version: 66.08
glider: 502
mission: 3
dive: 174
start: 12 8 110 10 40 0
data:
$ID,502
$MISSION,3
$DIVE,174
$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,-27660.982
$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,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
$GPS1,081210,103206,-7656.060,16527.299,17,1.0,34,142.0
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-67.1
$GPS2,081210,103936,-7656.024,16527.166,12,1.2,28,142.0
$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,220.3,29702,-17.5,-10.000
$D_GRID,577
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,96,0.00,0.00,-78.93,0.000,2,0.000,0.000,424,2636,2788,0,0,0,0,0,0
$GC,99,-0.76,-146.0,3.1,-2.1,12,153,9.00,1.90,-37.30,0.000,4,0.206,0.080,2801,3765,3558,0,0,0,0,0,0
$GC,400,-0.76,-146.0,47.1,-17.6,65,407,0.00,1.77,0.00,0.000,6,0.000,0.044,2801,2637,3561,0,0,0,0,0,0
$GC,536,-0.76,-146.0,68.8,-14.8,90,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2636,3562,0,0,0,0,0,0
$GC,677,-0.76,-146.0,90.0,-15.4,115,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2635,3561,0,0,0,0,0,0
$GC,820,-0.76,-146.0,112.0,-16.4,134,824,0.00,1.83,0.00,0.000,4,0.000,0.063,2792,3764,3562,0,0,0,0,0,0
$GC,857,-0.76,-146.0,118.7,-16.3,137,866,0.00,1.77,0.00,0.000,6,0.000,0.044,2793,2651,3562,0,0,0,0,0,0
$GC,992,-0.76,-146.0,140.8,-16.7,150,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2650,3562,0,0,0,0,0,0
$GC,1120,-0.76,-146.0,162.3,-16.7,162,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2650,3562,0,0,0,0,0,0
$GC,1247,-0.76,-146.0,183.8,-17.0,174,1251,0.00,1.83,0.00,0.000,4,0.000,0.065,2784,3770,3562,0,0,0,0,0,0
$GC,1272,-0.76,-146.0,188.0,-17.5,176,1277,0.12,1.73,0.00,0.000,6,0.171,0.044,2817,2659,3562,0,0,0,0,0,0
$GC,1414,-0.76,-146.0,209.5,-14.8,189,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2657,3562,0,0,0,0,0,0
$GC,1541,-0.76,-146.0,228.3,-14.7,201,1544,0.00,1.80,0.00,0.000,4,0.000,0.065,2810,3768,3562,0,0,0,0,0,0
$GC,1575,-0.76,-146.0,233.8,-15.9,204,1579,0.00,1.70,0.00,0.000,6,0.000,0.044,2811,2668,3562,0,0,0,0,0,0
$GC,1714,-0.76,-146.0,255.1,-15.2,217,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2666,3562,0,0,0,0,0,0
$GC,1905,-0.76,-146.0,283.9,-14.9,235,1906,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2666,3562,0,0,0,0,0,0
$GC,2096,-0.76,-146.0,313.1,-15.6,253,2097,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2666,3562,0,0,0,0,0,0
$GC,2288,-0.76,-146.0,341.8,-14.6,271,2292,0.00,1.83,0.00,0.000,4,0.000,0.063,2802,3768,3562,0,0,0,0,0,0
$GC,2345,-0.76,-146.0,350.8,-16.2,276,2349,0.00,1.70,0.00,0.000,6,0.000,0.044,2802,2673,3562,0,0,0,0,0,0
$GC,2549,-0.76,-146.0,381.4,-14.8,295,2550,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2671,3562,0,0,0,0,0,0
$GC,2739,-0.76,-146.0,409.2,-14.2,313,2743,0.00,1.77,0.00,0.000,4,0.000,0.064,2794,3770,3562,0,0,0,0,0,0
$GC,2765,-0.76,-146.0,413.4,-15.5,315,2773,0.00,1.75,0.00,0.000,6,0.000,0.044,2794,2672,3562,0,0,0,0,0,0
