version: 66.08
glider: 502
mission: 3
dive: 180
start: 12 9 110 1 37 29
data:
$ID,502
$MISSION,3
$DIVE,180
$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,-27666.016
$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,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
$GPS1,081210,231402,-7651.353,16531.492,11,1.2,11,141.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.41
$_SM_ANGLEo,3.2
$GPS2,081210,231402,-7651.353,16531.492,11,1.2,11,141.7
$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,216.6,21035,-17.5,-10.000
$D_GRID,578
$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,695,-0.76,-146.0,113.2,-16.8,114,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2657,3562,0,0,0,0,0,0
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$GC,948,-0.76,-146.0,155.1,-16.5,138,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2658,3562,0,0,0,0,0,0
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$GC,1258,-0.76,-146.0,207.5,-16.5,167,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2652,3562,0,0,0,0,0,0
$GC,1385,-0.76,-146.0,228.7,-17.0,179,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2652,3562,0,0,0,0,0,0
$GC,1513,-0.76,-146.0,249.8,-16.4,191,1518,0.00,1.80,0.00,0.000,4,0.000,0.065,2787,3766,3562,0,0,0,0,0,0
$GC,1547,-0.76,-146.0,256.0,-17.3,194,1551,0.10,1.73,0.00,0.000,6,0.182,0.044,2813,2648,3562,0,0,0,0,0,0
$GC,1749,-0.76,-146.0,286.9,-14.7,213,1752,0.00,1.80,0.00,0.000,4,0.000,0.063,2806,3764,3562,0,0,0,0,0,0
$GC,1777,-0.76,-146.0,291.3,-16.4,215,1784,0.00,1.70,0.00,0.000,6,0.000,0.044,2806,2666,3562,0,0,0,0,0,0
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$GC,2165,-0.76,-146.0,349.8,-14.8,252,2172,0.00,1.77,0.00,0.000,4,0.000,0.063,2798,3762,3562,0,0,0,0,0,0
$GC,2201,-0.76,-146.0,355.1,-15.5,255,2205,0.00,1.73,0.00,0.000,6,0.000,0.044,2799,2677,3562,0,0,0,0,0,0
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$GC,2594,-0.76,-146.0,413.8,-14.6,292,2598,0.00,1.77,0.00,0.000,4,0.000,0.063,2790,3773,3562,0,0,0,0,0,0
$GC,2639,-0.76,-146.0,420.7,-15.5,296,2643,0.00,1.75,0.00,0.000,6,0.000,0.044,2790,2675,3562,0,0,0,0,0,0
$GC,2843,-0.76,-146.0,450.9,-14.9,315,2844,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2673,3562,0,0,0,0,0,0
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$GC,3078,-0.76,-146.0,485.2,-15.3,337,3083,0.12,1.67,0.00,0.000,6,0.164,0.044,2816,2676,3562,0,0,0,0,0,0
$GC,3300,-0.76,-146.0,511.9,-12.0,352,3301,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2674,3562,0,0,0,0,0,0
$GC,3482,-0.76,-146.0,533.7,-11.6,358,3486,0.00,1.77,0.00,0.000,4,0.000,0.064,2809,3768,3562,0,0,0,0,0,0
$GC,3518,-0.76,-146.0,538.0,-13.0,359,3521,0.00,1.70,0.00,0.000,6,0.000,0.044,2809,2674,3562,0,0,0,0,0,0
$GC,3735,-0.76,-146.0,565.0,-11.9,366,3739,0.00,1.77,0.00,0.000,4,0.000,0.063,2801,3770,3562,0,0,0,0,0,0
$GC,3762,-0.76,-146.0,568.7,-13.2,366,3770,0.00,1.73,0.00,0.000,6,0.000,0.044,2801,2688,3562,0,0,0,0,0,0
$STATE,3798,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3798,begin apogee
$GC,3803,-0.17,0.0,573.4,13.4,368,3942,0.62,0.00,134.27,1.168,4,0.132,0.000,3002,2493,2961,0,0,0,0,0,0
$STATE,3942,end apogee,CONTROL_FINISHED_OK
$STATE,3942,begin climb
$GC,3944,0.76,146.0,577.9,0.0,372,4099,0.98,2.55,146.82,1.098,4,0.073,0.052,3312,1099,2366,0,0,0,0,0,0
$GC,4189,0.76,146.0,554.8,12.6,380,4193,0.00,2.45,0.00,0.000,6,0.000,0.055,3312,2498,2355,0,0,0,0,0,0
$GC,4390,0.76,146.0,527.1,13.7,387,4394,0.00,2.33,0.00,0.000,4,0.000,0.054,3322,1091,2351,0,0,0,0,0,0
$GC,4519,0.76,146.0,509.9,13.1,391,4523,0.00,2.35,0.00,0.000,6,0.000,0.057,3322,2518,2348,0,0,0,0,0,0
$GC,4714,0.76,146.0,482.2,14.3,404,4717,0.00,2.00,0.00,0.000,4,0.000,0.059,3322,3770,2347,0,0,0,0,0,0
