version: 66.08
glider: 502
mission: 3
dive: 188
start: 12 9 110 19 46 49
data:
$ID,502
$MISSION,3
$DIVE,188
$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,-28578.869
$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,21
$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
$GPS1,091210,193954,-7644.453,16538.422,42,1.1,43,141.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-71.2
$GPS2,091210,194626,-7644.459,16538.615,17,1.5,17,141.1
$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,194.9,9042,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,104,0.00,0.00,-85.55,0.000,2,0.000,0.000,425,2621,2906,0,0,0,0,0,0
$GC,107,-0.76,-146.0,3.0,-3.1,13,154,9.02,1.95,-29.40,0.000,4,0.207,0.080,2801,3760,3559,0,0,0,0,0,0
$GC,187,-0.76,-146.0,9.1,-15.0,26,195,0.00,1.80,0.00,0.000,6,0.000,0.044,2800,2642,3561,0,0,0,0,0,0
$GC,327,-0.76,-146.0,31.6,-17.0,51,333,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2642,3562,0,0,0,0,0,0
$GC,464,-0.76,-146.0,54.6,-16.6,76,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2642,3562,0,0,0,0,0,0
$GC,604,-0.76,-146.0,77.3,-17.2,101,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2642,3562,0,0,0,0,0,0
$GC,740,-0.76,-146.0,99.8,-15.4,126,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2642,3563,0,0,0,0,0,0
$GC,876,-0.76,-146.0,121.4,-16.1,139,879,0.00,1.83,0.00,0.000,4,0.000,0.063,2793,3766,3563,0,0,0,0,0,0
$GC,902,-0.76,-146.0,126.4,-16.5,141,911,0.00,1.77,0.00,0.000,6,0.000,0.044,2793,2650,3562,0,0,0,0,0,0
$GC,1038,-0.76,-146.0,148.9,-17.3,154,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2650,3563,0,0,0,0,0,0
$GC,1166,-0.76,-146.0,170.0,-16.4,166,1169,0.00,1.83,0.00,0.000,4,0.000,0.065,2784,3773,3563,0,0,0,0,0,0
$GC,1202,-0.76,-146.0,177.0,-17.5,169,1212,0.08,1.77,0.00,0.000,6,0.153,0.044,2810,2655,3562,0,0,0,0,0,0
$GC,1339,-0.76,-146.0,197.5,-15.4,182,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2655,3562,0,0,0,0,0,0
$GC,1474,-0.76,-146.0,218.1,-14.8,195,1478,0.00,1.80,0.00,0.000,4,0.000,0.064,2803,3765,3562,0,0,0,0,0,0
$GC,1510,-0.76,-146.0,224.3,-16.3,198,1520,0.00,1.77,0.00,0.000,6,0.000,0.044,2803,2646,3562,0,0,0,0,0,0
$GC,1646,-0.76,-146.0,244.7,-15.1,211,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2645,3563,0,0,0,0,0,0
$GC,1772,-0.76,-146.0,264.6,-15.7,223,1776,0.00,1.83,0.00,0.000,4,0.000,0.063,2795,3771,3563,0,0,0,0,0,0
$GC,1810,-0.76,-146.0,271.2,-16.5,226,1818,0.00,1.75,0.00,0.000,6,0.000,0.044,2795,2668,3562,0,0,0,0,0,0
$GC,2008,-0.76,-146.0,302.5,-15.6,245,2009,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2667,3562,0,0,0,0,0,0
$GC,2200,-0.76,-146.0,332.9,-16.2,263,2203,0.00,1.77,0.00,0.000,4,0.000,0.063,2786,3766,3562,0,0,0,0,0,0
$GC,2245,-0.76,-146.0,340.6,-16.6,267,2249,0.12,1.70,0.00,0.000,6,0.170,0.044,2820,2664,3562,0,0,0,0,0,0
$GC,2448,-0.76,-146.0,370.1,-14.1,286,2449,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2663,3562,0,0,0,0,0,0
$GC,2638,-0.76,-146.0,397.4,-14.5,304,2641,0.00,1.80,0.00,0.000,4,0.000,0.064,2813,3775,3562,0,0,0,0,0,0
$GC,2688,-0.76,-146.0,404.8,-15.0,308,2695,0.00,1.75,0.00,0.000,6,0.000,0.044,2813,2677,3562,0,0,0,0,0,0