$GC,2964,-0.76,-146.0,442.9,-15.5,334,2965,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2672,3562,0,0,0,0,0,0
$GC,3156,-0.76,-146.0,472.2,-15.1,352,3159,0.00,1.77,0.00,0.000,4,0.000,0.063,2786,3771,3562,0,0,0,0,0,0
$GC,3178,-0.76,-146.0,476.0,-15.8,354,3182,0.12,1.70,0.00,0.000,6,0.173,0.045,2819,2677,3562,0,0,0,0,0,0
$GC,3391,-0.76,-146.0,504.3,-13.0,372,3392,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2676,3562,0,0,0,0,0,0
$GC,3574,-0.76,-146.0,528.0,-12.9,378,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2676,3562,0,0,0,0,0,0
$GC,3761,-0.76,-146.0,551.0,-12.7,384,3764,0.00,1.77,0.00,0.000,4,0.000,0.065,2812,3770,3562,0,0,0,0,0,0
$GC,3798,-0.76,-146.0,556.7,-14.0,385,3803,0.00,1.73,0.00,0.000,6,0.000,0.044,2812,2684,3561,0,0,0,0,0,0
$STATE,3949,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3949,begin apogee
$GC,3953,-0.17,0.0,577.0,13.5,390,4092,0.57,0.00,133.60,1.157,4,0.130,0.000,2999,2490,2961,0,0,0,0,0,0
$STATE,4092,end apogee,CONTROL_FINISHED_OK
$STATE,4093,begin climb
$GC,4094,0.76,146.0,582.1,0.0,394,4249,0.98,2.55,145.73,1.079,4,0.076,0.051,3308,1101,2364,0,0,0,0,0,0
$GC,4355,0.76,146.0,558.1,11.4,402,4359,0.00,2.47,0.00,0.000,6,0.000,0.054,3308,2492,2353,0,0,0,0,0,0
$GC,4553,0.76,146.0,533.4,12.8,409,4557,0.00,2.28,0.00,0.000,4,0.000,0.053,3317,1102,2349,0,0,0,0,0,0
$GC,4657,0.76,146.0,519.5,12.7,412,4662,0.00,2.40,0.00,0.000,6,0.000,0.056,3317,2532,2346,0,0,0,0,0,0
$GC,4856,0.76,146.0,493.3,13.1,420,4860,0.00,1.98,0.00,0.000,4,0.000,0.061,3317,3767,2346,0,0,0,0,0,0
$GC,4957,0.76,146.0,477.1,16.6,429,4961,0.00,1.95,0.00,0.000,6,0.000,0.044,3326,2547,2345,0,0,0,0,0,0
$GC,5160,0.76,146.0,447.9,14.2,448,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2546,2344,0,0,0,0,0,0
$GC,5351,0.76,146.0,419.6,14.6,466,5355,0.00,1.98,0.00,0.000,4,0.000,0.062,3326,3770,2343,0,0,0,0,0,0
$GC,5418,0.76,146.0,408.5,16.6,472,5422,0.00,1.92,0.00,0.000,6,0.000,0.044,3336,2531,2343,0,0,0,0,0,0
$GC,5622,0.76,146.0,378.8,14.3,491,5625,0.00,2.00,0.00,0.000,4,0.000,0.060,3336,3774,2343,0,0,0,0,0,0
$GC,5648,0.76,146.0,374.3,16.0,493,5656,0.10,1.95,0.00,0.000,6,0.151,0.043,3313,2548,2343,0,0,0,0,0,0
$GC,5848,0.76,146.0,348.7,12.8,512,5849,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2546,2342,0,0,0,0,0,0
$GC,6037,0.76,146.0,324.4,12.5,530,6041,0.00,1.98,0.00,0.000,4,0.000,0.062,3313,3773,2342,0,0,0,0,0,0
$GC,6108,0.76,146.0,314.0,15.4,536,6116,0.00,1.92,0.00,0.000,6,0.000,0.044,3321,2556,2342,0,0,0,0,0,0
$GC,6307,0.76,146.0,288.3,12.6,555,6310,0.00,1.95,0.00,0.000,4,0.000,0.060,3320,3768,2341,0,0,0,0,0,0
$GC,6363,0.76,146.0,280.0,15.5,560,6366,0.00,1.88,0.00,0.000,6,0.000,0.043,3330,2555,2342,0,0,0,0,0,0
$GC,6566,0.76,146.0,253.3,12.9,579,6570,0.00,1.95,0.00,0.000,4,0.000,0.060,3330,3770,2341,0,0,0,0,0,0
$GC,6603,0.76,146.0,248.4,15.0,582,6606,0.00,1.85,0.00,0.000,6,0.000,0.042,3339,2566,2341,0,0,0,0,0,0
