version: 66.08
glider: 502
mission: 3
dive: 139
start: 12 5 110 2 21 0
data:
$ID,502
$MISSION,3
$DIVE,139
$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,-27620.533
$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,34
$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
$GPS1,051210,001140,-7639.687,16512.375,0,10000.0,0,144.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-51.6
$GPS2,051210,022037,-7726.157,16500.018,44,5.3,64,144.5
$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,234.5,6185,-17.5,-10.000
$D_GRID,469
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,161,0.00,0.00,-142.43,0.000,2,0.000,0.000,406,2659,3173,0,0,0,0,0,0
$GC,164,-0.76,-146.0,3.1,-1.3,22,193,9.12,1.83,-12.98,0.000,4,0.213,0.077,2803,3767,3559,0,0,0,0,0,0
$GC,385,-0.76,-146.0,39.4,-21.1,61,392,0.00,1.75,0.00,0.000,6,0.000,0.044,2803,2646,3562,0,0,0,0,0,0
$GC,522,-0.76,-146.0,69.4,-18.9,86,530,0.00,1.88,0.00,0.000,4,0.000,0.065,2794,3763,3562,0,0,0,0,0,0
$GC,570,-0.76,-146.0,78.7,-18.7,94,578,0.00,1.75,0.00,0.000,6,0.000,0.044,2794,2673,3562,0,0,0,0,0,0
$GC,709,-0.76,-146.0,99.3,-13.7,119,716,0.00,1.80,0.00,0.000,4,0.000,0.064,2786,3768,3562,0,0,0,0,0,0
$GC,766,-0.76,-146.0,109.0,-17.9,125,771,0.12,1.70,0.00,0.000,6,0.173,0.045,2819,2679,3562,0,0,0,0,0,0
$GC,907,-0.76,-146.0,129.4,-14.5,138,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2677,3562,0,0,0,0,0,0
$GC,1034,-0.76,-146.0,147.3,-13.6,150,1038,0.00,1.77,0.00,0.000,4,0.000,0.065,2812,3770,3562,0,0,0,0,0,0
$GC,1058,-0.76,-146.0,150.6,-14.0,152,1061,0.00,1.70,0.00,0.000,6,0.000,0.044,2812,2677,3563,0,0,0,0,0,0
$GC,1198,-0.76,-146.0,172.4,-16.3,165,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2675,3562,0,0,0,0,0,0
$GC,1326,-0.76,-146.0,194.4,-17.2,177,1329,0.00,1.77,0.00,0.000,4,0.000,0.066,2803,3767,3562,0,0,0,0,0,0
$GC,1371,-0.76,-146.0,201.8,-15.8,181,1375,0.00,1.67,0.00,0.000,6,0.000,0.045,2803,2687,3562,0,0,0,0,0,0
$GC,1511,-0.76,-146.0,224.7,-16.1,194,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2686,3562,0,0,0,0,0,0
$GC,1639,-0.76,-146.0,245.0,-16.5,206,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2685,3562,0,0,0,0,0,0
$GC,1765,-0.76,-146.0,265.9,-15.8,218,1768,0.00,1.75,0.00,0.000,4,0.000,0.065,2796,3765,3562,0,0,0,0,0,0
$GC,1791,-0.76,-146.0,270.5,-16.6,220,1799,0.00,1.70,0.00,0.000,6,0.000,0.044,2796,2694,3562,0,0,0,0,0,0
$GC,1990,-0.76,-146.0,303.0,-15.8,239,1993,0.00,1.75,0.00,0.000,4,0.000,0.064,2787,3773,3562,0,0,0,0,0,0
