version: 66.08
glider: 502
mission: 3
dive: 140
start: 12 5 110 4 13 1
data:
$ID,502
$MISSION,3
$DIVE,140
$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,0
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,3
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-27621.789
$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,33
$R_STBD_OVSHOOT,21
$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
$GPS1,051210,040701,-7725.448,16501.045,44,1.5,44,144.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-62.3
$GPS2,051210,041238,-7725.420,16500.805,13,1.0,13,144.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,0.000,0.000
$TGT_RADIUS,1852.000
$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,234.6,6185,-17.5,-10.000
$D_GRID,457
$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,-146.0,0.0,0.0,0,116,0.00,0.00,-98.40,0.000,2,0.000,0.000,419,2621,3125,0,0,0,0,0,0
$GC,119,-0.76,-146.0,3.0,-1.1,15,153,9.00,2.00,-15.30,0.000,4,0.206,0.080,2799,3774,3559,0,0,0,0,0,0
$GC,324,-0.76,-146.0,30.9,-15.3,51,331,0.00,1.80,0.00,0.000,6,0.000,0.045,2800,2641,3562,0,0,0,0,0,0
$GC,461,-0.76,-146.0,50.6,-12.8,76,469,0.00,1.88,0.00,0.000,4,0.000,0.064,2792,3760,3562,0,0,0,0,0,0
$GC,483,-0.76,-146.0,53.6,-14.4,79,490,0.00,1.75,0.00,0.000,6,0.000,0.043,2792,2670,3563,0,0,0,0,0,0
$GC,621,-0.76,-146.0,77.5,-16.1,104,629,0.00,1.83,0.00,0.000,4,0.000,0.065,2783,3760,3562,0,0,0,0,0,0
$GC,664,-0.76,-146.0,84.1,-15.8,111,671,0.08,1.73,0.00,0.000,6,0.135,0.044,2819,2679,3562,0,0,0,0,0,0
$GC,811,-0.76,-146.0,104.9,-14.2,134,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2679,3563,0,0,0,0,0,0
$GC,945,-0.76,-146.0,128.8,-18.1,147,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2679,3563,0,0,0,0,0,0
$GC,1073,-0.76,-146.0,149.5,-15.4,159,1076,0.00,1.77,0.00,0.000,4,0.000,0.064,2812,3773,3563,0,0,0,0,0,0
$GC,1099,-0.76,-146.0,153.8,-16.2,161,1107,0.00,1.75,0.00,0.000,6,0.000,0.044,2813,2673,3563,0,0,0,0,0,0
$GC,1234,-0.76,-146.0,174.4,-16.2,174,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2673,3563,0,0,0,0,0,0
$GC,1361,-0.76,-146.0,193.8,-14.6,186,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2673,3563,0,0,0,0,0,0
$GC,1489,-0.76,-146.0,213.7,-15.3,198,1493,0.00,1.77,0.00,0.000,4,0.000,0.066,2804,3767,3563,0,0,0,0,0,0
$GC,1547,-0.76,-146.0,223.9,-16.5,203,1556,0.00,1.75,0.00,0.000,6,0.000,0.044,2804,2670,3563,0,0,0,0,0,0
$GC,1683,-0.76,-146.0,244.6,-14.8,216,1684,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2669,3563,0,0,0,0,0,0
$GC,1811,-0.76,-146.0,263.2,-14.5,228,1814,0.00,1.77,0.00,0.000,4,0.000,0.066,2797,3765,3563,0,0,0,0,0,0
