version: 66.08
glider: 502
mission: 3
dive: 150
start: 12 6 110 0 28 19
data:
$ID,502
$MISSION,3
$DIVE,150
$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,-27630.779
$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,28
$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
$GPS1,061210,002225,-7716.885,16507.781,40,1.6,41,143.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-65.6
$GPS2,061210,002756,-7716.872,16507.729,16,1.0,16,143.8
$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,224.1,68946,-17.5,-10.000
$D_GRID,493
$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,-104.45,0.000,2,0.000,0.000,412,2663,3262,0,0,0,0,0,0
$GC,125,-0.76,-146.0,3.1,-2.1,16,154,9.10,1.88,-9.55,0.000,4,0.209,0.082,2805,3751,3560,0,0,0,0,0,0
$GC,400,-0.76,-146.0,48.6,-16.7,65,407,0.00,1.77,0.00,0.000,6,0.000,0.045,2805,2631,3562,0,0,0,0,0,0
$GC,536,-0.76,-146.0,70.5,-16.6,90,544,0.00,1.90,0.00,0.000,4,0.000,0.065,2797,3762,3562,0,0,0,0,0,0
$GC,583,-0.76,-146.0,78.5,-17.6,98,592,0.00,1.77,0.00,0.000,6,0.000,0.044,2797,2655,3562,0,0,0,0,0,0
$GC,728,-0.76,-146.0,102.2,-16.0,123,731,0.00,1.80,0.00,0.000,4,0.000,0.064,2788,3759,3561,0,0,0,0,0,0
$GC,753,-0.76,-146.0,107.4,-17.3,125,763,0.08,1.75,0.00,0.000,6,0.155,0.044,2812,2665,3562,0,0,0,0,0,0
$GC,890,-0.76,-146.0,128.4,-15.8,138,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2663,3562,0,0,0,0,0,0
$GC,1017,-0.76,-146.0,147.7,-14.8,150,1020,0.00,1.77,0.00,0.000,4,0.000,0.064,2805,3759,3561,0,0,0,0,0,0
$GC,1051,-0.76,-146.0,153.2,-15.9,153,1054,0.00,1.70,0.00,0.000,6,0.000,0.044,2805,2666,3562,0,0,0,0,0,0
$GC,1191,-0.76,-146.0,175.2,-15.3,166,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2664,3562,0,0,0,0,0,0
$GC,1318,-0.76,-146.0,194.5,-15.3,178,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2664,3562,0,0,0,0,0,0
$GC,1446,-0.76,-146.0,213.6,-14.8,190,1450,0.00,1.77,0.00,0.000,4,0.000,0.065,2797,3757,3562,0,0,0,0,0,0
$GC,1492,-0.76,-146.0,221.0,-15.8,194,1495,0.00,1.70,0.00,0.000,6,0.000,0.044,2797,2664,3562,0,0,0,0,0,0
$GC,1632,-0.76,-146.0,243.5,-15.6,207,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2662,3561,0,0,0,0,0,0
$GC,1760,-0.76,-146.0,263.5,-15.9,219,1761,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2661,3562,0,0,0,0,0,0
$GC,1950,-0.76,-146.0,293.4,-15.8,237,1953,0.00,1.77,0.00,0.000,4,0.000,0.066,2789,3757,3562,0,0,0,0,0,0
$GC,2006,-0.76,-146.0,302.9,-16.3,242,2010,0.00,1.73,0.00,0.000,6,0.000,0.045,2789,2678,3562,0,0,0,0,0,0
$GC,2209,-0.76,-146.0,335.0,-15.6,261,2210,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2677,3562,0,0,0,0,0,0
$GC,2399,-0.76,-146.0,365.1,-15.2,279,2404,0.10,1.83,0.00,0.000,4,0.186,0.066,2807,3759,3562,0,0,0,0,0,0
$GC,2455,-0.76,-146.0,373.8,-15.9,284,2458,0.00,1.67,0.00,0.000,6,0.000,0.044,2807,2680,3562,0,0,0,0,0,0
