version: 66.08
glider: 502
mission: 3
dive: 189
start: 12 9 110 22 20 31
data:
$ID,502
$MISSION,3
$DIVE,189
$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,5
$SURFACE_URGENCY_TRY,4
$SURFACE_URGENCY_FORCE,8
$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,8
$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,-28580.129
$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,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
$GPS1,091210,221126,-7643.371,16538.086,19,1.7,20,141.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-70.7
$GPS2,091210,222007,-7643.347,16538.164,32,1.0,32,141.0
$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,189.6,7112,-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,-146.0,0.0,0.0,0,109,0.00,0.00,-91.72,0.000,2,0.000,0.000,424,2625,3015,0,0,0,0,0,0
$GC,111,-0.76,-146.0,3.0,-2.3,14,153,8.93,1.95,-22.83,0.000,4,0.203,0.081,2797,3760,3559,0,0,0,0,0,0
$GC,172,-0.76,-146.0,7.4,-12.7,23,179,0.00,1.77,0.00,0.000,6,0.000,0.044,2797,2636,3560,0,0,0,0,0,0
$GC,308,-0.76,-146.0,30.3,-17.2,48,316,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2635,3562,0,0,0,0,0,0
$GC,448,-0.76,-146.0,54.2,-17.4,73,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2635,3562,0,0,0,0,0,0
$GC,584,-0.76,-146.0,77.2,-17.1,98,593,0.00,1.88,0.00,0.000,4,0.000,0.065,2789,3756,3563,0,0,0,0,0,0
$GC,620,-0.76,-146.0,83.4,-17.2,104,629,0.00,1.75,0.00,0.000,6,0.000,0.044,2789,2660,3563,0,0,0,0,0,0
$GC,761,-0.76,-146.0,107.9,-17.9,125,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2660,3563,0,0,0,0,0,0
$GC,888,-0.76,-146.0,130.4,-17.2,137,892,0.00,2.22,0.00,0.000,4,0.000,0.054,2789,1243,3563,0,0,0,0,0,0
$GC,905,-0.76,-146.0,133.5,-17.3,138,910,0.12,2.30,0.00,0.000,6,0.168,0.060,2813,2653,3563,0,0,0,0,0,0
$GC,1042,-0.76,-146.0,154.6,-15.7,150,1046,0.00,1.77,0.00,0.000,4,0.000,0.063,2806,3769,3563,0,0,0,0,0,0
$GC,1100,-0.76,-146.0,165.1,-16.3,155,1109,0.00,1.75,0.00,0.000,6,0.000,0.044,2806,2663,3563,0,0,0,0,0,0
$GC,1237,-0.76,-146.0,186.0,-15.4,168,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2663,3563,0,0,0,0,0,0
$GC,1373,-0.76,-146.0,207.1,-15.5,181,1376,0.00,1.77,0.00,0.000,4,0.000,0.065,2798,3763,3563,0,0,0,0,0,0
$GC,1418,-0.76,-146.0,214.6,-16.4,185,1422,0.00,1.67,0.00,0.000,6,0.000,0.044,2798,2679,3563,0,0,0,0,0,0
$GC,1560,-0.76,-146.0,236.9,-16.0,198,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2677,3563,0,0,0,0,0,0
$GC,1684,-0.76,-146.0,257.0,-15.9,210,1688,0.00,1.80,0.00,0.000,4,0.000,0.065,2790,3760,3563,0,0,0,0,0,0
$GC,1710,-0.76,-146.0,261.7,-17.0,212,1717,0.00,1.73,0.00,0.000,6,0.000,0.044,2790,2675,3563,0,0,0,0,0,0
$GC,1910,-0.76,-146.0,293.3,-16.2,231,1911,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2674,3563,0,0,0,0,0,0
$GC,2099,-0.76,-146.0,324.1,-16.4,249,2103,0.00,1.77,0.00,0.000,4,0.000,0.064,2781,3773,3562,0,0,0,0,0,0
$GC,2145,-0.76,-146.0,331.8,-16.4,253,2149,0.12,1.70,0.00,0.000,6,0.168,0.044,2814,2676,3563,0,0,0,0,0,0
$GC,2348,-0.76,-146.0,360.3,-13.6,272,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2675,3563,0,0,0,0,0,0
$GC,2538,-0.76,-146.0,386.1,-13.5,290,2542,0.00,1.77,0.00,0.000,4,0.000,0.066,2807,3767,3563,0,0,0,0,0,0
