version: 66.08
glider: 502
mission: 3
dive: 145
start: 12 5 110 13 54 5
data:
$ID,502
$MISSION,3
$DIVE,145
$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,42
$R_STBD_OVSHOOT,21
$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,7.28
$_SM_ANGLEo,2.4
$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,-146.0,0.0,0.0,0,26,0.00,0.00,-9.20,0.000,2,0.000,0.000,3061,3773,3352,0,0,0,0,0,0
$GC,28,-0.76,-146.0,7.1,-0.0,1,43,0.65,4.05,-6.03,0.000,4,0.081,0.054,2822,1244,3559,0,0,0,0,0,0
$GC,72,-0.76,-146.0,10.0,-7.8,8,79,0.00,2.33,0.00,0.000,6,0.000,0.060,2811,2655,3560,0,0,0,0,0,0
$GC,212,-0.76,-146.0,27.8,-13.5,33,218,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2655,3561,0,0,0,0,0,0
$GC,348,-0.76,-146.0,50.2,-18.5,58,356,0.00,1.80,0.00,0.000,4,0.000,0.063,2803,3759,3562,0,0,0,0,0,0
$GC,427,-0.76,-146.0,64.1,-19.3,72,435,0.00,1.75,0.00,0.000,6,0.000,0.044,2803,2658,3562,0,0,0,0,0,0
$GC,566,-0.76,-146.0,89.9,-17.5,97,573,0.00,1.83,0.00,0.000,4,0.000,0.066,2796,3774,3562,0,0,0,0,0,0
$GC,601,-0.76,-146.0,96.0,-17.9,103,608,0.00,1.77,0.00,0.000,6,0.000,0.044,2796,2637,3562,0,0,0,0,0,0
$GC,744,-0.76,-146.0,117.3,-14.3,118,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2636,3562,0,0,0,0,0,0
$GC,871,-0.76,-146.0,137.3,-15.3,130,874,0.00,1.85,0.00,0.000,4,0.000,0.067,2787,3773,3562,0,0,0,0,0,0
$GC,896,-0.76,-146.0,141.8,-15.8,132,906,0.08,1.77,0.00,0.000,6,0.152,0.044,2811,2659,3563,0,0,0,0,0,0
$GC,1034,-0.76,-146.0,161.2,-15.3,145,1037,0.00,1.80,0.00,0.000,4,0.000,0.064,2804,3770,3563,0,0,0,0,0,0
$GC,1057,-0.76,-146.0,165.2,-15.9,147,1060,0.00,1.70,0.00,0.000,6,0.000,0.044,2804,2675,3563,0,0,0,0,0,0
$GC,1197,-0.76,-146.0,187.4,-15.3,160,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2673,3563,0,0,0,0,0,0
$GC,1325,-0.76,-146.0,207.2,-16.3,172,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2673,3563,0,0,0,0,0,0
$GC,1452,-0.76,-146.0,227.9,-16.2,184,1456,0.00,1.77,0.00,0.000,4,0.000,0.065,2798,3769,3563,0,0,0,0,0,0
$GC,1488,-0.76,-146.0,233.5,-16.2,187,1492,0.00,1.70,0.00,0.000,6,0.000,0.044,2798,2673,3563,0,0,0,0,0,0
$GC,1627,-0.76,-146.0,255.9,-16.1,200,1628,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2670,3563,0,0,0,0,0,0
$GC,1818,-0.76,-146.0,285.5,-14.9,218,1821,0.00,1.77,0.00,0.000,4,0.000,0.065,2789,3765,3563,0,0,0,0,0,0
$GC,1874,-0.76,-146.0,294.6,-15.9,223,1878,0.00,1.73,0.00,0.000,6,0.000,0.044,2789,2683,3563,0,0,0,0,0,0
$GC,2076,-0.76,-146.0,324.9,-14.7,242,2080,0.00,1.77,0.00,0.000,4,0.000,0.066,2781,3774,3563,0,0,0,0,0,0
$GC,2109,-0.76,-146.0,330.1,-15.9,245,2114,0.12,1.67,0.00,0.000,6,0.168,0.044,2815,2692,3563,0,0,0,0,0,0
