version: 66.08
glider: 502
mission: 3
dive: 175
start: 12 8 110 13 4 52
data:
$ID,502
$MISSION,3
$DIVE,175
$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,31
$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
$GPS1,081210,103936,-7656.024,16527.166,12,1.2,28,142.0
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,2.73
$_SM_ANGLEo,9.6
$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,-146.0,0.0,0.0,0,70,0.00,0.00,-53.05,0.000,2,0.000,0.000,3317,3769,3460,0,0,0,0,0,0
$GC,73,-0.76,-146.0,3.4,-1.8,8,82,1.55,0.00,-3.83,0.000,4,0.142,0.000,2827,3769,3558,0,0,0,0,0,0
$GC,326,-0.76,-146.0,36.5,-14.4,54,334,0.00,1.77,0.00,0.000,6,0.000,0.044,2827,2649,3561,0,0,0,0,0,0
$GC,465,-0.76,-146.0,55.3,-13.8,79,472,0.00,1.83,0.00,0.000,4,0.000,0.064,2821,3769,3561,0,0,0,0,0,0
$GC,534,-0.76,-146.0,65.3,-14.6,91,540,0.00,1.77,0.00,0.000,6,0.000,0.044,2820,2630,3561,0,0,0,0,0,0
$GC,672,-0.76,-146.0,85.2,-14.4,116,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2629,3561,0,0,0,0,0,0
$GC,812,-0.76,-146.0,105.1,-14.5,138,816,0.00,1.85,0.00,0.000,4,0.000,0.065,2812,3768,3561,0,0,0,0,0,0
$GC,869,-0.76,-146.0,113.7,-15.2,143,873,0.00,1.70,0.00,0.000,6,0.000,0.044,2812,2671,3561,0,0,0,0,0,0
$GC,1011,-0.76,-146.0,134.9,-15.2,156,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2669,3561,0,0,0,0,0,0
$GC,1137,-0.76,-146.0,154.1,-15.4,168,1140,0.00,1.77,0.00,0.000,4,0.000,0.062,2803,3770,3561,0,0,0,0,0,0
$GC,1162,-0.76,-146.0,158.7,-15.8,170,1171,0.00,1.75,0.00,0.000,6,0.000,0.044,2803,2670,3561,0,0,0,0,0,0
$GC,1298,-0.76,-146.0,179.6,-15.9,183,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2669,3561,0,0,0,0,0,0
$GC,1426,-0.76,-146.0,199.5,-15.8,195,1430,0.00,2.25,0.00,0.000,4,0.000,0.054,2803,1241,3561,0,0,0,0,0,0
$GC,1446,-0.76,-146.0,203.3,-15.5,196,1455,0.00,2.35,0.00,0.000,6,0.000,0.060,2799,2666,3561,0,0,0,0,0,0
$GC,1583,-0.76,-146.0,224.0,-15.5,209,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2666,3561,0,0,0,0,0,0
$GC,1709,-0.76,-146.0,243.8,-15.0,221,1713,0.00,1.75,0.00,0.000,4,0.000,0.063,2791,3769,3561,0,0,0,0,0,0
$GC,1745,-0.76,-146.0,249.5,-17.0,224,1750,0.00,1.73,0.00,0.000,6,0.000,0.044,2790,2654,3561,0,0,0,0,0,0
$GC,1885,-0.76,-146.0,272.3,-16.0,237,1886,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2652,3561,0,0,0,0,0,0
$GC,2075,-0.76,-146.0,303.0,-15.9,255,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2652,3561,0,0,0,0,0,0
$GC,2265,-0.76,-146.0,333.1,-15.7,273,2269,0.00,1.83,0.00,0.000,4,0.000,0.065,2783,3778,3561,0,0,0,0,0,0
$GC,2322,-0.76,-146.0,342.3,-16.6,278,2326,0.10,1.77,0.00,0.000,6,0.149,0.045,2815,2665,3561,0,0,0,0,0,0
$GC,2525,-0.76,-146.0,369.9,-13.4,297,2526,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2663,3561,0,0,0,0,0,0
$GC,2715,-0.76,-146.0,395.6,-13.3,315,2716,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2663,3561,0,0,0,0,0,0
$GC,2907,-0.76,-146.0,420.9,-13.1,333,2910,0.00,1.80,0.00,0.000,4,0.000,0.063,2808,3769,3561,0,0,0,0,0,0
$GC,2944,-0.76,-146.0,426.5,-14.1,336,2952,0.00,1.75,0.00,0.000,6,0.000,0.044,2808,2670,3561,0,0,0,0,0,0