$GC,2659,-0.76,-146.0,404.6,-14.8,303,2663,0.00,1.75,0.00,0.000,4,0.000,0.065,2799,3757,3562,0,0,0,0,0,0
$GC,2704,-0.76,-146.0,412.0,-15.9,307,2708,0.00,1.67,0.00,0.000,6,0.000,0.044,2798,2679,3562,0,0,0,0,0,0
$GC,2907,-0.76,-146.0,443.9,-16.0,326,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2677,3562,0,0,0,0,0,0
$GC,3100,-0.76,-146.0,473.7,-15.7,344,3103,0.00,1.75,0.00,0.000,4,0.000,0.066,2790,3756,3562,0,0,0,0,0,0
$GC,3145,-0.76,-146.0,481.4,-17.2,348,3148,0.00,1.65,0.00,0.000,6,0.000,0.044,2790,2691,3562,0,0,0,0,0,0
$STATE,3230,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3230,begin apogee
$GC,3235,-0.17,0.0,494.6,15.2,356,3374,0.68,0.00,132.40,1.127,4,0.134,0.000,3007,2495,2961,0,0,0,0,0,0
$STATE,3375,end apogee,CONTROL_FINISHED_OK
$STATE,3375,begin climb
$GC,3377,0.76,146.0,500.4,0.0,368,3530,0.95,2.53,144.48,1.063,4,0.074,0.052,3310,1103,2364,0,0,0,0,0,0
$GC,3632,0.76,146.0,477.2,12.3,390,3637,0.00,2.42,0.00,0.000,6,0.000,0.054,3310,2493,2354,0,0,0,0,0,0
$GC,3829,0.76,146.0,451.9,13.7,408,3833,0.00,2.30,0.00,0.000,4,0.000,0.053,3318,1101,2349,0,0,0,0,0,0
$GC,3975,0.76,146.0,431.6,14.4,420,3982,0.00,2.35,0.00,0.000,6,0.000,0.056,3318,2523,2346,0,0,0,0,0,0
$GC,4172,0.76,146.0,401.0,15.1,439,4176,0.00,2.00,0.00,0.000,4,0.000,0.060,3318,3768,2345,0,0,0,0,0,0
$GC,4243,0.76,146.0,388.2,17.2,445,4251,0.00,2.00,0.00,0.000,6,0.000,0.043,3328,2522,2345,0,0,0,0,0,0
$GC,4443,0.76,146.0,358.1,14.7,464,4447,0.00,2.03,0.00,0.000,4,0.000,0.063,3328,3770,2344,0,0,0,0,0,0
$GC,4526,0.76,146.0,344.3,16.7,471,4533,0.00,1.98,0.00,0.000,6,0.000,0.043,3337,2530,2344,0,0,0,0,0,0
$GC,4724,0.76,146.0,315.3,14.7,490,4725,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2529,2343,0,0,0,0,0,0
$GC,4915,0.76,146.0,288.0,14.7,508,4919,0.00,2.00,0.00,0.000,4,0.000,0.060,3337,3773,2342,0,0,0,0,0,0
$GC,4960,0.76,146.0,280.7,16.9,512,4964,0.12,1.98,0.00,0.000,6,0.179,0.044,3315,2514,2342,0,0,0,0,0,0
$GC,5162,0.76,146.0,253.6,12.9,531,5165,0.00,2.03,0.00,0.000,4,0.000,0.061,3315,3768,2342,0,0,0,0,0,0
$GC,5210,0.76,146.0,246.9,15.5,535,5213,0.00,1.92,0.00,0.000,6,0.000,0.044,3323,2532,2342,0,0,0,0,0,0
$GC,5352,0.76,146.0,227.6,13.8,548,5353,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2529,2341,0,0,0,0,0,0
$GC,5477,0.76,146.0,210.9,12.8,560,5481,0.00,2.00,0.00,0.000,4,0.000,0.063,3323,3770,2342,0,0,0,0,0,0
$GC,5514,0.76,146.0,205.0,14.7,563,5523,0.00,1.95,0.00,0.000,6,0.000,0.043,3332,2543,2342,0,0,0,0,0,0
$GC,5651,0.76,146.0,185.4,14.1,576,5652,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2542,2341,0,0,0,0,0,0
$GC,5777,0.76,146.0,167.8,13.3,588,5781,0.00,1.98,0.00,0.000,4,0.000,0.062,3333,3770,2342,0,0,0,0,0,0
