version: 66.08
glider: 502
mission: 3
dive: 176
start: 12 8 110 15 43 1
data:
$ID,502
$MISSION,3
$DIVE,176
$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,-27662.24
$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,34
$R_STBD_OVSHOOT,23
$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
$GPS1,081210,153357,-7654.535,16527.854,222,2.1,241,141.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-71.9
$GPS2,081210,154237,-7654.576,16527.764,34,1.0,34,141.9
$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,220.1,27011,-17.5,-10.000
$D_GRID,579
$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,-78.75,0.000,2,0.000,0.000,418,2646,2796,0,0,0,0,0,0
$GC,99,-0.76,-146.0,3.2,-2.9,12,153,9.02,2.33,-34.78,0.000,4,0.206,0.065,2810,1244,3560,0,0,0,0,0,0
$GC,312,-0.76,-146.0,28.2,-14.5,49,319,0.00,2.33,0.00,0.000,6,0.000,0.059,2801,2655,3563,0,0,0,0,0,0
$GC,450,-0.76,-146.0,50.0,-15.6,74,458,0.00,2.30,0.00,0.000,4,0.000,0.053,2801,1241,3563,0,0,0,0,0,0
$GC,464,-0.76,-146.0,52.5,-15.8,76,472,0.00,2.30,0.00,0.000,6,0.000,0.058,2792,2626,3562,0,0,0,0,0,0
$GC,605,-0.76,-146.0,75.5,-16.5,101,612,0.00,1.83,0.00,0.000,4,0.000,0.062,2783,3765,3562,0,0,0,0,0,0
$GC,645,-0.76,-146.0,83.0,-17.9,108,654,0.10,1.80,0.00,0.000,6,0.147,0.044,2815,2633,3563,0,0,0,0,0,0
$GC,790,-0.76,-146.0,105.3,-15.0,131,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2631,3563,0,0,0,0,0,0
$GC,917,-0.76,-146.0,125.1,-15.6,143,921,0.00,1.85,0.00,0.000,4,0.000,0.064,2808,3771,3562,0,0,0,0,0,0
$GC,952,-0.76,-146.0,131.0,-17.3,146,956,0.00,1.77,0.00,0.000,6,0.000,0.044,2808,2627,3562,0,0,0,0,0,0
$GC,1094,-0.76,-146.0,152.8,-15.4,159,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2625,3563,0,0,0,0,0,0
$GC,1229,-0.76,-146.0,174.2,-15.6,172,1233,0.00,1.85,0.00,0.000,4,0.000,0.063,2799,3769,3563,0,0,0,0,0,0
$GC,1296,-0.76,-146.0,185.7,-17.0,178,1300,0.00,1.75,0.00,0.000,6,0.000,0.045,2799,2638,3563,0,0,0,0,0,0
$GC,1438,-0.76,-146.0,208.8,-16.2,191,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2637,3562,0,0,0,0,0,0
$GC,1564,-0.76,-146.0,228.9,-15.8,203,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2637,3563,0,0,0,0,0,0
$GC,1692,-0.76,-146.0,249.0,-15.5,215,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2637,3562,0,0,0,0,0,0
$GC,1817,-0.76,-146.0,268.7,-15.1,227,1821,0.00,1.88,0.00,0.000,4,0.000,0.064,2790,3764,3562,0,0,0,0,0,0
$GC,1855,-0.76,-146.0,275.3,-17.2,230,1863,0.00,1.77,0.00,0.000,6,0.000,0.044,2790,2645,3562,0,0,0,0,0,0
$GC,2053,-0.76,-146.0,307.2,-15.6,249,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2645,3562,0,0,0,0,0,0
$GC,2244,-0.76,-146.0,337.5,-15.6,267,2248,0.00,1.80,0.00,0.000,4,0.000,0.063,2782,3764,3563,0,0,0,0,0,0
$GC,2295,-0.76,-146.0,346.0,-16.8,271,2302,0.12,1.73,0.00,0.000,6,0.168,0.044,2815,2645,3562,0,0,0,0,0,0
$GC,2493,-0.76,-146.0,373.9,-13.9,290,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2645,3562,0,0,0,0,0,0
$GC,2686,-0.76,-146.0,400.4,-13.8,308,2690,0.00,1.80,0.00,0.000,4,0.000,0.063,2808,3763,3563,0,0,0,0,0,0
