version: 66.08
glider: 502
mission: 3
dive: 138
start: 12 5 110 0 23 16
data:
$ID,502
$MISSION,3
$DIVE,138
$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,-27496.273
$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,23
$R_STBD_OVSHOOT,24
$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
$GPS1,041210,200814,-7639.687,16519.416,0,10000.0,0,144.3
$_CALLS,3
$_XMS_NAKs,9
$_XMS_TOUTs,9
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-62.2
$GPS2,041210,200814,-7639.687,16519.416,121,99.0,121,144.3
$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,39.9,80428,-17.5,-10.000
$D_GRID,575
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.76,-146.0,0.0,0.0,0,121,0.00,0.00,-104.32,0.000,2,0.000,0.000,392,2652,3219,0,0,0,0,0,0
$GC,123,-0.76,-146.0,3.2,-2.1,16,152,9.12,2.30,-10.95,0.000,4,0.213,0.067,2809,1233,3559,0,0,0,0,0,0
$GC,163,-0.76,-146.0,9.0,-13.7,22,171,0.00,2.38,0.00,0.000,6,0.000,0.058,2800,2653,3561,0,0,0,0,0,0
$GC,303,-0.76,-146.0,31.4,-16.3,47,310,0.00,2.28,0.00,0.000,4,0.000,0.051,2800,1233,3561,0,0,0,0,0,0
$GC,321,-0.76,-146.0,34.7,-16.4,50,330,0.00,2.38,0.00,0.000,6,0.000,0.058,2790,2656,3562,0,0,0,0,0,0
$GC,461,-0.76,-146.0,59.9,-20.2,75,467,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2657,3562,0,0,0,0,0,0
$GC,598,-0.76,-146.0,86.1,-17.0,100,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2656,3562,0,0,0,0,0,0
$GC,737,-0.76,-146.0,111.2,-15.9,119,741,0.00,2.28,0.00,0.000,4,0.000,0.052,2790,1222,3562,0,0,0,0,0,0
$GC,756,-0.76,-146.0,114.2,-16.2,120,761,0.12,2.35,0.00,0.000,6,0.176,0.059,2812,2665,3562,0,0,0,0,0,0
$GC,891,-0.76,-146.0,133.6,-14.0,132,895,0.00,1.77,0.00,0.000,4,0.000,0.063,2806,3769,3562,0,0,0,0,0,0
$GC,939,-0.76,-146.0,141.1,-14.1,136,948,0.00,1.77,0.00,0.000,6,0.000,0.044,2806,2653,3562,0,0,0,0,0,0
$GC,1075,-0.76,-146.0,159.9,-14.4,149,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2652,3562,0,0,0,0,0,0
$GC,1202,-0.76,-146.0,178.6,-13.9,161,1206,0.00,1.80,0.00,0.000,4,0.000,0.065,2798,3764,3562,0,0,0,0,0,0
$GC,1248,-0.76,-146.0,185.6,-16.1,165,1251,0.00,1.70,0.00,0.000,6,0.000,0.044,2798,2668,3562,0,0,0,0,0,0
$GC,1388,-0.76,-146.0,207.2,-15.2,178,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2666,3562,0,0,0,0,0,0
$GC,1516,-0.76,-146.0,227.8,-16.1,190,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2666,3562,0,0,0,0,0,0
$GC,1643,-0.76,-146.0,248.0,-15.8,202,1646,0.00,1.77,0.00,0.000,4,0.000,0.063,2790,3764,3562,0,0,0,0,0,0
$GC,1679,-0.76,-146.0,254.5,-15.9,205,1687,0.00,1.73,0.00,0.000,6,0.000,0.043,2790,2676,3562,0,0,0,0,0,0
$GC,1880,-0.76,-146.0,287.8,-17.4,224,1881,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2676,3562,0,0,0,0,0,0
