version: 66.08
glider: 502
mission: 3
dive: 147
start: 12 5 110 18 12 37
data:
$ID,502
$MISSION,3
$DIVE,147
$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,-27627.008
$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,25
$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
$GPS1,051210,180637,-7719.259,16505.686,29,1.0,30,144.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-67.9
$GPS2,051210,181214,-7719.242,16505.639,13,1.0,13,144.0
$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,224.1,73417,-17.5,-10.000
$D_GRID,476
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,123,0.00,0.00,-104.53,0.000,2,0.000,0.000,419,2655,3257,0,0,0,0,0,0
$GC,125,-0.76,-146.0,3.2,-1.8,16,154,9.12,2.35,-9.48,0.000,4,0.210,0.066,2815,1250,3560,0,0,0,0,0,0
$GC,401,-0.76,-146.0,42.0,-13.0,65,408,0.00,2.30,0.00,0.000,6,0.000,0.058,2807,2649,3562,0,0,0,0,0,0
$GC,537,-0.76,-146.0,64.2,-17.7,90,545,0.00,2.30,0.00,0.000,4,0.000,0.052,2806,1241,3563,0,0,0,0,0,0
$GC,560,-0.76,-146.0,67.6,-16.2,93,567,0.00,2.33,0.00,0.000,6,0.000,0.059,2798,2653,3563,0,0,0,0,0,0
$GC,697,-0.76,-146.0,90.1,-16.6,118,706,0.00,1.83,0.00,0.000,4,0.000,0.062,2790,3767,3563,0,0,0,0,0,0
$GC,744,-0.76,-146.0,98.2,-17.5,126,753,0.00,1.77,0.00,0.000,6,0.000,0.044,2789,2661,3563,0,0,0,0,0,0
$GC,888,-0.76,-146.0,121.5,-16.2,140,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2660,3563,0,0,0,0,0,0
$GC,1015,-0.76,-146.0,142.5,-16.2,152,1018,0.00,1.80,0.00,0.000,4,0.000,0.065,2782,3767,3563,0,0,0,0,0,0
$GC,1040,-0.76,-146.0,147.4,-16.8,154,1050,0.10,1.75,0.00,0.000,6,0.148,0.044,2814,2667,3563,0,0,0,0,0,0
$GC,1178,-0.76,-146.0,167.6,-15.5,167,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2667,3563,0,0,0,0,0,0
$GC,1312,-0.76,-146.0,188.1,-15.0,180,1316,0.00,1.77,0.00,0.000,4,0.000,0.064,2807,3764,3563,0,0,0,0,0,0
$GC,1338,-0.76,-146.0,192.7,-15.8,182,1347,0.00,1.75,0.00,0.000,6,0.000,0.044,2807,2662,3563,0,0,0,0,0,0
$GC,1474,-0.76,-146.0,212.7,-15.1,195,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2662,3563,0,0,0,0,0,0
$GC,1601,-0.76,-146.0,232.1,-14.9,207,1604,0.00,1.80,0.00,0.000,4,0.000,0.065,2799,3769,3563,0,0,0,0,0,0
$GC,1637,-0.76,-146.0,238.3,-16.4,210,1646,0.00,1.73,0.00,0.000,6,0.000,0.044,2799,2680,3563,0,0,0,0,0,0
$GC,1772,-0.76,-146.0,259.1,-15.9,223,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2680,3563,0,0,0,0,0,0
$GC,1962,-0.76,-146.0,288.8,-15.2,241,1966,0.00,1.80,0.00,0.000,4,0.000,0.065,2790,3760,3563,0,0,0,0,0,0
$GC,1986,-0.76,-146.0,292.6,-16.9,243,1989,0.00,1.67,0.00,0.000,6,0.000,0.044,2790,2679,3563,0,0,0,0,0,0
