version: 66.08
glider: 502
mission: 3
dive: 154
start: 12 6 110 9 16 37
data:
$ID,502
$MISSION,3
$DIVE,154
$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,-27635.805
$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,33
$R_STBD_OVSHOOT,30
$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
$GPS1,061210,091037,-7715.295,16512.438,37,0.9,38,143.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-71.8
$GPS2,061210,091614,-7715.277,16512.488,12,1.5,12,143.5
$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,223.0,65760,-17.5,-10.000
$D_GRID,518
$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,-104.35,0.000,2,0.000,0.000,422,2663,3254,0,0,0,0,0,0
$GC,125,-0.76,-146.0,3.1,-1.4,16,154,9.10,1.88,-9.80,0.000,4,0.209,0.083,2809,3753,3560,0,0,0,0,0,0
$GC,383,-0.76,-146.0,43.9,-15.8,62,391,0.00,1.77,0.00,0.000,6,0.000,0.044,2810,2649,3562,0,0,0,0,0,0
$GC,522,-0.76,-146.0,64.6,-15.2,87,528,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2649,3562,0,0,0,0,0,0
$GC,659,-0.76,-146.0,85.4,-14.7,112,667,0.00,1.85,0.00,0.000,4,0.000,0.065,2801,3754,3562,0,0,0,0,0,0
$GC,712,-0.76,-146.0,93.9,-16.3,121,719,0.00,1.75,0.00,0.000,6,0.000,0.044,2801,2664,3562,0,0,0,0,0,0
$GC,850,-0.76,-146.0,116.0,-16.3,137,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2663,3562,0,0,0,0,0,0
$GC,977,-0.76,-146.0,137.2,-16.8,149,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2663,3563,0,0,0,0,0,0
$GC,1104,-0.76,-146.0,157.7,-15.8,161,1108,0.00,1.77,0.00,0.000,4,0.000,0.066,2793,3756,3563,0,0,0,0,0,0
$GC,1195,-0.76,-146.0,173.6,-15.9,169,1204,0.00,1.75,0.00,0.000,6,0.000,0.044,2793,2655,3562,0,0,0,0,0,0
$GC,1332,-0.76,-146.0,194.2,-15.6,182,1336,0.00,1.80,0.00,0.000,4,0.000,0.065,2785,3764,3562,0,0,0,0,0,0
$GC,1368,-0.76,-146.0,200.8,-16.9,185,1378,0.08,1.73,0.00,0.000,6,0.155,0.044,2810,2677,3562,0,0,0,0,0,0
$GC,1506,-0.76,-146.0,220.0,-14.1,198,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2677,3562,0,0,0,0,0,0
$GC,1640,-0.76,-146.0,240.1,-14.8,211,1644,0.00,1.75,0.00,0.000,4,0.000,0.066,2803,3756,3562,0,0,0,0,0,0
$GC,1666,-0.76,-146.0,244.5,-15.5,213,1675,0.00,1.73,0.00,0.000,6,0.000,0.044,2803,2674,3562,0,0,0,0,0,0
$GC,1801,-0.76,-146.0,265.2,-15.1,226,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2675,3562,0,0,0,0,0,0
$GC,1993,-0.76,-146.0,294.1,-14.6,244,1996,0.00,1.77,0.00,0.000,4,0.000,0.066,2796,3766,3562,0,0,0,0,0,0
$GC,2031,-0.76,-146.0,300.5,-15.4,247,2038,0.00,1.73,0.00,0.000,6,0.000,0.044,2795,2680,3562,0,0,0,0,0,0
$GC,2229,-0.76,-146.0,331.5,-15.6,266,2232,0.00,1.75,0.00,0.000,4,0.000,0.066,2787,3756,3562,0,0,0,0,0,0
$GC,2263,-0.76,-146.0,337.4,-17.9,269,2267,0.12,1.65,0.00,0.000,6,0.175,0.044,2819,2690,3562,0,0,0,0,0,0
$GC,2465,-0.76,-146.0,367.2,-14.2,288,2469,0.00,1.75,0.00,0.000,4,0.000,0.065,2813,3765,3562,0,0,0,0,0,0
$GC,2500,-0.76,-146.0,372.5,-15.8,291,2503,0.00,1.67,0.00,0.000,6,0.000,0.044,2813,2684,3562,0,0,0,0,0,0
