version: 66.08
glider: 502
mission: 3
dive: 146
start: 12 5 110 16 7 46
data:
$ID,502
$MISSION,3
$DIVE,146
$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,-27625.754
$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,32
$R_STBD_OVSHOOT,30
$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
$GPS1,051210,155411,-7720.035,16505.637,291,4.4,301,144.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-62.8
$GPS2,051210,160722,-7720.003,16505.398,13,5.0,32,144.0
$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,224.1,74827,-17.5,-10.000
$D_GRID,475
$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,-146.0,0.0,0.0,0,121,0.00,0.00,-104.05,0.000,2,0.000,0.000,413,2674,3238,0,0,0,0,0,0
$GC,124,-0.76,-146.0,3.2,-1.8,16,152,9.00,1.85,-10.10,0.000,4,0.206,0.081,2801,3752,3560,0,0,0,0,0,0
$GC,399,-0.76,-146.0,51.1,-18.5,65,406,0.00,1.77,0.00,0.000,6,0.000,0.045,2801,2627,3562,0,0,0,0,0,0
$GC,536,-0.76,-146.0,77.7,-19.0,90,544,0.00,1.90,0.00,0.000,4,0.000,0.064,2792,3758,3563,0,0,0,0,0,0
$GC,572,-0.76,-146.0,85.0,-19.7,96,580,0.00,1.77,0.00,0.000,6,0.000,0.043,2792,2652,3563,0,0,0,0,0,0
$GC,717,-0.76,-146.0,109.5,-16.5,117,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2652,3563,0,0,0,0,0,0
$GC,844,-0.76,-146.0,130.5,-16.6,129,848,0.00,1.80,0.00,0.000,4,0.000,0.067,2783,3756,3563,0,0,0,0,0,0
$GC,869,-0.76,-146.0,134.8,-17.8,131,873,0.12,1.70,0.00,0.000,6,0.172,0.044,2816,2665,3563,0,0,0,0,0,0
$GC,1011,-0.76,-146.0,155.3,-13.9,144,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2663,3563,0,0,0,0,0,0
$GC,1145,-0.76,-146.0,174.6,-14.3,157,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2663,3563,0,0,0,0,0,0
$GC,1273,-0.76,-146.0,194.3,-16.3,169,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2663,3563,0,0,0,0,0,0
$GC,1400,-0.76,-146.0,214.8,-16.5,181,1404,0.00,1.77,0.00,0.000,4,0.000,0.064,2809,3760,3563,0,0,0,0,0,0
$GC,1436,-0.76,-146.0,221.6,-17.8,184,1446,0.00,1.75,0.00,0.000,6,0.000,0.044,2809,2657,3563,0,0,0,0,0,0
$GC,1573,-0.76,-146.0,242.1,-14.9,197,1576,0.00,1.80,0.00,0.000,4,0.000,0.066,2800,3763,3563,0,0,0,0,0,0
$GC,1596,-0.76,-146.0,245.8,-15.4,199,1600,0.00,1.67,0.00,0.000,6,0.000,0.044,2800,2679,3563,0,0,0,0,0,0
$GC,1737,-0.76,-146.0,266.8,-14.4,212,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2677,3563,0,0,0,0,0,0
$GC,1927,-0.76,-146.0,294.2,-13.8,230,1928,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2677,3563,0,0,0,0,0,0
$GC,2117,-0.76,-146.0,321.8,-14.7,248,2121,0.00,1.75,0.00,0.000,4,0.000,0.066,2792,3756,3563,0,0,0,0,0,0
$GC,2175,-0.76,-146.0,330.4,-15.3,253,2179,0.00,1.67,0.00,0.000,6,0.000,0.044,2792,2675,3563,0,0,0,0,0,0