$GC,2188,-0.76,-146.0,325.6,-16.4,262,2189,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2678,3563,0,0,0,0,0,0
$GC,2379,-0.76,-146.0,355.4,-15.5,280,2381,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2678,3563,0,0,0,0,0,0
$GC,2572,-0.76,-146.0,385.3,-15.4,298,2573,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2678,3563,0,0,0,0,0,0
$GC,2762,-0.76,-146.0,414.4,-15.1,316,2765,0.00,1.77,0.00,0.000,4,0.000,0.067,2783,3768,3563,0,0,0,0,0,0
$GC,2796,-0.76,-146.0,419.8,-16.1,319,2800,0.12,1.67,0.00,0.000,6,0.171,0.045,2815,2687,3563,0,0,0,0,0,0
$GC,3000,-0.76,-146.0,447.0,-13.6,338,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2685,3563,0,0,0,0,0,0
$GC,3189,-0.76,-146.0,472.5,-13.0,356,3193,0.00,1.75,0.00,0.000,4,0.000,0.065,2809,3763,3563,0,0,0,0,0,0
$STATE,3214,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3214,begin apogee
$GC,3221,-0.17,0.0,476.4,13.9,358,3358,0.60,0.00,131.60,1.103,4,0.130,0.000,3003,2495,2960,0,0,0,0,0,0
$STATE,3359,end apogee,CONTROL_FINISHED_OK
$STATE,3359,begin climb
$GC,3361,0.76,146.0,481.2,0.0,371,3515,0.98,2.53,143.12,1.032,4,0.076,0.052,3314,1098,2363,0,0,0,0,0,0
$GC,3628,0.76,146.0,455.2,13.1,395,3632,0.00,2.45,0.00,0.000,6,0.000,0.054,3314,2507,2353,0,0,0,0,0,0
$GC,3825,0.76,146.0,428.6,14.1,413,3829,0.00,2.35,0.00,0.000,4,0.000,0.053,3323,1087,2349,0,0,0,0,0,0
$GC,3942,0.76,146.0,412.5,13.3,423,3949,0.00,2.40,0.00,0.000,6,0.000,0.056,3323,2516,2346,0,0,0,0,0,0
$GC,4142,0.76,146.0,384.2,14.3,442,4145,0.00,2.00,0.00,0.000,4,0.000,0.060,3323,3764,2345,0,0,0,0,0,0
$GC,4224,0.76,146.0,370.0,16.5,449,4232,0.00,1.98,0.00,0.000,6,0.000,0.042,3333,2531,2344,0,0,0,0,0,0
$GC,4423,0.76,146.0,341.3,14.6,468,4426,0.00,2.00,0.00,0.000,4,0.000,0.062,3333,3768,2343,0,0,0,0,0,0
$GC,4449,0.76,146.0,336.6,15.7,470,4458,0.08,1.95,0.00,0.000,6,0.153,0.041,3318,2545,2343,0,0,0,0,0,0
$GC,4649,0.76,146.0,309.5,13.5,489,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2543,2343,0,0,0,0,0,0
$GC,4839,0.76,146.0,284.3,13.2,507,4842,0.00,1.98,0.00,0.000,4,0.000,0.063,3317,3764,2343,0,0,0,0,0,0
$GC,4910,0.76,146.0,273.1,16.4,513,4918,0.00,1.95,0.00,0.000,6,0.000,0.042,3325,2541,2342,0,0,0,0,0,0
$GC,5109,0.76,146.0,245.4,13.9,532,5111,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2540,2342,0,0,0,0,0,0
$GC,5237,0.76,146.0,228.2,13.4,544,5241,0.00,1.98,0.00,0.000,4,0.000,0.063,3325,3764,2341,0,0,0,0,0,0
$GC,5293,0.76,146.0,219.8,15.2,549,5297,0.00,1.90,0.00,0.000,6,0.000,0.043,3335,2539,2341,0,0,0,0,0,0
$GC,5435,0.76,146.0,199.8,14.2,562,5443,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2537,2342,0,0,0,0,0,0
$GC,5570,0.76,146.0,181.3,13.5,575,5574,0.00,1.98,0.00,0.000,4,0.000,0.060,3335,3767,2341,0,0,0,0,0,0
