version: 66.08
glider: 502
mission: 3
dive: 153
start: 12 6 110 7 1 31
data:
$ID,502
$MISSION,3
$DIVE,153
$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,-27634.547
$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,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
$GPS1,061210,065532,-7715.917,16511.059,33,1.3,34,143.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-72.6
$GPS2,061210,070108,-7715.922,16511.141,11,1.2,11,143.6
$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,223.3,67014,-17.5,-10.000
$D_GRID,515
$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
$STATE,14,begin dive
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$GC,133,-0.76,-146.0,3.5,-1.5,17,154,9.12,1.88,-3.45,0.000,4,0.210,0.079,2802,3760,3560,0,0,0,0,0,0
$GC,351,-0.76,-146.0,44.1,-17.2,56,359,0.00,1.80,0.00,0.000,6,0.000,0.044,2802,2644,3564,0,0,0,0,0,0
$GC,490,-0.76,-146.0,66.4,-16.6,81,496,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2643,3564,0,0,0,0,0,0
$GC,628,-0.76,-146.0,88.5,-15.4,106,636,0.00,1.88,0.00,0.000,4,0.000,0.065,2793,3760,3564,0,0,0,0,0,0
$GC,664,-0.76,-146.0,94.7,-16.7,112,672,0.00,1.77,0.00,0.000,6,0.000,0.044,2793,2655,3564,0,0,0,0,0,0
$GC,807,-0.76,-146.0,118.1,-16.8,128,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2654,3564,0,0,0,0,0,0
$GC,935,-0.76,-146.0,139.8,-17.1,140,939,0.00,1.83,0.00,0.000,4,0.000,0.067,2785,3767,3564,0,0,0,0,0,0
$GC,981,-0.76,-146.0,147.9,-17.5,144,986,0.12,1.75,0.00,0.000,6,0.171,0.044,2818,2645,3564,0,0,0,0,0,0
$GC,1122,-0.76,-146.0,169.5,-15.0,157,1123,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2643,3564,0,0,0,0,0,0
$GC,1249,-0.76,-146.0,188.9,-15.2,169,1250,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2643,3565,0,0,0,0,0,0
$GC,1376,-0.76,-146.0,207.7,-14.6,181,1380,0.00,1.83,0.00,0.000,4,0.000,0.064,2811,3767,3565,0,0,0,0,0,0
$GC,1423,-0.76,-146.0,215.5,-15.3,185,1433,0.00,1.75,0.00,0.000,6,0.000,0.044,2811,2666,3564,0,0,0,0,0,0
$GC,1561,-0.76,-146.0,236.7,-16.4,198,1565,0.00,1.77,0.00,0.000,4,0.000,0.064,2802,3759,3565,0,0,0,0,0,0
$GC,1586,-0.76,-146.0,241.8,-16.6,200,1596,0.00,1.73,0.00,0.000,6,0.000,0.043,2803,2674,3564,0,0,0,0,0,0
$GC,1723,-0.76,-146.0,263.5,-16.3,213,1726,0.00,1.77,0.00,0.000,4,0.000,0.066,2795,3766,3564,0,0,0,0,0,0
$GC,1768,-0.76,-146.0,271.5,-17.1,217,1772,0.00,1.67,0.00,0.000,6,0.000,0.044,2795,2686,3564,0,0,0,0,0,0
$GC,1970,-0.76,-146.0,305.6,-16.8,236,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2684,3564,0,0,0,0,0,0
$GC,2164,-0.76,-146.0,337.0,-16.3,254,2167,0.00,1.75,0.00,0.000,4,0.000,0.066,2787,3762,3564,0,0,0,0,0,0
$GC,2231,-0.76,-146.0,348.3,-16.9,260,2236,0.08,1.70,0.00,0.000,6,0.153,0.044,2811,2691,3564,0,0,0,0,0,0
$GC,2434,-0.76,-146.0,377.3,-14.0,279,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2691,3564,0,0,0,0,0,0
