version: 66.08
glider: 502
mission: 3
dive: 137
start: 12 4 110 22 19 15
data:
$ID,502
$MISSION,3
$DIVE,137
$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,-27251.076
$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,31
$R_STBD_OVSHOOT,32
$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
$GPS1,041210,180330,-7639.687,16505.381,0,10000.0,0,144.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-59.4
$GPS2,041210,180330,-7639.687,16505.381,121,99.0,121,144.3
$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,35.8,80216,-17.5,-10.000
$D_GRID,553
$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,-104.10,0.000,2,0.000,0.000,412,2674,3250,0,0,0,0,0,0
$GC,124,-0.76,-146.0,3.2,-2.1,16,152,8.90,1.85,-10.62,0.000,4,0.205,0.083,2799,3757,3560,0,0,0,0,0,0
$GC,268,-0.76,-146.0,26.8,-23.4,41,275,0.00,1.77,0.00,0.000,6,0.000,0.044,2799,2631,3561,0,0,0,0,0,0
$GC,404,-0.76,-146.0,52.9,-16.3,66,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2629,3562,0,0,0,0,0,0
$GC,545,-0.76,-146.0,76.2,-15.1,91,552,0.00,2.20,0.00,0.000,4,0.000,0.054,2798,1243,3562,0,0,0,0,0,0
$GC,570,-0.76,-146.0,80.2,-15.6,95,577,0.00,2.33,0.00,0.000,6,0.000,0.060,2789,2660,3562,0,0,0,0,0,0
$GC,715,-0.76,-146.0,103.5,-16.8,119,719,0.10,1.77,0.00,0.000,4,0.194,0.063,2806,3762,3562,0,0,0,0,0,0
$GC,740,-0.76,-146.0,108.4,-17.0,121,749,0.00,1.73,0.00,0.000,6,0.000,0.043,2806,2673,3562,0,0,0,0,0,0
$GC,876,-0.76,-146.0,130.5,-16.8,134,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2672,3562,0,0,0,0,0,0
$GC,1003,-0.76,-146.0,151.5,-16.9,146,1007,0.00,1.77,0.00,0.000,4,0.000,0.065,2798,3764,3562,0,0,0,0,0,0
$GC,1028,-0.76,-146.0,157.0,-19.5,148,1038,0.00,1.75,0.00,0.000,6,0.000,0.044,2798,2664,3562,0,0,0,0,0,0
$GC,1165,-0.76,-146.0,179.4,-15.9,161,1168,0.00,1.77,0.00,0.000,4,0.000,0.063,2790,3763,3562,0,0,0,0,0,0
$GC,1190,-0.76,-146.0,184.3,-17.0,163,1200,0.00,1.70,0.00,0.000,6,0.000,0.043,2789,2686,3562,0,0,0,0,0,0
$GC,1326,-0.76,-146.0,206.3,-17.0,176,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2686,3562,0,0,0,0,0,0
$GC,1454,-0.76,-146.0,229.5,-19.4,188,1455,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2686,3562,0,0,0,0,0,0
$GC,1579,-0.76,-146.0,252.4,-18.0,200,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2686,3562,0,0,0,0,0,0
$GC,1772,-0.76,-146.0,283.1,-14.4,218,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2686,3562,0,0,0,0,0,0
$GC,1962,-0.76,-146.0,312.1,-15.5,236,1966,0.00,1.75,0.00,0.000,4,0.000,0.065,2782,3766,3562,0,0,0,0,0,0
