version: 66.08
glider: 502
mission: 3
dive: 152
start: 12 6 110 4 44 49
data:
$ID,502
$MISSION,3
$DIVE,152
$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,-27633.289
$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,32
$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
$GPS1,061210,043837,-7716.346,16510.139,37,0.9,38,143.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-71.0
$GPS2,061210,044426,-7716.366,16510.170,9,2.0,9,143.7
$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,223.5,67880,-17.5,-10.000
$D_GRID,513
$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,-104.55,0.000,2,0.000,0.000,421,2667,3252,0,0,0,0,0,0
$GC,125,-0.76,-146.0,3.1,-1.0,16,154,9.10,2.38,-10.00,0.000,4,0.210,0.066,2816,1246,3560,0,0,0,0,0,0
$GC,296,-0.76,-146.0,26.9,-13.4,46,304,0.00,2.35,0.00,0.000,6,0.000,0.060,2807,2643,3563,0,0,0,0,0,0
$GC,435,-0.76,-146.0,47.8,-15.8,71,442,0.00,1.83,0.00,0.000,4,0.000,0.064,2799,3769,3563,0,0,0,0,0,0
$GC,482,-0.76,-146.0,55.3,-16.0,79,489,0.00,1.77,0.00,0.000,6,0.000,0.044,2798,2645,3563,0,0,0,0,0,0
$GC,620,-0.76,-146.0,77.7,-16.5,104,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2644,3563,0,0,0,0,0,0
$GC,760,-0.76,-146.0,100.2,-16.4,129,764,0.00,1.83,0.00,0.000,4,0.000,0.063,2790,3770,3563,0,0,0,0,0,0
$GC,818,-0.76,-146.0,110.7,-17.5,134,828,0.00,1.77,0.00,0.000,6,0.000,0.044,2790,2664,3563,0,0,0,0,0,0
$GC,956,-0.76,-146.0,132.9,-16.4,147,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2664,3563,0,0,0,0,0,0
$GC,1081,-0.76,-146.0,154.1,-16.6,159,1085,0.00,1.80,0.00,0.000,4,0.000,0.065,2782,3769,3563,0,0,0,0,0,0
$GC,1117,-0.76,-146.0,160.2,-19.0,162,1121,0.12,1.73,0.00,0.000,6,0.173,0.044,2815,2659,3563,0,0,0,0,0,0
$GC,1258,-0.76,-146.0,182.7,-15.9,175,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2658,3563,0,0,0,0,0,0
$GC,1384,-0.76,-146.0,202.3,-15.0,187,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2658,3564,0,0,0,0,0,0
$GC,1512,-0.76,-146.0,221.6,-15.5,199,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2658,3563,0,0,0,0,0,0
$GC,1638,-0.76,-146.0,240.7,-14.8,211,1642,0.00,1.80,0.00,0.000,4,0.000,0.066,2808,3763,3563,0,0,0,0,0,0
$GC,1683,-0.76,-146.0,247.2,-14.5,215,1687,0.00,1.70,0.00,0.000,6,0.000,0.044,2808,2668,3563,0,0,0,0,0,0
$GC,1822,-0.76,-146.0,268.1,-15.5,228,1823,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2666,3563,0,0,0,0,0,0
$GC,2013,-0.76,-146.0,297.7,-15.8,246,2017,0.00,1.80,0.00,0.000,4,0.000,0.065,2799,3764,3563,0,0,0,0,0,0
$GC,2058,-0.76,-146.0,305.0,-17.0,250,2062,0.00,1.70,0.00,0.000,6,0.000,0.044,2799,2666,3563,0,0,0,0,0,0
$GC,2261,-0.76,-146.0,336.2,-14.9,269,2262,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2663,3563,0,0,0,0,0,0
$GC,2453,-0.76,-146.0,365.8,-16.0,287,2457,0.00,1.80,0.00,0.000,4,0.000,0.065,2791,3773,3563,0,0,0,0,0,0
$GC,2514,-0.76,-146.0,376.2,-15.9,292,2521,0.00,1.75,0.00,0.000,6,0.000,0.044,2791,2669,3563,0,0,0,0,0,0
