version: 66.08
glider: 502
mission: 3
dive: 142
start: 12 5 110 8 14 31
data:
$ID,502
$MISSION,3
$DIVE,142
$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,-27624.4
$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,39
$R_STBD_OVSHOOT,20
$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
$GPS1,051210,080307,-7723.638,16501.744,27,1.3,28,144.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-65.5
$GPS2,051210,081407,-7723.596,16501.402,15,1.9,15,144.3
$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,224.3,81658,-17.5,-10.000
$D_GRID,465
$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,-146.0,0.0,0.0,0,116,0.00,0.00,-98.32,0.000,2,0.000,0.000,416,2664,3130,0,0,0,0,0,0
$GC,118,-0.76,-146.0,3.0,-1.1,15,147,9.02,1.90,-14.73,0.000,4,0.207,0.079,2801,3771,3559,0,0,0,0,0,0
$GC,391,-0.76,-146.0,49.1,-17.0,64,399,0.00,1.80,0.00,0.000,6,0.000,0.045,2801,2649,3562,0,0,0,0,0,0
$GC,532,-0.76,-146.0,72.5,-16.5,89,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2650,3562,0,0,0,0,0,0
$GC,668,-0.76,-146.0,95.3,-14.8,114,676,0.00,1.88,0.00,0.000,4,0.000,0.065,2793,3767,3562,0,0,0,0,0,0
$GC,717,-0.76,-146.0,104.0,-20.0,121,720,0.00,1.75,0.00,0.000,6,0.000,0.044,2793,2644,3562,0,0,0,0,0,0
$GC,857,-0.76,-146.0,130.6,-18.8,134,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2641,3562,0,0,0,0,0,0
$GC,984,-0.76,-146.0,153.3,-17.1,146,988,0.00,1.83,0.00,0.000,4,0.000,0.065,2784,3767,3562,0,0,0,0,0,0
$GC,1010,-0.76,-146.0,158.4,-18.3,148,1019,0.08,1.77,0.00,0.000,6,0.158,0.044,2809,2652,3562,0,0,0,0,0,0
$GC,1147,-0.76,-146.0,179.3,-15.5,161,1151,0.00,1.83,0.00,0.000,4,0.000,0.065,2801,3766,3563,0,0,0,0,0,0
$GC,1172,-0.76,-146.0,184.3,-16.6,163,1182,0.00,1.75,0.00,0.000,6,0.000,0.044,2802,2665,3563,0,0,0,0,0,0
$GC,1309,-0.76,-146.0,206.1,-16.3,176,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2665,3563,0,0,0,0,0,0
$GC,1436,-0.76,-146.0,227.1,-16.1,188,1440,0.00,1.80,0.00,0.000,4,0.000,0.064,2794,3774,3562,0,0,0,0,0,0
$GC,1482,-0.76,-146.0,234.8,-17.2,192,1485,0.00,1.73,0.00,0.000,6,0.000,0.045,2794,2666,3563,0,0,0,0,0,0
$GC,1621,-0.76,-146.0,257.8,-16.3,205,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2663,3562,0,0,0,0,0,0
$GC,1814,-0.76,-146.0,288.2,-16.0,223,1817,0.00,1.77,0.00,0.000,4,0.000,0.064,2785,3767,3563,0,0,0,0,0,0
$GC,1859,-0.76,-146.0,296.0,-16.7,227,1863,0.12,1.70,0.00,0.000,6,0.171,0.044,2819,2666,3563,0,0,0,0,0,0
$GC,2062,-0.76,-146.0,325.1,-14.3,246,2065,0.00,1.77,0.00,0.000,4,0.000,0.063,2812,3767,3563,0,0,0,0,0,0
$GC,2088,-0.76,-146.0,329.5,-15.3,248,2096,0.00,1.75,0.00,0.000,6,0.000,0.044,2812,2664,3563,0,0,0,0,0,0
$GC,2286,-0.76,-146.0,360.5,-15.9,267,2290,0.00,1.77,0.00,0.000,4,0.000,0.064,2803,3767,3563,0,0,0,0,0,0
$GC,2324,-0.76,-146.0,367.0,-15.6,270,2332,0.00,1.73,0.00,0.000,6,0.000,0.044,2803,2680,3563,0,0,0,0,0,0
$GC,2523,-0.76,-146.0,397.1,-14.6,289,2524,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2680,3563,0,0,0,0,0,0
$GC,2713,-0.76,-146.0,425.5,-14.7,307,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2679,3563,0,0,0,0,0,0
$STATE,2895,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2895,begin apogee
$GC,2900,-0.17,0.0,451.2,14.0,324,3041,0.62,0.00,131.10,1.107,4,0.134,0.000,3004,2486,2960,0,0,0,0,0,0
$STATE,3042,end apogee,CONTROL_FINISHED_OK
$STATE,3042,begin climb
$GC,3044,0.76,146.0,456.8,0.0,337,3198,0.95,2.50,142.73,1.034,4,0.073,0.052,3310,1092,2363,0,0,0,0,0,0
$GC,3336,0.76,146.0,429.0,12.3,363,3344,0.00,2.47,0.00,0.000,6,0.000,0.054,3310,2503,2352,0,0,0,0,0,0
$GC,3534,0.76,146.0,404.5,12.7,382,3539,0.00,2.30,0.00,0.000,4,0.000,0.054,3319,1101,2348,0,0,0,0,0,0
$GC,3656,0.76,146.0,389.9,11.1,392,3664,0.00,2.38,0.00,0.000,6,0.000,0.055,3319,2515,2347,0,0,0,0,0,0