$GC,4804,0.76,146.0,467.5,16.5,412,4808,0.00,1.95,0.00,0.000,6,0.000,0.044,3328,2523,2347,0,0,0,0,0,0
$GC,5007,0.76,146.0,438.1,14.1,431,5010,0.00,2.00,0.00,0.000,4,0.000,0.060,3328,3765,2346,0,0,0,0,0,0
$GC,5034,0.76,146.0,433.5,16.2,433,5041,0.00,1.92,0.00,0.000,6,0.000,0.042,3337,2521,2346,0,0,0,0,0,0
$GC,5232,0.76,146.0,403.8,15.0,452,5235,0.00,2.00,0.00,0.000,4,0.000,0.060,3338,3766,2345,0,0,0,0,0,0
$GC,5280,0.76,146.0,395.4,16.9,456,5289,0.10,1.95,0.00,0.000,6,0.148,0.042,3314,2539,2345,0,0,0,0,0,0
$GC,5479,0.76,146.0,369.6,12.4,475,5483,0.00,1.98,0.00,0.000,4,0.000,0.060,3314,3770,2344,0,0,0,0,0,0
$GC,5516,0.76,146.0,364.2,14.5,478,5524,0.00,1.95,0.00,0.000,6,0.000,0.043,3322,2539,2344,0,0,0,0,0,0
$GC,5714,0.76,146.0,338.0,12.7,497,5718,0.00,1.98,0.00,0.000,4,0.000,0.060,3322,3770,2343,0,0,0,0,0,0
$GC,5752,0.76,146.0,332.3,15.3,500,5760,0.00,1.92,0.00,0.000,6,0.000,0.043,3330,2554,2343,0,0,0,0,0,0
$GC,5950,0.76,146.0,305.1,13.8,519,5951,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2552,2343,0,0,0,0,0,0
$GC,6141,0.76,146.0,279.1,13.5,537,6145,0.00,1.95,0.00,0.000,4,0.000,0.060,3330,3765,2343,0,0,0,0,0,0
$GC,6220,0.76,146.0,266.8,16.2,544,6224,0.00,1.88,0.00,0.000,6,0.000,0.043,3339,2551,2343,0,0,0,0,0,0
$GC,6426,0.76,146.0,237.5,14.6,563,6429,0.00,1.95,0.00,0.000,4,0.000,0.061,3339,3764,2343,0,0,0,0,0,0
$GC,6482,0.76,146.0,228.4,16.7,568,6486,0.12,1.88,0.00,0.000,6,0.171,0.043,3315,2551,2343,0,0,0,0,0,0
$GC,6623,0.76,146.0,210.1,12.4,581,6627,0.00,1.95,0.00,0.000,4,0.000,0.062,3315,3764,2343,0,0,0,0,0,0
$GC,6668,0.76,146.0,203.7,15.0,585,6672,0.00,1.85,0.00,0.000,6,0.000,0.043,3322,2562,2343,0,0,0,0,0,0
$GC,6809,0.76,146.0,185.3,12.9,598,6811,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2560,2343,0,0,0,0,0,0
$GC,6936,0.76,146.0,168.6,13.2,610,6940,0.00,1.95,0.00,0.000,4,0.000,0.062,3322,3771,2343,0,0,0,0,0,0
$GC,7005,0.76,146.0,158.0,15.5,616,7014,0.00,1.88,0.00,0.000,6,0.000,0.043,3332,2580,2343,0,0,0,0,0,0
$GC,7141,0.76,146.0,139.2,13.8,629,7142,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2579,2343,0,0,0,0,0,0
$GC,7268,0.76,146.0,121.7,13.9,641,7272,0.00,1.90,0.00,0.000,4,0.000,0.061,3331,3765,2343,0,0,0,0,0,0
$GC,7335,0.76,146.0,111.5,15.9,647,7338,0.00,1.83,0.00,0.000,6,0.000,0.042,3341,2581,2342,0,0,0,0,0,0
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$GC,7802,0.76,146.0,46.5,12.5,723,7808,0.00,1.88,0.00,0.000,4,0.000,0.062,3316,3763,2342,0,0,0,0,0,0
$GC,7977,0.76,146.0,21.3,13.8,755,7983,0.00,1.77,0.00,0.000,6,0.000,0.044,3323,2618,2342,0,0,0,0,0,0
$FREEZE,8.95,-1.485,-1.902,2,2,0
$STATE,8071,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,8071,begin subsurface finish
$FINISH1,8.9,1.027793,-14
$GC,8076,-0.02,-14.4,8.9,-12.0,772,8106,0.80,2.10,-21.05,0.000,4,0.135,0.078,3065,3763,3022,0,0,0,0,0,0
$FINISH2,7.5
$STATE,8106,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8106,begin surface
$IRIDIUM_FIX,-7612.11,16518.76,081210,202049
$TT8_MAMPS,0.027713
$HUMID,53.18
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.2,14.6
$ALTIM_BOTTOM_PING,500.8,83.1
$24V_AH,20.8,39.220
$10V_AH,9.9,23.577
$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,3.675,96.325,281.100,0.000,0.000,0.000,0.000,0.000,2.750,0.000,0.000,1956.297,3893.812,338.628,1845.254,120.611,0.000,1148.117,0.000,1376.546,0.000,15.830,0.000
$DEVICE_MAMPS,182.070,78.030,1168.155,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,549.963,941.370,835.932,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276308
$DATA_FILE_SIZE,53769,776
$CAP_FILE_SIZE,105268,0
$CFSIZE,260165632,242577408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081210,231402,-7651.353,16531.492,11,1.2,11,141.7