version: 66.08
glider: 502
mission: 3
dive: 185
start: 12 9 110 12 10 20
data:
$ID,502
$MISSION,3
$DIVE,185
$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,-28576.357
$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,39
$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
$GPS1,081210,231402,-7651.353,16531.492,301,99.0,301,141.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-69.2
$GPS2,091210,120956,-7647.279,16537.803,57,4.3,76,141.2
$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,204.9,13887,-17.5,-10.000
$D_GRID,575
$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,-146.0,0.0,0.0,0,135,0.00,0.00,-117.55,0.000,2,0.000,0.000,434,2637,2749,0,0,0,0,0,0
$GC,138,-0.76,-146.0,3.2,-2.8,18,193,8.88,2.25,-38.00,0.000,4,0.203,0.064,2811,1241,3557,0,0,0,0,0,0
$GC,211,-0.76,-146.0,6.0,-10.1,29,218,0.00,2.33,0.00,0.000,6,0.000,0.060,2802,2653,3560,0,0,0,0,0,0
$GC,348,-0.76,-146.0,27.3,-16.0,54,356,0.00,1.83,0.00,0.000,4,0.000,0.061,2794,3767,3560,0,0,0,0,0,0
$GC,477,-0.76,-146.0,49.1,-16.7,77,484,0.00,1.73,0.00,0.000,6,0.000,0.044,2794,2685,3560,0,0,0,0,0,0
$GC,615,-0.76,-146.0,73.4,-17.8,102,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2684,3560,0,0,0,0,0,0
$GC,755,-0.76,-146.0,96.7,-16.6,127,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2684,3560,0,0,0,0,0,0
$GC,897,-0.76,-146.0,119.8,-16.3,142,900,0.00,1.75,0.00,0.000,4,0.000,0.063,2786,3767,3560,0,0,0,0,0,0
$GC,933,-0.76,-146.0,125.6,-17.8,145,937,0.12,1.67,0.00,0.000,6,0.170,0.044,2819,2683,3560,0,0,0,0,0,0
$GC,1074,-0.76,-146.0,146.6,-14.5,158,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2682,3560,0,0,0,0,0,0
$GC,1209,-0.76,-146.0,166.2,-14.1,171,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2681,3560,0,0,0,0,0,0
$GC,1337,-0.76,-146.0,184.8,-14.9,183,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2681,3560,0,0,0,0,0,0
$GC,1464,-0.76,-146.0,203.3,-14.5,195,1467,0.00,1.75,0.00,0.000,4,0.000,0.064,2812,3764,3560,0,0,0,0,0,0
$GC,1500,-0.76,-146.0,209.4,-15.2,198,1509,0.00,1.73,0.00,0.000,6,0.000,0.044,2812,2679,3560,0,0,0,0,0,0
$GC,1636,-0.76,-146.0,229.2,-14.7,211,1637,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2679,3560,0,0,0,0,0,0
$GC,1763,-0.76,-146.0,247.9,-14.5,223,1764,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2679,3560,0,0,0,0,0,0
$GC,1891,-0.76,-146.0,266.8,-14.7,235,1892,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2679,3560,0,0,0,0,0,0
$GC,2081,-0.76,-146.0,294.8,-14.4,253,2082,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2678,3560,0,0,0,0,0,0
$GC,2271,-0.76,-146.0,322.5,-14.2,271,2275,0.00,1.77,0.00,0.000,4,0.000,0.066,2803,3771,3560,0,0,0,0,0,0
$GC,2309,-0.76,-146.0,328.5,-15.4,274,2317,0.00,1.73,0.00,0.000,6,0.000,0.044,2803,2684,3560,0,0,0,0,0,0
$GC,2508,-0.76,-146.0,358.0,-15.0,293,2509,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2683,3560,0,0,0,0,0,0
$GC,2699,-0.76,-146.0,386.3,-14.8,311,2700,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2683,3560,0,0,0,0,0,0
