version: 66.08
glider: 502
mission: 3
dive: 172
start: 12 8 110 5 31 57
data:
$ID,502
$MISSION,3
$DIVE,172
$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,-27658.469
$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,37
$R_STBD_OVSHOOT,20
$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
$GPS1,081210,052507,-7656.803,16526.111,17,1.9,23,142.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-68.8
$GPS2,081210,053134,-7656.833,16526.090,16,2.6,35,142.1
$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,221.0,31220,-17.5,-10.000
$D_GRID,576
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,98,0.00,0.00,-79.22,0.000,2,0.000,0.000,421,2638,2796,0,0,0,0,0,0
$GC,101,-0.76,-146.0,3.0,-2.3,12,155,9.00,2.30,-35.88,0.000,4,0.205,0.063,2807,1242,3560,0,0,0,0,0,0
$GC,348,-0.76,-146.0,32.8,-14.6,55,355,0.00,2.33,0.00,0.000,6,0.000,0.060,2798,2652,3563,0,0,0,0,0,0
$GC,486,-0.76,-146.0,51.8,-14.3,80,494,0.00,1.83,0.00,0.000,4,0.000,0.062,2790,3764,3563,0,0,0,0,0,0
$GC,511,-0.76,-146.0,55.6,-15.5,84,520,0.00,1.80,0.00,0.000,6,0.000,0.044,2790,2640,3563,0,0,0,0,0,0
$GC,652,-0.76,-146.0,78.4,-16.9,109,659,0.00,2.22,0.00,0.000,4,0.000,0.053,2790,1237,3563,0,0,0,0,0,0
$GC,677,-0.76,-146.0,82.4,-16.3,113,685,0.12,2.33,0.00,0.000,6,0.173,0.059,2814,2655,3563,0,0,0,0,0,0
$GC,823,-0.76,-146.0,103.5,-14.4,137,827,0.00,1.77,0.00,0.000,4,0.000,0.062,2807,3767,3563,0,0,0,0,0,0
$GC,858,-0.76,-146.0,108.9,-15.9,140,862,0.00,1.75,0.00,0.000,6,0.000,0.044,2807,2642,3563,0,0,0,0,0,0
$GC,998,-0.76,-146.0,130.0,-15.2,153,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2640,3563,0,0,0,0,0,0
$GC,1126,-0.76,-146.0,148.9,-14.4,165,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2640,3563,0,0,0,0,0,0
$GC,1253,-0.76,-146.0,167.7,-14.7,177,1257,0.00,1.83,0.00,0.000,4,0.000,0.064,2799,3765,3563,0,0,0,0,0,0
$GC,1279,-0.76,-146.0,172.2,-15.6,179,1287,0.00,1.77,0.00,0.000,6,0.000,0.044,2799,2648,3563,0,0,0,0,0,0
$GC,1415,-0.76,-146.0,192.7,-15.4,192,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2648,3563,0,0,0,0,0,0
$GC,1542,-0.76,-146.0,211.9,-15.2,204,1543,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2648,3563,0,0,0,0,0,0
$GC,1669,-0.76,-146.0,231.3,-15.3,216,1673,0.00,1.83,0.00,0.000,4,0.000,0.064,2790,3775,3563,0,0,0,0,0,0
$GC,1705,-0.76,-146.0,237.4,-15.9,219,1714,0.00,1.77,0.00,0.000,6,0.000,0.044,2790,2662,3563,0,0,0,0,0,0
$GC,1839,-0.76,-146.0,257.9,-15.3,232,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2662,3563,0,0,0,0,0,0
$GC,2032,-0.76,-146.0,287.9,-16.0,250,2033,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2662,3563,0,0,0,0,0,0
$GC,2222,-0.76,-146.0,317.9,-15.5,268,2223,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2662,3563,0,0,0,0,0,0
$GC,2412,-0.76,-146.0,347.9,-15.8,286,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2662,3563,0,0,0,0,0,0
$GC,2606,-0.76,-146.0,378.0,-15.7,304,2609,0.00,1.80,0.00,0.000,4,0.000,0.064,2782,3769,3563,0,0,0,0,0,0
$GC,2640,-0.76,-146.0,384.0,-17.0,307,2644,0.12,1.73,0.00,0.000,6,0.170,0.044,2815,2655,3563,0,0,0,0,0,0
