version: 66.08
glider: 502
mission: 3
dive: 181
start: 12 9 110 3 54 7
data:
$ID,502
$MISSION,3
$DIVE,181
$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,-27666.016
$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,22
$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
$GPS1,081210,231402,-7651.353,16531.492,11,1.2,11,141.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.48
$_SM_ANGLEo,2.3
$GPS2,081210,231402,-7651.353,16531.492,11,1.2,11,141.7
$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,216.6,21035,-17.5,-10.000
$D_GRID,578
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
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$GC,27,-0.76,-146.0,10.6,-0.0,1,42,0.68,4.05,-4.25,0.000,4,0.086,0.056,2821,1243,3562,0,0,0,0,0,0
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$GC,338,-0.76,-146.0,53.3,-16.1,56,346,0.00,1.77,0.00,0.000,6,0.000,0.044,2802,2655,3565,0,0,0,0,0,0
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$GC,884,-0.76,-146.0,138.6,-15.4,133,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2654,3565,0,0,0,0,0,0
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$GC,1184,-0.76,-146.0,184.4,-15.8,161,1188,0.00,1.70,0.00,0.000,6,0.000,0.044,2795,2668,3565,0,0,0,0,0,0
$GC,1326,-0.76,-146.0,206.2,-15.5,174,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2666,3565,0,0,0,0,0,0
$GC,1452,-0.76,-146.0,226.1,-15.7,186,1453,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2666,3565,0,0,0,0,0,0
$GC,1580,-0.76,-146.0,245.9,-15.6,198,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2666,3565,0,0,0,0,0,0
$GC,1705,-0.76,-146.0,265.5,-15.2,210,1709,0.00,1.77,0.00,0.000,4,0.000,0.063,2786,3767,3565,0,0,0,0,0,0
$GC,1739,-0.76,-146.0,270.9,-16.9,213,1743,0.12,1.70,0.00,0.000,6,0.171,0.044,2819,2668,3565,0,0,0,0,0,0
$GC,1942,-0.76,-146.0,297.9,-13.2,232,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2666,3566,0,0,0,0,0,0
$GC,2132,-0.76,-146.0,323.1,-13.3,250,2133,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2666,3565,0,0,0,0,0,0
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$GC,2373,-0.76,-146.0,356.1,-14.3,272,2381,0.00,1.75,0.00,0.000,6,0.000,0.044,2813,2667,3565,0,0,0,0,0,0
$GC,2571,-0.76,-146.0,383.1,-14.0,291,2572,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2667,3566,0,0,0,0,0,0
$GC,2762,-0.76,-146.0,409.2,-13.6,309,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2667,3565,0,0,0,0,0,0
$GC,2953,-0.76,-146.0,434.9,-13.5,327,2957,0.00,1.83,0.00,0.000,4,0.000,0.063,2804,3767,3565,0,0,0,0,0,0
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$GC,3213,-0.76,-146.0,471.0,-13.9,351,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2667,3565,0,0,0,0,0,0
$GC,3404,-0.76,-146.0,497.2,-13.8,369,3407,0.00,1.77,0.00,0.000,4,0.000,0.064,2798,3763,3565,0,0,0,0,0,0
$GC,3443,-0.76,-146.0,503.0,-14.6,372,3447,0.00,1.73,0.00,0.000,6,0.000,0.044,2798,2681,3565,0,0,0,0,0,0
$GC,3655,-0.76,-146.0,532.8,-14.1,379,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2680,3566,0,0,0,0,0,0
$GC,3839,-0.76,-146.0,558.6,-14.3,385,3843,0.00,1.75,0.00,0.000,4,0.000,0.065,2790,3764,3565,0,0,0,0,0,0
$GC,3888,-0.76,-146.0,566.3,-14.6,386,3893,0.00,1.70,0.00,0.000,6,0.000,0.043,2790,2690,3565,0,0,0,0,0,0
$STATE,3966,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3966,begin apogee
$GC,3971,-0.17,0.0,577.6,14.5,389,4111,0.68,0.00,135.48,1.175,4,0.135,0.000,3005,2491,2961,0,0,0,0,0,0
$STATE,4112,end apogee,CONTROL_FINISHED_OK
$STATE,4112,begin climb
$GC,4113,0.76,146.0,582.3,0.0,393,4269,0.95,2.55,147.75,1.102,4,0.072,0.052,3307,1098,2365,0,0,0,0,0,0
$GC,4348,0.76,146.0,561.3,11.6,401,4352,0.00,2.47,0.00,0.000,6,0.000,0.054,3307,2499,2355,0,0,0,0,0,0
$GC,4554,0.76,146.0,535.0,12.9,408,4558,0.00,2.33,0.00,0.000,4,0.000,0.054,3315,1095,2350,0,0,0,0,0,0
$GC,4670,0.76,146.0,520.0,12.4,411,4674,0.00,2.38,0.00,0.000,6,0.000,0.057,3315,2507,2347,0,0,0,0,0,0
$GC,4867,0.76,146.0,493.2,14.1,420,4871,0.00,2.03,0.00,0.000,4,0.000,0.061,3315,3767,2346,0,0,0,0,0,0
$GC,4979,0.76,146.0,475.6,15.9,430,4983,0.00,1.92,0.00,0.000,6,0.000,0.043,3324,2534,2346,0,0,0,0,0,0
