version: 66.08
glider: 502
mission: 3
dive: 133
start: 12 4 110 13 37 23
data:
$ID,502
$MISSION,3
$DIVE,133
$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,40
$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
$GPS1,041210,112120,-7727.140,16511.088,33,1.9,33,144.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.10
$_SM_ANGLEo,1.5
$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,13,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,25,0.00,0.00,-8.38,0.000,2,0.000,0.000,3066,3761,3260,0,0,0,0,0,0
$GC,27,-0.76,-146.0,4.4,-0.0,1,48,0.68,4.05,-10.62,0.000,4,0.081,0.056,2816,1247,3562,0,0,0,0,0,0
$GC,59,-0.76,-146.0,7.5,-10.2,6,67,0.00,2.33,0.00,0.000,6,0.000,0.062,2806,2648,3563,0,0,0,0,0,0
$GC,199,-0.76,-146.0,26.6,-13.7,31,205,0.00,1.80,0.00,0.000,4,0.000,0.064,2797,3767,3564,0,0,0,0,0,0
$GC,290,-0.76,-146.0,41.6,-17.2,47,297,0.00,1.75,0.00,0.000,6,0.000,0.045,2798,2672,3565,0,0,0,0,0,0
$GC,426,-0.76,-146.0,63.8,-18.6,72,434,0.00,2.30,0.00,0.000,4,0.000,0.054,2798,1240,3565,0,0,0,0,0,0
$GC,494,-0.76,-146.0,78.2,-23.0,84,503,0.08,2.35,0.00,0.000,6,0.147,0.060,2812,2661,3565,0,0,0,0,0,0
$GC,635,-0.76,-146.0,104.2,-17.2,107,639,0.00,1.75,0.00,0.000,4,0.000,0.063,2805,3763,3564,0,0,0,0,0,0
$GC,702,-0.76,-146.0,116.7,-15.1,113,706,0.00,1.70,0.00,0.000,6,0.000,0.044,2805,2666,3565,0,0,0,0,0,0
$GC,843,-0.76,-146.0,136.5,-11.5,126,846,0.00,1.80,0.00,0.000,4,0.000,0.065,2798,3773,3565,0,0,0,0,0,0
$GC,888,-0.76,-146.0,143.7,-16.5,130,892,0.00,1.70,0.00,0.000,6,0.000,0.044,2798,2680,3565,0,0,0,0,0,0
$GC,1028,-0.76,-146.0,167.6,-16.6,143,1032,0.00,2.25,0.00,0.000,4,0.000,0.052,2798,1246,3565,0,0,0,0,0,0
$GC,1070,-0.76,-146.0,175.0,-16.1,146,1080,0.00,2.38,0.00,0.000,6,0.000,0.059,2788,2683,3565,0,0,0,0,0,0
$GC,1207,-0.76,-146.0,201.1,-20.6,159,1208,0.10,0.00,0.00,0.000,6,0.195,0.000,2813,2684,3565,0,0,0,0,0,0
$GC,1333,-0.76,-146.0,220.8,-15.8,171,1337,0.00,1.73,0.00,0.000,4,0.000,0.063,2806,3769,3565,0,0,0,0,0,0
$GC,1389,-0.76,-146.0,230.3,-17.7,176,1392,0.00,1.70,0.00,0.000,6,0.000,0.044,2806,2673,3565,0,0,0,0,0,0
$GC,1528,-0.76,-146.0,254.5,-16.9,189,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2670,3565,0,0,0,0,0,0
$GC,1719,-0.76,-146.0,287.1,-16.3,207,1722,0.00,1.77,0.00,0.000,4,0.000,0.065,2798,3767,3565,0,0,0,0,0,0
$GC,1745,-0.76,-146.0,291.9,-17.1,209,1753,0.00,1.73,0.00,0.000,6,0.000,0.044,2798,2681,3565,0,0,0,0,0,0
$GC,1943,-0.76,-146.0,324.2,-16.3,228,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2680,3565,0,0,0,0,0,0
$GC,2134,-0.76,-146.0,355.3,-16.3,246,2138,0.00,2.25,0.00,0.000,4,0.000,0.053,2798,1247,3565,0,0,0,0,0,0
