATE,3950,end apogee,CONTROL_FINISHED_OK
$STATE,3950,begin climb
$GC,3952,0.76,146.0,546.2,0.0,380,4106,0.93,2.53,144.00,1.089,4,0.073,0.051,3312,1102,2364,0,0,0,0,0,0
$GC,4222,0.76,146.0,519.6,12.4,389,4227,0.00,2.47,0.00,0.000,6,0.000,0.054,3312,2504,2352,0,0,0,0,0,0
$GC,4421,0.76,146.0,493.4,13.6,397,4425,0.00,2.33,0.00,0.000,4,0.000,0.053,3322,1091,2348,0,0,0,0,0,0
$GC,4542,0.76,146.0,476.5,13.4,407,4550,0.00,2.40,0.00,0.000,6,0.000,0.057,3322,2516,2346,0,0,0,0,0,0
$GC,4742,0.76,146.0,449.1,13.5,426,4745,0.00,2.03,0.00,0.000,4,0.000,0.062,3322,3771,2345,0,0,0,0,0,0
$GC,4846,0.76,146.0,432.2,15.8,435,4854,0.00,1.98,0.00,0.000,6,0.000,0.043,3332,2542,2344,0,0,0,0,0,0
$GC,5046,0.76,146.0,405.0,13.6,454,5050,0.00,2.00,0.00,0.000,4,0.000,0.063,3332,3771,2343,0,0,0,0,0,0
$GC,5102,0.76,146.0,396.0,16.3,459,5106,0.00,1.92,0.00,0.000,6,0.000,0.044,3341,2544,2343,0,0,0,0,0,0
$GC,5307,0.76,146.0,365.0,15.4,478,5310,0.00,2.00,0.00,0.000,4,0.000,0.063,3341,3771,2343,0,0,0,0,0,0
$GC,5355,0.76,146.0,356.0,18.8,482,5363,0.10,1.95,0.00,0.000,6,0.152,0.043,3318,2553,2342,0,0,0,0,0,0
$GC,5555,0.76,146.0,328.0,13.8,501,5559,0.00,1.98,0.00,0.000,4,0.000,0.062,3318,3771,2342,0,0,0,0,0,0
$GC,5611,0.76,146.0,318.8,16.1,506,5615,0.00,1.90,0.00,0.000,6,0.000,0.043,3326,2550,2342,0,0,0,0,0,0
$GC,5813,0.76,146.0,290.0,13.7,525,5814,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2549,2342,0,0,0,0,0,0
$GC,6005,0.76,146.0,266.9,11.7,543,6008,0.00,1.98,0.00,0.000,4,0.000,0.063,3326,3769,2341,0,0,0,0,0,0
$GC,6050,0.76,146.0,260.8,14.0,547,6053,0.00,1.88,0.00,0.000,6,0.000,0.043,3335,2557,2341,0,0,0,0,0,0
$GC,6254,0.76,146.0,234.4,13.4,566,6255,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2556,2341,0,0,0,0,0,0
$GC,6381,0.76,146.0,216.1,15.3,578,6385,0.00,1.95,0.00,0.000,4,0.000,0.060,3335,3765,2341,0,0,0,0,0,0
$GC,6437,0.76,146.0,206.9,16.7,583,6441,0.12,1.85,0.00,0.000,6,0.173,0.043,3311,2568,2340,0,0,0,0,0,0
$GC,6577,0.76,146.0,188.0,12.6,596,6578,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2566,2340,0,0,0,0,0,0
$GC,6704,0.76,146.0,171.9,12.1,608,6705,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2566,2340,0,0,0,0,0,0
$GC,6831,0.76,146.0,155.4,15.2,620,6835,0.00,1.95,0.00,0.000,4,0.000,0.062,3311,3773,2340,0,0,0,0,0,0
$GC,6901,0.76,146.0,144.5,15.2,626,6910,0.00,1.90,0.00,0.000,6,0.000,0.044,3319,2578,2340,0,0,0,0,0,0
$GC,7038,0.76,146.0,126.5,14.4,639,7042,0.00,1.92,0.00,0.000,4,0.000,0.061,3319,3771,2340,0,0,0,0,0,0
$GC,7094,0.76,146.0,118.3,15.1,644,7097,0.00,1.85,0.00,0.000,6,0.000,0.044,3328,2574,2340,0,0,0,0,0,0
$GC,7236,0.76,146.0,99.5,11.5,657,7243,0.00,1.95,0.00,0.000,4,0.000,0.064,3328,3764,2340,0,0,0,0,0,0
$GC,7286,0.76,146.0,92.9,13.9,666,7294,0.00,1.85,0.00,0.000,6,0.000,0.043,3337,2598,2340,0,0,0,0,0,0
$GC,7428,0.76,146.0,76.1,11.8,691,7434,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2597,2340,0,0,0,0,0,0
$GC,7563,0.77,153.4,64.0,9.7,716,7572,0.00,1.92,0.00,0.000,4,0.000,0.060,3337,3764,2339,0,0,0,0,0,0
$GC,7621,0.77,153.4,57.3,11.2,726,7630,0.08,1.83,0.00,0.000,6,0.166,0.042,3322,2608,2339,0,0,0,0,0,0
$GC,7764,0.77,153.4,38.6,14.0,751,7770,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2607,2340,0,0,0,0,0,0
$GC,7901,0.77,153.4,18.7,14.6,776,7909,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2607,2339,0,0,0,0,0,0
$FREEZE,8.78,-1.876,-1.908,2,1,0
$FREEZE,7.65,-1.874,-1.907,2,1,0
$FREEZE,6.73,-1.878,-1.907,2,1,0
$FREEZE,5.56,-1.878,-1.906,2,1,0
$FREEZE,4.71,-1.879,-1.905,2,1,0
$FREEZE,3.69,-1.882,-1.904,2,1,0
$STATE,7993,end climb,FINISH_DEPTH_REACHED
$STATE,7993,begin subsurface finish
$FINISH1,3.7,1.027889,-19
$GC,7999,-0.02,-19.1,3.7,-18.2,792,8047,0.77,2.15,-36.22,0.000,4,0.130,0.081,3066,3761,3042,0,0,0,0,0,0
$FINISH2,3.9
$STATE,8048,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8048,begin surface
$IRIDIUM_FIX,-7639.69,16519.42,041210,080834
$TT8_MAMPS,0.027713
$HUMID,52.16
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,18.1
$24V_AH,21.1,32.974
$10V_AH,10.0,19.173
$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,11.950,91.025,277.175,0.000,0.000,24.197,41.614,192.776,2.750,0.000,33.969,1972.602,3694.564,423.198,2195.062,134.414,0.000,1276.509,0.000,1409.656,0.000,15.801,0.000
$DEVICE_MAMPS,208.845,82.620,1163.565,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,563.917,973.636,877.332,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,275948
$DATA_FILE_SIZE,53691,799
$CAP_FILE_SIZE,112124,0
$CFSIZE,260165632,245473280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041210,112120,-7727.140,16511.088,33,1.9,33,144.3