version: 66.08
glider: 502
mission: 3
dive: 173
start: 12 8 110 8 6 8
data:
$ID,502
$MISSION,3
$DIVE,173
$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,-27659.727
$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,30
$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
$GPS1,081210,075930,-7656.461,16526.422,44,1.1,50,142.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-62.9
$GPS2,081210,080544,-7656.465,16526.379,13,1.1,13,142.1
$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,220.8,30533,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,97,0.00,0.00,-78.65,0.000,2,0.000,0.000,411,2675,2792,0,0,0,0,0,0
$GC,100,-0.76,-146.0,3.0,-2.4,12,149,9.10,1.88,-34.55,0.000,4,0.209,0.081,2806,3762,3559,0,0,0,0,0,0
$GC,156,-0.76,-146.0,4.8,-6.1,20,164,0.00,1.80,0.00,0.000,6,0.000,0.042,2807,2642,3559,0,0,0,0,0,0
$GC,297,-0.76,-146.0,25.2,-14.3,45,303,0.00,1.85,0.00,0.000,4,0.000,0.063,2798,3766,3562,0,0,0,0,0,0
$GC,519,-0.76,-146.0,62.4,-15.9,86,528,0.00,1.83,0.00,0.000,6,0.000,0.044,2798,2629,3562,0,0,0,0,0,0
$GC,659,-0.76,-146.0,84.3,-16.6,111,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2627,3562,0,0,0,0,0,0
$GC,802,-0.76,-146.0,106.5,-15.1,133,806,0.00,1.83,0.00,0.000,4,0.000,0.063,2790,3756,3562,0,0,0,0,0,0
$GC,849,-0.76,-146.0,114.7,-15.9,137,859,0.00,1.83,0.00,0.000,6,0.000,0.044,2790,2617,3562,0,0,0,0,0,0
$GC,987,-0.76,-146.0,135.4,-15.6,150,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2617,3562,0,0,0,0,0,0
$GC,1113,-0.76,-146.0,155.5,-15.7,162,1116,0.00,1.85,0.00,0.000,4,0.000,0.063,2783,3759,3562,0,0,0,0,0,0
$GC,1138,-0.76,-146.0,160.4,-17.8,164,1148,0.10,1.80,0.00,0.000,6,0.148,0.044,2814,2623,3562,0,0,0,0,0,0
$GC,1275,-0.76,-146.0,180.0,-14.4,177,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2623,3563,0,0,0,0,0,0
$GC,1402,-0.76,-146.0,198.7,-14.7,189,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2623,3562,0,0,0,0,0,0
$GC,1529,-0.76,-146.0,217.6,-14.6,201,1533,0.00,1.85,0.00,0.000,4,0.000,0.063,2807,3767,3562,0,0,0,0,0,0
$GC,1574,-0.76,-146.0,224.4,-16.3,205,1578,0.00,1.75,0.00,0.000,6,0.000,0.044,2807,2638,3562,0,0,0,0,0,0
$GC,1715,-0.76,-146.0,246.3,-16.1,218,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2636,3562,0,0,0,0,0,0
$GC,1840,-0.76,-146.0,266.1,-15.3,230,1843,0.00,1.83,0.00,0.000,4,0.000,0.063,2799,3764,3562,0,0,0,0,0,0
$GC,1874,-0.76,-146.0,271.6,-16.8,233,1877,0.00,1.75,0.00,0.000,6,0.000,0.044,2799,2634,3562,0,0,0,0,0,0
$GC,2076,-0.76,-146.0,303.1,-15.7,252,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2633,3562,0,0,0,0,0,0
$GC,2269,-0.76,-146.0,332.0,-14.8,270,2272,0.00,1.83,0.00,0.000,4,0.000,0.064,2790,3756,3562,0,0,0,0,0,0
$GC,2314,-0.76,-146.0,339.5,-16.3,274,2317,0.00,1.73,0.00,0.000,6,0.000,0.044,2790,2645,3562,0,0,0,0,0,0
$GC,2517,-0.76,-146.0,370.7,-15.2,293,2518,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2642,3563,0,0,0,0,0,0
$GC,2707,-0.76,-146.0,400.0,-14.8,311,2712,0.00,1.80,0.00,0.000,4,0.000,0.063,2782,3757,3562,0,0,0,0,0,0
$GC,2744,-0.76,-146.0,406.2,-16.0,314,2753,0.10,1.75,0.00,0.000,6,0.148,0.044,2814,2654,3562,0,0,0,0,0,0
