version: 66.08
glider: 502
mission: 3
dive: 151
start: 12 6 110 2 35 13
data:
$ID,502
$MISSION,3
$DIVE,151
$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,-27632.035
$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,34
$R_STBD_OVSHOOT,27
$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
$GPS1,061210,022855,-7716.578,16509.080,7,1.5,13,143.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-69.9
$GPS2,061210,023450,-7716.606,16509.027,12,1.7,12,143.7
$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,223.8,68384,-17.5,-10.000
$D_GRID,494
$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,-146.0,0.0,0.0,0,123,0.00,0.00,-105.03,0.000,2,0.000,0.000,418,2661,3263,0,0,0,0,0,0
$GC,126,-0.76,-146.0,3.1,-1.7,16,148,9.07,0.00,-9.55,0.000,6,0.207,0.000,2805,2661,3559,0,0,0,0,0,0
$GC,281,-0.76,-146.0,26.4,-16.1,43,288,0.00,1.80,0.00,0.000,4,0.000,0.065,2799,3759,3562,0,0,0,0,0,0
$GC,332,-0.76,-146.0,35.9,-18.0,52,340,0.00,1.77,0.00,0.000,6,0.000,0.044,2799,2653,3562,0,0,0,0,0,0
$GC,473,-0.76,-146.0,58.3,-15.9,77,479,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2652,3562,0,0,0,0,0,0
$GC,610,-0.76,-146.0,80.8,-16.2,102,618,0.00,1.85,0.00,0.000,4,0.000,0.066,2790,3754,3562,0,0,0,0,0,0
$GC,657,-0.76,-146.0,88.6,-16.8,110,665,0.00,1.77,0.00,0.000,6,0.000,0.045,2790,2648,3562,0,0,0,0,0,0
$GC,802,-0.76,-146.0,112.4,-17.1,129,810,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2648,3562,0,0,0,0,0,0
$GC,937,-0.76,-146.0,135.1,-16.3,142,941,0.00,1.83,0.00,0.000,4,0.000,0.064,2782,3768,3562,0,0,0,0,0,0
$GC,972,-0.76,-146.0,141.0,-17.8,145,976,0.12,1.73,0.00,0.000,6,0.171,0.044,2814,2662,3562,0,0,0,0,0,0
$GC,1112,-0.76,-146.0,161.2,-13.7,158,1115,0.00,1.80,0.00,0.000,4,0.000,0.064,2808,3768,3562,0,0,0,0,0,0
$GC,1137,-0.76,-146.0,165.5,-14.9,160,1147,0.00,1.75,0.00,0.000,6,0.000,0.044,2807,2674,3562,0,0,0,0,0,0
$GC,1273,-0.76,-146.0,185.3,-15.2,173,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2674,3563,0,0,0,0,0,0
$GC,1401,-0.76,-146.0,204.4,-14.8,185,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2674,3563,0,0,0,0,0,0
$GC,1528,-0.76,-146.0,223.2,-15.0,197,1532,0.00,1.80,0.00,0.000,4,0.000,0.065,2799,3768,3563,0,0,0,0,0,0
$GC,1554,-0.76,-146.0,228.0,-16.7,199,1563,0.00,1.75,0.00,0.000,6,0.000,0.045,2799,2672,3563,0,0,0,0,0,0
$GC,1690,-0.76,-146.0,249.0,-15.7,212,1697,0.00,1.77,0.00,0.000,4,0.000,0.064,2790,3767,3563,0,0,0,0,0,0
$GC,1716,-0.76,-146.0,253.2,-16.4,214,1719,0.00,1.67,0.00,0.000,6,0.000,0.044,2790,2684,3563,0,0,0,0,0,0
$GC,1918,-0.76,-146.0,287.0,-16.9,233,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2683,3563,0,0,0,0,0,0
$GC,2110,-0.76,-146.0,319.3,-16.3,251,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2683,3563,0,0,0,0,0,0
$GC,2302,-0.76,-146.0,350.7,-16.6,269,2305,0.00,1.77,0.00,0.000,4,0.000,0.065,2782,3764,3563,0,0,0,0,0,0