$GC,2038,-0.76,-146.0,311.5,-16.9,243,2047,0.00,1.70,0.00,0.000,6,0.000,0.044,2787,2699,3562,0,0,0,0,0,0
$GC,2239,-0.76,-146.0,343.3,-16.4,262,2243,0.10,1.75,0.00,0.000,4,0.188,0.065,2806,3766,3562,0,0,0,0,0,0
$GC,2294,-0.76,-146.0,352.4,-15.0,267,2298,0.00,1.65,0.00,0.000,6,0.000,0.044,2806,2700,3562,0,0,0,0,0,0
$GC,2497,-0.76,-146.0,382.7,-15.2,286,2501,0.00,1.73,0.00,0.000,4,0.000,0.067,2798,3763,3562,0,0,0,0,0,0
$GC,2531,-0.76,-146.0,387.9,-15.8,289,2535,0.00,1.65,0.00,0.000,6,0.000,0.044,2798,2695,3562,0,0,0,0,0,0
$STATE,2722,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2722,begin apogee
$GC,2726,-0.17,0.0,416.4,14.9,307,2862,0.62,0.00,129.95,1.079,4,0.134,0.000,3000,2486,2960,0,0,0,0,0,0
$STATE,2862,end apogee,CONTROL_FINISHED_OK
$STATE,2862,begin climb
$GC,2864,0.76,146.0,422.6,0.0,319,3017,0.98,2.50,141.62,1.009,4,0.077,0.052,3309,1101,2366,0,0,0,0,0,0
$GC,3133,0.76,146.0,398.3,11.7,343,3141,0.00,2.47,0.00,0.000,6,0.000,0.054,3310,2501,2354,0,0,0,0,0,0
$GC,3333,0.76,146.0,374.2,12.0,362,3337,0.00,2.33,0.00,0.000,4,0.000,0.054,3315,1090,2350,0,0,0,0,0,0
$GC,3457,0.76,146.0,360.0,10.8,372,3464,0.00,2.38,0.00,0.000,6,0.000,0.056,3315,2520,2348,0,0,0,0,0,0
$GC,3654,0.76,146.0,335.8,12.5,391,3658,0.00,2.00,0.00,0.000,4,0.000,0.061,3315,3764,2347,0,0,0,0,0,0
$GC,3755,0.76,146.0,321.0,15.5,400,3759,0.00,1.92,0.00,0.000,6,0.000,0.043,3324,2532,2346,0,0,0,0,0,0
$GC,3958,0.76,146.0,292.4,14.0,419,3962,0.00,2.00,0.00,0.000,4,0.000,0.062,3324,3767,2345,0,0,0,0,0,0
$GC,4018,0.76,146.0,282.5,16.8,424,4026,0.00,1.98,0.00,0.000,6,0.000,0.042,3334,2530,2345,0,0,0,0,0,0
$GC,4216,0.76,146.0,253.7,13.8,443,4220,0.00,2.00,0.00,0.000,4,0.000,0.061,3334,3770,2344,0,0,0,0,0,0
$GC,4274,0.76,146.0,244.9,15.5,448,4278,0.12,1.90,0.00,0.000,6,0.173,0.044,3310,2552,2344,0,0,0,0,0,0
$GC,4414,0.76,146.0,227.4,11.7,461,4415,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2551,2344,0,0,0,0,0,0
$GC,4541,0.76,146.0,212.1,11.9,473,4544,0.00,1.98,0.00,0.000,4,0.000,0.063,3311,3771,2343,0,0,0,0,0,0
$GC,4575,0.76,146.0,207.7,13.3,476,4578,0.00,1.90,0.00,0.000,6,0.000,0.044,3319,2551,2343,0,0,0,0,0,0
$GC,4716,0.76,146.0,189.4,12.4,489,4719,0.00,1.98,0.00,0.000,4,0.000,0.061,3318,3774,2343,0,0,0,0,0,0
$GC,4752,0.76,146.0,183.9,13.9,492,4761,0.00,1.90,0.00,0.000,6,0.000,0.044,3327,2572,2343,0,0,0,0,0,0
$GC,4890,0.76,146.0,166.1,13.0,505,4893,0.00,1.92,0.00,0.000,4,0.000,0.061,3327,3764,2343,0,0,0,0,0,0
$GC,4926,0.76,146.0,161.1,14.3,508,4929,0.00,1.85,0.00,0.000,6,0.000,0.043,3336,2568,2342,0,0,0,0,0,0