$GC,2945,-0.76,-146.0,432.2,-12.9,333,2948,0.00,1.80,0.00,0.000,4,0.000,0.065,2808,3764,3562,0,0,0,0,0,0
$GC,2982,-0.76,-146.0,437.8,-14.3,336,2989,0.00,1.75,0.00,0.000,6,0.000,0.043,2807,2665,3562,0,0,0,0,0,0
$GC,3180,-0.76,-146.0,464.4,-13.9,355,3182,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2664,3562,0,0,0,0,0,0
$GC,3373,-0.76,-146.0,490.8,-13.8,373,3376,0.00,1.77,0.00,0.000,4,0.000,0.063,2799,3763,3562,0,0,0,0,0,0
$GC,3421,-0.76,-146.0,498.5,-15.2,377,3429,0.00,1.73,0.00,0.000,6,0.000,0.044,2799,2674,3562,0,0,0,0,0,0
$GC,3623,-0.76,-146.0,526.2,-13.8,385,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2673,3562,0,0,0,0,0,0
$GC,3809,-0.76,-146.0,550.9,-13.4,391,3813,0.00,1.75,0.00,0.000,4,0.000,0.064,2791,3756,3562,0,0,0,0,0,0
$GC,3847,-0.76,-146.0,556.9,-15.0,392,3852,0.00,1.73,0.00,0.000,6,0.000,0.044,2791,2675,3561,0,0,0,0,0,0
$STATE,3997,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3997,begin apogee
$GC,4002,-0.17,0.0,578.4,14.3,397,4141,0.65,0.00,133.62,1.162,4,0.135,0.000,3000,2480,2961,0,0,0,0,0,0
$STATE,4141,end apogee,CONTROL_FINISHED_OK
$STATE,4142,begin climb
$GC,4143,0.76,146.0,583.3,0.0,401,4298,0.98,2.53,146.00,1.082,4,0.076,0.051,3307,1096,2364,0,0,0,0,0,0
$GC,4409,0.76,146.0,557.8,11.6,409,4417,0.00,2.47,0.00,0.000,6,0.000,0.054,3308,2488,2352,0,0,0,0,0,0
$GC,4600,0.76,146.0,532.6,13.3,416,4604,0.00,2.28,0.00,0.000,4,0.000,0.053,3317,1102,2348,0,0,0,0,0,0
$GC,4734,0.76,146.0,514.8,13.2,420,4739,0.00,2.35,0.00,0.000,6,0.000,0.055,3317,2532,2347,0,0,0,0,0,0
$GC,4934,0.76,146.0,487.1,14.2,432,4938,0.00,1.98,0.00,0.000,4,0.000,0.060,3317,3769,2345,0,0,0,0,0,0
$GC,5016,0.76,146.0,473.8,15.9,439,5024,0.00,1.98,0.00,0.000,6,0.000,0.042,3326,2534,2345,0,0,0,0,0,0
$GC,5215,0.76,146.0,445.3,14.3,458,5218,0.00,2.00,0.00,0.000,4,0.000,0.060,3327,3775,2344,0,0,0,0,0,0
$GC,5237,0.76,146.0,441.6,15.7,460,5241,0.00,1.95,0.00,0.000,6,0.000,0.044,3336,2526,2344,0,0,0,0,0,0
$GC,5440,0.76,146.0,411.0,14.7,479,5443,0.00,2.00,0.00,0.000,4,0.000,0.061,3336,3764,2343,0,0,0,0,0,0
$GC,5489,0.76,146.0,402.7,16.1,483,5497,0.10,1.95,0.00,0.000,6,0.148,0.043,3313,2543,2343,0,0,0,0,0,0
$GC,5687,0.76,146.0,376.4,13.3,502,5690,0.00,2.00,0.00,0.000,4,0.000,0.063,3313,3774,2342,0,0,0,0,0,0
$GC,5736,0.76,146.0,368.8,15.6,506,5744,0.00,1.95,0.00,0.000,6,0.000,0.045,3320,2550,2342,0,0,0,0,0,0
$GC,5934,0.76,146.0,341.9,13.4,525,5938,0.00,1.98,0.00,0.000,4,0.000,0.061,3320,3775,2342,0,0,0,0,0,0
$GC,5957,0.76,146.0,338.5,14.7,527,5961,0.00,1.90,0.00,0.000,6,0.000,0.044,3328,2554,2342,0,0,0,0,0,0
$GC,6160,0.76,146.0,310.1,13.4,546,6164,0.00,1.95,0.00,0.000,4,0.000,0.060,3328,3770,2341,0,0,0,0,0,0
$GC,6205,0.76,146.0,303.3,15.9,550,6209,0.00,1.92,0.00,0.000,6,0.000,0.043,3338,2556,2342,0,0,0,0,0,0
$GC,6408,0.76,146.0,275.7,13.1,569,6411,0.00,1.95,0.00,0.000,4,0.000,0.060,3338,3771,2341,0,0,0,0,0,0
$GC,6445,0.76,146.0,269.6,15.7,572,6454,0.10,1.90,0.00,0.000,6,0.145,0.043,3314,2570,2341,0,0,0,0,0,0
$GC,6647,0.76,146.0,245.4,11.9,591,6648,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2569,2341,0,0,0,0,0,0
$GC,6772,0.76,146.0,230.2,11.9,603,6776,0.00,1.95,0.00,0.000,4,0.000,0.063,3314,3773,2341,0,0,0,0,0,0