$GC,2842,-0.76,-146.0,412.3,-13.7,326,2844,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2654,3563,0,0,0,0,0,0
$GC,3035,-0.76,-146.0,438.1,-13.8,344,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2654,3563,0,0,0,0,0,0
$GC,3223,-0.76,-146.0,463.9,-13.2,362,3227,0.00,1.80,0.00,0.000,4,0.000,0.066,2808,3764,3563,0,0,0,0,0,0
$GC,3257,-0.76,-146.0,468.9,-14.8,365,3261,0.00,1.73,0.00,0.000,6,0.000,0.044,2808,2649,3563,0,0,0,0,0,0
$GC,3462,-0.76,-146.0,497.2,-13.8,384,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2647,3563,0,0,0,0,0,0
$GC,3664,-0.76,-146.0,525.6,-13.8,392,3668,0.00,1.80,0.00,0.000,4,0.000,0.064,2800,3763,3563,0,0,0,0,0,0
$GC,3700,-0.76,-146.0,530.5,-15.6,393,3704,0.00,1.70,0.00,0.000,6,0.000,0.044,2800,2665,3563,0,0,0,0,0,0
$GC,3918,-0.76,-146.0,562.0,-14.3,400,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2663,3563,0,0,0,0,0,0
$STATE,4039,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4039,begin apogee
$GC,4043,-0.17,0.0,579.1,14.0,404,4181,0.62,0.00,133.88,1.170,4,0.132,0.000,3002,2486,2960,0,0,0,0,0,0
$STATE,4182,end apogee,CONTROL_FINISHED_OK
$STATE,4182,begin climb
$GC,4184,0.76,146.0,584.4,0.0,408,4338,0.98,2.55,146.18,1.097,4,0.074,0.051,3311,1100,2365,0,0,0,0,0,0
$GC,4457,0.76,146.0,558.8,11.7,417,4461,0.00,2.45,0.00,0.000,6,0.000,0.055,3311,2504,2353,0,0,0,0,0,0
$GC,4669,0.76,146.0,532.1,12.6,424,4673,0.00,2.30,0.00,0.000,4,0.000,0.054,3316,1102,2349,0,0,0,0,0,0
$GC,4779,0.76,146.0,518.4,12.7,427,4783,0.00,2.33,0.00,0.000,6,0.000,0.056,3316,2517,2346,0,0,0,0,0,0
$GC,4972,0.76,146.0,494.2,12.3,435,4975,0.00,2.00,0.00,0.000,4,0.000,0.059,3316,3764,2346,0,0,0,0,0,0
$GC,5073,0.76,146.0,479.1,14.7,444,5077,0.00,1.92,0.00,0.000,6,0.000,0.043,3325,2534,2345,0,0,0,0,0,0
$GC,5275,0.76,146.0,451.9,13.6,463,5279,0.00,2.00,0.00,0.000,4,0.000,0.060,3325,3767,2344,0,0,0,0,0,0
$GC,5313,0.76,146.0,446.1,15.7,466,5321,0.00,1.98,0.00,0.000,6,0.000,0.042,3335,2531,2344,0,0,0,0,0,0
$GC,5512,0.76,146.0,419.0,13.3,485,5516,0.00,2.00,0.00,0.000,4,0.000,0.060,3335,3767,2343,0,0,0,0,0,0
$GC,5572,0.76,146.0,409.1,16.0,490,5581,0.10,1.95,0.00,0.000,6,0.148,0.042,3312,2546,2343,0,0,0,0,0,0
$GC,5771,0.76,146.0,384.0,12.4,509,5775,0.00,2.03,0.00,0.000,4,0.000,0.063,3312,3785,2343,0,0,0,0,0,0
$GC,5819,0.76,146.0,376.8,15.0,513,5827,0.00,1.98,0.00,0.000,6,0.000,0.042,3319,2546,2343,0,0,0,0,0,0
$GC,6017,0.76,146.0,352.0,12.5,532,6021,0.00,1.98,0.00,0.000,4,0.000,0.062,3318,3765,2342,0,0,0,0,0,0
$GC,6054,0.76,146.0,346.6,14.4,535,6062,0.00,1.92,0.00,0.000,6,0.000,0.041,3328,2552,2342,0,0,0,0,0,0
$GC,6254,0.76,146.0,320.9,12.8,554,6258,0.00,1.98,0.00,0.000,4,0.000,0.062,3328,3773,2342,0,0,0,0,0,0
$GC,6298,0.76,146.0,314.3,15.0,558,6302,0.00,1.88,0.00,0.000,6,0.000,0.043,3337,2561,2342,0,0,0,0,0,0
$GC,6501,0.76,146.0,286.6,13.3,577,6505,0.00,1.98,0.00,0.000,4,0.000,0.062,3337,3768,2341,0,0,0,0,0,0
$GC,6539,0.76,146.0,280.5,16.2,580,6548,0.10,1.90,0.00,0.000,6,0.147,0.043,3313,2568,2341,0,0,0,0,0,0
$GC,6738,0.76,146.0,255.7,12.6,599,6739,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2567,2341,0,0,0,0,0,0
$GC,6931,0.76,146.0,231.9,12.7,617,6935,0.00,1.95,0.00,0.000,4,0.000,0.062,3313,3773,2342,0,0,0,0,0,0