$GC,2378,-0.76,-146.0,360.9,-15.5,272,2379,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2674,3563,0,0,0,0,0,0
$GC,2569,-0.76,-146.0,389.9,-15.2,290,2573,0.00,1.75,0.00,0.000,4,0.000,0.066,2785,3756,3563,0,0,0,0,0,0
$GC,2607,-0.76,-146.0,396.3,-16.4,293,2615,0.08,1.70,0.00,0.000,6,0.152,0.044,2809,2684,3563,0,0,0,0,0,0
$GC,2805,-0.76,-146.0,424.2,-14.2,312,2806,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2684,3563,0,0,0,0,0,0
$GC,2997,-0.76,-146.0,450.0,-13.4,330,2998,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2684,3563,0,0,0,0,0,0
$STATE,3186,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3186,begin apogee
$GC,3190,-0.17,0.0,475.8,13.3,348,3333,0.60,0.00,132.07,1.111,4,0.130,0.000,3006,2492,2959,0,0,0,0,0,0
$STATE,3334,end apogee,CONTROL_FINISHED_OK
$STATE,3334,begin climb
$GC,3335,0.76,146.0,480.4,0.0,361,3489,0.95,2.53,142.75,1.035,4,0.076,0.052,3310,1102,2364,0,0,0,0,0,0
$GC,3626,0.76,146.0,452.8,12.6,387,3630,0.00,2.40,0.00,0.000,6,0.000,0.055,3310,2492,2352,0,0,0,0,0,0
$GC,3823,0.76,146.0,426.8,13.2,405,3827,0.00,2.30,0.00,0.000,4,0.000,0.054,3319,1088,2349,0,0,0,0,0,0
$GC,3941,0.76,146.0,411.1,13.4,415,3945,0.00,2.35,0.00,0.000,6,0.000,0.057,3319,2518,2346,0,0,0,0,0,0
$GC,4138,0.76,146.0,384.7,13.6,433,4142,0.00,2.03,0.00,0.000,4,0.000,0.060,3318,3776,2346,0,0,0,0,0,0
$GC,4221,0.76,146.0,371.5,16.7,440,4228,0.00,1.95,0.00,0.000,6,0.000,0.043,3328,2539,2344,0,0,0,0,0,0
$GC,4419,0.76,146.0,342.1,14.9,459,4422,0.00,1.98,0.00,0.000,4,0.000,0.061,3328,3764,2344,0,0,0,0,0,0
$GC,4445,0.76,146.0,337.5,16.8,461,4453,0.00,1.95,0.00,0.000,6,0.000,0.042,3337,2543,2344,0,0,0,0,0,0
$GC,4643,0.76,146.0,308.1,14.8,480,4647,0.00,1.98,0.00,0.000,4,0.000,0.061,3337,3764,2343,0,0,0,0,0,0
$GC,4669,0.76,146.0,303.5,17.0,482,4679,0.10,1.95,0.00,0.000,6,0.148,0.042,3314,2542,2342,0,0,0,0,0,0
$GC,4869,0.76,146.0,278.4,11.7,501,4873,0.00,1.98,0.00,0.000,4,0.000,0.061,3315,3766,2342,0,0,0,0,0,0
$GC,4918,0.76,146.0,270.8,14.8,505,4926,0.00,1.92,0.00,0.000,6,0.000,0.042,3322,2552,2342,0,0,0,0,0,0
$GC,5118,0.76,146.0,244.4,13.2,524,5122,0.00,1.98,0.00,0.000,4,0.000,0.062,3322,3774,2342,0,0,0,0,0,0
$GC,5163,0.76,146.0,237.7,15.4,528,5167,0.00,1.90,0.00,0.000,6,0.000,0.044,3331,2555,2342,0,0,0,0,0,0
$GC,5304,0.76,146.0,217.8,14.5,541,5305,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2552,2342,0,0,0,0,0,0
$GC,5431,0.76,146.0,200.4,13.4,553,5435,0.00,1.98,0.00,0.000,4,0.000,0.061,3331,3774,2342,0,0,0,0,0,0
$GC,5489,0.76,146.0,191.3,15.0,558,5498,0.08,1.92,0.00,0.000,6,0.157,0.043,3317,2561,2341,0,0,0,0,0,0
$GC,5627,0.76,146.0,173.7,12.0,571,5634,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2558,2341,0,0,0,0,0,0