$GC,6830,0.76,146.0,221.9,14.6,608,6839,0.00,1.90,0.00,0.000,6,0.000,0.043,3321,2568,2341,0,0,0,0,0,0
$GC,6967,0.76,146.0,205.6,12.2,621,6971,0.00,1.95,0.00,0.000,4,0.000,0.063,3321,3774,2341,0,0,0,0,0,0
$GC,7003,0.76,146.0,200.7,13.8,624,7007,0.00,1.85,0.00,0.000,6,0.000,0.044,3331,2579,2341,0,0,0,0,0,0
$GC,7145,0.76,146.0,182.3,12.8,637,7153,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2576,2341,0,0,0,0,0,0
$GC,7280,0.76,146.0,164.8,13.1,650,7284,0.00,1.92,0.00,0.000,4,0.000,0.061,3331,3774,2341,0,0,0,0,0,0
$GC,7327,0.76,146.0,157.6,15.2,654,7336,0.00,1.88,0.00,0.000,6,0.000,0.042,3340,2588,2341,0,0,0,0,0,0
$GC,7465,0.76,146.0,138.9,13.9,667,7472,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2587,2340,0,0,0,0,0,0
$GC,7600,0.76,146.0,119.8,13.8,680,7603,0.00,1.90,0.00,0.000,4,0.000,0.062,3340,3767,2340,0,0,0,0,0,0
$GC,7625,0.76,146.0,115.4,15.7,682,7635,0.10,1.85,0.00,0.000,6,0.149,0.042,3316,2597,2340,0,0,0,0,0,0
$GC,7759,0.76,146.0,98.5,12.3,696,7767,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2597,2340,0,0,0,0,0,0
$GC,7899,0.76,146.0,81.2,12.7,721,7905,0.00,1.90,0.00,0.000,4,0.000,0.062,3316,3768,2340,0,0,0,0,0,0
$GC,7956,0.76,146.0,73.1,14.9,731,7963,0.00,1.80,0.00,0.000,6,0.000,0.043,3323,2608,2340,0,0,0,0,0,0
$GC,8093,0.76,146.0,55.0,13.1,756,8101,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2606,2340,0,0,0,0,0,0
$GC,8234,0.76,146.0,37.8,11.6,781,8241,0.00,1.88,0.00,0.000,4,0.000,0.063,3323,3764,2340,0,0,0,0,0,0
$GC,8263,0.76,146.0,33.8,13.4,786,8271,0.00,1.83,0.00,0.000,6,0.000,0.043,3332,2611,2340,0,0,0,0,0,0
$GC,8403,0.76,146.0,17.4,13.8,811,8410,0.00,1.92,0.00,0.000,4,0.000,0.066,3332,3767,2340,0,0,0,0,0,0
$FREEZE,8.48,-1.521,-1.903,2,1,0
$FREEZE,7.65,-1.521,-1.903,2,1,0
$FREEZE,6.53,-1.521,-1.902,2,1,0
$FREEZE,5.59,-1.521,-1.901,2,1,0
$GC,8484,0.76,146.0,5.6,17.0,825,8491,0.08,1.77,0.00,0.000,6,0.164,0.041,3317,2641,2340,0,0,0,0,0,0
$FREEZE,3.48,-1.523,-1.900,2,1,0
$FREEZE,2.69,-1.523,-1.899,2,1,0
$STATE,8503,end climb,SURFACE_DEPTH_REACHED
$STATE,8503,begin surface coast
$FREEZE,2.20,-1.521,-1.899,2,1,0
$FREEZE,1.55,-1.522,-1.898,2,1,0
$FREEZE,1.47,-1.564,-1.900,2,1,0
$FREEZE,1.54,-1.532,-1.880,2,1,0
$FINISH,1.5,1.027559
$STATE,8529,end surface coast,CONTROL_FINISHED_OK
$STATE,8529,begin surface
$SM_CCo,8543,139.52,0.743,1,0,1329,400.08
$SM_GC,2.23,0.00,0.00,139.52,0.000,0.000,0.743,427,2635,1329,-8.24,-0.42,400.08
$IRIDIUM_FIX,-7612.11,16513.93,081210,050530
$TT8_MAMPS,0.028462
$HUMID,51.41
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.4,17.8
$24V_AH,20.9,38.381
$10V_AH,9.9,22.914
$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,18.825,103.050,279.625,139.525,0.000,23.938,44.341,205.359,2.750,0.000,14.550,2077.717,3977.123,582.414,2259.070,170.408,0.000,1470.613,0.000,1455.847,0.000,14.636,0.000
$DEVICE_MAMPS,208.845,81.090,1162.035,742.815,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,587.407,1021.533,928.743,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276232
$DATA_FILE_SIZE,56950,832
$CAP_FILE_SIZE,123676,0
$CFSIZE,260165632,243015680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081210,103206,-7656.060,16527.299,17,1.0,34,142.0