$GC,3142,-0.76,-146.0,453.0,-13.5,355,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2670,3561,0,0,0,0,0,0
$GC,3335,-0.76,-146.0,478.6,-13.2,373,3339,0.00,1.77,0.00,0.000,4,0.000,0.063,2800,3769,3561,0,0,0,0,0,0
$GC,3384,-0.76,-146.0,486.2,-14.4,377,3392,0.00,1.75,0.00,0.000,6,0.000,0.044,2799,2666,3561,0,0,0,0,0,0
$GC,3579,-0.76,-146.0,512.9,-13.6,390,3580,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2665,3561,0,0,0,0,0,0
$GC,3763,-0.76,-146.0,537.8,-13.6,396,3767,0.00,1.83,0.00,0.000,4,0.000,0.064,2792,3764,3561,0,0,0,0,0,0
$GC,3797,-0.76,-146.0,542.6,-14.4,397,3800,0.00,1.70,0.00,0.000,6,0.000,0.044,2792,2667,3561,0,0,0,0,0,0
$GC,4014,-0.76,-146.0,572.9,-13.8,404,4015,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2664,3561,0,0,0,0,0,0
$STATE,4043,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4043,begin apogee
$GC,4048,-0.17,0.0,577.2,13.9,405,4188,0.65,0.00,135.23,1.184,4,0.132,0.000,3001,2486,2961,0,0,0,0,0,0
$STATE,4189,end apogee,CONTROL_FINISHED_OK
$STATE,4189,begin climb
$GC,4190,0.76,146.0,582.2,0.0,409,4346,0.98,2.55,147.45,1.121,4,0.072,0.051,3311,1097,2365,0,0,0,0,0,0
$GC,4457,0.76,146.0,556.2,12.6,418,4462,0.00,2.50,0.00,0.000,6,0.000,0.054,3311,2502,2353,0,0,0,0,0,0
$GC,4671,0.76,146.0,528.2,13.3,425,4675,0.00,2.30,0.00,0.000,4,0.000,0.053,3321,1102,2350,0,0,0,0,0,0
$GC,4793,0.76,146.0,512.5,12.5,428,4800,0.00,2.35,0.00,0.000,6,0.000,0.056,3320,2525,2347,0,0,0,0,0,0
$GC,4987,0.76,146.0,486.3,13.6,441,4990,0.00,1.98,0.00,0.000,4,0.000,0.060,3321,3762,2346,0,0,0,0,0,0
$GC,5082,0.76,146.0,471.4,16.0,449,5089,0.00,1.92,0.00,0.000,6,0.000,0.044,3329,2534,2346,0,0,0,0,0,0
$GC,5279,0.76,146.0,443.2,14.0,468,5283,0.00,1.98,0.00,0.000,4,0.000,0.060,3329,3764,2345,0,0,0,0,0,0
$GC,5324,0.76,146.0,436.0,16.1,472,5328,0.00,1.92,0.00,0.000,6,0.000,0.043,3338,2526,2344,0,0,0,0,0,0
$GC,5526,0.76,146.0,405.0,15.3,491,5530,0.00,2.00,0.00,0.000,4,0.000,0.061,3338,3764,2344,0,0,0,0,0,0
$GC,5575,0.76,146.0,396.2,17.3,495,5583,0.10,1.92,0.00,0.000,6,0.148,0.043,3315,2550,2344,0,0,0,0,0,0
$GC,5775,0.76,146.0,369.4,13.3,514,5778,0.00,1.95,0.00,0.000,4,0.000,0.061,3315,3764,2343,0,0,0,0,0,0
$GC,5823,0.76,146.0,361.8,15.0,518,5832,0.00,1.92,0.00,0.000,6,0.000,0.042,3322,2549,2343,0,0,0,0,0,0
$GC,6022,0.76,146.0,334.6,13.7,537,6026,0.00,1.98,0.00,0.000,4,0.000,0.060,3322,3774,2343,0,0,0,0,0,0
$GC,6055,0.76,146.0,329.5,16.0,540,6059,0.00,1.88,0.00,0.000,6,0.000,0.044,3330,2560,2343,0,0,0,0,0,0
$GC,6258,0.76,146.0,300.8,14.3,559,6262,0.00,1.95,0.00,0.000,4,0.000,0.061,3330,3773,2342,0,0,0,0,0,0
$GC,6303,0.76,146.0,293.9,15.9,563,6307,0.00,1.88,0.00,0.000,6,0.000,0.043,3339,2560,2342,0,0,0,0,0,0
$GC,6507,0.76,146.0,264.3,14.8,582,6511,0.00,1.95,0.00,0.000,4,0.000,0.061,3339,3773,2342,0,0,0,0,0,0
$GC,6545,0.76,146.0,257.8,16.9,585,6553,0.10,1.90,0.00,0.000,6,0.145,0.044,3316,2575,2342,0,0,0,0,0,0
$GC,6746,0.76,146.0,232.8,12.2,604,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2574,2342,0,0,0,0,0,0