$GC,5761,0.76,146.0,158.1,11.5,584,5765,0.00,1.95,0.00,0.000,4,0.000,0.061,3317,3767,2342,0,0,0,0,0,0
$GC,5808,0.76,146.0,151.3,14.5,588,5818,0.00,1.90,0.00,0.000,6,0.000,0.042,3324,2566,2341,0,0,0,0,0,0
$GC,5946,0.76,146.0,132.6,13.9,601,5954,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2566,2341,0,0,0,0,0,0
$GC,6081,0.76,146.0,115.7,12.4,614,6084,0.00,1.95,0.00,0.000,4,0.000,0.063,3324,3773,2341,0,0,0,0,0,0
$GC,6138,0.76,146.0,106.8,16.0,619,6148,0.00,1.90,0.00,0.000,6,0.000,0.044,3333,2571,2341,0,0,0,0,0,0
$GC,6278,0.76,146.0,88.8,13.4,639,6284,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2572,2341,0,0,0,0,0,0
$GC,6413,0.76,146.0,69.3,14.9,664,6421,0.00,1.98,0.00,0.000,4,0.000,0.062,3333,3767,2341,0,0,0,0,0,0
$GC,6438,0.76,146.0,65.3,15.6,668,6447,0.08,1.88,0.00,0.000,6,0.155,0.044,3317,2584,2341,0,0,0,0,0,0
$GC,6581,0.76,146.0,45.8,11.7,693,6588,0.00,1.92,0.00,0.000,4,0.000,0.063,3317,3768,2341,0,0,0,0,0,0
$GC,6642,0.76,146.0,37.0,15.5,704,6650,0.00,1.85,0.00,0.000,6,0.000,0.043,3324,2599,2341,0,0,0,0,0,0
$GC,6786,0.76,146.0,17.7,13.5,729,6793,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2597,2341,0,0,0,0,0,0
$FREEZE,8.59,-1.866,-1.908,2,1,0
$FREEZE,7.73,-1.866,-1.907,2,1,0
$FREEZE,7.07,-1.865,-1.906,2,1,0
$FREEZE,6.19,-1.864,-1.906,2,1,0
$FREEZE,5.42,-1.864,-1.905,2,1,0
$FREEZE,4.55,-1.862,-1.904,2,1,0
$FREEZE,3.77,-1.862,-1.904,2,1,0
$FREEZE,2.79,-1.862,-1.903,2,1,0
$STATE,6892,end climb,SURFACE_DEPTH_REACHED
$STATE,6892,begin surface coast
$FREEZE,1.95,-1.861,-1.902,2,1,0
$FREEZE,1.33,-1.861,-1.902,2,1,0
$FREEZE,1.23,-1.856,-0.980,2,1,0
$FINISH,1.2,1.014443
$STATE,6912,end surface coast,FINISH_DEPTH_REACHED
$STATE,6912,begin surface
$SM_CCo,6927,133.48,0.741,1,0,1329,400.08
$SM_GC,1.98,0.00,0.00,133.48,0.000,0.000,0.741,423,2654,1329,-8.26,0.11,400.08
$IRIDIUM_FIX,-7630.39,16505.38,051210,080815
$TT8_MAMPS,0.028462
$HUMID,51.06
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.4,17.9
$24V_AH,21.1,34.805
$10V_AH,10.0,20.404
$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,18.475,73.450,274.825,133.475,0.000,30.037,44.672,566.165,2.000,0.000,34.639,1805.548,2932.330,552.579,2395.043,179.856,0.000,1309.075,0.000,1240.532,0.000,11.211,0.000
$DEVICE_MAMPS,205.785,123.930,1110.780,740.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,528.014,903.025,878.758,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276296
$DATA_FILE_SIZE,50338,751
$CAP_FILE_SIZE,109459,0
$CFSIZE,260165632,244690944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051210,180637,-7719.259,16505.686,29,1.0,30,144.0