$GC,2890,-0.76,-146.0,414.5,-14.6,329,2894,0.00,1.75,0.00,0.000,4,0.000,0.066,2796,3764,3560,0,0,0,0,0,0
$GC,2924,-0.76,-146.0,419.7,-16.0,332,2927,0.00,1.67,0.00,0.000,6,0.000,0.044,2796,2681,3561,0,0,0,0,0,0
$GC,3127,-0.76,-146.0,450.8,-14.8,351,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2680,3560,0,0,0,0,0,0
$GC,3318,-0.76,-146.0,479.3,-14.7,369,3319,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2680,3560,0,0,0,0,0,0
$GC,3528,-0.76,-146.0,510.8,-15.0,385,3531,0.00,1.75,0.00,0.000,4,0.000,0.065,2788,3764,3560,0,0,0,0,0,0
$GC,3548,-0.76,-146.0,514.5,-16.1,385,3553,0.00,1.70,0.00,0.000,6,0.000,0.044,2788,2689,3560,0,0,0,0,0,0
$GC,3745,-0.76,-146.0,544.0,-15.1,392,3749,0.10,1.77,0.00,0.000,4,0.187,0.065,2806,3773,3560,0,0,0,0,0,0
$GC,3779,-0.76,-146.0,549.0,-14.7,393,3782,0.00,1.67,0.00,0.000,6,0.000,0.044,2806,2690,3560,0,0,0,0,0,0
$STATE,3964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3964,begin apogee
$GC,3969,-0.17,0.0,575.1,13.7,399,4108,0.60,0.00,134.05,1.167,4,0.130,0.000,3001,2492,2961,0,0,0,0,0,0
$STATE,4108,end apogee,CONTROL_FINISHED_OK
$STATE,4109,begin climb
$GC,4110,0.76,146.0,579.9,0.0,403,4266,0.98,2.55,147.40,1.089,4,0.073,0.052,3310,1107,2365,0,0,0,0,0,0
$GC,4361,0.76,146.0,556.9,12.5,411,4365,0.00,2.45,0.00,0.000,6,0.000,0.055,3310,2504,2353,0,0,0,0,0,0
$GC,4563,0.76,146.0,530.8,12.9,418,4567,0.00,2.30,0.00,0.000,4,0.000,0.052,3319,1102,2348,0,0,0,0,0,0
$GC,4696,0.76,146.0,513.7,12.7,422,4700,0.00,2.35,0.00,0.000,6,0.000,0.055,3319,2506,2345,0,0,0,0,0,0
$GC,4892,0.76,146.0,488.1,13.1,433,4895,0.00,2.03,0.00,0.000,4,0.000,0.061,3319,3768,2345,0,0,0,0,0,0
$GC,5008,0.76,146.0,470.5,15.2,443,5015,0.00,1.95,0.00,0.000,6,0.000,0.042,3328,2542,2343,0,0,0,0,0,0
$GC,5205,0.76,146.0,443.8,12.8,462,5209,0.00,1.98,0.00,0.000,4,0.000,0.061,3328,3767,2343,0,0,0,0,0,0
$GC,5262,0.76,146.0,435.1,15.6,467,5266,0.00,1.92,0.00,0.000,6,0.000,0.042,3337,2523,2342,0,0,0,0,0,0
$GC,5465,0.76,146.0,405.4,14.1,486,5468,0.00,2.00,0.00,0.000,4,0.000,0.062,3337,3764,2342,0,0,0,0,0,0
$GC,5533,0.76,146.0,394.3,16.6,492,5537,0.12,1.90,0.00,0.000,6,0.169,0.043,3314,2540,2341,0,0,0,0,0,0
$GC,5737,0.76,146.0,368.2,12.5,511,5741,0.00,1.98,0.00,0.000,4,0.000,0.060,3314,3771,2341,0,0,0,0,0,0
$GC,5793,0.76,146.0,360.1,14.6,516,5796,0.00,1.90,0.00,0.000,6,0.000,0.044,3321,2549,2340,0,0,0,0,0,0
$GC,5996,0.76,146.0,333.1,12.9,535,5999,0.00,1.98,0.00,0.000,4,0.000,0.062,3321,3773,2341,0,0,0,0,0,0
$GC,6045,0.76,146.0,325.5,15.5,539,6052,0.00,1.90,0.00,0.000,6,0.000,0.044,3329,2569,2340,0,0,0,0,0,0
$GC,6245,0.76,146.0,298.3,13.4,558,6248,0.00,1.92,0.00,0.000,4,0.000,0.062,3329,3764,2340,0,0,0,0,0,0
$GC,6305,0.76,146.0,288.4,16.3,563,6312,0.00,1.88,0.00,0.000,6,0.000,0.043,3338,2578,2340,0,0,0,0,0,0
$GC,6505,0.76,146.0,260.5,14.1,582,6508,0.00,1.90,0.00,0.000,4,0.000,0.060,3338,3766,2340,0,0,0,0,0,0
$GC,6554,0.76,146.0,252.7,16.2,586,6562,0.10,1.88,0.00,0.000,6,0.140,0.041,3314,2574,2339,0,0,0,0,0,0
$GC,6753,0.76,146.0,228.3,12.4,605,6757,0.00,1.92,0.00,0.000,4,0.000,0.063,3314,3769,2339,0,0,0,0,0,0
