version: 66.08
glider: 502
mission: 3
dive: 143
start: 12 5 110 10 4 48
data:
$ID,502
$MISSION,3
$DIVE,143
$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,46
$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
$GPS1,051210,081407,-7723.596,16501.402,15,1.9,15,144.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.80
$_SM_ANGLEo,3.3
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,25,0.00,0.00,-8.48,0.000,2,0.000,0.000,3066,2477,3267,0,0,0,0,0,0
$GC,27,-0.76,-146.0,4.7,-0.0,1,48,0.65,2.17,-10.57,0.000,4,0.069,0.080,2809,3757,3560,0,0,0,0,0,0
$GC,67,-0.76,-146.0,7.5,-9.5,7,74,0.00,1.75,0.00,0.000,6,0.000,0.044,2809,2638,3561,0,0,0,0,0,0
$GC,203,-0.76,-146.0,29.8,-19.4,32,211,0.00,2.25,0.00,0.000,4,0.000,0.053,2808,1246,3562,0,0,0,0,0,0
$GC,226,-0.76,-146.0,33.7,-18.2,35,233,0.00,2.33,0.00,0.000,6,0.000,0.060,2799,2662,3563,0,0,0,0,0,0
$GC,362,-0.76,-146.0,57.2,-15.5,60,370,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2662,3563,0,0,0,0,0,0
$GC,502,-0.76,-146.0,78.5,-15.9,85,508,0.00,1.77,0.00,0.000,4,0.000,0.063,2790,3769,3563,0,0,0,0,0,0
$GC,570,-0.76,-146.0,89.9,-16.2,97,577,0.00,1.75,0.00,0.000,6,0.000,0.044,2790,2674,3563,0,0,0,0,0,0
$GC,715,-0.76,-146.0,112.8,-16.5,116,718,0.00,1.77,0.00,0.000,4,0.000,0.064,2781,3770,3563,0,0,0,0,0,0
$GC,750,-0.76,-146.0,118.8,-16.3,119,755,0.12,1.73,0.00,0.000,6,0.170,0.044,2815,2659,3563,0,0,0,0,0,0
$GC,892,-0.76,-146.0,138.7,-13.4,132,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2658,3564,0,0,0,0,0,0
$GC,1027,-0.76,-146.0,157.6,-13.9,145,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2657,3564,0,0,0,0,0,0
$GC,1154,-0.76,-146.0,174.9,-13.3,157,1158,0.00,1.80,0.00,0.000,4,0.000,0.066,2808,3767,3564,0,0,0,0,0,0
$GC,1210,-0.76,-146.0,182.9,-15.2,162,1213,0.00,1.70,0.00,0.000,6,0.000,0.044,2808,2672,3564,0,0,0,0,0,0
$GC,1350,-0.76,-146.0,203.1,-14.6,175,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2669,3564,0,0,0,0,0,0
$GC,1477,-0.76,-146.0,221.1,-14.3,187,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2669,3563,0,0,0,0,0,0
$GC,1605,-0.76,-146.0,238.9,-13.8,199,1608,0.00,1.77,0.00,0.000,4,0.000,0.065,2800,3764,3563,0,0,0,0,0,0
$GC,1650,-0.76,-146.0,245.6,-15.4,203,1654,0.00,1.70,0.00,0.000,6,0.000,0.044,2799,2667,3564,0,0,0,0,0,0
$GC,1789,-0.76,-146.0,266.4,-14.7,216,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2665,3564,0,0,0,0,0,0
$GC,1982,-0.76,-146.0,297.3,-16.1,234,1986,0.00,1.77,0.00,0.000,4,0.000,0.065,2791,3764,3564,0,0,0,0,0,0
$GC,2051,-0.76,-146.0,308.9,-16.9,240,2054,0.00,1.67,0.00,0.000,6,0.000,0.044,2791,2682,3564,0,0,0,0,0,0
$GC,2253,-0.76,-146.0,341.5,-15.9,259,2255,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2680,3564,0,0,0,0,0,0
$GC,2447,-0.76,-146.0,372.2,-15.6,277,2448,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2680,3563,0,0,0,0,0,0
$GC,2639,-0.76,-146.0,401.6,-15.6,295,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2680,3563,0,0,0,0,0,0
$GC,2827,-0.76,-146.0,431.3,-15.7,313,2830,0.00,1.77,0.00,0.000,4,0.000,0.067,2782,3770,3563,0,0,0,0,0,0
$GC,2877,-0.76,-146.0,439.4,-15.6,317,2884,0.12,1.67,0.00,0.000,6,0.167,0.044,2816,2687,3563,0,0,0,0,0,0
$GC,3076,-0.76,-146.0,464.8,-12.1,336,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2686,3563,0,0,0,0,0,0
$STATE,3083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3083,begin apogee
$GC,3087,-0.17,0.0,466.1,12.4,337,3224,0.57,0.00,131.30,1.095,4,0.130,0.000,3006,2493,2961,0,0,0,0,0,0
$STATE,3224,end apogee,CONTROL_FINISHED_OK
$STATE,3224,begin climb
$GC,3226,0.76,146.0,470.8,0.0,349,3380,0.95,2.53,142.85,1.021,4,0.075,0.052,3309,1097,2364,0,0,0,0,0,0
$GC,3507,0.76,146.0,445.0,12.2,374,3515,0.00,2.47,0.00,0.000,6,0.000,0.054,3309,2500,2353,0,0,0,0,0,0