$GC,2885,-0.76,-146.0,433.6,-14.4,327,2886,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2677,3562,0,0,0,0,0,0
$GC,3076,-0.76,-146.0,460.9,-14.5,345,3080,0.00,1.80,0.00,0.000,4,0.000,0.064,2805,3761,3562,0,0,0,0,0,0
$GC,3132,-0.76,-146.0,469.1,-14.7,350,3135,0.00,1.67,0.00,0.000,6,0.000,0.044,2804,2679,3562,0,0,0,0,0,0
$GC,3335,-0.76,-146.0,497.4,-13.6,369,3339,0.00,1.80,0.00,0.000,4,0.000,0.066,2798,3757,3562,0,0,0,0,0,0
$GC,3358,-0.76,-146.0,500.8,-14.3,371,3362,0.00,1.65,0.00,0.000,6,0.000,0.045,2798,2684,3562,0,0,0,0,0,0
$GC,3554,-0.76,-146.0,529.2,-14.5,378,3555,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2683,3562,0,0,0,0,0,0
$GC,3738,-0.76,-146.0,555.5,-14.3,384,3741,0.00,1.75,0.00,0.000,4,0.000,0.064,2790,3764,3562,0,0,0,0,0,0
$GC,3786,-0.76,-146.0,563.4,-14.7,385,3791,0.00,1.73,0.00,0.000,6,0.000,0.044,2790,2683,3562,0,0,0,0,0,0
$STATE,3896,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3896,begin apogee
$GC,3900,-0.17,0.0,579.3,14.6,389,4038,0.65,0.00,133.57,1.160,4,0.132,0.000,3000,2487,2961,0,0,0,0,0,0
$STATE,4039,end apogee,CONTROL_FINISHED_OK
$STATE,4039,begin climb
$GC,4041,0.76,146.0,585.4,0.0,393,4195,0.98,2.55,146.32,1.080,4,0.073,0.053,3310,1102,2365,0,0,0,0,0,0
$GC,4301,0.76,146.0,562.0,12.3,401,4306,0.00,2.50,0.00,0.000,6,0.000,0.054,3310,2503,2354,0,0,0,0,0,0
$GC,4499,0.76,146.0,537.3,12.6,408,4503,0.00,2.33,0.00,0.000,4,0.000,0.054,3319,1092,2349,0,0,0,0,0,0
$GC,4632,0.76,146.0,519.8,12.8,412,4638,0.00,2.38,0.00,0.000,6,0.000,0.056,3318,2512,2347,0,0,0,0,0,0
$GC,4826,0.76,146.0,494.5,13.2,419,4830,0.00,2.03,0.00,0.000,4,0.000,0.061,3319,3773,2346,0,0,0,0,0,0
$GC,4939,0.76,146.0,477.1,15.9,429,4943,0.00,1.98,0.00,0.000,6,0.000,0.045,3327,2546,2345,0,0,0,0,0,0
$GC,5141,0.76,146.0,448.1,14.0,448,5145,0.00,1.98,0.00,0.000,4,0.000,0.061,3327,3767,2344,0,0,0,0,0,0
$GC,5179,0.76,146.0,441.7,15.7,451,5187,0.00,1.95,0.00,0.000,6,0.000,0.042,3337,2536,2344,0,0,0,0,0,0
$GC,5378,0.76,146.0,412.5,14.9,470,5382,0.00,1.98,0.00,0.000,4,0.000,0.060,3337,3764,2344,0,0,0,0,0,0
$GC,5446,0.76,146.0,401.1,16.7,476,5450,0.08,1.92,0.00,0.000,6,0.150,0.044,3307,2554,2343,0,0,0,0,0,0
$GC,5648,0.76,146.0,375.4,12.6,495,5652,0.00,1.95,0.00,0.000,4,0.000,0.062,3306,3763,2343,0,0,0,0,0,0
$GC,5705,0.76,146.0,367.3,14.2,500,5708,0.00,1.92,0.00,0.000,6,0.000,0.044,3314,2552,2343,0,0,0,0,0,0
$GC,5908,0.76,146.0,340.9,13.3,519,5911,0.00,1.98,0.00,0.000,4,0.000,0.063,3315,3770,2342,0,0,0,0,0,0
$GC,5964,0.76,146.0,332.7,15.2,524,5968,0.00,1.90,0.00,0.000,6,0.000,0.044,3323,2569,2342,0,0,0,0,0,0
$GC,6167,0.76,146.0,305.1,13.4,543,6170,0.00,1.95,0.00,0.000,4,0.000,0.063,3323,3774,2342,0,0,0,0,0,0
$GC,6227,0.76,146.0,295.8,15.3,548,6234,0.00,1.90,0.00,0.000,6,0.000,0.044,3333,2577,2342,0,0,0,0,0,0
$GC,6425,0.76,146.0,267.4,14.3,567,6429,0.00,1.92,0.00,0.000,4,0.000,0.061,3333,3773,2342,0,0,0,0,0,0
$GC,6459,0.76,146.0,262.1,16.6,570,6463,0.12,1.85,0.00,0.000,6,0.168,0.044,3308,2576,2341,0,0,0,0,0,0
$GC,6663,0.76,146.0,236.3,12.0,589,6666,0.00,1.92,0.00,0.000,4,0.000,0.061,3309,3770,2342,0,0,0,0,0,0