$GC,1867,-0.76,-146.0,271.8,-15.1,233,1870,0.00,1.70,0.00,0.000,6,0.000,0.044,2797,2671,3563,0,0,0,0,0,0
$GC,2071,-0.76,-146.0,300.3,-13.5,252,2074,0.00,1.77,0.00,0.000,4,0.000,0.064,2788,3769,3563,0,0,0,0,0,0
$GC,2108,-0.76,-146.0,306.1,-13.9,255,2116,0.00,1.73,0.00,0.000,6,0.000,0.044,2788,2687,3563,0,0,0,0,0,0
$GC,2308,-0.76,-146.0,337.1,-16.0,274,2310,0.10,0.00,0.00,0.000,6,0.187,0.000,2813,2686,3563,0,0,0,0,0,0
$GC,2497,-0.76,-146.0,366.4,-15.2,292,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2686,3563,0,0,0,0,0,0
$GC,2688,-0.76,-146.0,394.6,-14.1,310,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2686,3563,0,0,0,0,0,0
$GC,2879,-0.76,-146.0,421.7,-14.0,328,2883,0.00,1.75,0.00,0.000,4,0.000,0.065,2806,3768,3563,0,0,0,0,0,0
$GC,2936,-0.76,-146.0,430.0,-14.9,333,2940,0.00,1.73,0.00,0.000,6,0.000,0.045,2806,2687,3563,0,0,0,0,0,0
$STATE,3009,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3009,begin apogee
$GC,3014,-0.17,0.0,440.5,13.8,340,3150,0.60,0.00,130.88,1.095,4,0.132,0.000,3002,2493,2960,0,0,0,0,0,0
$STATE,3151,end apogee,CONTROL_FINISHED_OK
$STATE,3151,begin climb
$GC,3152,0.76,146.0,446.0,0.0,352,3306,0.98,2.53,142.98,1.035,4,0.076,0.052,3313,1094,2364,0,0,0,0,0,0
$GC,3420,0.76,146.0,421.6,11.5,376,3424,0.00,2.45,0.00,0.000,6,0.000,0.054,3313,2506,2353,0,0,0,0,0,0
$GC,3617,0.76,146.0,397.1,12.8,394,3621,0.00,2.33,0.00,0.000,4,0.000,0.053,3315,1098,2349,0,0,0,0,0,0
$GC,3757,0.76,146.0,379.2,12.7,406,3762,0.00,2.35,0.00,0.000,6,0.000,0.054,3315,2523,2346,0,0,0,0,0,0
$GC,3960,0.76,146.0,350.8,14.1,425,3964,0.00,2.00,0.00,0.000,4,0.000,0.060,3315,3770,2345,0,0,0,0,0,0
$GC,4051,0.76,146.0,336.2,16.7,433,4054,0.00,1.95,0.00,0.000,6,0.000,0.044,3325,2523,2344,0,0,0,0,0,0
$GC,4253,0.76,146.0,307.5,13.4,452,4257,0.00,2.03,0.00,0.000,4,0.000,0.063,3325,3768,2344,0,0,0,0,0,0
$GC,4313,0.76,146.0,297.3,16.5,457,4321,0.00,1.98,0.00,0.000,6,0.000,0.044,3334,2536,2343,0,0,0,0,0,0
$GC,4513,0.76,146.0,269.1,13.8,476,4514,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2534,2342,0,0,0,0,0,0
$GC,4704,0.76,146.0,243.2,13.4,494,4707,0.00,2.00,0.00,0.000,4,0.000,0.060,3334,3773,2342,0,0,0,0,0,0
$GC,4740,0.76,146.0,237.4,15.2,497,4750,0.08,1.98,0.00,0.000,6,0.155,0.044,3319,2534,2342,0,0,0,0,0,0
$GC,4878,0.76,146.0,220.2,13.2,510,4881,0.00,2.00,0.00,0.000,4,0.000,0.060,3319,3774,2342,0,0,0,0,0,0
$GC,4903,0.76,146.0,215.9,16.1,512,4913,0.00,1.98,0.00,0.000,6,0.000,0.043,3327,2537,2342,0,0,0,0,0,0
$GC,5039,0.76,146.0,197.1,14.1,525,5043,0.00,2.00,0.00,0.000,4,0.000,0.061,3327,3773,2341,0,0,0,0,0,0
$GC,5076,0.76,146.0,190.9,15.9,528,5086,0.00,1.95,0.00,0.000,6,0.000,0.044,3337,2546,2341,0,0,0,0,0,0