$GC,6987,0.76,146.0,223.7,14.7,622,6991,0.00,1.85,0.00,0.000,6,0.000,0.044,3321,2577,2342,0,0,0,0,0,0
$GC,7129,0.76,146.0,205.2,12.5,635,7137,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2574,2341,0,0,0,0,0,0
$GC,7264,0.76,146.0,188.1,12.5,648,7268,0.00,1.92,0.00,0.000,4,0.000,0.061,3321,3767,2341,0,0,0,0,0,0
$GC,7311,0.76,146.0,180.9,15.4,652,7320,0.00,1.85,0.00,0.000,6,0.000,0.043,3330,2594,2341,0,0,0,0,0,0
$GC,7449,0.76,146.0,162.9,13.2,665,7456,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2592,2341,0,0,0,0,0,0
$GC,7584,0.76,146.0,144.1,13.6,678,7585,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2593,2341,0,0,0,0,0,0
$GC,7711,0.76,146.0,126.4,13.8,690,7715,0.00,1.90,0.00,0.000,4,0.000,0.061,3330,3772,2341,0,0,0,0,0,0
$GC,7758,0.76,146.0,118.5,17.2,694,7767,0.00,1.88,0.00,0.000,6,0.000,0.044,3339,2590,2341,0,0,0,0,0,0
$GC,7896,0.76,146.0,99.5,13.9,707,7902,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2589,2341,0,0,0,0,0,0
$GC,8032,0.76,146.0,79.8,14.9,732,8040,0.00,1.95,0.00,0.000,4,0.000,0.063,3339,3770,2341,0,0,0,0,0,0
$GC,8064,0.76,146.0,75.1,16.0,737,8071,0.12,1.83,0.00,0.000,6,0.174,0.042,3315,2594,2341,0,0,0,0,0,0
$GC,8202,0.76,146.0,56.8,12.8,762,8210,0.00,2.40,0.00,0.000,4,0.000,0.053,3325,1097,2341,0,0,0,0,0,0
$GC,8238,0.76,146.0,52.3,11.9,768,8246,0.00,2.45,0.00,0.000,6,0.000,0.056,3324,2588,2340,0,0,0,0,0,0
$GC,8378,0.76,146.0,34.6,13.6,793,8385,0.00,1.88,0.00,0.000,4,0.000,0.061,3325,3764,2340,0,0,0,0,0,0
$GC,8407,0.76,146.0,30.2,15.1,798,8415,0.00,1.85,0.00,0.000,6,0.000,0.044,3333,2593,2340,0,0,0,0,0,0
$GC,8549,0.76,146.0,10.2,13.0,823,8556,0.00,1.90,0.00,0.000,4,0.000,0.060,3333,3766,2340,0,0,0,0,0,0
$FREEZE,7.82,-1.459,-1.901,2,1,0
$FREEZE,6.84,-1.456,-1.900,2,1,0
$GC,8569,0.76,146.0,6.8,15.1,826,8578,0.08,1.85,0.00,0.000,6,0.161,0.041,3318,2594,2340,0,0,0,0,0,0
$FREEZE,4.09,-1.472,-1.899,2,1,0
$FREEZE,3.21,-1.459,-1.898,2,1,0
$FREEZE,2.39,-1.451,-1.897,2,1,0
$STATE,8594,end climb,SURFACE_DEPTH_REACHED
$STATE,8595,begin surface coast
$FREEZE,1.82,-1.458,-1.897,2,1,0
$FREEZE,1.42,-1.457,-1.225,2,1,0
$FINISH,1.4,1.018080
$STATE,8607,end surface coast,FINISH_DEPTH_REACHED
$STATE,8607,begin surface
$SM_CCo,8622,139.57,0.746,1,0,1330,400.08
$SM_GC,2.26,0.00,0.00,139.57,0.000,0.000,0.746,418,2674,1330,-8.27,0.68,400.08
$IRIDIUM_FIX,-7612.11,16523.15,081210,020223
$TT8_MAMPS,0.027713
$HUMID,51.37
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,18.0
$24V_AH,20.9,38.247
$10V_AH,10.0,22.817
$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,18.725,99.000,280.050,139.575,0.000,27.653,38.103,198.434,3.000,0.000,37.575,2064.982,4100.502,573.614,2253.186,165.107,0.000,1446.516,0.000,1436.572,0.000,17.576,0.000
$DEVICE_MAMPS,205.020,106.335,1170.450,745.875,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,587.447,1018.051,911.335,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276260
$DATA_FILE_SIZE,56976,832
$CAP_FILE_SIZE,121026,0
$CFSIZE,260165632,243085312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081210,075930,-7656.461,16526.422,44,1.1,50,142.1