$GC,3705,0.76,146.0,420.0,12.6,393,3710,0.00,2.33,0.00,0.000,4,0.000,0.053,3318,1098,2350,0,0,0,0,0,0
$GC,3824,0.76,146.0,405.4,12.1,403,3828,0.00,2.35,0.00,0.000,6,0.000,0.054,3318,2528,2348,0,0,0,0,0,0
$GC,4021,0.76,146.0,378.9,13.9,421,4025,0.00,2.03,0.00,0.000,4,0.000,0.062,3318,3779,2346,0,0,0,0,0,0
$GC,4133,0.76,146.0,361.5,16.4,431,4137,0.00,1.95,0.00,0.000,6,0.000,0.044,3327,2550,2345,0,0,0,0,0,0
$GC,4336,0.76,146.0,331.0,14.6,450,4339,0.00,1.98,0.00,0.000,4,0.000,0.062,3327,3764,2344,0,0,0,0,0,0
$GC,4369,0.76,146.0,325.6,16.2,453,4373,0.00,1.90,0.00,0.000,6,0.000,0.043,3337,2542,2344,0,0,0,0,0,0
$GC,4572,0.76,146.0,296.1,14.1,472,4576,0.00,1.98,0.00,0.000,4,0.000,0.060,3337,3763,2343,0,0,0,0,0,0
$GC,4606,0.76,146.0,291.0,15.8,475,4610,0.12,1.88,0.00,0.000,6,0.172,0.042,3313,2553,2343,0,0,0,0,0,0
$GC,4808,0.76,146.0,265.0,12.6,494,4812,0.00,1.98,0.00,0.000,4,0.000,0.063,3313,3771,2343,0,0,0,0,0,0
$GC,4853,0.76,146.0,258.6,14.6,498,4857,0.00,1.90,0.00,0.000,6,0.000,0.044,3321,2551,2343,0,0,0,0,0,0
$GC,5057,0.76,146.0,231.7,12.7,517,5061,0.00,1.98,0.00,0.000,4,0.000,0.062,3321,3771,2342,0,0,0,0,0,0
$GC,5104,0.76,146.0,224.4,15.1,521,5114,0.00,1.90,0.00,0.000,6,0.000,0.043,3330,2570,2342,0,0,0,0,0,0
$GC,5241,0.76,146.0,207.2,12.3,534,5242,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2569,2342,0,0,0,0,0,0
$GC,5367,0.76,146.0,191.6,13.1,546,5371,0.00,1.92,0.00,0.000,4,0.000,0.061,3330,3764,2342,0,0,0,0,0,0
$GC,5423,0.76,146.0,183.4,15.6,551,5427,0.00,1.85,0.00,0.000,6,0.000,0.043,3339,2566,2342,0,0,0,0,0,0
$GC,5565,0.76,146.0,163.6,14.4,564,5569,0.00,1.95,0.00,0.000,4,0.000,0.063,3339,3771,2342,0,0,0,0,0,0
$GC,5590,0.76,146.0,159.0,17.0,566,5601,0.10,1.90,0.00,0.000,6,0.151,0.043,3316,2575,2341,0,0,0,0,0,0
$GC,5726,0.76,146.0,141.2,12.9,579,5727,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2574,2342,0,0,0,0,0,0
$GC,5854,0.76,146.0,125.4,12.2,591,5857,0.00,1.92,0.00,0.000,4,0.000,0.062,3316,3767,2342,0,0,0,0,0,0
$GC,5932,0.76,146.0,114.3,14.6,598,5935,0.00,1.83,0.00,0.000,6,0.000,0.042,3323,2587,2341,0,0,0,0,0,0
$GC,6067,0.76,146.0,95.6,14.0,613,6073,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2583,2341,0,0,0,0,0,0
$GC,6204,0.76,146.0,78.4,11.0,638,6213,0.00,1.95,0.00,0.000,4,0.000,0.063,3324,3762,2341,0,0,0,0,0,0
$GC,6268,0.76,146.0,69.2,16.3,649,6275,0.00,1.83,0.00,0.000,6,0.000,0.044,3332,2589,2341,0,0,0,0,0,0
$GC,6406,0.76,146.0,51.0,12.6,674,6413,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2587,2341,0,0,0,0,0,0
$GC,6546,0.76,146.0,33.2,13.9,699,6553,0.00,1.92,0.00,0.000,4,0.000,0.063,3333,3773,2341,0,0,0,0,0,0
$GC,6604,0.76,146.0,23.9,17.5,709,6612,0.12,1.85,0.00,0.000,6,0.172,0.044,3309,2588,2341,0,0,0,0,0,0
$FREEZE,8.51,-1.923,-1.907,2,2,0
$STATE,6708,end climb,FINISH_DEPTH_REACHED
$STATE,6708,begin subsurface finish
$FINISH1,8.5,1.027883,-19
$GC,6713,-0.02,-18.8,8.5,-14.0,727,6747,0.75,2.15,-23.80,0.000,4,0.135,0.080,3064,3757,3041,0,0,0,0,0,0
$FINISH2,6.2
$STATE,6748,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6748,begin surface
$IRIDIUM_FIX,-7639.69,16505.38,051210,080810
$TT8_MAMPS,0.027713
$HUMID,52.83
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,18.7
$ALTIM_BOTTOM_PING,450.2,32.2
$24V_AH,21.1,34.460
$10V_AH,9.9,20.144
$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,3.525,80.000,274.150,0.000,0.000,0.000,0.000,0.000,2.750,0.000,0.000,1788.967,2843.750,337.752,1711.567,114.277,0.000,1063.155,0.000,1228.458,0.000,16.919,0.000
$DEVICE_MAMPS,172.125,91.800,1094.715,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,516.420,888.826,888.341,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50463,732
$CAP_FILE_SIZE,93098,0
$CFSIZE,260165632,244875264
$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