version: 66.08
glider: 502
mission: 3
dive: 187
start: 12 9 110 17 17 38
data:
$ID,502
$MISSION,3
$DIVE,187
$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,-28577.613
$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,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
$GPS1,091210,170307,-7645.443,16538.324,43,1.0,43,141.1
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-66.4
$GPS2,091210,171714,-7645.544,16538.521,14,1.4,14,141.1
$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,199.4,10894,-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,-146.0,0.0,0.0,0,121,0.00,0.00,-103.88,0.000,2,0.000,0.000,426,2630,3294,0,0,0,0,0,0
$GC,124,-0.76,-146.0,3.5,-1.6,16,147,9.07,1.98,-7.70,0.000,4,0.210,0.080,2798,3770,3561,0,0,0,0,0,0
$GC,171,-0.76,-146.0,12.4,-17.1,23,178,0.00,1.77,0.00,0.000,6,0.000,0.044,2799,2644,3563,0,0,0,0,0,0
$GC,309,-0.76,-146.0,34.8,-16.1,48,317,0.00,1.88,0.00,0.000,4,0.000,0.063,2790,3764,3564,0,0,0,0,0,0
$GC,356,-0.76,-146.0,42.9,-16.9,56,364,0.00,1.75,0.00,0.000,6,0.000,0.044,2790,2671,3564,0,0,0,0,0,0
$GC,496,-0.76,-146.0,66.5,-17.1,81,502,0.00,2.28,0.00,0.000,4,0.000,0.053,2790,1243,3564,0,0,0,0,0,0
$GC,522,-0.76,-146.0,70.7,-16.7,85,530,0.12,2.33,0.00,0.000,6,0.173,0.059,2813,2664,3564,0,0,0,0,0,0
$GC,661,-0.76,-146.0,91.9,-15.6,110,670,0.00,1.80,0.00,0.000,4,0.000,0.063,2806,3760,3564,0,0,0,0,0,0
$GC,697,-0.76,-146.0,98.0,-17.1,116,705,0.00,1.75,0.00,0.000,6,0.000,0.044,2807,2664,3564,0,0,0,0,0,0
$GC,841,-0.76,-146.0,120.4,-16.1,130,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2663,3564,0,0,0,0,0,0
$GC,968,-0.76,-146.0,140.6,-16.2,142,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2663,3564,0,0,0,0,0,0
$GC,1095,-0.76,-146.0,160.5,-15.6,154,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2663,3564,0,0,0,0,0,0
$GC,1223,-0.76,-146.0,180.4,-15.9,166,1226,0.00,1.77,0.00,0.000,4,0.000,0.063,2798,3763,3564,0,0,0,0,0,0
$GC,1248,-0.76,-146.0,185.2,-16.3,168,1257,0.00,1.73,0.00,0.000,6,0.000,0.044,2798,2676,3564,0,0,0,0,0,0
$GC,1384,-0.76,-146.0,206.8,-16.1,181,1388,0.00,2.25,0.00,0.000,4,0.000,0.054,2798,1246,3564,0,0,0,0,0,0
$GC,1403,-0.76,-146.0,210.5,-16.3,182,1413,0.00,2.38,0.00,0.000,6,0.000,0.059,2788,2679,3564,0,0,0,0,0,0
$GC,1540,-0.76,-146.0,232.4,-16.3,195,1542,0.10,0.00,0.00,0.000,6,0.185,0.000,2813,2679,3564,0,0,0,0,0,0
$GC,1667,-0.76,-146.0,251.0,-14.6,207,1671,0.00,1.73,0.00,0.000,4,0.000,0.062,2806,3774,3564,0,0,0,0,0,0
$GC,1705,-0.76,-146.0,257.3,-15.2,210,1713,0.00,1.75,0.00,0.000,6,0.000,0.044,2806,2673,3564,0,0,0,0,0,0
$GC,1903,-0.76,-146.0,286.5,-15.0,229,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2673,3564,0,0,0,0,0,0
$GC,2095,-0.76,-146.0,314.4,-14.2,247,2098,0.00,1.77,0.00,0.000,4,0.000,0.065,2798,3768,3564,0,0,0,0,0,0
$GC,2132,-0.76,-146.0,320.6,-16.1,250,2140,0.00,1.73,0.00,0.000,6,0.000,0.044,2798,2679,3564,0,0,0,0,0,0
$GC,2331,-0.76,-146.0,350.3,-15.4,269,2333,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2679,3564,0,0,0,0,0,0
$GC,2524,-0.76,-146.0,379.2,-15.1,287,2527,0.00,1.77,0.00,0.000,4,0.000,0.064,2791,3774,3564,0,0,0,0,0,0
