version: 66.08
glider: 502
mission: 3
dive: 186
start: 12 9 110 14 36 15
data:
$ID,502
$MISSION,3
$DIVE,186
$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,35
$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
$GPS1,091210,120956,-7647.279,16537.803,57,4.3,76,141.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,11.7
$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,-146.0,0.0,0.0,0,70,0.00,0.00,-53.00,0.000,2,0.000,0.000,3322,3756,3432,0,0,0,0,0,0
$GC,73,-0.76,-146.0,3.3,-2.6,8,82,1.60,0.00,-4.75,0.000,4,0.152,0.000,2832,3756,3559,0,0,0,0,0,0
$GC,215,-0.76,-146.0,19.6,-13.3,33,222,0.00,1.75,0.00,0.000,6,0.000,0.045,2832,2652,3562,0,0,0,0,0,0
$GC,352,-0.76,-146.0,38.5,-13.1,58,360,0.00,1.85,0.00,0.000,4,0.000,0.065,2824,3764,3563,0,0,0,0,0,0
$GC,439,-0.76,-146.0,50.5,-15.1,73,446,0.00,1.75,0.00,0.000,6,0.000,0.044,2824,2662,3563,0,0,0,0,0,0
$GC,576,-0.76,-146.0,70.1,-14.2,98,584,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2661,3562,0,0,0,0,0,0
$GC,716,-0.76,-146.0,89.6,-14.4,123,722,0.00,1.80,0.00,0.000,4,0.000,0.064,2815,3769,3563,0,0,0,0,0,0
$GC,752,-0.76,-146.0,94.8,-14.6,129,758,0.00,1.75,0.00,0.000,6,0.000,0.044,2815,2670,3563,0,0,0,0,0,0
$GC,894,-0.76,-146.0,115.4,-14.6,145,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2669,3563,0,0,0,0,0,0
$GC,1021,-0.76,-146.0,134.1,-14.4,157,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2669,3563,0,0,0,0,0,0
$GC,1149,-0.76,-146.0,152.8,-14.9,169,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2669,3563,0,0,0,0,0,0
$GC,1276,-0.76,-146.0,171.6,-14.7,181,1280,0.00,1.77,0.00,0.000,4,0.000,0.063,2807,3771,3563,0,0,0,0,0,0
$GC,1301,-0.76,-146.0,175.2,-15.0,183,1304,0.00,1.70,0.00,0.000,6,0.000,0.044,2807,2675,3563,0,0,0,0,0,0
$GC,1441,-0.76,-146.0,196.4,-14.9,196,1446,0.00,2.25,0.00,0.000,4,0.000,0.054,2807,1244,3563,0,0,0,0,0,0
$GC,1471,-0.76,-146.0,200.9,-15.3,198,1475,0.00,2.33,0.00,0.000,6,0.000,0.060,2798,2676,3563,0,0,0,0,0,0
$GC,1605,-0.76,-146.0,221.4,-15.4,210,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2676,3563,0,0,0,0,0,0
$GC,1733,-0.76,-146.0,241.4,-16.2,222,1737,0.00,1.73,0.00,0.000,4,0.000,0.061,2790,3766,3563,0,0,0,0,0,0
$GC,1770,-0.76,-146.0,248.1,-17.2,225,1779,0.05,1.73,0.00,0.000,6,0.163,0.044,2807,2675,3563,0,0,0,0,0,0
$GC,1904,-0.76,-146.0,268.3,-14.7,238,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2674,3563,0,0,0,0,0,0
$GC,2095,-0.76,-146.0,296.1,-14.5,256,2097,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2674,3563,0,0,0,0,0,0
$GC,2288,-0.76,-146.0,323.6,-14.2,274,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2675,3563,0,0,0,0,0,0
$GC,2479,-0.76,-146.0,350.8,-14.5,292,2482,0.00,1.77,0.00,0.000,4,0.000,0.064,2800,3773,3563,0,0,0,0,0,0
$GC,2516,-0.76,-146.0,356.9,-15.4,295,2524,0.00,1.75,0.00,0.000,6,0.000,0.044,2800,2676,3563,0,0,0,0,0,0
$GC,2715,-0.76,-146.0,385.8,-14.7,314,2716,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2675,3563,0,0,0,0,0,0
$GC,2906,-0.76,-146.0,413.6,-14.8,332,2910,0.00,1.77,0.00,0.000,4,0.000,0.063,2791,3773,3563,0,0,0,0,0,0
