version: 66.08
glider: 502
mission: 3
dive: 149
start: 12 5 110 22 24 18
data:
$ID,502
$MISSION,3
$DIVE,149
$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,-27629.523
$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,32
$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
$GPS1,051210,221814,-7717.432,16506.492,8,1.5,9,143.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-65.9
$GPS2,051210,222355,-7717.414,16506.465,12,1.3,12,143.8
$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,224.5,70016,-17.5,-10.000
$D_GRID,479
$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,-104.78,0.000,2,0.000,0.000,421,2673,3262,0,0,0,0,0,0
$GC,125,-0.76,-146.0,3.2,-2.2,16,154,9.07,1.88,-9.25,0.000,4,0.208,0.082,2804,3753,3560,0,0,0,0,0,0
$GC,400,-0.76,-146.0,49.0,-15.7,65,407,0.00,1.77,0.00,0.000,6,0.000,0.045,2804,2629,3562,0,0,0,0,0,0
$GC,537,-0.76,-146.0,71.3,-15.7,90,545,0.00,1.88,0.00,0.000,4,0.000,0.066,2797,3745,3562,0,0,0,0,0,0
$GC,584,-0.76,-146.0,79.1,-16.9,98,592,0.00,1.75,0.00,0.000,6,0.000,0.045,2797,2656,3562,0,0,0,0,0,0
$GC,724,-0.76,-146.0,102.0,-16.7,122,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2655,3562,0,0,0,0,0,0
$GC,851,-0.76,-146.0,122.8,-16.2,134,854,0.00,1.80,0.00,0.000,4,0.000,0.066,2788,3760,3562,0,0,0,0,0,0
$GC,887,-0.76,-146.0,129.5,-17.0,137,896,0.00,1.75,0.00,0.000,6,0.000,0.044,2788,2666,3562,0,0,0,0,0,0
$GC,1023,-0.76,-146.0,150.9,-15.8,150,1025,0.10,0.00,0.00,0.000,6,0.187,0.000,2813,2666,3562,0,0,0,0,0,0
$GC,1150,-0.76,-146.0,169.4,-14.3,162,1154,0.00,1.77,0.00,0.000,4,0.000,0.064,2806,3763,3563,0,0,0,0,0,0
$GC,1184,-0.76,-146.0,174.4,-15.1,165,1188,0.00,1.70,0.00,0.000,6,0.000,0.044,2806,2666,3563,0,0,0,0,0,0
$GC,1325,-0.76,-146.0,195.9,-15.1,178,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2665,3563,0,0,0,0,0,0
$GC,1452,-0.76,-146.0,215.5,-15.3,190,1456,0.00,1.77,0.00,0.000,4,0.000,0.064,2798,3762,3563,0,0,0,0,0,0
$GC,1498,-0.76,-146.0,222.9,-16.5,194,1502,0.00,1.70,0.00,0.000,6,0.000,0.044,2798,2665,3563,0,0,0,0,0,0
$GC,1639,-0.76,-146.0,245.5,-16.0,207,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2663,3563,0,0,0,0,0,0
$GC,1764,-0.76,-146.0,266.0,-16.1,219,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2663,3563,0,0,0,0,0,0
$GC,1956,-0.76,-146.0,297.2,-16.4,237,1959,0.00,1.77,0.00,0.000,4,0.000,0.064,2791,3763,3562,0,0,0,0,0,0
$GC,2016,-0.76,-146.0,307.9,-16.8,242,2024,0.00,1.70,0.00,0.000,6,0.000,0.044,2790,2690,3563,0,0,0,0,0,0
$GC,2215,-0.76,-146.0,339.6,-15.9,261,2218,0.00,1.77,0.00,0.000,4,0.000,0.065,2782,3758,3563,0,0,0,0,0,0
$GC,2248,-0.76,-146.0,345.6,-17.6,264,2252,0.12,1.65,0.00,0.000,6,0.172,0.044,2815,2689,3563,0,0,0,0,0,0
