version: 66.08
glider: 502
mission: 3
dive: 155
start: 12 6 110 11 32 50
data:
$ID,502
$MISSION,3
$DIVE,155
$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,-27637.062
$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
$GPS1,061210,112607,-7714.638,16513.902,39,0.9,40,143.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-69.4
$GPS2,061210,113226,-7714.590,16513.879,15,1.2,15,143.5
$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,222.6,64430,-17.5,-10.000
$D_GRID,543
$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,-146.0,0.0,0.0,0,122,0.00,0.00,-104.35,0.000,2,0.000,0.000,426,2663,3253,0,0,0,0,0,0
$GC,124,-0.76,-146.0,3.1,-0.6,16,153,9.05,1.85,-9.88,0.000,4,0.207,0.083,2802,3753,3560,0,0,0,0,0,0
$GC,400,-0.76,-146.0,47.4,-16.3,65,406,0.00,1.77,0.00,0.000,6,0.000,0.045,2802,2628,3563,0,0,0,0,0,0
$GC,536,-0.76,-146.0,70.3,-16.8,90,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2626,3562,0,0,0,0,0,0
$GC,676,-0.76,-146.0,93.4,-17.0,115,683,0.00,1.88,0.00,0.000,4,0.000,0.064,2793,3768,3563,0,0,0,0,0,0
$GC,735,-0.76,-146.0,104.9,-18.3,123,745,0.00,1.77,0.00,0.000,6,0.000,0.044,2793,2657,3563,0,0,0,0,0,0
$GC,872,-0.76,-146.0,128.8,-17.8,136,875,0.00,1.80,0.00,0.000,4,0.000,0.064,2784,3763,3562,0,0,0,0,0,0
$GC,907,-0.76,-146.0,134.9,-18.3,139,912,0.12,1.70,0.00,0.000,6,0.171,0.044,2818,2662,3562,0,0,0,0,0,0
$GC,1049,-0.76,-146.0,157.1,-15.7,152,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2661,3562,0,0,0,0,0,0
$GC,1175,-0.76,-146.0,175.7,-14.1,164,1179,0.00,1.80,0.00,0.000,4,0.000,0.065,2811,3769,3563,0,0,0,0,0,0
$GC,1231,-0.76,-146.0,184.1,-14.7,169,1235,0.00,1.70,0.00,0.000,6,0.000,0.044,2811,2673,3563,0,0,0,0,0,0
$GC,1373,-0.76,-146.0,204.2,-14.5,182,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2672,3562,0,0,0,0,0,0
$GC,1499,-0.76,-146.0,222.3,-14.3,194,1502,0.00,1.77,0.00,0.000,4,0.000,0.066,2803,3765,3562,0,0,0,0,0,0
$GC,1533,-0.76,-146.0,227.6,-15.5,197,1537,0.00,1.70,0.00,0.000,6,0.000,0.044,2803,2672,3563,0,0,0,0,0,0
$GC,1675,-0.76,-146.0,248.5,-14.7,210,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2669,3562,0,0,0,0,0,0
$GC,1799,-0.76,-146.0,267.4,-14.7,222,1800,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2669,3562,0,0,0,0,0,0
$GC,1990,-0.76,-146.0,295.0,-14.2,240,1994,0.00,1.77,0.00,0.000,4,0.000,0.065,2795,3764,3563,0,0,0,0,0,0
$GC,2039,-0.76,-146.0,302.7,-15.2,244,2047,0.00,1.73,0.00,0.000,6,0.000,0.044,2795,2680,3563,0,0,0,0,0,0
$GC,2238,-0.76,-146.0,331.2,-14.0,263,2241,0.00,1.75,0.00,0.000,4,0.000,0.065,2787,3760,3563,0,0,0,0,0,0
