version: 66.08
glider: 502
mission: 3
dive: 144
start: 12 5 110 11 58 46
data:
$ID,502
$MISSION,3
$DIVE,144
$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,44
$R_STBD_OVSHOOT,24
$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
$GPS1,051210,081407,-7723.596,16501.402,15,1.9,15,144.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.02
$_SM_ANGLEo,2.3
$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
$STATE,13,begin dive
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$GC,165,-0.76,-146.0,30.1,-9.7,25,171,0.00,2.30,0.00,0.000,6,0.000,0.060,2810,2656,3562,0,0,0,0,0,0
$GC,302,-0.76,-146.0,48.1,-13.5,50,309,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2656,3562,0,0,0,0,0,0
$GC,442,-0.76,-146.0,68.4,-15.1,75,449,0.00,1.77,0.00,0.000,4,0.000,0.064,2801,3764,3563,0,0,0,0,0,0
$GC,489,-0.76,-146.0,76.1,-16.8,83,496,0.00,1.75,0.00,0.000,6,0.000,0.043,2801,2660,3563,0,0,0,0,0,0
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$GC,764,-0.76,-146.0,118.8,-15.1,122,767,0.00,1.80,0.00,0.000,4,0.000,0.066,2793,3770,3563,0,0,0,0,0,0
$GC,798,-0.76,-146.0,124.7,-18.4,125,801,0.00,1.73,0.00,0.000,6,0.000,0.045,2793,2657,3563,0,0,0,0,0,0
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$GC,1066,-0.76,-146.0,167.6,-15.3,150,1070,0.00,1.80,0.00,0.000,4,0.000,0.066,2784,3767,3563,0,0,0,0,0,0
$GC,1091,-0.76,-146.0,172.6,-17.9,152,1101,0.08,1.75,0.00,0.000,6,0.148,0.044,2809,2670,3564,0,0,0,0,0,0
$GC,1227,-0.76,-146.0,192.4,-14.4,165,1230,0.00,1.77,0.00,0.000,4,0.000,0.066,2802,3764,3563,0,0,0,0,0,0
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$GC,1423,-0.76,-146.0,224.7,-16.8,183,1426,0.00,1.70,0.00,0.000,6,0.000,0.045,2795,2673,3563,0,0,0,0,0,0
$GC,1565,-0.76,-146.0,247.4,-15.4,196,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2672,3563,0,0,0,0,0,0
$GC,1698,-0.76,-146.0,268.3,-14.6,209,1702,0.00,1.77,0.00,0.000,4,0.000,0.066,2786,3765,3563,0,0,0,0,0,0
$GC,1743,-0.76,-146.0,275.2,-14.9,213,1747,0.12,1.67,0.00,0.000,6,0.168,0.044,2820,2683,3562,0,0,0,0,0,0
$GC,1948,-0.76,-146.0,303.3,-14.2,232,1949,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2682,3563,0,0,0,0,0,0
$GC,2136,-0.76,-146.0,330.6,-14.0,250,2140,0.00,1.75,0.00,0.000,4,0.000,0.067,2813,3761,3563,0,0,0,0,0,0
$GC,2185,-0.76,-146.0,338.1,-14.7,254,2193,0.00,1.70,0.00,0.000,6,0.000,0.043,2813,2689,3563,0,0,0,0,0,0
$GC,2384,-0.76,-146.0,364.9,-14.0,273,2387,0.00,1.75,0.00,0.000,4,0.000,0.065,2805,3770,3563,0,0,0,0,0,0
$GC,2428,-0.76,-146.0,371.6,-14.9,277,2432,0.00,1.65,0.00,0.000,6,0.000,0.044,2805,2702,3563,0,0,0,0,0,0
$GC,2634,-0.76,-146.0,400.4,-14.1,296,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2701,3563,0,0,0,0,0,0
$GC,2821,-0.76,-146.0,427.1,-14.5,314,2825,0.00,1.73,0.00,0.000,4,0.000,0.067,2798,3763,3563,0,0,0,0,0,0
$GC,2866,-0.76,-146.0,434.0,-15.5,318,2870,0.00,1.65,0.00,0.000,6,0.000,0.044,2798,2694,3563,0,0,0,0,0,0
$GC,3069,-0.76,-146.0,463.3,-13.9,337,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2692,3563,0,0,0,0,0,0
$STATE,3089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3089,begin apogee
$GC,3093,-0.17,0.0,466.4,14.6,339,3236,0.62,0.00,132.07,1.106,4,0.134,0.000,3000,2483,2960,0,0,0,0,0,0
$STATE,3236,end apogee,CONTROL_FINISHED_OK
$STATE,3236,begin climb
$GC,3238,0.76,146.0,471.8,0.0,352,3391,0.98,2.50,143.40,1.022,4,0.075,0.053,3313,1097,2364,0,0,0,0,0,0
$GC,3515,0.76,146.0,446.5,11.4,377,3519,0.00,2.42,0.00,0.000,6,0.000,0.054,3313,2498,2353,0,0,0,0,0,0
$GC,3714,0.76,146.0,421.9,12.4,395,3718,0.00,2.30,0.00,0.000,4,0.000,0.053,3315,1100,2349,0,0,0,0,0,0
$GC,3832,0.76,146.0,407.3,12.8,405,3836,0.00,2.35,0.00,0.000,6,0.000,0.056,3315,2519,2347,0,0,0,0,0,0