$GC,2576,-0.76,-146.0,391.8,-15.3,293,2583,0.00,1.73,0.00,0.000,6,0.000,0.044,2807,2679,3563,0,0,0,0,0,0
$GC,2774,-0.76,-146.0,418.9,-13.7,312,2776,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2679,3563,0,0,0,0,0,0
$GC,2965,-0.76,-146.0,445.5,-14.1,330,2969,0.00,1.77,0.00,0.000,4,0.000,0.066,2799,3769,3563,0,0,0,0,0,0
$GC,3002,-0.76,-146.0,451.4,-15.2,333,3010,0.00,1.73,0.00,0.000,6,0.000,0.044,2799,2686,3562,0,0,0,0,0,0
$GC,3201,-0.76,-146.0,481.2,-14.9,352,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2686,3563,0,0,0,0,0,0
$GC,3389,-0.76,-146.0,509.3,-15.0,366,3393,0.00,1.80,0.00,0.000,4,0.000,0.064,2790,3767,3562,0,0,0,0,0,0
$GC,3426,-0.76,-146.0,515.7,-16.7,367,3431,0.00,1.70,0.00,0.000,6,0.000,0.044,2790,2695,3562,0,0,0,0,0,0
$GC,3640,-0.76,-146.0,548.7,-15.6,374,3641,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2694,3563,0,0,0,0,0,0
$STATE,3822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3822,begin apogee
$GC,3826,-0.17,0.0,577.8,15.8,380,3965,0.68,0.00,133.75,1.160,4,0.134,0.000,3007,2482,2961,0,0,0,0,0,0
$STATE,3965,end apogee,CONTROL_FINISHED_OK
$STATE,3966,begin climb
$GC,3967,0.76,146.0,584.4,0.0,384,4123,0.95,2.53,146.05,1.080,4,0.073,0.053,3309,1102,2365,0,0,0,0,0,0
$GC,4240,0.76,146.0,562.0,10.6,393,4245,0.00,2.47,0.00,0.000,6,0.000,0.054,3309,2497,2353,0,0,0,0,0,0
$GC,4453,0.76,146.0,536.8,11.8,400,4457,0.00,2.30,0.00,0.000,4,0.000,0.054,3318,1093,2349,0,0,0,0,0,0
$GC,4570,0.76,146.0,522.7,11.7,403,4574,0.00,2.40,0.00,0.000,6,0.000,0.056,3318,2523,2347,0,0,0,0,0,0
$GC,4766,0.76,146.0,498.2,12.7,410,4770,0.00,2.00,0.00,0.000,4,0.000,0.060,3318,3768,2346,0,0,0,0,0,0
$GC,4856,0.76,146.0,484.7,15.0,418,4860,0.00,1.92,0.00,0.000,6,0.000,0.044,3328,2534,2345,0,0,0,0,0,0
$GC,5060,0.76,146.0,457.7,13.1,437,5064,0.00,2.00,0.00,0.000,4,0.000,0.061,3328,3767,2344,0,0,0,0,0,0
$GC,5097,0.76,146.0,451.8,14.9,440,5105,0.00,1.98,0.00,0.000,6,0.000,0.042,3337,2528,2344,0,0,0,0,0,0
$GC,5296,0.76,146.0,423.2,14.4,459,5300,0.00,2.00,0.00,0.000,4,0.000,0.061,3337,3768,2343,0,0,0,0,0,0
$GC,5341,0.76,146.0,415.8,17.2,463,5346,0.12,1.92,0.00,0.000,6,0.170,0.043,3314,2532,2343,0,0,0,0,0,0
$GC,5541,0.76,146.0,390.2,12.9,481,5545,0.00,2.00,0.00,0.000,4,0.000,0.062,3314,3770,2343,0,0,0,0,0,0
$GC,5579,0.76,146.0,384.2,14.6,484,5587,0.00,1.95,0.00,0.000,6,0.000,0.043,3321,2545,2343,0,0,0,0,0,0
$GC,5777,0.76,146.0,357.9,13.1,503,5780,0.00,1.98,0.00,0.000,4,0.000,0.062,3321,3768,2343,0,0,0,0,0,0
$GC,5811,0.76,146.0,352.8,15.7,506,5815,0.00,1.90,0.00,0.000,6,0.000,0.044,3331,2546,2343,0,0,0,0,0,0
$GC,6014,0.76,146.0,324.7,13.6,525,6017,0.00,1.98,0.00,0.000,4,0.000,0.063,3331,3768,2343,0,0,0,0,0,0
$GC,6048,0.76,146.0,319.5,16.1,528,6051,0.00,1.88,0.00,0.000,6,0.000,0.043,3340,2559,2343,0,0,0,0,0,0
$GC,6251,0.76,146.0,290.0,14.7,547,6254,0.00,1.95,0.00,0.000,4,0.000,0.062,3341,3768,2343,0,0,0,0,0,0
$GC,6288,0.76,146.0,283.4,17.0,550,6297,0.10,1.90,0.00,0.000,6,0.148,0.043,3317,2568,2342,0,0,0,0,0,0
$GC,6489,0.76,146.0,257.9,12.3,569,6490,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2566,2342,0,0,0,0,0,0
$GC,6678,0.76,146.0,234.2,12.4,587,6682,0.00,1.95,0.00,0.000,4,0.000,0.063,3317,3775,2341,0,0,0,0,0,0
