version: 66.08
glider: 502
mission: 3
dive: 134
start: 12 4 110 15 48 30
data:
$ID,502
$MISSION,3
$DIVE,134
$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,623.29712
$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,-26513.689
$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,35
$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,-7727.140,16511.088,121,99.0,121,144.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-62.0
$GPS2,041210,112120,-7727.140,16511.088,121,99.0,121,144.3
$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,-146.0,0.0,0.0,0,122,0.00,0.00,-104.90,0.000,2,0.000,0.000,408,2643,3259,0,0,0,0,0,0
$GC,125,-0.76,-146.0,3.2,-2.3,16,153,9.07,1.90,-9.62,0.000,4,0.210,0.081,2799,3757,3559,0,0,0,0,0,0
$GC,400,-0.76,-146.0,51.0,-18.1,65,407,0.00,1.77,0.00,0.000,6,0.000,0.045,2799,2630,3561,0,0,0,0,0,0
$GC,537,-0.76,-146.0,75.4,-18.3,90,545,0.00,1.90,0.00,0.000,4,0.000,0.065,2790,3761,3561,0,0,0,0,0,0
$GC,624,-0.76,-146.0,93.5,-21.3,105,631,0.00,1.75,0.00,0.000,6,0.000,0.044,2791,2668,3561,0,0,0,0,0,0
$GC,763,-0.76,-146.0,121.5,-19.5,120,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2666,3561,0,0,0,0,0,0
$GC,897,-0.76,-146.0,146.6,-17.5,133,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2666,3561,0,0,0,0,0,0
$GC,1025,-0.76,-146.0,167.0,-15.8,145,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2667,3561,0,0,0,0,0,0
$GC,1153,-0.76,-146.0,186.9,-15.1,157,1156,0.00,1.77,0.00,0.000,4,0.000,0.064,2782,3764,3561,0,0,0,0,0,0
$GC,1200,-0.76,-146.0,195.6,-16.9,161,1210,0.10,1.75,0.00,0.000,6,0.151,0.044,2814,2660,3561,0,0,0,0,0,0
$GC,1337,-0.76,-146.0,215.9,-15.2,174,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2659,3561,0,0,0,0,0,0
$GC,1463,-0.76,-146.0,234.5,-14.1,186,1467,0.00,1.80,0.00,0.000,4,0.000,0.064,2807,3769,3561,0,0,0,0,0,0
$GC,1500,-0.76,-146.0,240.9,-16.1,189,1509,0.00,1.73,0.00,0.000,6,0.000,0.044,2807,2683,3561,0,0,0,0,0,0
$GC,1635,-0.76,-146.0,261.2,-15.8,202,1636,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2683,3561,0,0,0,0,0,0
$GC,1826,-0.76,-146.0,289.4,-14.6,220,1830,0.00,1.75,0.00,0.000,4,0.000,0.066,2799,3763,3561,0,0,0,0,0,0
$GC,1875,-0.76,-146.0,297.2,-15.8,224,1883,0.00,1.73,0.00,0.000,6,0.000,0.044,2799,2680,3561,0,0,0,0,0,0
$GC,2073,-0.76,-146.0,326.2,-15.2,243,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2679,3561,0,0,0,0,0,0
$GC,2264,-0.76,-146.0,355.4,-15.3,261,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2679,3561,0,0,0,0,0,0
$GC,2455,-0.76,-146.0,384.7,-15.4,279,2459,0.00,1.80,0.00,0.000,4,0.000,0.066,2790,3759,3561,0,0,0,0,0,0
$GC,2500,-0.76,-146.0,392.0,-16.7,283,2504,0.00,1.67,0.00,0.000,6,0.000,0.044,2790,2676,3561,0,0,0,0,0,0
$GC,2703,-0.76,-146.0,425.0,-16.2,302,2707,0.00,1.77,0.00,0.000,4,0.000,0.067,2782,3767,3561,0,0,0,0,0,0
$GC,2718,-0.76,-146.0,427.7,-16.0,303,2727,0.10,1.75,0.00,0.000,6,0.152,0.044,2814,2670,3561,0,0,0,0,0,0
$GC,2917,-0.76,-146.0,455.4,-13.6,322,2919,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2669,3561,0,0,0,0,0,0
$STATE,3021,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3022,begin apogee
$GC,3026,-0.17,0.0,469.5,13.2,332,3163,0.57,0.00,131.35,1.120,4,0.133,0.000,3001,2494,2960,0,0,0,0,0,0
$STATE,3163,end apogee,CONTROL_FINISHED_OK
$STATE,3163,begin climb
$GC,3165,0.76,146.0,474.5,0.0,344,3318,0.98,2.53,142.57,1.046,4,0.077,0.052,3311,1101,2364,0,0,0,0,0,0
$GC,3432,0.76,146.0,449.1,12.1,368,3436,0.00,2.42,0.00,0.000,6,0.000,0.054,3311,2500,2353,0,0,0,0,0,0
$GC,3630,0.76,146.0,423.7,12.5,386,3635,0.00,2.33,0.00,0.000,4,0.000,0.054,3321,1088,2349,0,0,0,0,0,0
$GC,3760,0.76,146.0,406.9,13.4,397,3764,0.00,2.35,0.00,0.000,6,0.000,0.057,3320,2517,2346,0,0,0,0,0,0
$GC,3957,0.76,146.0,379.8,13.0,415,3961,0.00,2.00,0.00,0.000,4,0.000,0.060,3321,3763,2345,0,0,0,0,0,0