$GC,2162,-0.76,-146.0,359.7,-15.5,248,2167,0.10,2.35,0.00,0.000,6,0.180,0.060,2813,2696,3565,0,0,0,0,0,0
$GC,2360,-0.76,-146.0,388.6,-14.7,266,2364,0.00,1.70,0.00,0.000,4,0.000,0.064,2807,3763,3565,0,0,0,0,0,0
$GC,2432,-0.76,-146.0,400.1,-15.4,272,2439,0.00,1.70,0.00,0.000,6,0.000,0.044,2806,2685,3565,0,0,0,0,0,0
$GC,2631,-0.76,-146.0,427.7,-13.9,291,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2686,3565,0,0,0,0,0,0
$GC,2821,-0.76,-146.0,455.7,-14.9,309,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2686,3565,0,0,0,0,0,0
$STATE,2947,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2947,begin apogee
$GC,2952,-0.17,0.0,474.3,14.0,321,3094,0.62,0.00,132.73,1.128,4,0.135,0.000,3006,2493,2960,0,0,0,0,0,0
$STATE,3094,end apogee,CONTROL_FINISHED_OK
$STATE,3094,begin climb
$GC,3096,0.76,146.0,479.3,0.0,334,3250,0.95,2.53,142.93,1.053,4,0.077,0.052,3308,1095,2365,0,0,0,0,0,0
$GC,3353,0.76,146.0,455.5,11.9,357,3357,0.00,2.45,0.00,0.000,6,0.000,0.054,3309,2503,2354,0,0,0,0,0,0
$GC,3550,0.76,146.0,430.7,12.9,375,3554,0.00,2.33,0.00,0.000,4,0.000,0.052,3318,1092,2350,0,0,0,0,0,0
$GC,3656,0.76,146.0,417.5,12.0,384,3660,0.00,2.38,0.00,0.000,6,0.000,0.055,3318,2527,2348,0,0,0,0,0,0
$GC,3853,0.76,146.0,391.1,12.8,402,3857,0.00,2.00,0.00,0.000,4,0.000,0.062,3318,3765,2347,0,0,0,0,0,0
$GC,3954,0.76,146.0,375.1,16.7,411,3958,0.00,1.92,0.00,0.000,6,0.000,0.043,3327,2538,2347,0,0,0,0,0,0
$GC,4156,0.76,146.0,347.5,13.2,430,4160,0.00,2.00,0.00,0.000,4,0.000,0.060,3327,3771,2346,0,0,0,0,0,0
$GC,4194,0.76,146.0,341.6,15.8,433,4202,0.00,1.98,0.00,0.000,6,0.000,0.043,3337,2536,2345,0,0,0,0,0,0
$GC,4393,0.76,146.0,314.0,13.6,452,4397,0.00,2.00,0.00,0.000,4,0.000,0.061,3337,3773,2345,0,0,0,0,0,0
$GC,4420,0.76,146.0,309.6,15.9,454,4428,0.10,1.95,0.00,0.000,6,0.148,0.043,3314,2552,2345,0,0,0,0,0,0
$GC,4618,0.76,146.0,284.3,12.1,473,4619,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2550,2344,0,0,0,0,0,0
$GC,4809,0.76,146.0,260.4,12.3,491,4813,0.00,1.98,0.00,0.000,4,0.000,0.061,3314,3771,2344,0,0,0,0,0,0
$GC,4880,0.76,146.0,249.6,15.1,497,4888,0.00,1.92,0.00,0.000,6,0.000,0.042,3321,2556,2344,0,0,0,0,0,0
$GC,5082,0.76,146.0,224.9,12.3,516,5085,0.00,1.95,0.00,0.000,4,0.000,0.061,3321,3764,2343,0,0,0,0,0,0
$GC,5128,0.76,146.0,218.0,14.5,520,5138,0.00,1.90,0.00,0.000,6,0.000,0.043,3331,2564,2343,0,0,0,0,0,0
$GC,5264,0.76,146.0,199.5,15.4,533,5268,0.00,1.95,0.00,0.000,4,0.000,0.063,3331,3768,2343,0,0,0,0,0,0
$GC,5322,0.76,146.0,189.2,16.9,538,5331,0.00,1.90,0.00,0.000,6,0.000,0.043,3340,2568,2343,0,0,0,0,0,0
$GC,5460,0.76,146.0,170.0,16.0,551,5467,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2568,2342,0,0,0,0,0,0