$GC,5824,0.76,146.0,160.1,16.7,592,5834,0.08,1.92,0.00,0.000,6,0.154,0.043,3317,2556,2342,0,0,0,0,0,0
$GC,5960,0.76,146.0,142.9,12.3,605,5961,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2555,2342,0,0,0,0,0,0
$GC,6088,0.76,146.0,127.2,12.4,617,6091,0.00,1.95,0.00,0.000,4,0.000,0.062,3317,3765,2341,0,0,0,0,0,0
$GC,6133,0.76,146.0,120.8,14.4,621,6136,0.00,1.88,0.00,0.000,6,0.000,0.042,3325,2553,2342,0,0,0,0,0,0
$GC,6273,0.76,146.0,102.5,12.7,634,6274,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2552,2341,0,0,0,0,0,0
$GC,6401,0.76,146.0,85.8,13.0,656,6409,0.00,2.00,0.00,0.000,4,0.000,0.062,3325,3763,2341,0,0,0,0,0,0
$GC,6448,0.76,146.0,79.0,15.1,664,6456,0.00,1.90,0.00,0.000,6,0.000,0.043,3334,2563,2341,0,0,0,0,0,0
$GC,6587,0.76,146.0,60.0,14.0,689,6594,0.00,1.95,0.00,0.000,4,0.000,0.061,3334,3764,2341,0,0,0,0,0,0
$GC,6616,0.76,146.0,55.5,15.3,694,6625,0.08,1.88,0.00,0.000,6,0.154,0.043,3318,2580,2341,0,0,0,0,0,0
$GC,6758,0.76,146.0,37.3,12.9,719,6765,0.00,1.92,0.00,0.000,4,0.000,0.062,3318,3764,2341,0,0,0,0,0,0
$GC,6816,0.76,146.0,28.8,15.6,729,6823,0.00,1.80,0.00,0.000,6,0.000,0.042,3325,2605,2341,0,0,0,0,0,0
$GC,6954,0.76,146.0,10.0,12.3,754,6961,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2604,2341,0,0,0,0,0,0
$FREEZE,8.16,-1.810,-1.907,2,1,0
$FREEZE,7.40,-1.768,-1.906,2,1,0
$FREEZE,6.65,-1.770,-1.905,2,1,0
$FREEZE,5.96,-1.768,-1.905,2,1,0
$FREEZE,5.18,-1.750,-1.904,2,1,0
$FREEZE,4.41,-1.755,-1.904,2,1,0
$FREEZE,3.70,-1.749,-1.903,2,1,0
$FREEZE,2.84,-1.739,-1.903,2,1,0
$STATE,7008,end climb,SURFACE_DEPTH_REACHED
$STATE,7008,begin surface coast
$FREEZE,2.00,-1.748,-1.902,2,1,0
$FREEZE,1.34,-1.718,-1.901,2,1,0
$FREEZE,1.30,-1.770,-1.902,2,1,0
$FREEZE,1.22,-1.715,-1.318,2,1,0
$FINISH,1.2,1.019445
$STATE,7033,end surface coast,FINISH_DEPTH_REACHED
$STATE,7033,begin surface
$SM_CCo,7048,134.12,0.751,1,0,1329,400.08
$SM_GC,2.05,0.00,0.00,134.12,0.000,0.000,0.751,418,2659,1329,-8.27,0.28,400.08
$IRIDIUM_FIX,-7630.39,16507.90,051210,222238
$TT8_MAMPS,0.028462
$HUMID,51.45
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,13.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.3,17.9
$24V_AH,21.1,35.308
$10V_AH,10.0,20.755
$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,18.725,80.675,276.875,134.125,0.000,30.342,35.314,171.444,2.000,0.000,17.184,1863.585,2965.196,534.274,2027.014,134.852,0.000,1306.353,0.000,1281.087,0.000,11.207,0.000
$DEVICE_MAMPS,208.845,117.810,1126.845,751.230,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,540.297,922.807,890.262,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276332
$DATA_FILE_SIZE,50453,767
$CAP_FILE_SIZE,106274,0
$CFSIZE,260165632,244465664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061210,022855,-7716.578,16509.080,7,1.5,13,143.7