$GC,2626,-0.76,-146.0,404.2,-13.5,297,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2691,3564,0,0,0,0,0,0
$GC,2815,-0.76,-146.0,430.3,-13.5,315,2819,0.00,1.73,0.00,0.000,4,0.000,0.065,2804,3759,3565,0,0,0,0,0,0
$GC,2853,-0.76,-146.0,435.9,-14.5,318,2861,0.00,1.67,0.00,0.000,6,0.000,0.044,2804,2701,3564,0,0,0,0,0,0
$GC,3051,-0.76,-146.0,463.2,-14.1,337,3053,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2701,3564,0,0,0,0,0,0
$GC,3244,-0.76,-146.0,489.9,-14.2,355,3247,0.00,1.73,0.00,0.000,4,0.000,0.067,2797,3757,3564,0,0,0,0,0,0
$GC,3289,-0.76,-146.0,496.8,-15.2,359,3293,0.00,1.65,0.00,0.000,6,0.000,0.044,2797,2693,3564,0,0,0,0,0,0
$STATE,3434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3434,begin apogee
$GC,3438,-0.17,0.0,517.5,14.1,365,3576,0.65,0.00,133.02,1.132,4,0.132,0.000,3007,2481,2960,0,0,0,0,0,0
$STATE,3577,end apogee,CONTROL_FINISHED_OK
$STATE,3577,begin climb
$GC,3578,0.76,146.0,522.4,0.0,369,3732,0.95,2.53,144.10,1.057,4,0.075,0.052,3310,1098,2364,0,0,0,0,0,0
$GC,3851,0.76,146.0,496.2,12.6,378,3855,0.00,2.42,0.00,0.000,6,0.000,0.054,3310,2497,2353,0,0,0,0,0,0
$GC,4048,0.76,146.0,470.7,13.1,396,4052,0.00,2.30,0.00,0.000,4,0.000,0.053,3319,1099,2349,0,0,0,0,0,0
$GC,4169,0.76,146.0,454.5,13.8,406,4177,0.00,2.38,0.00,0.000,6,0.000,0.055,3319,2514,2346,0,0,0,0,0,0
$GC,4369,0.76,146.0,427.9,13.4,425,4373,0.00,2.03,0.00,0.000,4,0.000,0.061,3318,3774,2346,0,0,0,0,0,0
$GC,4448,0.76,146.0,415.5,16.0,432,4452,0.00,1.98,0.00,0.000,6,0.000,0.044,3328,2525,2346,0,0,0,0,0,0
$GC,4650,0.76,146.0,385.9,14.9,451,4654,0.00,2.03,0.00,0.000,4,0.000,0.061,3327,3774,2344,0,0,0,0,0,0
$GC,4684,0.76,146.0,380.4,16.8,454,4687,0.00,1.95,0.00,0.000,6,0.000,0.043,3337,2529,2345,0,0,0,0,0,0
$GC,4888,0.76,146.0,349.4,14.6,473,4892,0.00,2.00,0.00,0.000,4,0.000,0.060,3337,3768,2344,0,0,0,0,0,0
$GC,4926,0.76,146.0,342.6,17.3,476,4934,0.08,1.95,0.00,0.000,6,0.155,0.042,3321,2547,2344,0,0,0,0,0,0
$GC,5124,0.76,146.0,315.5,13.4,495,5125,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2545,2343,0,0,0,0,0,0
$GC,5315,0.76,146.0,290.9,13.0,513,5319,0.00,2.00,0.00,0.000,4,0.000,0.063,3322,3772,2343,0,0,0,0,0,0
$GC,5393,0.76,146.0,279.5,14.4,520,5397,0.00,1.95,0.00,0.000,6,0.000,0.044,3329,2552,2343,0,0,0,0,0,0
$GC,5596,0.76,146.0,251.3,14.4,539,5599,0.00,1.98,0.00,0.000,4,0.000,0.061,3329,3775,2342,0,0,0,0,0,0
$GC,5621,0.76,146.0,247.0,15.2,541,5631,0.00,1.95,0.00,0.000,6,0.000,0.043,3338,2549,2342,0,0,0,0,0,0
$GC,5757,0.76,146.0,227.3,15.2,554,5759,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2548,2342,0,0,0,0,0,0
$GC,5885,0.76,146.0,208.8,14.7,566,5889,0.00,1.98,0.00,0.000,4,0.000,0.060,3338,3775,2342,0,0,0,0,0,0
$GC,5941,0.76,146.0,199.9,16.3,571,5945,0.12,1.90,0.00,0.000,6,0.174,0.043,3315,2551,2342,0,0,0,0,0,0
$GC,6082,0.76,146.0,181.9,12.6,584,6086,0.00,1.98,0.00,0.000,4,0.000,0.060,3314,3777,2342,0,0,0,0,0,0