$GC,2712,-0.76,-146.0,407.4,-15.7,311,2715,0.00,1.77,0.00,0.000,4,0.000,0.064,2783,3765,3563,0,0,0,0,0,0
$GC,2739,-0.76,-146.0,412.2,-16.6,313,2747,0.12,1.70,0.00,0.000,6,0.173,0.044,2816,2669,3563,0,0,0,0,0,0
$GC,2937,-0.76,-146.0,439.5,-13.9,332,2940,0.00,1.77,0.00,0.000,4,0.000,0.065,2809,3764,3563,0,0,0,0,0,0
$GC,2982,-0.76,-146.0,446.2,-14.8,336,2985,0.00,1.67,0.00,0.000,6,0.000,0.044,2809,2680,3563,0,0,0,0,0,0
$GC,3185,-0.76,-146.0,474.7,-14.0,355,3186,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2679,3563,0,0,0,0,0,0
$GC,3396,-0.76,-146.0,504.7,-14.1,373,3400,0.00,1.80,0.00,0.000,4,0.000,0.066,2801,3757,3563,0,0,0,0,0,0
$GC,3429,-0.76,-146.0,509.7,-15.1,374,3433,0.00,1.67,0.00,0.000,6,0.000,0.044,2801,2678,3563,0,0,0,0,0,0
$STATE,3449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3449,begin apogee
$GC,3453,-0.17,0.0,513.2,15.8,374,3591,0.62,0.00,131.68,1.117,4,0.132,0.000,3002,2483,2961,0,0,0,0,0,0
$STATE,3592,end apogee,CONTROL_FINISHED_OK
$STATE,3592,begin climb
$GC,3593,0.76,146.0,518.7,0.0,379,3750,0.98,2.50,144.12,1.054,4,0.076,0.052,3313,1105,2363,0,0,0,0,0,0
$GC,3845,0.76,146.0,496.0,11.6,388,3853,0.00,2.45,0.00,0.000,6,0.000,0.054,3313,2501,2353,0,0,0,0,0,0
$GC,4043,0.76,146.0,471.7,12.2,407,4047,0.00,2.33,0.00,0.000,4,0.000,0.053,3322,1093,2349,0,0,0,0,0,0
$GC,4175,0.76,146.0,455.6,11.8,418,4183,0.00,2.40,0.00,0.000,6,0.000,0.056,3322,2517,2346,0,0,0,0,0,0
$GC,4376,0.76,146.0,429.6,13.4,437,4380,0.00,2.00,0.00,0.000,4,0.000,0.060,3322,3766,2345,0,0,0,0,0,0
$GC,4459,0.76,146.0,416.2,15.4,444,4467,0.00,1.98,0.00,0.000,6,0.000,0.043,3332,2534,2345,0,0,0,0,0,0
$GC,4657,0.76,146.0,388.9,13.4,463,4661,0.00,2.00,0.00,0.000,4,0.000,0.060,3331,3771,2344,0,0,0,0,0,0
$GC,4707,0.76,146.0,381.0,16.7,467,4714,0.00,1.95,0.00,0.000,6,0.000,0.043,3341,2525,2343,0,0,0,0,0,0
$GC,4904,0.76,146.0,352.9,14.1,486,4908,0.00,2.03,0.00,0.000,4,0.000,0.060,3341,3778,2343,0,0,0,0,0,0
$GC,4965,0.76,146.0,342.9,16.6,491,4973,0.10,1.98,0.00,0.000,6,0.151,0.043,3317,2546,2343,0,0,0,0,0,0
$GC,5163,0.76,146.0,318.4,11.8,510,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2543,2343,0,0,0,0,0,0
$GC,5354,0.76,146.0,296.6,11.8,528,5358,0.00,1.98,0.00,0.000,4,0.000,0.062,3317,3767,2342,0,0,0,0,0,0
$GC,5404,0.76,146.0,290.0,13.9,532,5411,0.00,1.90,0.00,0.000,6,0.000,0.044,3325,2551,2342,0,0,0,0,0,0
$GC,5601,0.76,146.0,265.4,12.1,551,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2549,2342,0,0,0,0,0,0
$GC,5793,0.76,146.0,240.3,13.5,569,5795,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2549,2341,0,0,0,0,0,0
$GC,5921,0.76,146.0,223.6,12.8,581,5924,0.00,1.98,0.00,0.000,4,0.000,0.062,3325,3774,2342,0,0,0,0,0,0
$GC,5967,0.76,146.0,217.1,15.3,585,5970,0.00,1.90,0.00,0.000,6,0.000,0.044,3335,2553,2342,0,0,0,0,0,0
$GC,6109,0.76,146.0,198.1,13.0,598,6116,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2550,2342,0,0,0,0,0,0