$GC,2335,-0.76,-146.0,356.8,-17.7,272,2339,0.12,1.67,0.00,0.000,6,0.171,0.044,2815,2682,3563,0,0,0,0,0,0
$GC,2541,-0.76,-146.0,386.2,-14.4,291,2542,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2680,3563,0,0,0,0,0,0
$GC,2729,-0.76,-146.0,414.1,-15.0,309,2732,0.00,1.75,0.00,0.000,4,0.000,0.065,2809,3759,3563,0,0,0,0,0,0
$GC,2777,-0.76,-146.0,422.2,-15.4,313,2785,0.00,1.70,0.00,0.000,6,0.000,0.043,2809,2689,3563,0,0,0,0,0,0
$GC,2976,-0.76,-146.0,452.1,-15.1,332,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2689,3563,0,0,0,0,0,0
$GC,3167,-0.76,-146.0,480.1,-14.2,350,3170,0.00,1.75,0.00,0.000,4,0.000,0.064,2800,3768,3563,0,0,0,0,0,0
$GC,3227,-0.76,-146.0,489.7,-15.0,355,3234,0.00,1.70,0.00,0.000,6,0.000,0.044,2800,2694,3562,0,0,0,0,0,0
$STATE,3264,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3264,begin apogee
$GC,3268,-0.17,0.0,495.2,14.8,359,3407,0.62,0.00,131.70,1.112,4,0.134,0.000,3002,2486,2961,0,0,0,0,0,0
$STATE,3408,end apogee,CONTROL_FINISHED_OK
$STATE,3408,begin climb
$GC,3409,0.76,146.0,501.4,0.0,369,3563,0.98,2.53,143.75,1.042,4,0.076,0.053,3313,1101,2364,0,0,0,0,0,0
$GC,3681,0.76,146.0,477.7,11.5,391,3685,0.00,2.42,0.00,0.000,6,0.000,0.054,3313,2498,2353,0,0,0,0,0,0
$GC,3879,0.76,146.0,454.0,12.1,409,3884,0.00,2.30,0.00,0.000,4,0.000,0.054,3322,1098,2349,0,0,0,0,0,0
$GC,4013,0.76,146.0,437.9,12.0,420,4021,0.00,2.38,0.00,0.000,6,0.000,0.055,3321,2514,2346,0,0,0,0,0,0
$GC,4211,0.76,146.0,412.6,12.9,439,4215,0.00,2.05,0.00,0.000,4,0.000,0.060,3322,3786,2346,0,0,0,0,0,0
$GC,4346,0.76,146.0,392.5,14.9,451,4349,0.00,1.98,0.00,0.000,6,0.000,0.044,3332,2530,2345,0,0,0,0,0,0
$GC,4548,0.76,146.0,365.0,13.7,470,4552,0.00,2.00,0.00,0.000,4,0.000,0.060,3332,3767,2344,0,0,0,0,0,0
$GC,4582,0.76,146.0,359.9,15.9,473,4586,0.00,1.92,0.00,0.000,6,0.000,0.043,3341,2537,2344,0,0,0,0,0,0
$GC,4785,0.76,146.0,330.2,14.4,492,4789,0.00,2.00,0.00,0.000,4,0.000,0.060,3341,3777,2343,0,0,0,0,0,0
$GC,4811,0.76,146.0,325.6,16.3,494,4820,0.10,1.98,0.00,0.000,6,0.157,0.043,3318,2545,2343,0,0,0,0,0,0
$GC,5010,0.76,146.0,298.7,13.4,513,5013,0.00,1.98,0.00,0.000,4,0.000,0.061,3318,3768,2343,0,0,0,0,0,0
$GC,5047,0.76,146.0,292.9,15.0,516,5055,0.00,1.95,0.00,0.000,6,0.000,0.042,3326,2548,2343,0,0,0,0,0,0
$GC,5247,0.76,146.0,266.3,13.1,535,5248,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2546,2342,0,0,0,0,0,0
$GC,5439,0.76,146.0,241.6,13.0,553,5442,0.00,1.98,0.00,0.000,4,0.000,0.062,3326,3769,2342,0,0,0,0,0,0
$GC,5475,0.76,146.0,235.9,15.1,556,5484,0.00,1.95,0.00,0.000,6,0.000,0.042,3335,2545,2342,0,0,0,0,0,0
$GC,5613,0.76,146.0,217.7,13.3,569,5620,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2545,2342,0,0,0,0,0,0
$GC,5748,0.76,146.0,199.1,14.0,582,5751,0.00,1.98,0.00,0.000,4,0.000,0.061,3335,3771,2342,0,0,0,0,0,0
