version: 66.08
glider: 502
mission: 3
dive: 141
start: 12 5 110 6 9 55
data:
$ID,502
$MISSION,3
$DIVE,141
$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,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,-27623.049
$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,38
$R_STBD_OVSHOOT,23
$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
$GPS1,051210,060336,-7724.583,16501.779,12,1.2,29,144.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-64.6
$GPS2,051210,060932,-7724.523,16501.635,12,1.4,12,144.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NORTH
$TGT_LATLONG,-7640.000,16530.000
$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,224.0,83343,-17.5,-10.000
$D_GRID,452
$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,16,-0.76,-146.0,0.0,0.0,0,124,0.00,0.00,-105.18,0.000,2,0.000,0.000,411,2637,3274,0,0,0,0,0,0
$GC,126,-0.76,-146.0,3.4,-2.0,16,149,9.12,1.95,-8.68,0.000,4,0.210,0.080,2804,3764,3560,0,0,0,0,0,0
$GC,391,-0.76,-146.0,49.6,-14.1,64,399,0.00,1.77,0.00,0.000,6,0.000,0.044,2805,2657,3563,0,0,0,0,0,0
$GC,531,-0.76,-146.0,66.5,-13.2,89,538,0.00,1.83,0.00,0.000,4,0.000,0.065,2797,3764,3562,0,0,0,0,0,0
$GC,648,-0.76,-146.0,84.8,-15.5,110,656,0.00,1.77,0.00,0.000,6,0.000,0.044,2796,2656,3563,0,0,0,0,0,0
$GC,792,-0.76,-146.0,115.0,-21.0,130,796,0.00,2.22,0.00,0.000,4,0.000,0.052,2796,1243,3563,0,0,0,0,0,0
$GC,853,-0.76,-146.0,128.8,-22.7,135,858,0.12,2.30,0.00,0.000,6,0.171,0.060,2819,2655,3563,0,0,0,0,0,0
$GC,989,-0.76,-146.0,151.5,-13.5,147,993,0.00,1.77,0.00,0.000,4,0.000,0.063,2812,3769,3563,0,0,0,0,0,0
$GC,1067,-0.76,-146.0,163.7,-17.8,154,1070,0.00,1.73,0.00,0.000,6,0.000,0.044,2812,2660,3563,0,0,0,0,0,0
$GC,1209,-0.76,-146.0,186.3,-14.0,167,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2658,3563,0,0,0,0,0,0
$GC,1344,-0.76,-146.0,206.8,-15.0,180,1347,0.00,1.80,0.00,0.000,4,0.000,0.066,2803,3767,3563,0,0,0,0,0,0
$GC,1389,-0.76,-146.0,213.6,-15.7,184,1392,0.00,1.70,0.00,0.000,6,0.000,0.044,2803,2673,3563,0,0,0,0,0,0
$GC,1531,-0.76,-146.0,236.9,-15.1,197,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2670,3563,0,0,0,0,0,0
$GC,1664,-0.76,-146.0,259.7,-17.3,210,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2670,3563,0,0,0,0,0,0
$GC,1855,-0.76,-146.0,289.5,-15.2,228,1859,0.00,1.80,0.00,0.000,4,0.000,0.066,2795,3767,3563,0,0,0,0,0,0
$GC,1882,-0.76,-146.0,294.0,-15.7,230,1890,0.00,1.73,0.00,0.000,6,0.000,0.044,2795,2681,3563,0,0,0,0,0,0
$GC,2080,-0.76,-146.0,323.5,-15.2,249,2084,0.00,1.80,0.00,0.000,4,0.000,0.066,2787,3761,3563,0,0,0,0,0,0
$GC,2106,-0.76,-146.0,328.2,-17.0,251,2114,0.08,1.73,0.00,0.000,6,0.154,0.044,2811,2679,3563,0,0,0,0,0,0