$GC,2702,-0.76,-146.0,403.7,-15.5,310,2706,0.00,1.80,0.00,0.000,4,0.000,0.066,2805,3759,3562,0,0,0,0,0,0
$GC,2728,-0.76,-146.0,408.1,-16.4,312,2736,0.00,1.67,0.00,0.000,6,0.000,0.043,2805,2704,3562,0,0,0,0,0,0
$GC,2928,-0.76,-146.0,439.1,-15.8,331,2929,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2704,3562,0,0,0,0,0,0
$GC,3117,-0.76,-146.0,469.1,-15.1,349,3121,0.00,1.73,0.00,0.000,4,0.000,0.066,2797,3765,3562,0,0,0,0,0,0
$GC,3163,-0.76,-146.0,476.2,-15.6,353,3166,0.00,1.65,0.00,0.000,6,0.000,0.044,2797,2699,3562,0,0,0,0,0,0
$GC,3384,-0.76,-146.0,509.0,-14.5,370,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2698,3562,0,0,0,0,0,0
$STATE,3474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3474,begin apogee
$GC,3479,-0.17,0.0,522.1,14.3,373,3617,0.65,0.00,133.10,1.146,4,0.135,0.000,3005,2490,2960,0,0,0,0,0,0
$STATE,3618,end apogee,CONTROL_FINISHED_OK
$STATE,3618,begin climb
$GC,3619,0.76,146.0,526.6,0.0,377,3774,0.98,2.53,144.75,1.068,4,0.076,0.052,3313,1104,2364,0,0,0,0,0,0
$GC,3904,0.76,146.0,498.0,13.0,387,3908,0.00,2.40,0.00,0.000,6,0.000,0.054,3313,2492,2352,0,0,0,0,0,0
$GC,4101,0.76,146.0,472.8,12.6,405,4105,0.00,2.30,0.00,0.000,4,0.000,0.053,3323,1096,2348,0,0,0,0,0,0
$GC,4217,0.76,146.0,457.2,13.9,415,4224,0.00,2.38,0.00,0.000,6,0.000,0.054,3323,2520,2346,0,0,0,0,0,0
$GC,4417,0.76,146.0,429.5,14.1,434,4420,0.00,2.00,0.00,0.000,4,0.000,0.059,3322,3771,2346,0,0,0,0,0,0
$GC,4499,0.76,146.0,415.4,16.4,441,4507,0.00,2.00,0.00,0.000,6,0.000,0.044,3333,2526,2345,0,0,0,0,0,0
$GC,4698,0.76,146.0,385.7,14.8,460,4701,0.00,2.00,0.00,0.000,4,0.000,0.060,3332,3765,2344,0,0,0,0,0,0
$GC,4748,0.76,146.0,377.1,16.7,464,4756,0.12,1.92,0.00,0.000,6,0.171,0.042,3310,2539,2344,0,0,0,0,0,0
$GC,4945,0.76,146.0,350.2,12.8,483,4949,0.00,2.00,0.00,0.000,4,0.000,0.061,3309,3775,2343,0,0,0,0,0,0
$GC,4994,0.76,146.0,342.8,14.4,487,5002,0.00,1.98,0.00,0.000,6,0.000,0.044,3317,2541,2343,0,0,0,0,0,0
$GC,5192,0.76,146.0,316.6,13.5,506,5196,0.00,1.98,0.00,0.000,4,0.000,0.062,3316,3764,2342,0,0,0,0,0,0
$GC,5218,0.76,146.0,312.5,14.9,508,5226,0.00,1.92,0.00,0.000,6,0.000,0.042,3326,2553,2342,0,0,0,0,0,0
$GC,5417,0.76,146.0,285.5,13.4,527,5421,0.00,1.95,0.00,0.000,4,0.000,0.062,3326,3764,2343,0,0,0,0,0,0
$GC,5450,0.76,146.0,280.3,15.9,530,5454,0.00,1.88,0.00,0.000,6,0.000,0.042,3335,2554,2342,0,0,0,0,0,0
$GC,5653,0.76,146.0,251.0,14.7,549,5656,0.00,1.95,0.00,0.000,4,0.000,0.062,3335,3764,2341,0,0,0,0,0,0
$GC,5699,0.76,146.0,244.1,15.9,553,5703,0.12,1.88,0.00,0.000,6,0.171,0.042,3311,2554,2342,0,0,0,0,0,0
$GC,5841,0.76,146.0,225.2,13.4,566,5842,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2552,2341,0,0,0,0,0,0
$GC,5967,0.76,146.0,209.3,12.5,578,5971,0.00,1.95,0.00,0.000,4,0.000,0.062,3311,3764,2341,0,0,0,0,0,0
$GC,6003,0.76,146.0,203.8,14.1,581,6013,0.00,1.88,0.00,0.000,6,0.000,0.042,3319,2573,2341,0,0,0,0,0,0