$GC,2288,-0.76,-146.0,339.0,-15.1,267,2295,0.12,1.67,0.00,0.000,6,0.173,0.044,2820,2679,3562,0,0,0,0,0,0
$GC,2486,-0.76,-146.0,363.1,-12.5,286,2489,0.00,1.75,0.00,0.000,4,0.000,0.067,2813,3757,3563,0,0,0,0,0,0
$GC,2512,-0.76,-146.0,366.8,-13.4,288,2520,0.00,1.70,0.00,0.000,6,0.000,0.044,2813,2688,3562,0,0,0,0,0,0
$GC,2712,-0.76,-146.0,391.5,-12.2,307,2715,0.00,1.75,0.00,0.000,4,0.000,0.064,2805,3769,3562,0,0,0,0,0,0
$GC,2748,-0.76,-146.0,396.1,-13.4,310,2751,0.00,1.67,0.00,0.000,6,0.000,0.044,2805,2688,3562,0,0,0,0,0,0
$GC,2950,-0.76,-146.0,422.1,-13.0,329,2951,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2686,3562,0,0,0,0,0,0
$GC,3143,-0.76,-146.0,447.8,-13.6,347,3146,0.00,1.75,0.00,0.000,4,0.000,0.065,2797,3764,3563,0,0,0,0,0,0
$GC,3180,-0.76,-146.0,454.2,-15.6,350,3188,0.00,1.70,0.00,0.000,6,0.000,0.044,2797,2693,3562,0,0,0,0,0,0
$GC,3379,-0.76,-146.0,483.6,-14.9,369,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2692,3562,0,0,0,0,0,0
$GC,3588,-0.76,-146.0,513.7,-14.3,383,3591,0.00,1.73,0.00,0.000,4,0.000,0.064,2789,3758,3562,0,0,0,0,0,0
$GC,3631,-0.76,-146.0,520.7,-15.8,384,3636,0.00,1.67,0.00,0.000,6,0.000,0.044,2789,2701,3562,0,0,0,0,0,0
$STATE,3806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3806,begin apogee
$GC,3811,-0.17,0.0,546.5,14.7,390,3949,0.68,0.00,133.82,1.149,4,0.138,0.000,3004,2491,2961,0,0,0,0,0,0
$STATE,3950,end apogee,CONTROL_FINISHED_OK
$STATE,3950,begin climb
$GC,3952,0.76,146.0,550.9,0.0,394,4106,0.98,2.55,145.07,1.069,4,0.076,0.052,3313,1095,2364,0,0,0,0,0,0
$GC,4225,0.76,146.0,524.5,12.0,403,4229,0.00,2.45,0.00,0.000,6,0.000,0.055,3313,2503,2352,0,0,0,0,0,0
$GC,4436,0.76,146.0,497.1,12.9,410,4440,0.00,2.33,0.00,0.000,4,0.000,0.054,3321,1092,2348,0,0,0,0,0,0
$GC,4559,0.76,146.0,481.0,12.7,420,4566,0.00,2.38,0.00,0.000,6,0.000,0.055,3321,2508,2346,0,0,0,0,0,0
$GC,4758,0.76,146.0,454.4,13.8,439,4762,0.00,2.03,0.00,0.000,4,0.000,0.061,3321,3767,2345,0,0,0,0,0,0
$GC,4852,0.76,146.0,439.1,16.5,447,4860,0.00,1.98,0.00,0.000,6,0.000,0.043,3331,2534,2345,0,0,0,0,0,0
$GC,5050,0.76,146.0,410.6,13.9,466,5054,0.00,2.00,0.00,0.000,4,0.000,0.061,3331,3765,2344,0,0,0,0,0,0
$GC,5084,0.76,146.0,405.2,17.0,469,5088,0.00,1.92,0.00,0.000,6,0.000,0.042,3340,2535,2344,0,0,0,0,0,0
$GC,5287,0.76,146.0,374.4,15.0,488,5288,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2532,2343,0,0,0,0,0,0
$GC,5478,0.76,146.0,344.9,15.4,506,5481,0.00,2.00,0.00,0.000,4,0.000,0.061,3340,3771,2343,0,0,0,0,0,0
$GC,5515,0.76,146.0,338.3,17.8,509,5523,0.10,1.98,0.00,0.000,6,0.154,0.043,3317,2537,2343,0,0,0,0,0,0
$GC,5715,0.76,146.0,310.2,14.0,528,5716,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2537,2342,0,0,0,0,0,0