$GC,2742,-0.76,-146.0,409.0,-14.6,313,2746,0.00,1.70,0.00,0.000,6,0.000,0.044,2808,2662,3562,0,0,0,0,0,0
$GC,2945,-0.76,-146.0,438.6,-14.7,332,2946,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2660,3562,0,0,0,0,0,0
$GC,3136,-0.76,-146.0,466.8,-14.5,350,3140,0.00,1.80,0.00,0.000,4,0.000,0.065,2800,3773,3563,0,0,0,0,0,0
$GC,3181,-0.76,-146.0,474.0,-16.0,354,3185,0.00,1.77,0.00,0.000,6,0.000,0.045,2800,2657,3562,0,0,0,0,0,0
$GC,3393,-0.76,-146.0,506.0,-14.9,372,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2655,3563,0,0,0,0,0,0
$GC,3576,-0.76,-146.0,532.6,-14.5,378,3580,0.00,1.80,0.00,0.000,4,0.000,0.065,2791,3768,3562,0,0,0,0,0,0
$GC,3644,-0.76,-146.0,543.2,-15.8,380,3647,0.00,1.70,0.00,0.000,6,0.000,0.044,2791,2669,3562,0,0,0,0,0,0
$STATE,3799,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3799,begin apogee
$GC,3804,-0.17,0.0,566.8,15.0,385,3943,0.65,0.00,133.43,1.167,4,0.134,0.000,2999,2489,2961,0,0,0,0,0,0
$STATE,3944,end apogee,CONTROL_FINISHED_OK
$STATE,3944,begin climb
$GC,3946,0.76,146.0,572.5,0.0,389,4100,0.98,2.53,146.07,1.099,4,0.073,0.052,3310,1104,2365,0,0,0,0,0,0
$GC,4200,0.76,146.0,549.3,11.5,397,4205,0.00,2.47,0.00,0.000,6,0.000,0.054,3310,2493,2353,0,0,0,0,0,0
$GC,4402,0.76,146.0,523.9,12.8,404,4406,0.00,2.33,0.00,0.000,4,0.000,0.054,3318,1091,2350,0,0,0,0,0,0
$GC,4541,0.76,146.0,506.4,12.8,408,4546,0.00,2.40,0.00,0.000,6,0.000,0.056,3318,2523,2346,0,0,0,0,0,0
$GC,4740,0.76,146.0,480.1,13.3,423,4744,0.00,2.00,0.00,0.000,4,0.000,0.060,3318,3770,2345,0,0,0,0,0,0
$GC,4875,0.76,146.0,459.4,15.4,435,4878,0.00,1.92,0.00,0.000,6,0.000,0.044,3327,2539,2345,0,0,0,0,0,0
$GC,5078,0.76,146.0,431.5,13.2,454,5081,0.00,1.98,0.00,0.000,4,0.000,0.060,3327,3765,2344,0,0,0,0,0,0
$GC,5123,0.76,146.0,424.6,15.9,458,5126,0.00,1.95,0.00,0.000,6,0.000,0.044,3337,2542,2344,0,0,0,0,0,0
$GC,5326,0.76,146.0,396.5,13.7,477,5329,0.00,1.98,0.00,0.000,4,0.000,0.061,3337,3768,2343,0,0,0,0,0,0
$GC,5382,0.76,146.0,387.8,15.9,482,5386,0.08,1.95,0.00,0.000,6,0.148,0.044,3312,2547,2343,0,0,0,0,0,0
$GC,5585,0.76,146.0,363.0,11.9,501,5588,0.00,1.98,0.00,0.000,4,0.000,0.062,3311,3775,2342,0,0,0,0,0,0
$GC,5611,0.76,146.0,359.2,13.2,503,5619,0.00,1.95,0.00,0.000,6,0.000,0.044,3319,2548,2342,0,0,0,0,0,0
$GC,5809,0.76,146.0,335.5,11.8,522,5810,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2546,2342,0,0,0,0,0,0
$GC,6002,0.76,146.0,312.8,11.9,540,6005,0.00,1.98,0.00,0.000,4,0.000,0.060,3319,3777,2342,0,0,0,0,0,0
$GC,6047,0.76,146.0,306.3,14.8,544,6050,0.00,1.90,0.00,0.000,6,0.000,0.044,3328,2552,2342,0,0,0,0,0,0
$GC,6250,0.76,146.0,279.7,12.4,563,6254,0.00,1.98,0.00,0.000,4,0.000,0.061,3328,3773,2342,0,0,0,0,0,0
$GC,6295,0.76,146.0,273.3,15.0,567,6299,0.00,1.88,0.00,0.000,6,0.000,0.043,3338,2559,2341,0,0,0,0,0,0
$GC,6499,0.76,146.0,245.8,12.9,586,6503,0.00,1.95,0.00,0.000,4,0.000,0.061,3337,3769,2341,0,0,0,0,0,0
$GC,6544,0.76,146.0,239.3,15.7,590,6548,0.12,1.88,0.00,0.000,6,0.170,0.042,3313,2556,2341,0,0,0,0,0,0
$GC,6686,0.76,146.0,222.4,11.5,603,6693,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2553,2341,0,0,0,0,0,0