$GC,6141,0.76,146.0,186.0,13.4,594,6148,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2572,2341,0,0,0,0,0,0
$GC,6276,0.76,146.0,167.8,13.3,607,6279,0.00,1.92,0.00,0.000,4,0.000,0.061,3319,3768,2341,0,0,0,0,0,0
$GC,6334,0.76,146.0,158.8,15.4,612,6343,0.00,1.88,0.00,0.000,6,0.000,0.043,3328,2579,2341,0,0,0,0,0,0
$GC,6469,0.76,146.0,140.5,13.7,625,6471,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2578,2341,0,0,0,0,0,0
$GC,6597,0.76,146.0,123.1,13.9,637,6600,0.00,1.90,0.00,0.000,4,0.000,0.061,3328,3764,2341,0,0,0,0,0,0
$GC,6632,0.76,146.0,118.1,15.5,640,6635,0.00,1.83,0.00,0.000,6,0.000,0.043,3337,2582,2341,0,0,0,0,0,0
$GC,6767,0.76,146.0,99.2,13.9,653,6773,0.00,1.92,0.00,0.000,4,0.000,0.061,3337,3771,2341,0,0,0,0,0,0
$GC,6813,0.76,146.0,92.0,16.2,661,6821,0.12,1.85,0.00,0.000,6,0.174,0.043,3314,2583,2341,0,0,0,0,0,0
$GC,6954,0.76,146.0,74.9,11.3,686,6962,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2583,2341,0,0,0,0,0,0
$GC,7094,0.76,146.0,57.8,12.1,711,7101,0.00,1.92,0.00,0.000,4,0.000,0.063,3313,3768,2341,0,0,0,0,0,0
$GC,7130,0.76,146.0,53.2,13.4,717,7137,0.00,1.83,0.00,0.000,6,0.000,0.044,3321,2599,2341,0,0,0,0,0,0
$GC,7269,0.76,146.0,35.4,12.5,742,7276,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2598,2341,0,0,0,0,0,0
$GC,7409,0.76,146.0,17.9,13.1,767,7416,0.00,1.90,0.00,0.000,4,0.000,0.062,3320,3771,2341,0,0,0,0,0,0
$GC,7438,0.76,146.0,13.7,13.9,772,7446,0.00,1.85,0.00,0.000,6,0.000,0.044,3329,2607,2340,0,0,0,0,0,0
$FREEZE,8.68,-1.820,-1.907,2,1,0
$FREEZE,8.11,-1.819,-1.907,2,1,0
$FREEZE,7.19,-1.788,-1.906,2,1,0
$FREEZE,6.48,-1.726,-1.905,2,1,0
$FREEZE,5.60,-1.693,-1.903,2,1,0
$FREEZE,4.91,-1.688,-1.904,2,1,0
$FREEZE,4.27,-1.691,-1.903,2,1,0
$FREEZE,3.56,-1.686,-1.903,2,1,0
$FREEZE,2.66,-1.697,-1.902,2,1,0
$STATE,7517,end climb,SURFACE_DEPTH_REACHED
$STATE,7518,begin surface coast
$FREEZE,1.87,-1.688,-1.902,2,1,0
$FREEZE,1.29,-1.688,-1.901,2,1,0
$FREEZE,1.24,-1.725,-1.100,2,1,0
$FINISH,1.2,1.016236
$STATE,7537,end surface coast,FINISH_DEPTH_REACHED
$STATE,7537,begin surface
$SM_CCo,7553,136.12,0.763,1,0,1329,400.08
$SM_GC,2.10,0.00,0.00,136.12,0.000,0.000,0.763,426,2663,1329,-8.25,0.37,400.08
$IRIDIUM_FIX,-7630.39,16534.21,061210,060659
$TT8_MAMPS,0.028462
$HUMID,50.94
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,20.0,18.5
$24V_AH,21.0,35.821
$10V_AH,10.0,21.120
$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,18.850,91.025,277.850,136.125,0.000,25.003,37.045,182.066,2.500,0.000,13.516,1947.104,3257.544,570.396,2113.723,147.324,0.000,1397.279,0.000,1356.875,0.000,12.926,0.000
$DEVICE_MAMPS,208.845,116.280,1145.970,763.470,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,556.658,961.906,906.488,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276276
$DATA_FILE_SIZE,53709,789
$CAP_FILE_SIZE,113300,0
$CFSIZE,260165632,244211712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061210,112607,-7714.638,16513.902,39,0.9,40,143.5