$GC,4070,0.76,146.0,362.6,16.0,425,4074,0.00,1.92,0.00,0.000,6,0.000,0.044,3330,2537,2345,0,0,0,0,0,0
$GC,4272,0.76,146.0,334.3,14.1,444,4276,0.00,2.00,0.00,0.000,4,0.000,0.060,3329,3771,2343,0,0,0,0,0,0
$GC,4329,0.76,146.0,325.3,17.1,449,4332,0.00,1.92,0.00,0.000,6,0.000,0.044,3340,2539,2344,0,0,0,0,0,0
$GC,4531,0.76,146.0,293.3,15.5,468,4532,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2537,2343,0,0,0,0,0,0
$GC,4722,0.76,146.0,262.9,15.5,486,4726,0.00,2.00,0.00,0.000,4,0.000,0.062,3339,3775,2343,0,0,0,0,0,0
$GC,4794,0.76,146.0,250.2,17.8,492,4802,0.10,1.95,0.00,0.000,6,0.151,0.043,3317,2549,2343,0,0,0,0,0,0
$GC,4995,0.76,146.0,223.4,13.0,511,4998,0.00,1.98,0.00,0.000,4,0.000,0.061,3317,3771,2342,0,0,0,0,0,0
$GC,5051,0.76,146.0,214.9,14.5,516,5055,0.00,1.90,0.00,0.000,6,0.000,0.043,3324,2548,2342,0,0,0,0,0,0
$GC,5193,0.76,146.0,195.0,13.7,529,5194,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2546,2342,0,0,0,0,0,0
$GC,5318,0.76,146.0,176.7,14.7,541,5319,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2546,2342,0,0,0,0,0,0
$GC,5446,0.76,146.0,158.8,13.5,553,5450,0.00,1.98,0.00,0.000,4,0.000,0.062,3325,3764,2341,0,0,0,0,0,0
$GC,5493,0.76,146.0,151.0,16.4,557,5502,0.00,1.90,0.00,0.000,6,0.000,0.042,3333,2563,2341,0,0,0,0,0,0
$GC,5629,0.76,146.0,131.5,14.6,570,5630,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2562,2341,0,0,0,0,0,0
$GC,5757,0.76,146.0,112.4,15.7,582,5760,0.00,1.92,0.00,0.000,4,0.000,0.059,3333,3764,2340,0,0,0,0,0,0
$GC,5804,0.76,146.0,104.3,16.5,586,5814,0.08,1.88,0.00,0.000,6,0.152,0.041,3318,2571,2341,0,0,0,0,0,0
$GC,5940,0.76,146.0,87.4,12.4,608,5948,0.00,1.98,0.00,0.000,4,0.000,0.063,3318,3764,2340,0,0,0,0,0,0
$GC,5987,0.76,146.0,80.6,15.0,616,5995,0.00,1.88,0.00,0.000,6,0.000,0.042,3326,2576,2340,0,0,0,0,0,0
$GC,6128,0.76,146.0,63.2,12.0,641,6135,0.00,1.92,0.00,0.000,4,0.000,0.060,3326,3765,2340,0,0,0,0,0,0
$GC,6168,0.76,146.0,59.1,10.9,648,6176,0.00,1.85,0.00,0.000,6,0.000,0.042,3335,2594,2340,0,0,0,0,0,0
$GC,6308,0.76,146.0,40.6,14.3,673,6314,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2593,2340,0,0,0,0,0,0
$GC,6444,0.76,146.0,20.8,12.2,698,6452,0.00,1.95,0.00,0.000,4,0.000,0.065,3335,3764,2340,0,0,0,0,0,0
$FREEZE,8.78,-1.858,-1.908,2,3,0
$GC,6519,0.76,146.0,8.8,20.1,711,6527,0.12,1.80,0.00,0.000,6,0.179,0.042,3311,2601,2340,0,0,0,0,0,0
$FREEZE,5.40,-1.854,-1.905,2,3,0
$FREEZE,4.17,-1.854,-1.904,2,3,0
$FREEZE,3.19,-1.854,-1.904,2,3,0
$FREEZE,2.37,-1.858,-1.903,2,3,0
$STATE,6550,end climb,SURFACE_DEPTH_REACHED
$STATE,6550,begin surface coast
$FREEZE,1.85,-1.861,-1.903,2,3,0
$FREEZE,1.28,-1.860,-1.902,2,3,0
$FREEZE,1.15,-1.871,-1.078,2,3,0
$FINISH,1.2,1.015898
$STATE,6571,end surface coast,FINISH_DEPTH_REACHED
$STATE,6571,begin surface
$SM_CCo,6586,288.88,0.757,3,0,420,623.30
$SM_GC,1.79,0.00,0.00,288.88,0.000,0.000,0.757,418,2655,420,-8.26,0.17,623.30
$IRIDIUM_FIX,-7639.69,16502.85,041210,151521
$TT8_MAMPS,0.028462
$HUMID,49.80
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,13.90
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.1,16.9
$ALTIM_BOTTOM_PING,451.1,33.3
$24V_AH,21.2,33.256
$10V_AH,9.9,19.347
$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,18.650,69.550,273.925,288.875,0.000,87.568,119.631,242.790,2.750,0.000,121.543,1724.030,2871.378,701.802,2251.335,153.966,0.000,1426.828,0.000,1193.072,0.000,14.003,0.000
$DEVICE_MAMPS,210.375,125.460,1119.960,757.350,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,505.649,869.577,850.027,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,275980
$DATA_FILE_SIZE,50498,719
$CAP_FILE_SIZE,100826,0
$CFSIZE,260165632,245350400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,041210,153621,-7639.687,16502.846,0,10000.0,0,144.3