$GC,6798,0.76,146.0,222.1,14.6,609,6802,0.00,1.83,0.00,0.000,6,0.000,0.043,3321,2587,2339,0,0,0,0,0,0
$GC,6939,0.76,146.0,203.8,12.8,622,6940,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2584,2339,0,0,0,0,0,0
$GC,7066,0.76,146.0,187.7,12.9,634,7070,0.00,1.90,0.00,0.000,4,0.000,0.063,3321,3764,2339,0,0,0,0,0,0
$GC,7111,0.76,146.0,181.3,14.7,638,7114,0.00,1.80,0.00,0.000,6,0.000,0.043,3330,2594,2339,0,0,0,0,0,0
$GC,7252,0.76,146.0,163.1,12.3,651,7256,0.00,1.90,0.00,0.000,4,0.000,0.062,3330,3771,2338,0,0,0,0,0,0
$GC,7287,0.76,146.0,158.1,15.0,654,7290,0.00,1.80,0.00,0.000,6,0.000,0.043,3339,2606,2338,0,0,0,0,0,0
$GC,7428,0.76,146.0,138.9,13.2,667,7430,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2604,2339,0,0,0,0,0,0
$GC,7555,0.76,146.0,122.0,13.3,679,7558,0.00,1.88,0.00,0.000,4,0.000,0.061,3340,3773,2338,0,0,0,0,0,0
$GC,7611,0.76,146.0,113.6,15.4,684,7616,0.12,1.80,0.00,0.000,6,0.171,0.044,3315,2609,2338,0,0,0,0,0,0
$GC,7745,0.76,146.0,97.2,11.9,698,7753,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2607,2338,0,0,0,0,0,0
$GC,7885,0.76,146.0,81.1,12.3,723,7891,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2607,2338,0,0,0,0,0,0
$GC,8022,0.76,146.0,65.2,11.3,748,8030,0.00,1.90,0.00,0.000,4,0.000,0.063,3315,3755,2338,0,0,0,0,0,0
$GC,8090,0.76,146.0,56.1,14.0,760,8098,0.00,1.80,0.00,0.000,6,0.000,0.044,3321,2621,2338,0,0,0,0,0,0
$GC,8230,0.76,146.0,39.2,12.0,785,8236,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2620,2338,0,0,0,0,0,0
$GC,8367,0.76,146.0,22.1,12.5,810,8375,0.00,1.88,0.00,0.000,4,0.000,0.062,3322,3755,2338,0,0,0,0,0,0
$FREEZE,8.83,-1.496,-1.901,2,1,0
$FREEZE,7.96,-1.504,-1.900,2,1,0
$FREEZE,7.28,-1.508,-1.899,2,1,0
$FREEZE,6.49,-1.508,-1.899,2,1,0
$FREEZE,5.56,-1.511,-1.898,2,1,0
$FREEZE,4.75,-1.512,-1.897,2,1,0
$FREEZE,3.91,-1.513,-1.897,2,1,0
$FREEZE,3.08,-1.518,-1.896,2,1,0
$FREEZE,2.60,-1.529,-1.895,2,1,0
$STATE,8509,end climb,SURFACE_DEPTH_REACHED
$STATE,8509,begin surface coast
$FREEZE,2.56,-1.544,-1.896,2,1,0
$FREEZE,2.59,-1.554,-1.895,2,1,0
$FREEZE,2.58,-1.559,-1.897,2,1,0
$FREEZE,2.59,-1.555,-1.897,2,1,0
$FINISH,2.6,1.027782
$STATE,8534,end surface coast,CONTROL_FINISHED_OK
$STATE,8534,begin surface
$IRIDIUM_FIX,-7603.11,16541.80,081210,232337
$TT8_MAMPS,0.028462
$HUMID,53.26
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,13.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,17.2
$24V_AH,20.8,39.800
$10V_AH,9.9,23.990
$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,11.025,86.275,281.450,0.000,0.000,29.599,36.690,673.630,2.500,0.000,78.068,2089.009,4069.698,420.786,2811.186,228.443,0.000,1313.335,0.000,1466.782,0.000,17.414,0.000
$DEVICE_MAMPS,203.490,65.790,1167.390,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,592.567,1035.301,944.476,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276256
$DATA_FILE_SIZE,56945,839
$CAP_FILE_SIZE,128304,0
$CFSIZE,260165632,242290688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091210,120956,-7647.279,16537.803,57,4.3,76,141.2