$GC,6745,0.76,146.0,228.8,13.3,595,6746,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2563,2341,0,0,0,0,0,0
$GC,6871,0.76,146.0,211.8,13.3,607,6874,0.00,1.92,0.00,0.000,4,0.000,0.061,3339,3767,2341,0,0,0,0,0,0
$GC,6916,0.76,146.0,204.9,15.9,611,6920,0.12,1.85,0.00,0.000,6,0.171,0.043,3315,2565,2341,0,0,0,0,0,0
$GC,7055,0.76,146.0,187.5,12.1,624,7057,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2563,2341,0,0,0,0,0,0
$GC,7183,0.76,146.0,172.4,11.7,636,7184,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2563,2341,0,0,0,0,0,0
$GC,7310,0.76,146.0,157.5,12.0,648,7314,0.00,1.95,0.00,0.000,4,0.000,0.062,3315,3775,2341,0,0,0,0,0,0
$GC,7344,0.76,146.0,153.0,13.6,651,7348,0.00,1.85,0.00,0.000,6,0.000,0.044,3323,2574,2341,0,0,0,0,0,0
$GC,7485,0.76,146.0,136.0,12.3,664,7489,0.00,1.92,0.00,0.000,4,0.000,0.061,3323,3767,2341,0,0,0,0,0,0
$GC,7521,0.76,146.0,131.4,14.5,667,7524,0.00,1.83,0.00,0.000,6,0.000,0.042,3332,2585,2341,0,0,0,0,0,0
$GC,7663,0.76,146.0,113.2,12.5,680,7664,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2582,2341,0,0,0,0,0,0
$GC,7787,0.76,146.0,96.9,13.2,694,7795,0.00,1.95,0.00,0.000,4,0.000,0.061,3332,3767,2341,0,0,0,0,0,0
$GC,7841,0.76,146.0,89.4,14.5,703,7848,0.00,1.83,0.00,0.000,6,0.000,0.043,3341,2591,2341,0,0,0,0,0,0
$GC,7981,0.76,146.0,69.7,14.0,728,7989,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2590,2341,0,0,0,0,0,0
$GC,8121,0.76,146.0,50.5,13.4,753,8128,0.00,1.90,0.00,0.000,4,0.000,0.061,3341,3767,2340,0,0,0,0,0,0
$GC,8204,0.76,146.0,36.7,17.8,768,8213,0.10,1.85,0.00,0.000,6,0.147,0.042,3317,2598,2340,0,0,0,0,0,0
$GC,8346,0.76,146.0,19.0,11.7,793,8353,0.00,1.90,0.00,0.000,4,0.000,0.062,3317,3768,2340,0,0,0,0,0,0
$FREEZE,8.88,-1.623,-1.899,2,1,0
$FREEZE,8.22,-1.625,-1.899,2,1,0
$FREEZE,7.40,-1.625,-1.898,2,1,0
$FREEZE,6.70,-1.625,-1.898,2,1,0
$FREEZE,5.67,-1.623,-1.897,2,1,0
$FREEZE,4.98,-1.632,-1.896,2,1,0
$FREEZE,4.10,-1.636,-1.896,2,1,0
$FREEZE,3.43,-1.634,-1.895,2,1,0
$FREEZE,2.73,-1.640,-1.895,2,1,0
$STATE,8464,end climb,SURFACE_DEPTH_REACHED
$STATE,8464,begin surface coast
$FREEZE,2.77,-1.649,-1.895,2,1,0
$FINISH,2.8,1.027757
$STATE,8473,end surface coast,CONTROL_FINISHED_OK
$STATE,8473,begin surface
$IRIDIUM_FIX,-7612.11,16527.93,081210,080859
$TT8_MAMPS,0.027713
$HUMID,52.87
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,17.0
$24V_AH,20.9,38.489
$10V_AH,10.0,23.008
$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,11.125,82.375,279.325,0.000,0.000,25.169,38.644,267.462,3.000,0.000,29.546,2052.481,4182.694,375.564,2278.808,155.171,0.000,1221.787,0.000,1407.540,0.000,18.637,0.000
$DEVICE_MAMPS,205.785,80.325,1156.680,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,576.709,999.618,904.658,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276244
$DATA_FILE_SIZE,53772,815
$CAP_FILE_SIZE,115583,0
$CFSIZE,260165632,242958336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081210,103936,-7656.024,16527.166,12,1.2,28,142.0