$GC,2932,-0.76,-146.0,418.1,-15.8,334,2940,0.00,1.73,0.00,0.000,6,0.000,0.044,2791,2687,3563,0,0,0,0,0,0
$GC,3131,-0.76,-146.0,447.3,-14.7,353,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2686,3563,0,0,0,0,0,0
$GC,3322,-0.76,-146.0,475.5,-14.7,371,3326,0.00,1.75,0.00,0.000,4,0.000,0.063,2784,3769,3563,0,0,0,0,0,0
$GC,3348,-0.76,-146.0,480.0,-16.0,373,3357,0.08,1.73,0.00,0.000,6,0.148,0.044,2809,2686,3563,0,0,0,0,0,0
$GC,3565,-0.76,-146.0,509.1,-13.3,390,3566,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2685,3563,0,0,0,0,0,0
$GC,3749,-0.76,-146.0,533.6,-13.4,396,3751,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2685,3563,0,0,0,0,0,0
$GC,3933,-0.76,-146.0,557.7,-13.3,402,3934,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2686,3563,0,0,0,0,0,0
$STATE,4084,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4085,begin apogee
$GC,4089,-0.17,0.0,578.1,13.2,407,4229,0.60,0.00,135.40,1.177,4,0.128,0.000,3006,2492,2962,0,0,0,0,0,0
$STATE,4230,end apogee,CONTROL_FINISHED_OK
$STATE,4230,begin climb
$GC,4231,0.76,146.0,582.9,0.0,411,4389,0.95,2.55,148.95,1.102,4,0.070,0.052,3309,1102,2365,0,0,0,0,0,0
$GC,4500,0.76,146.0,558.4,11.8,420,4504,0.00,2.47,0.00,0.000,6,0.000,0.054,3309,2493,2353,0,0,0,0,0,0
$GC,4713,0.76,146.0,531.4,12.5,427,4717,0.00,2.28,0.00,0.000,4,0.000,0.053,3315,1105,2350,0,0,0,0,0,0
$GC,4813,0.76,146.0,519.1,11.6,430,4817,0.00,2.38,0.00,0.000,6,0.000,0.057,3315,2518,2348,0,0,0,0,0,0
$GC,5008,0.76,146.0,493.8,12.9,439,5012,0.00,2.03,0.00,0.000,4,0.000,0.061,3316,3773,2347,0,0,0,0,0,0
$GC,5136,0.76,146.0,473.7,16.0,450,5144,0.00,1.95,0.00,0.000,6,0.000,0.043,3324,2549,2346,0,0,0,0,0,0
$GC,5334,0.76,146.0,446.1,14.1,469,5338,0.00,1.98,0.00,0.000,4,0.000,0.061,3324,3769,2345,0,0,0,0,0,0
$GC,5417,0.76,146.0,432.4,16.7,476,5424,0.00,1.95,0.00,0.000,6,0.000,0.043,3333,2546,2344,0,0,0,0,0,0
$GC,5616,0.76,146.0,402.5,15.1,495,5620,0.00,1.98,0.00,0.000,4,0.000,0.061,3333,3771,2344,0,0,0,0,0,0
$GC,5689,0.76,146.0,390.2,17.1,501,5696,0.12,1.88,0.00,0.000,6,0.168,0.043,3310,2560,2344,0,0,0,0,0,0
$GC,5886,0.76,146.0,364.4,12.5,520,5890,0.00,1.95,0.00,0.000,4,0.000,0.061,3309,3769,2343,0,0,0,0,0,0
$GC,5954,0.76,146.0,354.8,14.6,526,5957,0.00,1.88,0.00,0.000,6,0.000,0.044,3317,2559,2343,0,0,0,0,0,0
$GC,6157,0.76,146.0,328.0,13.1,545,6160,0.00,1.95,0.00,0.000,4,0.000,0.061,3316,3768,2343,0,0,0,0,0,0
$GC,6228,0.76,146.0,316.9,15.5,551,6236,0.00,1.88,0.00,0.000,6,0.000,0.043,3325,2585,2342,0,0,0,0,0,0
$GC,6428,0.76,146.0,289.9,13.4,570,6432,0.00,1.90,0.00,0.000,4,0.000,0.061,3326,3767,2342,0,0,0,0,0,0
$GC,6501,0.76,146.0,278.4,15.9,576,6508,0.00,1.83,0.00,0.000,6,0.000,0.043,3334,2593,2342,0,0,0,0,0,0
$GC,6698,0.76,146.0,250.8,13.9,595,6702,0.00,1.90,0.00,0.000,4,0.000,0.061,3335,3775,2342,0,0,0,0,0,0
$GC,6779,0.76,146.0,238.1,15.6,602,6788,0.08,1.85,0.00,0.000,6,0.148,0.043,3318,2606,2342,0,0,0,0,0,0
$GC,6916,0.76,146.0,220.8,13.0,615,6919,0.00,1.88,0.00,0.000,4,0.000,0.063,3318,3771,2342,0,0,0,0,0,0