$GC,6107,0.76,146.0,178.0,13.4,586,6117,0.00,1.92,0.00,0.000,6,0.000,0.043,3322,2559,2342,0,0,0,0,0,0
$GC,6244,0.76,146.0,161.6,12.3,599,6245,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2559,2342,0,0,0,0,0,0
$GC,6371,0.76,146.0,146.1,12.3,611,6374,0.00,1.95,0.00,0.000,4,0.000,0.061,3322,3770,2342,0,0,0,0,0,0
$GC,6407,0.76,146.0,141.4,15.2,614,6410,0.00,1.85,0.00,0.000,6,0.000,0.043,3332,2569,2342,0,0,0,0,0,0
$GC,6548,0.76,146.0,122.9,12.7,627,6550,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2567,2341,0,0,0,0,0,0
$GC,6674,0.76,146.0,106.8,12.5,639,6678,0.00,1.95,0.00,0.000,4,0.000,0.063,3332,3775,2341,0,0,0,0,0,0
$GC,6710,0.76,146.0,101.6,13.8,642,6719,0.00,1.90,0.00,0.000,6,0.000,0.043,3341,2578,2341,0,0,0,0,0,0
$GC,6847,0.76,146.0,84.3,12.6,666,6854,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2577,2341,0,0,0,0,0,0
$GC,6987,0.76,146.0,66.7,13.3,691,6994,0.00,1.92,0.00,0.000,4,0.000,0.061,3341,3770,2341,0,0,0,0,0,0
$GC,7027,0.76,146.0,60.4,15.7,698,7036,0.10,1.88,0.00,0.000,6,0.153,0.042,3317,2583,2341,0,0,0,0,0,0
$GC,7168,0.76,146.0,43.7,11.7,723,7174,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2583,2341,0,0,0,0,0,0
$GC,7305,0.76,146.0,27.2,12.1,748,7313,0.00,1.95,0.00,0.000,4,0.000,0.062,3317,3764,2341,0,0,0,0,0,0
$GC,7337,0.76,146.0,23.1,13.7,753,7344,0.00,1.83,0.00,0.000,6,0.000,0.042,3325,2587,2341,0,0,0,0,0,0
$FREEZE,8.41,-1.751,-1.907,2,1,0
$FREEZE,7.72,-1.739,-1.906,2,1,0
$FREEZE,7.10,-1.724,-1.906,2,1,0
$FREEZE,6.15,-1.720,-1.905,2,1,0
$FREEZE,5.35,-1.721,-1.904,2,1,0
$FREEZE,4.54,-1.721,-1.904,2,1,0
$GC,7479,0.76,146.0,4.5,13.0,778,7486,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2586,2341,0,0,0,0,0,0
$FREEZE,2.70,-1.714,-1.903,2,1,0
$STATE,7492,end climb,SURFACE_DEPTH_REACHED
$STATE,7492,begin surface coast
$FREEZE,1.94,-1.712,-1.902,2,1,0
$FREEZE,1.28,-1.714,-1.902,2,1,0
$FREEZE,1.28,-1.730,-1.897,2,1,0
$FREEZE,1.24,-1.749,-0.950,2,1,0
$FINISH,1.2,1.014000
$STATE,7516,end surface coast,FINISH_DEPTH_REACHED
$STATE,7516,begin surface
$SM_CCo,7531,135.93,0.782,1,0,1330,400.08
$SM_GC,2.16,0.00,0.00,135.93,0.000,0.000,0.782,423,2663,1330,-8.26,0.37,400.08
$IRIDIUM_FIX,-7630.39,16500.97,061210,040413
$TT8_MAMPS,0.028462
$HUMID,50.86
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,18.2
$24V_AH,21.1,35.691
$10V_AH,10.0,21.028
$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,18.750,84.500,277.125,135.925,0.000,22.322,49.289,172.080,2.500,0.000,12.494,1950.060,3279.063,545.038,2101.810,137.484,0.000,1364.495,0.000,1347.262,0.000,12.924,0.000
$DEVICE_MAMPS,210.375,104.805,1132.200,781.830,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,553.868,953.419,898.002,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276284
$DATA_FILE_SIZE,53883,784
$CAP_FILE_SIZE,111735,0
$CFSIZE,260165632,244273152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061210,091037,-7715.295,16512.438,37,0.9,38,143.5