$GC,2069,-0.76,-146.0,321.8,-18.2,242,2073,0.00,1.77,0.00,0.000,4,0.000,0.067,2781,3769,3562,0,0,0,0,0,0
$GC,2106,-0.76,-146.0,329.1,-18.3,245,2115,0.10,1.73,0.00,0.000,6,0.142,0.044,2815,2683,3562,0,0,0,0,0,0
$GC,2305,-0.76,-146.0,357.6,-13.4,264,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2682,3562,0,0,0,0,0,0
$GC,2496,-0.76,-146.0,384.1,-14.2,282,2499,0.00,1.75,0.00,0.000,4,0.000,0.064,2808,3764,3562,0,0,0,0,0,0
$GC,2534,-0.76,-146.0,390.1,-15.2,285,2541,0.00,1.70,0.00,0.000,6,0.000,0.044,2808,2693,3561,0,0,0,0,0,0
$STATE,2709,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2709,begin apogee
$GC,2713,-0.17,0.0,415.8,14.5,302,2849,0.60,0.00,130.32,1.082,4,0.132,0.000,3002,2484,2961,0,0,0,0,0,0
$STATE,2850,end apogee,CONTROL_FINISHED_OK
$STATE,2850,begin climb
$GC,2851,0.76,146.0,421.6,0.0,314,3005,0.98,2.50,142.30,1.019,4,0.079,0.053,3312,1095,2363,0,0,0,0,0,0
$GC,3088,0.76,146.0,401.2,12.4,335,3096,0.00,2.50,0.00,0.000,6,0.000,0.054,3312,2499,2353,0,0,0,0,0,0
$GC,3286,0.76,146.0,375.9,12.9,354,3290,0.00,2.33,0.00,0.000,4,0.000,0.052,3321,1091,2349,0,0,0,0,0,0
$GC,3432,0.76,146.0,357.5,12.1,366,3439,0.00,2.38,0.00,0.000,6,0.000,0.056,3321,2519,2346,0,0,0,0,0,0
$GC,3629,0.76,146.0,331.2,13.3,385,3632,0.00,2.00,0.00,0.000,4,0.000,0.059,3321,3767,2346,0,0,0,0,0,0
$GC,3734,0.76,146.0,315.0,15.5,394,3742,0.00,1.98,0.00,0.000,6,0.000,0.043,3331,2536,2345,0,0,0,0,0,0
$GC,3932,0.76,146.0,288.0,13.6,413,3936,0.00,2.00,0.00,0.000,4,0.000,0.061,3331,3772,2344,0,0,0,0,0,0
$GC,3977,0.76,146.0,281.2,15.5,417,3981,0.00,1.98,0.00,0.000,6,0.000,0.044,3341,2515,2343,0,0,0,0,0,0
$GC,4180,0.76,146.0,252.5,13.9,436,4183,0.00,2.03,0.00,0.000,4,0.000,0.060,3341,3767,2343,0,0,0,0,0,0
$GC,4238,0.76,146.0,242.8,16.5,441,4249,0.10,1.92,0.00,0.000,6,0.150,0.042,3318,2558,2342,0,0,0,0,0,0
$GC,4375,0.76,146.0,225.0,11.9,454,4376,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2556,2343,0,0,0,0,0,0
$GC,4502,0.76,146.0,208.9,13.2,466,4506,0.00,1.95,0.00,0.000,4,0.000,0.061,3317,3765,2342,0,0,0,0,0,0
$GC,4547,0.76,146.0,202.2,15.1,470,4550,0.00,1.88,0.00,0.000,6,0.000,0.043,3326,2555,2342,0,0,0,0,0,0
$GC,4687,0.76,146.0,183.3,13.7,483,4691,0.00,1.95,0.00,0.000,4,0.000,0.061,3325,3767,2341,0,0,0,0,0,0
$GC,4712,0.76,146.0,179.2,14.7,485,4722,0.00,1.90,0.00,0.000,6,0.000,0.042,3335,2563,2341,0,0,0,0,0,0
$GC,4849,0.76,146.0,160.9,13.4,498,4852,0.00,1.95,0.00,0.000,4,0.000,0.061,3334,3773,2341,0,0,0,0,0,0
$GC,4872,0.76,146.0,157.5,14.4,500,4876,0.12,1.85,0.00,0.000,6,0.171,0.043,3311,2577,2341,0,0,0,0,0,0