$GC,2018,-0.76,-146.0,321.3,-15.9,241,2023,0.10,1.70,0.00,0.000,6,0.147,0.044,2814,2694,3562,0,0,0,0,0,0
$GC,2221,-0.76,-146.0,348.5,-13.8,260,2224,0.00,1.75,0.00,0.000,4,0.000,0.065,2808,3771,3562,0,0,0,0,0,0
$GC,2265,-0.76,-146.0,355.0,-15.2,264,2269,0.00,1.67,0.00,0.000,6,0.000,0.044,2807,2689,3562,0,0,0,0,0,0
$GC,2468,-0.76,-146.0,385.4,-15.3,283,2469,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2687,3562,0,0,0,0,0,0
$GC,2659,-0.76,-146.0,414.8,-15.0,301,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2687,3562,0,0,0,0,0,0
$STATE,2838,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2838,begin apogee
$GC,2842,-0.17,0.0,441.4,14.8,318,2979,0.60,0.00,130.60,1.091,4,0.132,0.000,3003,2494,2961,0,0,0,0,0,0
$STATE,2979,end apogee,CONTROL_FINISHED_OK
$STATE,2979,begin climb
$GC,2981,0.76,146.0,447.0,0.0,330,3135,0.98,2.50,142.52,1.015,4,0.079,0.053,3313,1105,2363,0,0,0,0,0,0
$GC,3251,0.76,146.0,421.2,12.3,354,3260,0.00,2.47,0.00,0.000,6,0.000,0.054,3313,2501,2352,0,0,0,0,0,0
$GC,3452,0.76,146.0,396.9,12.3,373,3456,0.00,2.30,0.00,0.000,4,0.000,0.053,3321,1101,2349,0,0,0,0,0,0
$GC,3580,0.76,146.0,380.7,12.3,384,3585,0.00,2.35,0.00,0.000,6,0.000,0.054,3322,2532,2346,0,0,0,0,0,0
$GC,3777,0.76,146.0,354.0,13.5,402,3781,0.00,1.98,0.00,0.000,4,0.000,0.060,3321,3765,2345,0,0,0,0,0,0
$GC,3873,0.76,146.0,338.6,16.4,410,3880,0.00,1.92,0.00,0.000,6,0.000,0.043,3329,2544,2344,0,0,0,0,0,0
$GC,4070,0.76,146.0,309.0,14.6,429,4073,0.00,2.00,0.00,0.000,4,0.000,0.062,3329,3773,2344,0,0,0,0,0,0
$GC,4127,0.76,146.0,299.9,16.4,434,4131,0.00,1.90,0.00,0.000,6,0.000,0.043,3339,2552,2343,0,0,0,0,0,0
$GC,4330,0.76,146.0,270.3,13.7,453,4334,0.00,1.95,0.00,0.000,4,0.000,0.060,3339,3763,2343,0,0,0,0,0,0
$GC,4364,0.76,146.0,264.9,16.8,456,4368,0.12,1.88,0.00,0.000,6,0.172,0.043,3315,2555,2343,0,0,0,0,0,0
$GC,4568,0.76,146.0,238.1,13.0,475,4571,0.00,1.95,0.00,0.000,4,0.000,0.061,3315,3763,2342,0,0,0,0,0,0
$GC,4593,0.76,146.0,234.0,13.9,477,4602,0.00,1.90,0.00,0.000,6,0.000,0.043,3323,2562,2342,0,0,0,0,0,0
$GC,4729,0.76,146.0,215.9,13.0,490,4732,0.00,1.95,0.00,0.000,4,0.000,0.061,3323,3768,2342,0,0,0,0,0,0
$GC,4763,0.76,146.0,211.0,14.6,493,4766,0.00,1.88,0.00,0.000,6,0.000,0.044,3332,2561,2341,0,0,0,0,0,0
$GC,4903,0.76,146.0,190.9,14.1,506,4907,0.00,1.95,0.00,0.000,4,0.000,0.061,3332,3767,2342,0,0,0,0,0,0
$GC,4928,0.76,146.0,186.6,15.4,508,4939,0.08,1.88,0.00,0.000,6,0.153,0.042,3317,2579,2341,0,0,0,0,0,0
$GC,5065,0.76,146.0,169.0,13.9,521,5066,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2579,2341,0,0,0,0,0,0