$GC,5783,0.76,146.0,192.8,16.5,585,5794,0.10,1.92,0.00,0.000,6,0.148,0.042,3312,2559,2341,0,0,0,0,0,0
$GC,5919,0.76,146.0,175.4,12.3,598,5921,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2558,2341,0,0,0,0,0,0
$GC,6047,0.76,146.0,160.1,11.9,610,6051,0.00,1.95,0.00,0.000,4,0.000,0.061,3312,3767,2341,0,0,0,0,0,0
$GC,6092,0.76,146.0,153.8,13.9,614,6096,0.00,1.88,0.00,0.000,6,0.000,0.044,3320,2557,2342,0,0,0,0,0,0
$GC,6232,0.76,146.0,134.7,13.3,627,6233,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2556,2341,0,0,0,0,0,0
$GC,6360,0.76,146.0,117.5,13.4,639,6364,0.00,1.95,0.00,0.000,4,0.000,0.061,3320,3767,2341,0,0,0,0,0,0
$GC,6395,0.76,146.0,112.5,14.4,642,6398,0.00,1.85,0.00,0.000,6,0.000,0.043,3329,2568,2341,0,0,0,0,0,0
$GC,6530,0.76,146.0,93.3,14.2,659,6536,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2566,2342,0,0,0,0,0,0
$GC,6667,0.76,146.0,73.9,14.1,684,6675,0.00,1.98,0.00,0.000,4,0.000,0.063,3330,3763,2341,0,0,0,0,0,0
$GC,6725,0.76,146.0,64.9,16.2,694,6733,0.00,1.88,0.00,0.000,6,0.000,0.044,3338,2579,2341,0,0,0,0,0,0
$GC,6865,0.76,146.0,44.7,14.4,719,6872,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2578,2341,0,0,0,0,0,0
$GC,7002,0.76,146.0,24.3,14.9,744,7011,0.00,1.95,0.00,0.000,4,0.000,0.060,3338,3764,2341,0,0,0,0,0,0
$GC,7057,0.76,146.0,16.0,16.3,753,7065,0.12,1.85,0.00,0.000,6,0.175,0.043,3315,2574,2341,0,0,0,0,0,0
$FREEZE,8.68,-1.808,-1.907,2,1,0
$FREEZE,8.06,-1.808,-1.907,2,1,0
$FREEZE,7.38,-1.808,-1.906,2,1,0
$FREEZE,6.60,-1.808,-1.905,2,1,0
$FREEZE,5.82,-1.806,-1.905,2,1,0
$FREEZE,5.27,-1.781,-1.905,2,1,0
$FREEZE,4.42,-1.731,-1.903,2,1,0
$FREEZE,3.72,-1.715,-1.902,2,1,0
$FREEZE,2.75,-1.700,-1.901,2,1,0
$STATE,7156,end climb,SURFACE_DEPTH_REACHED
$STATE,7156,begin surface coast
$FREEZE,1.93,-1.714,-1.902,2,1,0
$FREEZE,1.24,-1.671,-1.900,2,1,0
$FREEZE,1.28,-1.660,-0.898,2,1,0
$FINISH,1.3,1.013228
$STATE,7176,end surface coast,FINISH_DEPTH_REACHED
$STATE,7176,begin surface
$SM_CCo,7190,134.12,0.747,1,0,1329,400.08
$SM_GC,2.15,0.00,0.00,134.12,0.000,0.000,0.747,421,2667,1329,-8.26,0.45,400.08
$IRIDIUM_FIX,-7630.39,16512.91,061210,000046
$TT8_MAMPS,0.028462
$HUMID,51.22
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,17.8
$24V_AH,21.1,35.434
$10V_AH,10.0,20.844
$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,18.675,80.675,275.450,134.125,0.000,29.727,43.690,185.761,2.250,0.000,13.261,1881.404,3058.102,554.481,2039.100,157.216,0.000,1344.149,0.000,1291.473,0.000,11.197,0.000
$DEVICE_MAMPS,207.315,91.800,1112.310,747.405,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,544.413,925.945,886.813,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276244
$DATA_FILE_SIZE,53877,773
$CAP_FILE_SIZE,107861,0
$CFSIZE,260165632,244400128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061210,043837,-7716.346,16510.139,37,0.9,38,143.7