$GC,5182,0.76,146.0,446.4,14.3,449,5186,0.00,2.00,0.00,0.000,4,0.000,0.060,3324,3775,2344,0,0,0,0,0,0
$GC,5228,0.76,146.0,439.1,16.5,453,5232,0.00,1.98,0.00,0.000,6,0.000,0.044,3334,2542,2345,0,0,0,0,0,0
$GC,5430,0.76,146.0,409.0,14.6,472,5434,0.00,1.98,0.00,0.000,4,0.000,0.061,3334,3768,2343,0,0,0,0,0,0
$GC,5479,0.76,146.0,400.6,17.1,476,5488,0.08,1.95,0.00,0.000,6,0.150,0.043,3319,2548,2344,0,0,0,0,0,0
$GC,5679,0.76,146.0,374.2,13.8,495,5680,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2546,2343,0,0,0,0,0,0
$GC,5869,0.76,146.0,348.7,13.1,513,5872,0.00,1.98,0.00,0.000,4,0.000,0.062,3319,3773,2342,0,0,0,0,0,0
$GC,5917,0.76,146.0,341.0,15.7,517,5926,0.00,1.95,0.00,0.000,6,0.000,0.043,3327,2549,2343,0,0,0,0,0,0
$GC,6118,0.76,146.0,313.2,14.1,536,6121,0.00,1.95,0.00,0.000,4,0.000,0.060,3327,3765,2342,0,0,0,0,0,0
$GC,6151,0.76,146.0,307.7,16.1,539,6155,0.00,1.88,0.00,0.000,6,0.000,0.042,3336,2551,2342,0,0,0,0,0,0
$GC,6354,0.76,146.0,278.8,14.4,558,6358,0.00,1.95,0.00,0.000,4,0.000,0.062,3337,3766,2342,0,0,0,0,0,0
$GC,6388,0.76,146.0,273.5,15.8,561,6392,0.12,1.85,0.00,0.000,6,0.173,0.043,3313,2563,2342,0,0,0,0,0,0
$GC,6592,0.76,146.0,248.1,11.8,580,6596,0.00,1.95,0.00,0.000,4,0.000,0.062,3313,3770,2342,0,0,0,0,0,0
$GC,6629,0.76,146.0,242.7,14.2,583,6638,0.00,1.90,0.00,0.000,6,0.000,0.043,3320,2569,2342,0,0,0,0,0,0
$GC,6767,0.76,146.0,225.7,12.6,596,6774,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2568,2342,0,0,0,0,0,0
$GC,6901,0.76,146.0,208.1,13.1,609,6902,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2568,2342,0,0,0,0,0,0
$GC,7029,0.76,146.0,191.8,13.1,621,7032,0.00,1.92,0.00,0.000,4,0.000,0.063,3320,3765,2342,0,0,0,0,0,0
$GC,7076,0.76,146.0,184.4,15.8,625,7085,0.00,1.88,0.00,0.000,6,0.000,0.043,3330,2576,2342,0,0,0,0,0,0
$GC,7213,0.76,146.0,165.7,14.0,638,7214,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2576,2341,0,0,0,0,0,0
$GC,7339,0.76,146.0,148.5,13.7,650,7343,0.00,1.92,0.00,0.000,4,0.000,0.060,3329,3774,2341,0,0,0,0,0,0
$GC,7362,0.76,146.0,145.0,14.6,652,7366,0.00,1.85,0.00,0.000,6,0.000,0.043,3339,2574,2341,0,0,0,0,0,0
$GC,7503,0.76,146.0,125.0,14.4,665,7504,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2573,2341,0,0,0,0,0,0
$GC,7631,0.76,146.0,107.1,13.8,677,7634,0.00,1.92,0.00,0.000,4,0.000,0.061,3339,3767,2341,0,0,0,0,0,0
$GC,7678,0.76,146.0,99.5,15.9,681,7687,0.10,1.88,0.00,0.000,6,0.145,0.043,3315,2582,2341,0,0,0,0,0,0
$GC,7819,0.76,146.0,81.7,13.0,706,7827,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2582,2341,0,0,0,0,0,0
$GC,7960,0.76,146.0,64.7,12.0,731,7966,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2581,2341,0,0,0,0,0,0
$GC,8096,0.76,146.0,47.7,12.8,756,8104,0.00,2.40,0.00,0.000,4,0.000,0.054,3325,1085,2341,0,0,0,0,0,0
$GC,8121,0.76,146.0,44.3,14.0,760,8129,0.00,2.47,0.00,0.000,6,0.000,0.056,3324,2591,2340,0,0,0,0,0,0
$GC,8261,0.76,146.0,25.8,12.7,785,8268,0.00,1.88,0.00,0.000,4,0.000,0.060,3324,3768,2340,0,0,0,0,0,0
$FREEZE,8.78,-1.520,-1.901,2,3,0
$FREEZE,7.85,-1.521,-1.901,2,3,0
$STATE,8379,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,8379,begin subsurface finish
$FINISH1,7.9,1.027781,-14
$GC,8386,-0.02,-13.8,7.9,-15.4,806,8421,0.85,2.15,-25.40,0.000,4,0.147,0.080,3068,3764,3020,0,0,0,0,0,0
$FINISH2,5.1
$STATE,8422,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8422,begin surface
$IRIDIUM_FIX,-7612.11,16518.76,081210,202049
$TT8_MAMPS,0.028462
$HUMID,53.07
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,16.2
$ALTIM_BOTTOM_PING,500.4,88.5
$24V_AH,20.8,39.311
$10V_AH,10.0,23.663
$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,3.575,90.500,283.225,0.000,0.000,0.000,0.000,0.000,3.000,0.000,0.000,2031.173,4073.720,346.073,1902.155,117.719,0.000,1170.585,0.000,1404.958,0.000,18.860,0.000
$DEVICE_MAMPS,172.890,79.560,1175.040,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,574.795,982.085,877.514,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276308
$DATA_FILE_SIZE,53876,811
$CAP_FILE_SIZE,106297,0
$CFSIZE,260165632,242520064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081210,231402,-7651.353,16531.492,11,1.2,11,141.7