$GC,2558,-0.76,-146.0,384.9,-16.2,290,2561,0.00,1.67,0.00,0.000,6,0.000,0.045,2790,2690,3564,0,0,0,0,0,0
$GC,2761,-0.76,-146.0,417.1,-15.6,309,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2688,3564,0,0,0,0,0,0
$GC,2954,-0.76,-146.0,446.6,-15.2,327,2958,0.10,1.77,0.00,0.000,4,0.186,0.063,2808,3773,3564,0,0,0,0,0,0
$GC,2988,-0.76,-146.0,452.2,-15.4,330,2991,0.00,1.67,0.00,0.000,6,0.000,0.044,2808,2690,3564,0,0,0,0,0,0
$GC,3190,-0.76,-146.0,480.9,-14.2,349,3192,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2687,3564,0,0,0,0,0,0
$GC,3392,-0.76,-146.0,509.2,-14.1,364,3395,0.00,1.75,0.00,0.000,4,0.000,0.063,2800,3773,3564,0,0,0,0,0,0
$GC,3429,-0.76,-146.0,515.4,-15.7,365,3434,0.00,1.70,0.00,0.000,6,0.000,0.044,2800,2701,3564,0,0,0,0,0,0
$GC,3642,-0.76,-146.0,546.6,-14.6,372,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2700,3564,0,0,0,0,0,0
$GC,3827,-0.76,-146.0,573.9,-15.1,378,3828,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2700,3563,0,0,0,0,0,0
$STATE,3855,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3855,begin apogee
$GC,3860,-0.17,0.0,578.5,15.0,379,3999,0.62,0.00,134.70,1.161,4,0.131,0.000,3002,2489,2962,0,0,0,0,0,0
$STATE,4000,end apogee,CONTROL_FINISHED_OK
$STATE,4000,begin climb
$GC,4002,0.76,146.0,584.5,0.0,383,4157,0.98,2.53,146.85,1.081,4,0.073,0.052,3310,1105,2365,0,0,0,0,0,0
$GC,4262,0.76,146.0,562.0,11.6,391,4270,0.00,2.47,0.00,0.000,6,0.000,0.054,3311,2494,2354,0,0,0,0,0,0
$GC,4453,0.76,146.0,538.0,12.7,398,4457,0.00,2.33,0.00,0.000,4,0.000,0.054,3319,1096,2350,0,0,0,0,0,0
$GC,4580,0.76,146.0,521.6,12.9,401,4588,0.00,2.40,0.00,0.000,6,0.000,0.056,3319,2528,2347,0,0,0,0,0,0
$GC,4772,0.76,146.0,494.9,14.2,410,4776,0.00,2.00,0.00,0.000,4,0.000,0.060,3319,3771,2347,0,0,0,0,0,0
$GC,4896,0.76,146.0,475.3,16.1,421,4900,0.00,1.92,0.00,0.000,6,0.000,0.044,3328,2543,2345,0,0,0,0,0,0
$GC,5099,0.76,146.0,445.5,14.3,440,5103,0.00,1.98,0.00,0.000,4,0.000,0.062,3328,3766,2344,0,0,0,0,0,0
$GC,5178,0.76,146.0,432.7,16.9,447,5181,0.00,1.90,0.00,0.000,6,0.000,0.042,3337,2542,2343,0,0,0,0,0,0
$GC,5381,0.76,146.0,402.4,14.7,466,5384,0.00,1.98,0.00,0.000,4,0.000,0.061,3337,3766,2343,0,0,0,0,0,0
$GC,5441,0.76,146.0,392.1,17.0,471,5449,0.10,1.92,0.00,0.000,6,0.145,0.042,3314,2555,2343,0,0,0,0,0,0
$GC,5639,0.76,146.0,366.1,13.1,490,5643,0.00,1.95,0.00,0.000,4,0.000,0.061,3314,3768,2343,0,0,0,0,0,0
$GC,5684,0.76,146.0,359.6,15.3,494,5688,0.00,1.92,0.00,0.000,6,0.000,0.044,3321,2555,2342,0,0,0,0,0,0
$GC,5886,0.76,146.0,332.3,13.2,513,5890,0.00,1.95,0.00,0.000,4,0.000,0.061,3321,3768,2342,0,0,0,0,0,0
$GC,5947,0.76,146.0,322.7,15.7,518,5954,0.00,1.90,0.00,0.000,6,0.000,0.044,3331,2566,2342,0,0,0,0,0,0
$GC,6145,0.76,146.0,294.9,14.2,537,6148,0.00,1.92,0.00,0.000,4,0.000,0.061,3331,3766,2341,0,0,0,0,0,0
$GC,6182,0.76,146.0,288.7,16.5,540,6191,0.08,1.88,0.00,0.000,6,0.148,0.042,3315,2575,2342,0,0,0,0,0,0
$GC,6383,0.76,146.0,262.3,13.3,559,6386,0.00,1.92,0.00,0.000,4,0.000,0.061,3315,3773,2341,0,0,0,0,0,0
$GC,6439,0.76,146.0,253.5,15.4,564,6442,0.00,1.85,0.00,0.000,6,0.000,0.044,3322,2574,2341,0,0,0,0,0,0