$GC,6745,0.76,146.0,224.9,14.5,593,6749,0.00,1.85,0.00,0.000,6,0.000,0.043,3324,2573,2341,0,0,0,0,0,0
$GC,6888,0.76,146.0,206.5,12.7,606,6895,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2570,2342,0,0,0,0,0,0
$GC,7023,0.76,146.0,189.4,12.5,619,7026,0.00,1.95,0.00,0.000,4,0.000,0.064,3324,3775,2341,0,0,0,0,0,0
$GC,7078,0.76,146.0,181.5,14.8,624,7082,0.00,1.85,0.00,0.000,6,0.000,0.044,3333,2580,2341,0,0,0,0,0,0
$GC,7219,0.76,146.0,162.8,12.8,637,7223,0.00,1.90,0.00,0.000,4,0.000,0.061,3333,3768,2341,0,0,0,0,0,0
$GC,7265,0.76,146.0,156.2,14.7,641,7269,0.12,1.83,0.00,0.000,6,0.170,0.043,3309,2587,2341,0,0,0,0,0,0
$GC,7405,0.76,146.0,140.0,11.2,654,7406,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2584,2341,0,0,0,0,0,0
$GC,7532,0.76,146.0,125.8,11.4,666,7536,0.00,1.92,0.00,0.000,4,0.000,0.063,3309,3777,2341,0,0,0,0,0,0
$GC,7588,0.76,146.0,118.0,15.1,671,7592,0.00,1.80,0.00,0.000,6,0.000,0.042,3317,2610,2341,0,0,0,0,0,0
$GC,7728,0.76,146.0,100.1,12.6,684,7730,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2608,2341,0,0,0,0,0,0
$GC,7859,0.76,146.0,84.9,11.4,707,7865,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2608,2341,0,0,0,0,0,0
$GC,7995,0.76,146.0,68.7,11.9,732,8003,0.00,2.45,0.00,0.000,4,0.000,0.055,3328,1086,2341,0,0,0,0,0,0
$GC,8031,0.76,146.0,64.7,11.6,738,8039,0.00,2.53,0.00,0.000,6,0.000,0.057,3328,2621,2341,0,0,0,0,0,0
$GC,8173,0.76,146.0,47.6,12.2,763,8180,0.00,1.85,0.00,0.000,4,0.000,0.063,3328,3758,2341,0,0,0,0,0,0
$GC,8234,0.76,146.0,38.7,15.4,774,8243,0.00,1.80,0.00,0.000,6,0.000,0.044,3337,2623,2341,0,0,0,0,0,0
$GC,8376,0.76,146.0,20.2,13.7,799,8383,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2621,2340,0,0,0,0,0,0
$FREEZE,8.53,-1.298,-1.907,2,1,0
$FREEZE,7.79,-1.279,-1.906,2,1,0
$FREEZE,6.92,-1.246,-1.905,2,1,0
$FREEZE,6.26,-1.214,-1.905,2,1,0
$FREEZE,5.32,-1.163,-1.902,2,1,0
$FREEZE,4.67,-1.189,-1.904,2,1,0
$FREEZE,3.75,-1.164,-1.903,2,1,0
$FREEZE,2.97,-1.118,-1.902,2,1,0
$STATE,8500,end climb,SURFACE_DEPTH_REACHED
$STATE,8500,begin surface coast
$FREEZE,2.02,-1.143,-1.902,2,1,0
$FREEZE,1.44,-1.163,-1.902,2,1,0
$FREEZE,1.34,-1.025,-1.142,2,1,0
$FINISH,1.3,1.016869
$STATE,8520,end surface coast,CONTROL_FINISHED_OK
$STATE,8520,begin surface
$SM_CCo,8535,135.52,0.738,1,0,1329,400.08
$SM_GC,2.18,0.00,0.00,135.52,0.000,0.000,0.738,422,2657,1329,-8.26,0.20,400.08
$IRIDIUM_FIX,-7603.11,16537.35,091210,222246
$TT8_MAMPS,0.027713
$HUMID,51.69
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.1,17.3
$24V_AH,20.8,40.342
$10V_AH,9.8,24.372
$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,18.700,97.450,279.800,135.525,0.000,53.371,114.095,174.649,3.000,0.000,33.719,2060.789,4084.752,557.656,2322.183,176.013,0.000,1434.144,0.000,1445.582,0.000,18.526,0.000
$DEVICE_MAMPS,203.490,127.755,1159.740,738.225,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,582.356,1007.537,905.130,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276308
$DATA_FILE_SIZE,57033,824
$CAP_FILE_SIZE,121721,0
$CFSIZE,260165632,242044928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101210,004622,-7642.197,16536.227,17,2.3,37,141.0