$GC,6710,0.76,146.0,229.4,13.9,593,6719,0.00,1.88,0.00,0.000,6,0.000,0.043,3316,2587,2342,0,0,0,0,0,0
$GC,6847,0.76,146.0,212.2,12.0,606,6848,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2586,2342,0,0,0,0,0,0
$GC,6974,0.76,146.0,196.6,12.2,618,6977,0.00,1.90,0.00,0.000,4,0.000,0.063,3316,3764,2341,0,0,0,0,0,0
$GC,7042,0.76,146.0,186.5,14.8,624,7051,0.00,1.83,0.00,0.000,6,0.000,0.043,3325,2606,2341,0,0,0,0,0,0
$GC,7179,0.76,146.0,168.7,12.9,637,7180,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2605,2341,0,0,0,0,0,0
$GC,7306,0.76,146.0,152.4,12.6,649,7307,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2605,2341,0,0,0,0,0,0
$GC,7433,0.76,146.0,136.0,12.7,661,7437,0.00,1.88,0.00,0.000,4,0.000,0.060,3325,3774,2341,0,0,0,0,0,0
$GC,7491,0.76,146.0,127.2,15.6,666,7500,0.00,1.85,0.00,0.000,6,0.000,0.043,3334,2610,2341,0,0,0,0,0,0
$GC,7628,0.76,146.0,108.9,14.0,679,7636,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2609,2341,0,0,0,0,0,0
$GC,7762,0.76,146.0,90.1,13.8,698,7771,0.00,1.90,0.00,0.000,4,0.000,0.063,3334,3761,2341,0,0,0,0,0,0
$GC,7795,0.76,146.0,85.6,14.7,703,7802,0.12,1.80,0.00,0.000,6,0.168,0.044,3309,2605,2341,0,0,0,0,0,0
$GC,7935,0.76,146.0,69.2,11.3,728,7943,0.00,2.42,0.00,0.000,4,0.000,0.055,3318,1097,2341,0,0,0,0,0,0
$GC,7960,0.76,146.0,66.2,11.4,732,7969,0.00,2.50,0.00,0.000,6,0.000,0.056,3320,2624,2341,0,0,0,0,0,0
$GC,8101,0.76,146.0,49.0,12.9,757,8108,0.00,1.83,0.00,0.000,4,0.000,0.061,3319,3767,2341,0,0,0,0,0,0
$GC,8173,0.76,146.0,38.9,14.1,770,8181,0.00,1.80,0.00,0.000,6,0.000,0.043,3328,2628,2341,0,0,0,0,0,0
$GC,8315,0.76,146.0,20.5,13.1,795,8325,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2627,2341,0,0,0,0,0,0
$FREEZE,8.86,-1.390,-1.906,2,1,0
$FREEZE,8.02,-1.391,-1.906,2,1,0
$FREEZE,7.25,-1.373,-1.905,2,1,0
$FREEZE,6.54,-1.371,-1.904,2,1,0
$FREEZE,5.73,-1.376,-1.904,2,1,0
$FREEZE,4.91,-1.351,-1.903,2,1,0
$FREEZE,4.05,-1.367,-1.903,2,1,0
$FREEZE,3.35,-1.371,-1.903,2,1,0
$FREEZE,2.46,-1.370,-1.902,2,1,0
$STATE,8446,end climb,SURFACE_DEPTH_REACHED
$STATE,8446,begin surface coast
$FREEZE,1.60,-1.354,-1.901,2,1,0
$FREEZE,1.49,-1.311,-1.894,2,1,0
$FREEZE,1.34,-1.316,-1.219,2,1,0
$FINISH,1.3,1.018004
$STATE,8465,end surface coast,FINISH_DEPTH_REACHED
$STATE,8465,begin surface
$SM_CCo,8479,135.12,0.746,1,0,1329,400.08
$SM_GC,2.12,0.00,0.00,135.12,0.000,0.000,0.746,424,2625,1329,-8.26,-0.71,400.08
$IRIDIUM_FIX,-7603.11,16546.44,091210,171702
$TT8_MAMPS,0.028462
$HUMID,51.22
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.4,17.8
$24V_AH,20.8,40.208
$10V_AH,9.9,24.276
$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,18.625,96.250,279.900,135.125,0.000,29.431,41.820,211.699,3.000,0.000,18.685,2047.232,3947.561,570.554,2283.747,165.877,0.000,1461.676,0.000,1455.108,0.000,17.617,0.000
$DEVICE_MAMPS,206.550,79.560,1159.740,745.875,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,579.714,1009.178,913.330,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276332
$DATA_FILE_SIZE,53751,821
$CAP_FILE_SIZE,120909,0
$CFSIZE,260165632,242106368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,091210,221126,-7643.371,16538.086,19,1.7,20,141.0