$GC,5013,0.76,146.0,141.0,11.8,513,5017,0.00,1.92,0.00,0.000,4,0.000,0.061,3311,3771,2341,0,0,0,0,0,0
$GC,5036,0.76,146.0,137.9,12.9,515,5040,0.00,1.83,0.00,0.000,6,0.000,0.044,3318,2591,2341,0,0,0,0,0,0
$GC,5177,0.76,146.0,119.9,12.6,528,5178,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2589,2340,0,0,0,0,0,0
$GC,5304,0.76,146.0,102.7,14.1,540,5308,0.00,1.90,0.00,0.000,4,0.000,0.063,3318,3767,2340,0,0,0,0,0,0
$GC,5336,0.76,146.0,97.4,16.1,544,5344,0.00,1.85,0.00,0.000,6,0.000,0.043,3328,2599,2341,0,0,0,0,0,0
$GC,5477,0.76,146.0,75.9,16.0,569,5484,0.00,2.38,0.00,0.000,4,0.000,0.052,3338,1094,2340,0,0,0,0,0,0
$GC,5502,0.76,146.0,73.0,10.9,573,5509,0.00,2.40,0.00,0.000,6,0.000,0.054,3338,2580,2340,0,0,0,0,0,0
$GC,5640,0.76,146.0,53.3,14.8,598,5648,0.00,1.92,0.00,0.000,4,0.000,0.061,3338,3765,2340,0,0,0,0,0,0
$GC,5672,0.76,146.0,48.6,15.2,603,5679,0.12,1.85,0.00,0.000,6,0.173,0.042,3314,2573,2340,0,0,0,0,0,0
$GC,5809,0.76,146.0,30.6,12.1,628,5818,0.00,1.98,0.00,0.000,4,0.000,0.063,3314,3763,2340,0,0,0,0,0,0
$GC,5867,0.76,146.0,23.0,14.1,638,5875,0.00,1.88,0.00,0.000,6,0.000,0.044,3321,2583,2340,0,0,0,0,0,0
$FREEZE,8.73,-1.877,-1.908,2,2,0
$FREEZE,7.70,-1.874,-1.907,2,2,0
$FREEZE,7.04,-1.875,-1.906,2,2,0
$FREEZE,6.14,-1.875,-1.906,2,2,0
$FREEZE,5.67,-1.872,-1.905,2,2,0
$FREEZE,5.21,-1.873,-1.905,2,2,0
$FREEZE,4.44,-1.873,-1.904,2,2,0
$GC,6010,0.76,146.0,4.4,10.8,663,6017,0.00,2.38,0.00,0.000,4,0.000,0.057,3328,1094,2339,0,0,0,0,0,0
$FREEZE,2.97,-1.860,-1.902,2,2,0
$STATE,6025,end climb,SURFACE_DEPTH_REACHED
$STATE,6025,begin surface coast
$FREEZE,2.03,-1.870,-1.902,2,2,0
$FINISH,2.0,1.027878
$STATE,6031,end surface coast,CONTROL_FINISHED_OK
$STATE,6031,begin surface
$SM_CCo,6048,287.95,0.765,4,0,419,623.30
$SM_GC,1.84,0.00,0.00,287.95,0.000,0.000,0.765,411,2657,419,-8.29,0.20,623.30
$IRIDIUM_FIX,-7639.69,16512.38,051210,000040
$TT8_MAMPS,0.028462
$HUMID,48.77
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,13.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,17.9
$ALTIM_BOTTOM_PING,350.4,80.4
$24V_AH,21.2,33.883
$10V_AH,9.9,19.718
$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,18.725,89.650,272.625,287.950,0.000,89.770,120.644,288.479,2.000,0.000,121.595,1600.462,2518.303,723.692,2276.211,129.306,0.000,1424.924,0.000,1117.300,0.000,10.693,0.000
$DEVICE_MAMPS,212.670,67.320,1082.475,765.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,467.537,835.667,880.473,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276036
$DATA_FILE_SIZE,43727,666
$CAP_FILE_SIZE,101455,0
$CFSIZE,260165632,245125120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,051210,001140,-7639.687,16512.375,0,10000.0,0,144.3