$GC,2305,-0.76,-146.0,357.6,-15.0,270,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2678,3563,0,0,0,0,0,0
$GC,2495,-0.76,-146.0,384.4,-13.9,288,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2679,3563,0,0,0,0,0,0
$GC,2686,-0.76,-146.0,410.2,-13.5,306,2690,0.00,1.75,0.00,0.000,4,0.000,0.065,2804,3763,3563,0,0,0,0,0,0
$GC,2746,-0.76,-146.0,419.3,-14.4,311,2754,0.00,1.70,0.00,0.000,6,0.000,0.044,2804,2688,3562,0,0,0,0,0,0
$GC,2947,-0.76,-146.0,447.3,-14.4,330,2950,0.00,1.75,0.00,0.000,4,0.000,0.065,2796,3770,3562,0,0,0,0,0,0
$STATE,2965,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2965,begin apogee
$GC,2971,-0.17,0.0,450.0,14.5,331,3109,0.65,0.00,131.20,1.104,4,0.136,0.000,3003,2489,2961,0,0,0,0,0,0
$STATE,3109,end apogee,CONTROL_FINISHED_OK
$STATE,3109,begin climb
$GC,3111,0.76,146.0,456.1,0.0,344,3265,0.95,2.53,142.85,1.034,4,0.075,0.051,3308,1095,2364,0,0,0,0,0,0
$GC,3379,0.76,146.0,432.5,11.7,368,3383,0.00,2.45,0.00,0.000,6,0.000,0.054,3308,2504,2352,0,0,0,0,0,0
$GC,3577,0.76,146.0,408.4,12.2,386,3581,0.00,2.33,0.00,0.000,4,0.000,0.053,3316,1092,2349,0,0,0,0,0,0
$GC,3710,0.76,146.0,391.8,12.1,397,3717,0.00,2.40,0.00,0.000,6,0.000,0.056,3316,2516,2347,0,0,0,0,0,0
$GC,3908,0.76,146.0,365.7,13.2,416,3911,0.00,2.00,0.00,0.000,4,0.000,0.060,3316,3766,2346,0,0,0,0,0,0
$GC,3975,0.76,146.0,355.2,16.4,422,3979,0.00,1.95,0.00,0.000,6,0.000,0.042,3326,2519,2345,0,0,0,0,0,0
$GC,4178,0.76,146.0,326.9,13.5,441,4182,0.00,2.03,0.00,0.000,4,0.000,0.061,3326,3767,2344,0,0,0,0,0,0
$GC,4211,0.76,146.0,321.9,15.9,444,4215,0.00,1.92,0.00,0.000,6,0.000,0.043,3336,2532,2343,0,0,0,0,0,0
$GC,4414,0.76,146.0,292.2,14.1,463,4417,0.00,2.00,0.00,0.000,4,0.000,0.061,3335,3770,2343,0,0,0,0,0,0
$GC,4496,0.76,146.0,278.1,15.8,470,4505,0.10,1.95,0.00,0.000,6,0.155,0.042,3314,2547,2343,0,0,0,0,0,0
$GC,4695,0.76,146.0,251.7,12.8,489,4699,0.00,2.03,0.00,0.000,4,0.000,0.062,3313,3799,2342,0,0,0,0,0,0
$GC,4753,0.76,146.0,242.9,14.4,494,4763,0.00,1.98,0.00,0.000,6,0.000,0.042,3321,2550,2342,0,0,0,0,0,0
$GC,4891,0.76,146.0,225.2,13.6,507,4895,0.00,1.98,0.00,0.000,4,0.000,0.062,3321,3774,2342,0,0,0,0,0,0
$GC,4927,0.76,146.0,220.0,15.3,510,4930,0.00,1.85,0.00,0.000,6,0.000,0.043,3331,2574,2341,0,0,0,0,0,0
$GC,5069,0.76,146.0,200.2,13.5,523,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2572,2341,0,0,0,0,0,0
$GC,5194,0.76,146.0,183.6,12.8,535,5198,0.00,1.92,0.00,0.000,4,0.000,0.062,3331,3768,2342,0,0,0,0,0,0
$GC,5239,0.76,146.0,177.4,14.6,539,5243,0.00,1.85,0.00,0.000,6,0.000,0.043,3339,2570,2341,0,0,0,0,0,0
$GC,5380,0.76,146.0,159.7,12.5,552,5383,0.00,1.95,0.00,0.000,4,0.000,0.063,3340,3775,2341,0,0,0,0,0,0