$GC,4034,0.76,146.0,381.8,12.5,424,4038,0.00,2.03,0.00,0.000,4,0.000,0.061,3316,3777,2347,0,0,0,0,0,0
$GC,4136,0.76,146.0,366.6,15.3,433,4140,0.00,2.00,0.00,0.000,6,0.000,0.043,3325,2508,2346,0,0,0,0,0,0
$GC,4338,0.76,146.0,339.5,12.6,452,4342,0.00,2.05,0.00,0.000,4,0.000,0.061,3324,3772,2344,0,0,0,0,0,0
$GC,4406,0.76,146.0,329.4,15.3,458,4409,0.00,1.92,0.00,0.000,6,0.000,0.043,3334,2539,2345,0,0,0,0,0,0
$GC,4608,0.76,146.0,301.5,13.3,477,4612,0.00,2.00,0.00,0.000,4,0.000,0.061,3334,3777,2344,0,0,0,0,0,0
$GC,4665,0.76,146.0,292.8,16.0,482,4669,0.12,1.92,0.00,0.000,6,0.170,0.044,3311,2546,2344,0,0,0,0,0,0
$GC,4862,0.76,146.0,268.3,11.9,500,4866,0.00,1.98,0.00,0.000,4,0.000,0.062,3311,3765,2343,0,0,0,0,0,0
$GC,4952,0.76,146.0,255.5,14.5,508,4956,0.00,1.88,0.00,0.000,6,0.000,0.043,3318,2555,2343,0,0,0,0,0,0
$GC,5157,0.76,146.0,228.6,12.8,527,5160,0.00,1.98,0.00,0.000,4,0.000,0.062,3318,3777,2342,0,0,0,0,0,0
$GC,5193,0.76,146.0,222.9,14.6,530,5202,0.00,1.92,0.00,0.000,6,0.000,0.043,3328,2562,2342,0,0,0,0,0,0
$GC,5330,0.76,146.0,205.3,13.0,543,5331,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2561,2342,0,0,0,0,0,0
$GC,5456,0.76,146.0,188.8,13.1,555,5460,0.00,1.95,0.00,0.000,4,0.000,0.061,3328,3768,2343,0,0,0,0,0,0
$GC,5512,0.76,146.0,180.3,15.0,560,5515,0.00,1.85,0.00,0.000,6,0.000,0.043,3337,2569,2342,0,0,0,0,0,0
$GC,5653,0.76,146.0,161.2,13.7,573,5655,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2567,2342,0,0,0,0,0,0
$GC,5779,0.76,146.0,144.6,13.7,585,5783,0.00,1.95,0.00,0.000,4,0.000,0.062,3337,3774,2342,0,0,0,0,0,0
$GC,5815,0.76,146.0,139.4,15.9,588,5819,0.12,1.85,0.00,0.000,6,0.174,0.044,3313,2580,2341,0,0,0,0,0,0
$GC,5956,0.76,146.0,122.2,12.1,601,5957,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2577,2341,0,0,0,0,0,0
$GC,6082,0.76,146.0,107.5,11.8,613,6085,0.00,1.92,0.00,0.000,4,0.000,0.061,3313,3771,2341,0,0,0,0,0,0
$GC,6117,0.76,146.0,103.2,13.7,616,6121,0.00,1.83,0.00,0.000,6,0.000,0.044,3321,2593,2341,0,0,0,0,0,0
$GC,6254,0.76,146.0,85.2,14.0,639,6261,0.00,2.38,0.00,0.000,4,0.000,0.054,3328,1088,2341,0,0,0,0,0,0
$GC,6272,0.76,146.0,82.6,13.5,642,6280,0.00,2.47,0.00,0.000,6,0.000,0.056,3328,2599,2341,0,0,0,0,0,0
$GC,6413,0.76,146.0,63.0,14.2,667,6420,0.00,1.88,0.00,0.000,4,0.000,0.062,3328,3769,2341,0,0,0,0,0,0
$GC,6463,0.76,146.0,54.7,15.7,676,6471,0.00,1.85,0.00,0.000,6,0.000,0.043,3337,2600,2341,0,0,0,0,0,0
$GC,6603,0.76,146.0,34.5,14.4,701,6610,0.00,1.92,0.00,0.000,4,0.000,0.062,3337,3764,2341,0,0,0,0,0,0
$GC,6654,0.76,146.0,26.9,12.5,710,6663,0.10,1.83,0.00,0.000,6,0.160,0.042,3314,2613,2341,0,0,0,0,0,0
$FREEZE,8.56,-1.885,-1.908,2,3,0
$STATE,6795,end climb,FINISH_DEPTH_REACHED
$STATE,6795,begin subsurface finish
$FINISH1,8.6,1.027887,-19
$GC,6800,-0.02,-19.0,8.6,-10.5,735,6829,0.77,2.20,-22.48,0.000,4,0.133,0.080,3061,3772,3043,0,0,0,0,0,0
$FINISH2,7.1
$STATE,6830,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6830,begin surface
$IRIDIUM_FIX,-7639.69,16505.38,051210,080810
$TT8_MAMPS,0.028462
$HUMID,52.59
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,17.6
$24V_AH,21.1,34.543
$10V_AH,10.0,20.225
$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,3.600,93.175,275.475,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,1819.904,2885.605,332.130,1732.852,108.956,0.000,1075.823,0.000,1255.021,0.000,11.202,0.000
$DEVICE_MAMPS,173.655,79.560,1106.190,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,521.712,886.104,868.181,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50395,739
$CAP_FILE_SIZE,96232,0
$CFSIZE,260165632,244817920
$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