$GC,6941,0.76,146.0,216.6,14.2,617,6951,0.00,1.83,0.00,0.000,6,0.000,0.042,3325,2617,2341,0,0,0,0,0,0
$GC,7078,0.76,146.0,198.7,13.4,630,7079,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2616,2341,0,0,0,0,0,0
$GC,7205,0.76,146.0,181.9,13.0,642,7208,0.00,1.85,0.00,0.000,4,0.000,0.063,3325,3767,2341,0,0,0,0,0,0
$GC,7271,0.76,146.0,172.0,15.3,648,7275,0.00,1.77,0.00,0.000,6,0.000,0.042,3334,2614,2341,0,0,0,0,0,0
$GC,7412,0.76,146.0,152.3,13.5,661,7415,0.00,1.88,0.00,0.000,4,0.000,0.063,3334,3777,2341,0,0,0,0,0,0
$GC,7448,0.76,146.0,146.3,15.5,664,7458,0.08,1.83,0.00,0.000,6,0.152,0.042,3318,2627,2341,0,0,0,0,0,0
$GC,7586,0.76,146.0,129.1,12.4,677,7589,0.00,1.85,0.00,0.000,4,0.000,0.063,3318,3777,2341,0,0,0,0,0,0
$GC,7631,0.76,146.0,122.7,15.1,681,7635,0.00,1.75,0.00,0.000,6,0.000,0.043,3325,2640,2341,0,0,0,0,0,0
$GC,7771,0.76,146.0,104.5,12.5,694,7773,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2637,2341,0,0,0,0,0,0
$GC,7898,0.76,146.0,88.4,13.1,714,7906,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2637,2341,0,0,0,0,0,0
$GC,8038,0.76,146.0,70.8,12.4,739,8044,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2637,2341,0,0,0,0,0,0
$GC,8175,0.76,146.0,53.5,13.2,764,8183,0.00,1.88,0.00,0.000,4,0.000,0.063,3326,3770,2341,0,0,0,0,0,0
$GC,8233,0.76,146.0,45.2,15.7,774,8241,0.00,1.77,0.00,0.000,6,0.000,0.044,3334,2645,2340,0,0,0,0,0,0
$GC,8375,0.76,146.0,26.4,12.6,799,8381,0.00,1.83,0.00,0.000,4,0.000,0.062,3334,3774,2340,0,0,0,0,0,0
$GC,8478,0.76,146.0,10.4,16.0,817,8485,0.12,1.77,0.00,0.000,6,0.171,0.044,3309,2633,2340,0,0,0,0,0,0
$FREEZE,8.08,-1.446,-1.900,2,2,0
$FREEZE,7.23,-1.450,-1.899,2,2,0
$FREEZE,6.67,-1.456,-1.899,2,2,0
$FREEZE,5.76,-1.454,-1.898,2,2,0
$FREEZE,5.21,-1.462,-1.897,2,2,0
$FREEZE,4.33,-1.486,-1.896,2,2,0
$FREEZE,3.67,-1.490,-1.895,2,2,0
$FREEZE,2.94,-1.491,-1.895,2,2,0
$STATE,8531,end climb,SURFACE_DEPTH_REACHED
$STATE,8531,begin surface coast
$FREEZE,2.38,-1.514,-1.894,2,2,0
$FREEZE,2.14,-1.510,-1.895,2,2,0
$FREEZE,2.07,-1.532,-1.896,2,2,0
$FREEZE,1.90,-1.524,-1.894,2,2,0
$FINISH,1.9,1.027758
$STATE,8558,end surface coast,CONTROL_FINISHED_OK
$STATE,8558,begin surface
$SM_CCo,8590,136.98,0.748,1,0,1329,400.08
$SM_GC,2.28,0.00,0.00,136.98,0.000,0.000,0.748,426,2631,1329,-8.25,-0.54,400.08
$IRIDIUM_FIX,-7603.11,16541.80,081210,232337
$TT8_MAMPS,0.028462
$HUMID,51.65
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,17.0
$24V_AH,20.8,39.920
$10V_AH,9.9,24.081
$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,11.675,89.600,284.350,136.975,0.000,0.000,0.000,0.000,2.750,0.000,0.000,2090.111,4091.117,529.168,1954.044,121.737,0.000,1378.961,0.000,1449.990,0.000,17.539,0.000
$DEVICE_MAMPS,170.595,65.025,1176.570,748.170,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,587.446,1017.887,916.533,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276280
$DATA_FILE_SIZE,56957,830
$CAP_FILE_SIZE,112364,0
$CFSIZE,260165632,242241536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,091210,170307,-7645.443,16538.324,43,1.0,43,141.1