$GC,2312,-0.76,-146.0,358.0,-14.7,264,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2690,3563,0,0,0,0,0,0
$GC,2502,-0.76,-146.0,385.5,-13.6,282,2506,0.00,1.75,0.00,0.000,4,0.000,0.065,2808,3771,3563,0,0,0,0,0,0
$GC,2536,-0.76,-146.0,390.4,-15.1,285,2540,0.00,1.67,0.00,0.000,6,0.000,0.044,2808,2690,3563,0,0,0,0,0,0
$GC,2739,-0.76,-146.0,417.9,-13.6,304,2740,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2688,3562,0,0,0,0,0,0
$GC,2930,-0.76,-146.0,443.3,-13.1,322,2933,0.00,1.75,0.00,0.000,4,0.000,0.064,2800,3767,3563,0,0,0,0,0,0
$GC,2997,-0.76,-146.0,452.7,-14.5,328,3001,0.00,1.65,0.00,0.000,6,0.000,0.044,2799,2699,3563,0,0,0,0,0,0
$STATE,3092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3093,begin apogee
$GC,3097,-0.17,0.0,466.0,13.4,337,3239,0.62,0.00,132.32,1.106,4,0.132,0.000,3002,2491,2960,0,0,0,0,0,0
$STATE,3240,end apogee,CONTROL_FINISHED_OK
$STATE,3240,begin climb
$GC,3241,0.76,146.0,470.3,0.0,350,3395,0.95,2.50,144.40,1.037,4,0.075,0.052,3308,1100,2364,0,0,0,0,0,0
$GC,3498,0.76,146.0,446.6,11.7,373,3502,0.00,2.45,0.00,0.000,6,0.000,0.054,3308,2504,2354,0,0,0,0,0,0
$GC,3695,0.76,146.0,421.5,12.7,391,3699,0.00,2.33,0.00,0.000,4,0.000,0.053,3317,1099,2349,0,0,0,0,0,0
$GC,3813,0.76,146.0,406.7,12.3,401,3817,0.00,2.35,0.00,0.000,6,0.000,0.055,3317,2522,2348,0,0,0,0,0,0
$GC,4010,0.76,146.0,379.6,13.7,419,4014,0.00,2.03,0.00,0.000,4,0.000,0.060,3317,3777,2347,0,0,0,0,0,0
$GC,4115,0.76,146.0,362.7,16.7,428,4123,0.00,2.00,0.00,0.000,6,0.000,0.041,3326,2534,2346,0,0,0,0,0,0
$GC,4315,0.76,146.0,335.3,13.5,447,4318,0.00,2.00,0.00,0.000,4,0.000,0.060,3326,3768,2344,0,0,0,0,0,0
$GC,4363,0.76,146.0,327.2,16.8,451,4371,0.00,1.95,0.00,0.000,6,0.000,0.043,3335,2547,2345,0,0,0,0,0,0
$GC,4562,0.76,146.0,299.1,13.7,470,4565,0.00,1.98,0.00,0.000,4,0.000,0.061,3335,3765,2344,0,0,0,0,0,0
$GC,4599,0.76,146.0,292.9,15.8,473,4608,0.10,1.95,0.00,0.000,6,0.148,0.041,3313,2545,2344,0,0,0,0,0,0
$GC,4799,0.76,146.0,269.3,11.6,492,4803,0.00,1.98,0.00,0.000,4,0.000,0.062,3313,3767,2343,0,0,0,0,0,0
$GC,4848,0.76,146.0,262.2,13.9,496,4856,0.00,1.92,0.00,0.000,6,0.000,0.041,3320,2555,2343,0,0,0,0,0,0
$GC,5048,0.76,146.0,238.8,12.2,515,5051,0.00,1.95,0.00,0.000,4,0.000,0.060,3320,3765,2343,0,0,0,0,0,0
$GC,5095,0.76,146.0,231.7,15.0,519,5104,0.00,1.90,0.00,0.000,6,0.000,0.043,3329,2568,2343,0,0,0,0,0,0
$GC,5232,0.76,146.0,213.2,14.0,532,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2567,2342,0,0,0,0,0,0
$GC,5358,0.76,146.0,195.1,14.0,544,5362,0.00,1.92,0.00,0.000,4,0.000,0.061,3329,3766,2342,0,0,0,0,0,0
$GC,5394,0.76,146.0,189.1,15.3,547,5403,0.00,1.90,0.00,0.000,6,0.000,0.042,3338,2565,2343,0,0,0,0,0,0
$GC,5530,0.76,146.0,170.2,14.4,560,5531,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2564,2342,0,0,0,0,0,0