$GC,2451,-0.76,-146.0,374.2,-13.4,283,2452,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2687,3563,0,0,0,0,0,0
$GC,2642,-0.76,-146.0,398.8,-12.8,301,2645,0.00,1.73,0.00,0.000,4,0.000,0.064,2808,3756,3563,0,0,0,0,0,0
$GC,2668,-0.76,-146.0,402.8,-14.0,303,2676,0.00,1.70,0.00,0.000,6,0.000,0.044,2808,2688,3562,0,0,0,0,0,0
$GC,2869,-0.76,-146.0,428.6,-12.9,322,2870,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2688,3562,0,0,0,0,0,0
$GC,3058,-0.76,-146.0,453.0,-13.0,340,3059,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2688,3562,0,0,0,0,0,0
$GC,3249,-0.76,-146.0,477.8,-12.7,358,3250,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2688,3563,0,0,0,0,0,0
$STATE,3258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3259,begin apogee
$GC,3263,-0.17,0.0,479.1,12.8,359,3404,0.60,0.00,131.35,1.099,4,0.131,0.000,3003,2494,2959,0,0,0,0,0,0
$STATE,3405,end apogee,CONTROL_FINISHED_OK
$STATE,3405,begin climb
$GC,3407,0.76,146.0,482.8,0.0,372,3561,0.95,2.50,142.68,1.027,4,0.076,0.052,3308,1104,2364,0,0,0,0,0,0
$GC,3684,0.76,146.0,453.9,12.4,397,3689,0.00,2.40,0.00,0.000,6,0.000,0.055,3308,2489,2352,0,0,0,0,0,0
$GC,3883,0.76,146.0,426.0,14.7,415,3887,0.00,2.30,0.00,0.000,4,0.000,0.054,3315,1094,2349,0,0,0,0,0,0
$GC,4001,0.76,146.0,409.3,13.5,425,4005,0.00,2.38,0.00,0.000,6,0.000,0.057,3315,2529,2346,0,0,0,0,0,0
$GC,4204,0.76,146.0,379.4,14.2,444,4207,0.00,2.00,0.00,0.000,4,0.000,0.061,3315,3771,2345,0,0,0,0,0,0
$GC,4282,0.76,146.0,366.2,16.7,451,4286,0.00,1.95,0.00,0.000,6,0.000,0.044,3325,2531,2345,0,0,0,0,0,0
$GC,4487,0.76,146.0,334.8,13.9,470,4490,0.00,2.03,0.00,0.000,4,0.000,0.062,3324,3777,2344,0,0,0,0,0,0
$GC,4547,0.76,146.0,324.8,16.6,475,4555,0.00,1.98,0.00,0.000,6,0.000,0.043,3334,2539,2344,0,0,0,0,0,0
$GC,4747,0.76,146.0,295.9,14.6,494,4750,0.00,1.98,0.00,0.000,4,0.000,0.061,3334,3764,2343,0,0,0,0,0,0
$GC,4784,0.76,146.0,289.2,17.5,497,4793,0.08,1.95,0.00,0.000,6,0.153,0.042,3320,2544,2343,0,0,0,0,0,0
$GC,4982,0.76,146.0,261.6,13.5,516,4986,0.00,1.98,0.00,0.000,4,0.000,0.061,3319,3770,2342,0,0,0,0,0,0
$GC,5033,0.76,146.0,253.7,16.8,520,5040,0.00,1.90,0.00,0.000,6,0.000,0.044,3327,2559,2342,0,0,0,0,0,0
$GC,5233,0.76,146.0,225.3,14.4,539,5234,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2556,2342,0,0,0,0,0,0
$GC,5359,0.76,146.0,207.2,14.2,551,5362,0.00,1.95,0.00,0.000,4,0.000,0.062,3327,3768,2341,0,0,0,0,0,0
$GC,5394,0.76,146.0,202.0,15.7,554,5398,0.00,1.88,0.00,0.000,6,0.000,0.043,3337,2558,2342,0,0,0,0,0,0
$GC,5536,0.76,146.0,181.3,14.2,567,5540,0.00,1.95,0.00,0.000,4,0.000,0.061,3337,3765,2342,0,0,0,0,0,0
$GC,5572,0.76,146.0,175.7,15.5,570,5576,0.12,1.85,0.00,0.000,6,0.175,0.042,3313,2565,2342,0,0,0,0,0,0