$GC,5594,0.76,146.0,149.2,14.1,564,5598,0.00,1.95,0.00,0.000,4,0.000,0.062,3339,3775,2342,0,0,0,0,0,0
$GC,5641,0.76,146.0,141.1,17.1,568,5651,0.10,1.90,0.00,0.000,6,0.147,0.043,3316,2578,2342,0,0,0,0,0,0
$GC,5779,0.76,146.0,123.4,12.4,581,5787,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2576,2342,0,0,0,0,0,0
$GC,5914,0.76,146.0,106.9,11.9,594,5917,0.00,1.92,0.00,0.000,4,0.000,0.060,3316,3773,2342,0,0,0,0,0,0
$GC,5939,0.76,146.0,103.3,13.2,596,5948,0.00,1.88,0.00,0.000,6,0.000,0.044,3324,2584,2342,0,0,0,0,0,0
$GC,6075,0.76,146.0,87.6,12.2,618,6083,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2583,2342,0,0,0,0,0,0
$GC,6215,0.76,146.0,70.7,12.1,643,6221,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2583,2342,0,0,0,0,0,0
$GC,6351,0.76,146.0,55.3,10.7,668,6360,0.00,1.95,0.00,0.000,4,0.000,0.062,3324,3764,2341,0,0,0,0,0,0
$GC,6395,0.76,146.0,49.9,13.5,675,6401,0.00,1.85,0.00,0.000,6,0.000,0.042,3333,2569,2341,0,0,0,0,0,0
$GC,6533,0.76,146.0,31.8,14.7,700,6541,0.00,1.98,0.00,0.000,4,0.000,0.062,3333,3764,2342,0,0,0,0,0,0
$GC,6565,0.76,146.0,26.3,18.0,705,6572,0.12,1.83,0.00,0.000,6,0.174,0.042,3309,2586,2341,0,0,0,0,0,0
$FREEZE,8.49,-1.852,-1.908,2,2,0
$FREEZE,7.46,-1.856,-1.907,2,2,0
$FREEZE,6.37,-1.857,-1.906,2,2,0
$FREEZE,5.39,-1.847,-1.905,2,2,0
$FREEZE,4.38,-1.847,-1.904,2,2,0
$FREEZE,3.50,-1.867,-1.904,2,2,0
$GC,6708,0.76,146.0,3.5,16.6,730,6716,0.00,1.95,0.00,0.000,4,0.000,0.063,3309,3763,2341,0,0,0,0,0,0
$FREEZE,1.57,-1.861,-1.902,2,2,0
$STATE,6723,end climb,SURFACE_DEPTH_REACHED
$STATE,6723,begin surface coast
$FREEZE,1.24,-1.863,-1.902,2,2,0
$FINISH,1.2,1.027882
$STATE,6730,end surface coast,CONTROL_FINISHED_OK
$STATE,6731,begin surface
$SM_CCo,6747,135.95,0.772,1,0,1329,400.08
$SM_GC,2.02,0.00,0.00,135.95,0.000,0.000,0.772,422,2643,1329,-8.25,-0.17,400.08
$IRIDIUM_FIX,-7639.69,16519.42,041210,080834
$TT8_MAMPS,0.028462
$HUMID,51.26
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,13.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,17.9
$ALTIM_BOTTOM_PING,451.0,37.5
$24V_AH,21.2,33.088
$10V_AH,10.0,19.254
$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,10.400,93.450,275.650,135.950,0.000,0.000,0.000,0.000,2.500,0.000,0.000,1802.325,2829.106,506.101,1698.752,105.859,0.000,1244.002,0.000,1235.617,0.000,14.015,0.000
$DEVICE_MAMPS,195.075,65.025,1128.375,771.885,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,516.711,879.515,852.324,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,275996
$DATA_FILE_SIZE,50461,733
$CAP_FILE_SIZE,97664,0
$CFSIZE,260165632,245432320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041210,112120,-7727.140,16511.088,121,99.0,121,144.3