$GC,5657,0.76,146.0,151.2,14.8,572,5661,0.00,1.92,0.00,0.000,4,0.000,0.061,3338,3767,2342,0,0,0,0,0,0
$GC,5691,0.76,146.0,145.8,17.5,575,5695,0.12,1.85,0.00,0.000,6,0.172,0.043,3314,2567,2342,0,0,0,0,0,0
$GC,5831,0.76,146.0,125.8,14.5,588,5832,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2565,2341,0,0,0,0,0,0
$GC,5958,0.76,146.0,108.1,13.4,600,5959,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2565,2342,0,0,0,0,0,0
$GC,6084,0.76,146.0,91.4,11.4,618,6093,0.00,1.98,0.00,0.000,4,0.000,0.062,3314,3762,2341,0,0,0,0,0,0
$GC,6131,0.76,146.0,84.9,13.1,626,6139,0.00,1.90,0.00,0.000,6,0.000,0.043,3322,2562,2341,0,0,0,0,0,0
$GC,6271,0.76,146.0,65.7,13.4,651,6278,0.00,1.95,0.00,0.000,4,0.000,0.061,3322,3764,2341,0,0,0,0,0,0
$GC,6298,0.76,146.0,62.2,14.2,655,6304,0.00,1.85,0.00,0.000,6,0.000,0.042,3331,2570,2341,0,0,0,0,0,0
$GC,6435,0.76,146.0,42.1,14.6,680,6443,0.00,1.98,0.00,0.000,4,0.000,0.062,3331,3764,2341,0,0,0,0,0,0
$GC,6478,0.76,146.0,35.1,18.3,687,6485,0.00,1.83,0.00,0.000,6,0.000,0.043,3341,2590,2341,0,0,0,0,0,0
$GC,6617,0.76,146.0,13.8,13.8,712,6626,0.00,1.95,0.00,0.000,4,0.000,0.061,3341,3770,2341,0,0,0,0,0,0
$FREEZE,8.80,-1.873,-1.908,2,4,2
$FREEZE,7.89,-1.872,-1.907,2,4,2
$FREEZE,7.28,-1.873,-1.907,2,4,2
$FREEZE,6.58,-1.874,-1.906,2,4,2
$FREEZE,5.94,-1.871,-1.906,2,4,2
$FREEZE,5.06,-1.871,-1.905,2,4,2
$GC,6678,0.76,146.0,5.1,12.4,722,6687,0.10,1.85,0.00,0.000,6,0.162,0.041,3318,2593,2341,0,0,0,0,0,0
$FREEZE,2.46,-1.869,-1.903,2,4,2
$STATE,6692,end climb,SURFACE_DEPTH_REACHED
$STATE,6692,begin surface coast
$FREEZE,1.61,-1.868,-1.902,2,4,2
$FREEZE,1.19,-1.884,-1.903,2,4,2
$FREEZE,1.26,-1.881,-1.902,2,4,2
$FINISH,1.3,1.027886
$STATE,6712,end surface coast,CONTROL_FINISHED_OK
$STATE,6712,begin surface
$SM_CCo,6726,137.82,0.758,1,0,1329,400.08
$SM_GC,2.06,0.00,0.00,137.82,0.000,0.000,0.758,426,2671,1329,-8.24,0.57,400.08
$IRIDIUM_FIX,-7639.69,16505.38,051210,080810
$TT8_MAMPS,0.028462
$HUMID,51.37
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.3,17.7
$24V_AH,21.1,34.656
$10V_AH,10.0,20.305
$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,10.225,90.475,276.725,137.825,0.000,0.000,0.000,0.000,2.000,0.000,0.000,1794.636,2856.728,488.085,1665.715,117.947,0.000,1211.198,0.000,1211.627,0.000,11.202,0.000
$DEVICE_MAMPS,172.125,104.040,1106.190,758.115,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,512.928,871.741,851.043,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50471,727
$CAP_FILE_SIZE,98051,0
$CFSIZE,260165632,244760576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051210,155411,-7720.035,16505.637,291,4.4,301,144.0