$GC,5714,0.76,146.0,156.8,12.6,583,5721,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2564,2342,0,0,0,0,0,0
$GC,5848,0.76,146.0,139.7,12.6,596,5852,0.00,1.95,0.00,0.000,4,0.000,0.061,3313,3778,2341,0,0,0,0,0,0
$GC,5882,0.76,146.0,135.0,14.5,599,5886,0.00,1.88,0.00,0.000,6,0.000,0.044,3320,2566,2341,0,0,0,0,0,0
$GC,6023,0.76,146.0,116.3,13.0,612,6025,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2565,2342,0,0,0,0,0,0
$GC,6150,0.76,146.0,99.1,13.2,624,6158,0.00,1.98,0.00,0.000,4,0.000,0.063,3320,3758,2341,0,0,0,0,0,0
$GC,6186,0.76,146.0,93.6,15.1,630,6195,0.00,1.88,0.00,0.000,6,0.000,0.043,3330,2576,2341,0,0,0,0,0,0
$GC,6329,0.76,146.0,75.1,12.5,655,6335,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2575,2341,0,0,0,0,0,0
$GC,6465,0.76,146.0,56.5,14.2,680,6473,0.00,1.95,0.00,0.000,4,0.000,0.062,3330,3758,2341,0,0,0,0,0,0
$GC,6522,0.76,146.0,47.6,15.4,690,6530,0.00,1.85,0.00,0.000,6,0.000,0.042,3339,2589,2341,0,0,0,0,0,0
$GC,6664,0.76,146.0,27.9,14.4,715,6671,0.00,1.92,0.00,0.000,4,0.000,0.062,3339,3777,2341,0,0,0,0,0,0
$GC,6693,0.76,146.0,22.6,15.9,720,6701,0.10,1.88,0.00,0.000,6,0.153,0.044,3315,2597,2341,0,0,0,0,0,0
$FREEZE,8.84,-1.809,-1.907,2,1,0
$FREEZE,8.07,-1.810,-1.907,2,1,0
$FREEZE,7.24,-1.811,-1.906,2,1,0
$FREEZE,6.39,-1.811,-1.906,2,1,0
$FREEZE,5.65,-1.799,-1.905,2,1,0
$FREEZE,5.03,-1.801,-1.905,2,1,0
$FREEZE,4.20,-1.816,-1.904,2,1,0
$FREEZE,3.35,-1.812,-1.903,2,1,0
$GC,6837,0.76,146.0,3.4,13.3,745,6844,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2595,2340,0,0,0,0,0,0
$FREEZE,1.44,-1.800,-1.902,2,1,0
$STATE,6851,end climb,SURFACE_DEPTH_REACHED
$STATE,6851,begin surface coast
$FREEZE,1.24,-1.815,-0.977,2,1,0
$FINISH,1.2,1.014398
$STATE,6857,end surface coast,FINISH_DEPTH_REACHED
$STATE,6857,begin surface
$SM_CCo,6872,133.68,0.739,1,0,1330,400.08
$SM_GC,2.03,0.00,0.00,133.68,0.000,0.000,0.739,413,2663,1330,-8.28,0.37,400.08
$IRIDIUM_FIX,-7639.69,16533.94,051210,202014
$TT8_MAMPS,0.029211
$HUMID,51.45
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.3,17.5
$24V_AH,21.1,35.181
$10V_AH,10.0,20.667
$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,18.575,76.700,274.025,133.675,0.000,29.606,40.355,178.827,2.250,0.000,12.849,1811.764,2887.237,539.909,1978.550,140.261,0.000,1293.319,0.000,1234.858,0.000,11.206,0.000
$DEVICE_MAMPS,208.080,122.400,1099.305,738.990,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,526.237,903.121,876.547,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276268
$DATA_FILE_SIZE,50512,748
$CAP_FILE_SIZE,103402,0
$CFSIZE,260165632,244523008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061210,002225,-7716.885,16507.781,40,1.6,41,143.8