$GC,6871,0.76,146.0,217.3,12.6,616,6875,0.00,1.92,0.00,0.000,4,0.000,0.062,3316,3773,2342,0,0,0,0,0,0
$GC,6916,0.76,146.0,211.2,14.6,620,6920,0.00,1.85,0.00,0.000,6,0.000,0.044,3323,2574,2342,0,0,0,0,0,0
$GC,7057,0.76,146.0,193.3,12.4,633,7058,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2571,2342,0,0,0,0,0,0
$GC,7184,0.76,146.0,177.2,13.0,645,7185,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2571,2342,0,0,0,0,0,0
$GC,7312,0.76,146.0,161.1,12.8,657,7313,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2571,2342,0,0,0,0,0,0
$GC,7439,0.76,146.0,144.0,14.0,669,7443,0.00,1.92,0.00,0.000,4,0.000,0.062,3323,3767,2341,0,0,0,0,0,0
$GC,7484,0.76,146.0,137.2,16.4,673,7488,0.00,1.83,0.00,0.000,6,0.000,0.042,3333,2577,2341,0,0,0,0,0,0
$GC,7625,0.76,146.0,117.7,13.2,686,7628,0.00,1.92,0.00,0.000,4,0.000,0.060,3333,3775,2341,0,0,0,0,0,0
$GC,7661,0.76,146.0,112.0,15.6,689,7670,0.00,1.88,0.00,0.000,6,0.000,0.043,3342,2592,2341,0,0,0,0,0,0
$GC,7796,0.76,146.0,93.3,14.1,706,7804,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2592,2341,0,0,0,0,0,0
$GC,7936,0.76,146.0,73.8,14.4,731,7943,0.00,1.90,0.00,0.000,4,0.000,0.061,3342,3766,2341,0,0,0,0,0,0
$GC,8004,0.76,146.0,62.9,16.9,743,8011,0.15,1.83,0.00,0.000,6,0.166,0.042,3310,2585,2341,0,0,0,0,0,0
$GC,8143,0.76,146.0,45.0,12.1,768,8150,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2585,2341,0,0,0,0,0,0
$GC,8283,0.76,146.0,27.6,12.4,793,8289,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2584,2341,0,0,0,0,0,0
$GC,8421,0.76,146.0,11.6,11.2,818,8429,0.00,1.95,0.00,0.000,4,0.000,0.062,3310,3764,2341,0,0,0,0,0,0
$FREEZE,8.90,-1.599,-1.897,2,2,0
$FREEZE,8.12,-1.605,-1.896,2,2,0
$FREEZE,7.46,-1.612,-1.896,2,2,0
$FREEZE,6.53,-1.613,-1.895,2,2,0
$FREEZE,5.93,-1.620,-1.895,2,2,0
$FREEZE,5.06,-1.622,-1.894,2,2,0
$FREEZE,4.30,-1.619,-1.893,2,2,0
$FREEZE,3.24,-1.630,-1.892,2,2,0
$FREEZE,2.33,-1.637,-1.891,2,2,0
$STATE,8488,end climb,SURFACE_DEPTH_REACHED
$STATE,8488,begin surface coast
$FREEZE,1.47,-1.637,-1.891,2,2,0
$FREEZE,1.50,-1.738,-0.881,2,2,0
$FINISH,1.5,1.012958
$STATE,8501,end surface coast,FINISH_DEPTH_REACHED
$STATE,8501,begin surface
$SM_CCo,8518,143.38,0.759,1,0,1330,400.08
$SM_GC,2.33,0.00,0.00,143.38,0.000,0.000,0.759,419,2646,1330,-8.27,-0.11,400.08
$IRIDIUM_FIX,-7612.11,16527.93,081210,080859
$TT8_MAMPS,0.028462
$HUMID,51.06
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,13.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,17.7
$24V_AH,20.8,38.611
$10V_AH,9.9,23.100
$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,11.125,90.575,282.675,143.375,0.000,0.000,0.000,0.000,2.750,0.000,0.000,2096.002,4011.234,519.903,1973.652,121.183,0.000,1367.964,0.000,1447.278,0.000,17.514,0.000
$DEVICE_MAMPS,166.005,65.025,1184.220,758.880,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,588.642,1021.438,929.625,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,56982,831
$CAP_FILE_SIZE,112071,0
$CFSIZE,260165632,242896896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081210,153357,-7654.535,16527.854,222,2.1,241,141.9