$GC,6243,0.76,146.0,180.7,12.8,611,6245,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2551,2341,0,0,0,0,0,0
$GC,6371,0.76,146.0,163.7,13.5,623,6374,0.00,1.98,0.00,0.000,4,0.000,0.062,3334,3777,2341,0,0,0,0,0,0
$GC,6407,0.76,146.0,158.1,15.6,626,6417,0.10,1.95,0.00,0.000,6,0.145,0.044,3312,2554,2341,0,0,0,0,0,0
$GC,6542,0.76,146.0,141.9,11.8,639,6544,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2553,2341,0,0,0,0,0,0
$GC,6670,0.76,146.0,126.7,12.1,651,6673,0.00,1.95,0.00,0.000,4,0.000,0.061,3312,3767,2341,0,0,0,0,0,0
$GC,6706,0.76,146.0,121.6,13.6,654,6715,0.00,1.90,0.00,0.000,6,0.000,0.043,3319,2564,2341,0,0,0,0,0,0
$GC,6842,0.76,146.0,104.7,12.5,667,6843,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2563,2341,0,0,0,0,0,0
$GC,6972,0.76,146.0,88.7,12.3,687,6978,0.00,1.95,0.00,0.000,4,0.000,0.061,3320,3767,2341,0,0,0,0,0,0
$GC,7019,0.76,146.0,82.1,14.5,695,7025,0.00,1.88,0.00,0.000,6,0.000,0.044,3328,2563,2341,0,0,0,0,0,0
$GC,7157,0.76,146.0,63.4,13.3,720,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2562,2341,0,0,0,0,0,0
$GC,7297,0.76,146.0,44.9,12.4,745,7304,0.00,1.95,0.00,0.000,4,0.000,0.061,3329,3767,2341,0,0,0,0,0,0
$GC,7326,0.76,146.0,40.4,14.9,750,7334,0.00,1.90,0.00,0.000,6,0.000,0.043,3338,2566,2341,0,0,0,0,0,0
$GC,7468,0.76,146.0,21.2,14.1,775,7475,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2566,2340,0,0,0,0,0,0
$FREEZE,8.71,-1.771,-1.907,2,1,0
$FREEZE,7.90,-1.756,-1.906,2,1,0
$FREEZE,7.04,-1.741,-1.905,2,1,0
$FREEZE,6.34,-1.741,-1.905,2,1,0
$FREEZE,5.48,-1.729,-1.905,2,1,0
$FREEZE,4.78,-1.714,-1.904,2,1,0
$FREEZE,3.93,-1.677,-1.903,2,1,0
$FREEZE,3.07,-1.705,-1.902,2,1,0
$FREEZE,2.09,-1.730,-1.902,2,1,0
$STATE,7598,end climb,SURFACE_DEPTH_REACHED
$STATE,7598,begin surface coast
$FREEZE,1.32,-1.674,-1.901,2,1,0
$FREEZE,1.30,-1.628,-1.900,2,1,0
$FREEZE,1.18,-1.632,-1.050,2,1,0
$FINISH,1.2,1.015493
$STATE,7618,end surface coast,FINISH_DEPTH_REACHED
$STATE,7618,begin surface
$SM_CCo,7633,134.70,0.743,1,0,1329,400.08
$SM_GC,2.14,0.00,0.00,134.70,0.000,0.000,0.743,426,2658,1329,-8.25,0.23,400.08
$IRIDIUM_FIX,-7630.39,16512.91,061210,020220
$TT8_MAMPS,0.028462
$HUMID,51.37
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,18.4
$24V_AH,21.1,35.561
$10V_AH,9.9,20.937
$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,18.700,81.625,275.800,134.700,0.000,38.462,43.078,175.741,2.500,0.000,10.183,1974.804,3306.453,553.308,2143.275,149.097,0.000,1374.159,0.000,1367.108,0.000,12.924,0.000
$DEVICE_MAMPS,209.610,94.095,1116.900,742.815,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,565.538,967.427,912.313,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276268
$DATA_FILE_SIZE,53832,801
$CAP_FILE_SIZE,111738,0
$CFSIZE,260165632,244334592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061210,065532,-7715.917,16511.059,33,1.3,34,143.6