$GC,5213,0.76,146.0,172.4,13.2,541,5217,0.00,1.98,0.00,0.000,4,0.000,0.062,3336,3767,2341,0,0,0,0,0,0
$GC,5270,0.76,146.0,163.5,13.8,546,5280,0.10,1.90,0.00,0.000,6,0.151,0.043,3314,2571,2341,0,0,0,0,0,0
$GC,5408,0.76,146.0,147.4,12.5,559,5411,0.00,1.92,0.00,0.000,4,0.000,0.061,3313,3767,2340,0,0,0,0,0,0
$GC,5466,0.76,146.0,139.2,13.4,564,5475,0.00,1.88,0.00,0.000,6,0.000,0.043,3321,2579,2340,0,0,0,0,0,0
$GC,5603,0.76,146.0,119.5,19.1,577,5607,0.00,2.35,0.00,0.000,4,0.000,0.054,3328,1086,2340,0,0,0,0,0,0
$GC,5634,0.76,146.0,114.2,15.0,579,5644,0.00,2.42,0.00,0.000,6,0.000,0.056,3328,2565,2340,0,0,0,0,0,0
$GC,5769,0.76,146.0,96.2,15.0,594,5777,0.00,1.92,0.00,0.000,4,0.000,0.060,3328,3758,2340,0,0,0,0,0,0
$GC,5901,0.76,146.0,77.2,15.9,618,5909,0.00,1.90,0.00,0.000,6,0.000,0.044,3337,2558,2340,0,0,0,0,0,0
$GC,6041,0.76,146.0,56.6,16.1,643,6047,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2558,2340,0,0,0,0,0,0
$GC,6178,0.76,146.0,37.1,15.0,668,6186,0.00,1.98,0.00,0.000,4,0.000,0.059,3337,3763,2340,0,0,0,0,0,0
$GC,6246,0.76,146.0,26.3,18.1,680,6254,0.10,1.88,0.00,0.000,6,0.149,0.044,3314,2580,2339,0,0,0,0,0,0
$FREEZE,8.54,-1.856,-1.908,2,1,0
$FREEZE,7.68,-1.856,-1.907,2,1,0
$FREEZE,6.92,-1.855,-1.906,2,1,0
$FREEZE,5.94,-1.854,-1.906,2,1,0
$FREEZE,5.23,-1.854,-1.905,2,1,0
$FREEZE,4.39,-1.854,-1.904,2,1,0
$FREEZE,3.69,-1.853,-1.904,2,1,0
$GC,6390,0.76,146.0,3.7,14.2,705,6397,0.00,1.92,0.00,0.000,4,0.000,0.062,3314,3767,2339,0,0,0,0,0,0
$FREEZE,1.73,-1.852,-1.902,2,1,0
$STATE,6404,end climb,SURFACE_DEPTH_REACHED
$STATE,6404,begin surface coast
$FREEZE,1.13,-1.856,-1.902,2,1,0
$FREEZE,1.14,-1.924,-1.736,2,1,0
$FINISH,1.1,1.025516
$STATE,6417,end surface coast,FINISH_DEPTH_REACHED
$STATE,6417,begin surface
$SM_CCo,6433,132.27,0.776,1,0,1329,400.08
$SM_GC,2.03,0.00,0.00,132.27,0.000,0.000,0.776,416,2639,1329,-8.27,-0.31,400.08
$IRIDIUM_FIX,-7639.69,16507.31,051210,020207
$TT8_MAMPS,0.028462
$HUMID,50.98
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,18.2
$ALTIM_BOTTOM_PING,400.6,54.2
$24V_AH,21.2,34.139
$10V_AH,10.0,19.892
$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,18.450,82.100,273.850,132.275,0.000,27.590,38.445,180.143,2.250,0.000,14.768,1707.753,2589.788,553.009,1936.864,127.387,0.000,1289.578,0.000,1189.074,0.000,12.343,0.000
$DEVICE_MAMPS,205.785,80.325,1095.480,776.475,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,498.153,875.013,883.330,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,275864
$DATA_FILE_SIZE,47063,709
$CAP_FILE_SIZE,100412,0
$CFSIZE,260165632,245035008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,051210,060336,-7724.583,16501.779,12,1.2,29,144.4