$GC,3856,0.76,146.0,364.6,12.7,411,3860,0.00,2.00,0.00,0.000,4,0.000,0.060,3319,3764,2345,0,0,0,0,0,0
$GC,3916,0.76,146.0,355.0,16.0,416,3924,0.00,1.98,0.00,0.000,6,0.000,0.042,3328,2535,2344,0,0,0,0,0,0
$GC,4116,0.76,146.0,326.2,15.1,435,4120,0.00,2.00,0.00,0.000,4,0.000,0.061,3327,3773,2344,0,0,0,0,0,0
$GC,4165,0.76,146.0,317.4,17.0,439,4173,0.00,2.00,0.00,0.000,6,0.000,0.043,3337,2526,2343,0,0,0,0,0,0
$GC,4363,0.76,146.0,288.9,13.7,458,4365,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2525,2343,0,0,0,0,0,0
$GC,4556,0.76,146.0,263.5,13.3,476,4560,0.00,2.00,0.00,0.000,4,0.000,0.060,3338,3768,2342,0,0,0,0,0,0
$GC,4600,0.76,146.0,256.3,15.9,480,4605,0.12,1.92,0.00,0.000,6,0.174,0.042,3314,2529,2342,0,0,0,0,0,0
$GC,4800,0.76,146.0,230.8,13.0,498,4801,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2526,2342,0,0,0,0,0,0
$GC,4926,0.76,146.0,214.6,13.0,510,4929,0.00,2.00,0.00,0.000,4,0.000,0.061,3314,3771,2341,0,0,0,0,0,0
$GC,4962,0.76,146.0,209.7,14.8,513,4965,0.00,1.90,0.00,0.000,6,0.000,0.043,3322,2544,2341,0,0,0,0,0,0
$GC,5103,0.76,146.0,190.1,13.3,526,5105,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2542,2341,0,0,0,0,0,0
$GC,5229,0.76,146.0,173.3,12.8,538,5233,0.00,1.98,0.00,0.000,4,0.000,0.061,3322,3768,2341,0,0,0,0,0,0
$GC,5276,0.76,146.0,166.2,14.9,542,5285,0.00,1.92,0.00,0.000,6,0.000,0.043,3331,2555,2341,0,0,0,0,0,0
$GC,5412,0.76,146.0,148.4,13.0,555,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2553,2341,0,0,0,0,0,0
$GC,5539,0.76,146.0,132.8,11.9,567,5541,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2554,2340,0,0,0,0,0,0
$GC,5668,0.76,146.0,117.6,11.8,579,5669,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2553,2341,0,0,0,0,0,0
$GC,5794,0.76,146.0,102.6,11.7,591,5798,0.00,1.95,0.00,0.000,4,0.000,0.059,3331,3770,2340,0,0,0,0,0,0
$GC,5883,0.76,146.0,89.7,15.4,605,5890,0.00,1.90,0.00,0.000,6,0.000,0.046,3340,2559,2340,0,0,0,0,0,0
$GC,6022,0.76,146.0,72.5,13.5,630,6030,0.00,2.35,0.00,0.000,4,0.000,0.054,3351,1089,2340,0,0,0,0,0,0
$GC,6054,0.76,146.0,68.2,13.8,635,6062,0.15,2.38,0.00,0.000,6,0.161,0.054,3310,2566,2340,0,0,0,0,0,0
$GC,6194,0.80,177.5,52.9,8.5,660,6229,0.00,2.03,25.52,0.875,4,0.000,0.062,3310,3765,2235,0,0,0,0,0,0
$GC,6328,0.80,177.5,33.9,14.9,683,6335,0.00,1.88,0.00,0.000,6,0.000,0.043,3318,2582,2232,0,0,0,0,0,0
$GC,6466,0.80,177.5,12.4,17.2,708,6474,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2579,2230,0,0,0,0,0,0
$FREEZE,8.70,-1.912,-1.907,2,1,0
$STATE,6487,end climb,FINISH_DEPTH_REACHED
$STATE,6487,begin subsurface finish
$FINISH1,8.7,1.027880,-19
$GC,6492,-0.02,-18.6,8.7,-17.9,711,6526,0.77,0.00,-28.95,0.000,6,0.129,0.000,3066,2477,3041,0,0,0,0,0,0
$FINISH2,5.4
$STATE,6527,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6527,begin surface
$IRIDIUM_FIX,-7639.69,16505.38,051210,080810
$TT8_MAMPS,0.028462
$HUMID,52.24
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,14.00
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.4,18.0
$ALTIM_BOTTOM_PING,451.2,12.3
$24V_AH,21.2,34.378
$10V_AH,9.9,20.064
$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,11.850,70.750,299.350,0.000,0.000,85.289,145.940,208.507,3.000,0.000,16.064,1690.477,2809.617,426.685,2128.984,134.111,0.000,1153.107,0.000,1176.863,0.000,16.845,0.000
$DEVICE_MAMPS,207.315,88.740,1106.955,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,502.495,875.284,874.586,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276264
$DATA_FILE_SIZE,47251,716
$CAP_FILE_SIZE,96535,0
$CFSIZE,260165632,244928512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051210,081407,-7723.596,16501.402,15,1.9,15,144.3