$GC,5192,0.76,146.0,153.6,12.3,533,5196,0.00,1.90,0.00,0.000,4,0.000,0.059,3316,3764,2341,0,0,0,0,0,0
$GC,5236,0.76,146.0,147.1,16.0,537,5240,0.00,1.83,0.00,0.000,6,0.000,0.043,3324,2584,2341,0,0,0,0,0,0
$GC,5377,0.76,146.0,125.5,16.1,550,5381,0.00,1.90,0.00,0.000,4,0.000,0.061,3324,3763,2341,0,0,0,0,0,0
$GC,5402,0.76,146.0,120.5,18.2,552,5412,0.00,1.83,0.00,0.000,6,0.000,0.043,3333,2608,2340,0,0,0,0,0,0
$GC,5538,0.76,146.0,99.1,15.3,565,5545,0.00,1.88,0.00,0.000,4,0.000,0.061,3333,3763,2341,0,0,0,0,0,0
$GC,5567,0.76,146.0,93.4,18.8,570,5576,0.08,1.80,0.00,0.000,6,0.155,0.044,3318,2628,2340,0,0,0,0,0,0
$GC,5709,0.76,146.0,73.8,12.7,595,5716,0.00,2.42,0.00,0.000,4,0.000,0.054,3327,1093,2340,0,0,0,0,0,0
$GC,5723,0.76,146.0,71.7,13.5,597,5730,0.00,2.50,0.00,0.000,6,0.000,0.057,3327,2637,2340,0,0,0,0,0,0
$GC,5864,0.78,162.3,54.6,9.2,622,5878,0.00,0.00,11.45,0.835,6,0.000,0.000,3327,2637,2299,0,0,0,0,0,0
$GC,6009,0.78,162.3,37.2,12.4,648,6017,0.00,1.83,0.00,0.000,4,0.000,0.059,3327,3757,2295,0,0,0,0,0,0
$GC,6066,0.78,162.3,28.0,16.8,658,6075,0.00,1.83,0.00,0.000,6,0.000,0.044,3336,2614,2295,0,0,0,0,0,0
$FREEZE,8.01,-1.851,-1.907,2,1,0
$FREEZE,6.86,-1.851,-1.906,2,1,0
$FREEZE,6.03,-1.851,-1.906,2,1,0
$FREEZE,4.99,-1.848,-1.905,2,1,0
$FREEZE,4.21,-1.848,-1.904,2,1,0
$GC,6210,0.78,162.3,4.2,17.0,683,6217,0.00,1.88,0.00,0.000,4,0.000,0.059,3336,3770,2294,0,0,0,0,0,0
$FREEZE,1.32,-1.837,-1.902,2,1,0
$STATE,6224,end climb,SURFACE_DEPTH_REACHED
$STATE,6224,begin surface coast
$FREEZE,1.23,-1.982,-1.910,2,1,0
$FINISH,1.2,1.028001
$STATE,6231,end surface coast,FINISH_DEPTH_REACHED
$STATE,6231,begin surface
$SM_CCo,6247,128.40,0.768,1,0,1330,400.08
$SM_GC,2.09,0.00,0.00,128.40,0.000,0.000,0.768,422,2653,1330,-8.26,0.08,400.08
$IRIDIUM_FIX,-7639.69,16519.42,041210,202014
$TT8_MAMPS,0.028462
$HUMID,50.59
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.1,17.4
$ALTIM_BOTTOM_PING,400.3,55.8
$24V_AH,21.2,33.714
$10V_AH,10.0,19.626
$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,18.450,81.975,284.575,128.400,0.000,31.100,39.387,226.364,2.250,0.000,121.571,1648.690,2534.064,543.865,2034.091,123.915,0.000,1256.485,0.000,1140.841,0.000,12.345,0.000
$DEVICE_MAMPS,205.020,82.620,1090.890,768.060,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,481.821,839.746,838.562,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276008
$DATA_FILE_SIZE,47073,686
$CAP_FILE_SIZE,97777,0
$CFSIZE,260165632,245207040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041210,200814,-7639.687,16519.416,0,10000.0,0,144.3