$GC,6643,0.76,146.0,225.8,13.6,583,6647,0.00,1.92,0.00,0.000,4,0.000,0.062,3322,3765,2341,0,0,0,0,0,0
$GC,6691,0.76,146.0,218.2,14.9,587,6700,0.00,1.85,0.00,0.000,6,0.000,0.042,3332,2590,2341,0,0,0,0,0,0
$GC,6827,0.76,146.0,198.9,14.4,600,6831,0.00,1.90,0.00,0.000,4,0.000,0.062,3331,3770,2341,0,0,0,0,0,0
$GC,6864,0.76,146.0,192.7,16.6,603,6872,0.00,1.85,0.00,0.000,6,0.000,0.043,3341,2604,2341,0,0,0,0,0,0
$GC,6999,0.76,146.0,172.9,14.7,616,7000,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2604,2341,0,0,0,0,0,0
$GC,7126,0.76,146.0,154.1,14.5,628,7130,0.00,1.88,0.00,0.000,4,0.000,0.060,3341,3774,2341,0,0,0,0,0,0
$GC,7172,0.76,146.0,146.8,17.2,632,7176,0.15,1.80,0.00,0.000,6,0.165,0.044,3309,2610,2341,0,0,0,0,0,0
$GC,7313,0.76,146.0,128.9,12.1,645,7314,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2608,2341,0,0,0,0,0,0
$GC,7439,0.76,146.0,113.7,12.2,657,7443,0.00,1.88,0.00,0.000,4,0.000,0.063,3308,3770,2341,0,0,0,0,0,0
$GC,7486,0.76,146.0,107.1,13.6,661,7495,0.00,1.83,0.00,0.000,6,0.000,0.044,3317,2617,2341,0,0,0,0,0,0
$GC,7623,0.76,146.0,89.7,13.4,681,7629,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2617,2341,0,0,0,0,0,0
$GC,7760,0.76,146.0,72.0,13.3,706,7767,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2617,2341,0,0,0,0,0,0
$GC,7899,0.76,146.0,54.3,13.5,731,7906,0.00,1.88,0.00,0.000,4,0.000,0.061,3316,3777,2341,0,0,0,0,0,0
$GC,7949,0.76,146.0,47.0,14.5,740,7957,0.00,1.83,0.00,0.000,6,0.000,0.044,3325,2624,2341,0,0,0,0,0,0
$GC,8091,0.76,146.0,28.8,13.3,765,8097,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2622,2341,0,0,0,0,0,0
$GC,8229,0.76,146.0,9.9,13.8,790,8236,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2622,2340,0,0,0,0,0,0
$FREEZE,8.13,-1.445,-1.906,2,1,0
$FREEZE,7.44,-1.441,-1.905,2,1,0
$FREEZE,6.60,-1.440,-1.904,2,1,0
$FREEZE,6.01,-1.427,-1.903,2,1,0
$FREEZE,5.12,-1.397,-1.901,2,1,0
$FREEZE,4.35,-1.379,-1.900,2,1,0
$FREEZE,3.45,-1.380,-1.900,2,1,0
$FREEZE,2.81,-1.379,-1.899,2,1,0
$STATE,8282,end climb,SURFACE_DEPTH_REACHED
$STATE,8282,begin surface coast
$FREEZE,1.78,-1.369,-1.899,2,1,0
$FREEZE,1.44,-1.343,-1.897,2,1,0
$FREEZE,1.43,-1.312,-0.991,2,1,0
$FINISH,1.4,1.014625
$STATE,8302,end surface coast,FINISH_DEPTH_REACHED
$STATE,8302,begin surface
$SM_CCo,8316,135.15,0.752,1,0,1329,400.08
$SM_GC,2.27,0.00,0.00,135.15,0.000,0.000,0.752,426,2622,1329,-8.25,-0.79,400.08
$IRIDIUM_FIX,-7603.11,16539.67,091210,171710
$TT8_MAMPS,0.028462
$HUMID,51.41
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,18.0
$ALTIM_BOTTOM_PING,550.9,100.9
$24V_AH,20.8,40.074
$10V_AH,9.9,24.179
$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,18.800,96.600,281.550,135.150,0.000,58.621,118.516,472.805,3.250,0.000,15.100,2001.458,3964.264,567.465,2573.213,202.014,0.000,1426.860,0.000,1408.588,0.000,20.646,0.000
$DEVICE_MAMPS,210.375,80.325,1160.505,751.995,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,566.149,980.493,880.148,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276252
$DATA_FILE_SIZE,53812,802
$CAP_FILE_SIZE,125967,0
$CFSIZE,260165632,242167808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,091210,193954,-7644.453,16538.422,42,1.1,43,141.1