$GC,6820,0.76,146.0,207.4,10.6,616,6821,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2553,2341,0,0,0,0,0,0
$GC,6948,0.76,146.0,193.6,11.1,628,6951,0.00,1.95,0.00,0.000,4,0.000,0.061,3313,3765,2341,0,0,0,0,0,0
$GC,6994,0.76,146.0,187.9,13.2,632,6997,0.00,1.85,0.00,0.000,6,0.000,0.043,3321,2563,2341,0,0,0,0,0,0
$GC,7135,0.76,146.0,171.1,10.9,645,7137,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2561,2341,0,0,0,0,0,0
$GC,7261,0.76,146.0,155.1,13.0,657,7265,0.00,1.95,0.00,0.000,4,0.000,0.061,3321,3775,2341,0,0,0,0,0,0
$GC,7317,0.76,146.0,146.9,14.8,662,7321,0.00,1.85,0.00,0.000,6,0.000,0.044,3330,2577,2341,0,0,0,0,0,0
$GC,7459,0.76,146.0,128.1,12.8,675,7462,0.00,1.92,0.00,0.000,4,0.000,0.061,3330,3773,2341,0,0,0,0,0,0
$GC,7495,0.76,146.0,122.9,15.4,678,7498,0.00,1.83,0.00,0.000,6,0.000,0.043,3339,2588,2341,0,0,0,0,0,0
$GC,7637,0.76,146.0,102.1,14.4,691,7644,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2585,2341,0,0,0,0,0,0
$GC,7774,0.76,146.0,82.3,14.1,715,7780,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2586,2341,0,0,0,0,0,0
$GC,7911,0.76,146.0,63.4,13.3,740,7919,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2586,2340,0,0,0,0,0,0
$GC,8051,0.76,146.0,45.4,12.5,765,8058,0.00,1.92,0.00,0.000,4,0.000,0.061,3339,3774,2340,0,0,0,0,0,0
$GC,8080,0.76,146.0,41.4,14.5,770,8088,0.10,1.88,0.00,0.000,6,0.151,0.044,3316,2590,2340,0,0,0,0,0,0
$GC,8223,0.76,146.0,24.3,12.3,795,8230,0.00,2.38,0.00,0.000,4,0.000,0.054,3326,1087,2340,0,0,0,0,0,0
$GC,8285,0.76,146.0,16.5,12.4,806,8293,0.00,2.45,0.00,0.000,6,0.000,0.057,3326,2579,2339,0,0,0,0,0,0
$FREEZE,8.35,-1.579,-1.902,2,1,0
$FREEZE,7.55,-1.574,-1.901,2,1,0
$FREEZE,6.78,-1.573,-1.900,2,1,0
$FREEZE,6.10,-1.571,-1.900,2,1,0
$FREEZE,5.42,-1.571,-1.899,2,1,0
$FREEZE,4.56,-1.572,-1.898,2,1,0
$FREEZE,3.93,-1.570,-1.897,2,1,0
$FREEZE,3.11,-1.569,-1.897,2,1,0
$FREEZE,2.60,-1.563,-1.896,2,1,0
$STATE,8395,end climb,SURFACE_DEPTH_REACHED
$STATE,8395,begin surface coast
$FREEZE,1.65,-1.559,-1.895,2,1,0
$FREEZE,1.58,-1.593,-1.897,2,1,0
$FREEZE,1.53,-1.542,-1.894,2,1,0
$FREEZE,1.49,-1.527,-0.672,2,1,0
$FINISH,1.5,1.009827
$STATE,8420,end surface coast,FINISH_DEPTH_REACHED
$STATE,8420,begin surface
$SM_CCo,8435,140.32,0.757,1,0,1330,400.08
$SM_GC,2.47,0.00,0.00,140.32,0.000,0.000,0.757,423,2669,1330,-8.26,0.54,400.08
$IRIDIUM_FIX,-7621.20,16305.15,081210,101030
$TT8_MAMPS,0.028462
$HUMID,51.45
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.0
$ALTIM_BOTTOM_PING,552.9,28.7
$24V_AH,20.8,38.753
$10V_AH,9.9,23.203
$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,18.750,95.175,279.500,140.325,0.000,30.600,36.594,317.807,2.250,0.000,35.305,2079.934,3908.381,541.374,2402.477,173.733,0.000,1418.343,0.000,1464.024,0.000,17.426,0.000
$DEVICE_MAMPS,205.785,102.510,1166.625,756.585,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,586.209,1015.807,923.345,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276312
$DATA_FILE_SIZE,57006,829
$CAP_FILE_SIZE,122834,0
$CFSIZE,260165632,242823168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081210,180707,-7653.677,16528.881,28,1.1,29,141.9