$GC,5606,0.76,146.0,175.4,15.9,578,5615,0.00,1.92,0.00,0.000,6,0.000,0.042,3344,2552,2341,0,0,0,0,0,0
$GC,5742,0.76,146.0,156.0,14.5,591,5744,0.12,0.00,0.00,0.000,6,0.169,0.000,3311,2551,2341,0,0,0,0,0,0
$GC,5869,0.76,146.0,140.0,12.4,603,5873,0.00,1.95,0.00,0.000,4,0.000,0.062,3311,3764,2341,0,0,0,0,0,0
$GC,5914,0.76,146.0,133.7,14.4,607,5917,0.00,1.88,0.00,0.000,6,0.000,0.043,3319,2550,2341,0,0,0,0,0,0
$GC,6054,0.76,146.0,115.3,12.9,620,6056,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2548,2341,0,0,0,0,0,0
$GC,6182,0.76,146.0,99.6,12.4,632,6190,0.00,2.00,0.00,0.000,4,0.000,0.062,3319,3757,2341,0,0,0,0,0,0
$GC,6218,0.76,146.0,94.5,13.7,638,6226,0.00,1.90,0.00,0.000,6,0.000,0.044,3328,2558,2341,0,0,0,0,0,0
$GC,6360,0.76,146.0,75.2,13.3,663,6366,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2556,2341,0,0,0,0,0,0
$GC,6495,0.76,146.0,56.4,13.4,688,6504,0.00,2.00,0.00,0.000,4,0.000,0.062,3329,3769,2341,0,0,0,0,0,0
$GC,6527,0.76,146.0,52.0,14.0,693,6534,0.00,1.90,0.00,0.000,6,0.000,0.044,3338,2551,2340,0,0,0,0,0,0
$GC,6666,0.76,146.0,32.9,14.2,718,6673,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2549,2340,0,0,0,0,0,0
$GC,6806,0.76,146.0,12.6,15.1,743,6813,0.00,1.98,0.00,0.000,4,0.000,0.061,3338,3767,2340,0,0,0,0,0,0
$FREEZE,8.38,-1.860,-1.907,2,1,0
$FREEZE,7.31,-1.858,-1.906,2,1,0
$FREEZE,6.38,-1.858,-1.906,2,1,0
$FREEZE,5.41,-1.855,-1.905,2,1,0
$FREEZE,4.45,-1.856,-1.904,2,1,0
$FREEZE,3.52,-1.854,-1.903,2,1,0
$FREEZE,2.77,-1.853,-1.903,2,1,0
$STATE,6866,end climb,SURFACE_DEPTH_REACHED
$STATE,6866,begin surface coast
$FREEZE,1.63,-1.852,-1.902,2,1,0
$FINISH,1.6,1.027873
$STATE,6874,end surface coast,CONTROL_FINISHED_OK
$STATE,6874,begin surface
$SM_CCo,6890,133.98,0.753,1,0,1330,400.08
$SM_GC,2.06,0.00,0.00,133.98,0.000,0.000,0.753,413,2634,1330,-8.28,-0.45,400.08
$IRIDIUM_FIX,-7639.69,16541.04,051210,151515
$TT8_MAMPS,0.028462
$HUMID,51.14
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,18.0
$24V_AH,21.1,34.930
$10V_AH,10.0,20.491
$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,18.625,78.925,274.725,133.975,0.000,27.312,41.326,174.576,2.250,0.000,14.595,1805.005,2901.238,556.800,1976.381,132.624,0.000,1309.197,0.000,1228.493,0.000,14.144,0.000
$DEVICE_MAMPS,209.610,66.555,1103.130,752.760,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,530.067,912.723,890.039,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276292
$DATA_FILE_SIZE,50397,754
$CAP_FILE_SIZE,101828,0
$CFSIZE,260165632,244641792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051210,201052,-7718.339,16505.643,11,3.4,30,143.9