$GC,5068,0.76,146.0,142.3,12.4,521,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2565,2342,0,0,0,0,0,0
$GC,5194,0.76,146.0,125.2,14.3,533,5197,0.00,1.95,0.00,0.000,4,0.000,0.061,3337,3773,2342,0,0,0,0,0,0
$GC,5230,0.76,146.0,118.7,16.3,536,5239,0.10,1.88,0.00,0.000,6,0.145,0.044,3313,2588,2342,0,0,0,0,0,0
$GC,5367,0.76,146.0,102.0,11.8,549,5368,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2587,2342,0,0,0,0,0,0
$GC,5495,0.76,146.0,85.4,14.7,571,5502,0.00,1.92,0.00,0.000,4,0.000,0.062,3313,3770,2342,0,0,0,0,0,0
$GC,5590,0.76,146.0,71.9,16.4,588,5598,0.00,1.88,0.00,0.000,6,0.000,0.045,3320,2594,2342,0,0,0,0,0,0
$GC,5731,0.76,146.0,53.7,12.5,613,5738,0.00,1.90,0.00,0.000,4,0.000,0.062,3320,3764,2342,0,0,0,0,0,0
$GC,5836,0.76,146.0,38.4,15.5,632,5844,0.00,1.83,0.00,0.000,6,0.000,0.043,3328,2618,2341,0,0,0,0,0,0
$GC,5976,0.76,146.0,20.0,13.1,657,5984,0.00,1.88,0.00,0.000,4,0.000,0.063,3328,3765,2341,0,0,0,0,0,0
$GC,6024,0.76,146.0,14.7,10.3,665,6031,0.00,1.77,0.00,0.000,6,0.000,0.044,3337,2627,2341,0,0,0,0,0,0
$FREEZE,8.57,-1.858,-1.907,2,1,0
$FREEZE,7.68,-1.857,-1.907,2,1,0
$FREEZE,7.09,-1.856,-1.906,2,1,0
$FREEZE,6.29,-1.856,-1.906,2,1,0
$FREEZE,5.67,-1.854,-1.905,2,1,0
$FREEZE,4.85,-1.854,-1.905,2,1,0
$FREEZE,4.08,-1.855,-1.904,2,1,0
$FREEZE,3.21,-1.852,-1.903,2,1,0
$FREEZE,2.28,-1.853,-1.902,2,1,0
$STATE,6117,end climb,SURFACE_DEPTH_REACHED
$STATE,6117,begin surface coast
$FREEZE,1.30,-1.849,-1.902,2,1,0
$FREEZE,1.34,-1.902,-1.899,2,1,0
$FINISH,1.3,1.027836
$STATE,6130,end surface coast,FINISH_DEPTH_REACHED
$STATE,6130,begin surface
$SM_CCo,6144,131.05,0.779,1,0,1329,400.08
$SM_GC,1.88,0.00,0.00,131.05,0.000,0.000,0.779,423,2621,1329,-8.25,-0.82,400.08
$IRIDIUM_FIX,-7639.69,16507.31,051210,000024
$TT8_MAMPS,0.028462
$HUMID,51.02
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.4,17.9
$ALTIM_BOTTOM_PING,301.3,129.9
$24V_AH,21.2,34.014
$10V_AH,10.0,19.807
$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,18.675,79.600,271.575,131.050,0.000,29.155,39.708,312.839,1.750,0.000,66.146,1642.238,2412.793,553.649,2080.304,128.121,0.000,1266.024,0.000,1152.565,0.000,9.110,0.000
$DEVICE_MAMPS,213.435,77.265,1079.415,778.770,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,479.466,858.649,897.285,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,275776
$DATA_FILE_SIZE,47064,683
$CAP_FILE_SIZE,99475,0
$CFSIZE,260165632,245088256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051210,040701,-7725.448,16501.045,44,1.5,44,144.4