$GC,5402,0.76,146.0,156.3,14.4,554,5407,0.15,1.85,0.00,0.000,6,0.169,0.043,3309,2580,2341,0,0,0,0,0,0
$GC,5543,0.76,146.0,140.0,11.6,567,5544,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,2577,2341,0,0,0,0,0,0
$GC,5670,0.76,146.0,123.4,13.2,579,5671,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2577,2341,0,0,0,0,0,0
$GC,5798,0.76,146.0,109.5,11.1,591,5801,0.00,1.92,0.00,0.000,4,0.000,0.061,3309,3775,2340,0,0,0,0,0,0
$GC,5844,0.76,146.0,102.5,14.6,595,5854,0.00,1.88,0.00,0.000,6,0.000,0.043,3316,2592,2340,0,0,0,0,0,0
$GC,5981,0.76,146.0,86.1,10.1,618,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2590,2340,0,0,0,0,0,0
$GC,6122,0.76,146.0,69.5,12.2,643,6128,0.00,1.92,0.00,0.000,4,0.000,0.064,3316,3773,2340,0,0,0,0,0,0
$GC,6158,0.76,146.0,64.5,14.2,649,6164,0.00,1.83,0.00,0.000,6,0.000,0.043,3325,2597,2340,0,0,0,0,0,0
$GC,6296,0.76,146.0,43.9,14.9,674,6305,0.00,2.40,0.00,0.000,4,0.000,0.054,3327,1105,2340,0,0,0,0,0,0
$GC,6321,0.76,146.0,40.1,14.4,678,6329,0.00,2.42,0.00,0.000,6,0.000,0.054,3328,2586,2340,0,0,0,0,0,0
$GC,6461,0.76,146.0,19.0,14.6,703,6468,0.00,1.88,0.00,0.000,4,0.000,0.060,3328,3767,2340,0,0,0,0,0,0
$FREEZE,8.22,-1.838,-1.907,2,1,0
$FREEZE,7.26,-1.838,-1.907,2,1,0
$FREEZE,6.08,-1.840,-1.906,2,1,0
$GC,6534,0.76,146.0,6.1,18.6,716,6542,0.00,1.85,0.00,0.000,6,0.000,0.042,3337,2595,2340,0,0,0,0,0,0
$FREEZE,3.55,-1.839,-1.904,2,1,0
$FREEZE,2.74,-1.840,-1.903,2,1,0
$STATE,6554,end climb,SURFACE_DEPTH_REACHED
$STATE,6555,begin surface coast
$FREEZE,1.84,-1.838,-1.902,2,1,0
$FREEZE,1.36,-1.838,-1.902,2,1,0
$FREEZE,1.28,-1.863,-1.893,2,1,0
$FINISH,1.3,1.027756
$STATE,6573,end surface coast,CONTROL_FINISHED_OK
$STATE,6573,begin surface
$SM_CCo,6588,136.20,0.768,1,0,1329,400.08
$SM_GC,2.06,0.00,0.00,136.20,0.000,0.000,0.768,421,2663,1329,-8.25,0.37,400.08
$IRIDIUM_FIX,-7639.69,16450.76,051210,040418
$TT8_MAMPS,0.027713
$HUMID,51.18
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,18.2
$ALTIM_BOTTOM_PING,450.0,10.5
$24V_AH,21.2,34.266
$10V_AH,10.0,19.978
$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,18.750,86.325,274.050,136.200,0.000,23.683,50.257,190.477,2.750,0.000,13.662,1749.038,2692.224,546.364,1975.649,128.791,0.000,1291.923,0.000,1218.732,0.000,16.902,0.000
$DEVICE_MAMPS,209.610,117.045,1103.895,768.060,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,507.726,882.833,875.098,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276260
$DATA_FILE_SIZE,50526,722
$CAP_FILE_SIZE,101814,0
$CFSIZE,260165632,244977664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051210,080307,-7723.638,16501.744,27,1.3,28,144.3