$GC,5904,0.76,146.0,282.8,14.3,546,5908,0.00,2.00,0.00,0.000,4,0.000,0.061,3317,3777,2341,0,0,0,0,0,0
$GC,5983,0.76,146.0,269.9,16.7,553,5987,0.00,1.92,0.00,0.000,6,0.000,0.044,3325,2537,2342,0,0,0,0,0,0
$GC,6187,0.76,146.0,239.0,15.5,572,6191,0.00,2.00,0.00,0.000,4,0.000,0.061,3325,3772,2342,0,0,0,0,0,0
$GC,6243,0.76,146.0,229.5,17.5,577,6247,0.00,1.92,0.00,0.000,6,0.000,0.044,3335,2539,2341,0,0,0,0,0,0
$GC,6384,0.76,146.0,208.0,14.8,590,6387,0.00,2.00,0.00,0.000,4,0.000,0.061,3335,3776,2341,0,0,0,0,0,0
$GC,6409,0.76,146.0,203.2,16.7,592,6419,0.08,1.95,0.00,0.000,6,0.152,0.043,3320,2554,2341,0,0,0,0,0,0
$GC,6546,0.76,146.0,184.4,13.4,605,6547,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2553,2341,0,0,0,0,0,0
$GC,6672,0.76,146.0,167.5,13.4,617,6676,0.00,1.98,0.00,0.000,4,0.000,0.062,3320,3773,2341,0,0,0,0,0,0
$GC,6708,0.76,146.0,162.5,15.1,620,6712,0.00,1.88,0.00,0.000,6,0.000,0.044,3327,2563,2341,0,0,0,0,0,0
$GC,6851,0.76,146.0,142.2,14.2,633,6854,0.00,1.95,0.00,0.000,4,0.000,0.062,3327,3770,2341,0,0,0,0,0,0
$GC,6895,0.76,146.0,134.9,15.6,637,6899,0.00,1.85,0.00,0.000,6,0.000,0.043,3337,2575,2341,0,0,0,0,0,0
$GC,7036,0.76,146.0,115.1,13.5,650,7037,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2572,2341,0,0,0,0,0,0
$GC,7164,0.76,146.0,98.0,13.1,663,7171,0.00,1.95,0.00,0.000,4,0.000,0.061,3337,3773,2341,0,0,0,0,0,0
$GC,7214,0.76,146.0,90.1,16.8,672,7222,0.10,1.90,0.00,0.000,6,0.151,0.044,3313,2576,2341,0,0,0,0,0,0
$GC,7355,0.76,146.0,72.1,14.4,697,7361,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2575,2340,0,0,0,0,0,0
$GC,7492,0.76,146.0,55.9,11.9,722,7500,0.00,1.98,0.00,0.000,4,0.000,0.060,3313,3771,2340,0,0,0,0,0,0
$GC,7568,0.76,146.0,45.8,14.0,735,7575,0.00,1.85,0.00,0.000,6,0.000,0.044,3321,2587,2340,0,0,0,0,0,0
$GC,7705,0.76,146.0,29.3,10.9,760,7714,0.00,1.95,0.00,0.000,4,0.000,0.059,3321,3771,2340,0,0,0,0,0,0
$GC,7770,0.76,146.0,20.6,14.2,771,7780,0.00,1.83,0.00,0.000,6,0.000,0.044,3330,2597,2340,0,0,0,0,0,0
$FREEZE,8.40,-1.831,-1.908,2,1,0
$FREEZE,7.70,-1.813,-1.906,2,1,0
$FREEZE,6.75,-1.818,-1.906,2,1,0
$FREEZE,5.99,-1.805,-1.905,2,1,0
$FREEZE,5.02,-1.806,-1.905,2,1,0
$FREEZE,4.15,-1.795,-1.904,2,1,0
$FREEZE,3.11,-1.795,-1.903,2,1,0
$FREEZE,2.55,-1.795,-1.903,2,1,0
$STATE,7897,end climb,SURFACE_DEPTH_REACHED
$STATE,7897,begin surface coast
$FREEZE,1.56,-1.798,-1.902,2,1,0
$FREEZE,1.28,-1.800,-1.902,2,1,0
$FREEZE,1.30,-1.812,-1.848,2,1,0
$FREEZE,1.30,-1.816,-1.189,2,1,0
$FINISH,1.3,1.017545
$STATE,7922,end surface coast,FINISH_DEPTH_REACHED
$STATE,7922,begin surface
$SM_CCo,7937,136.20,0.780,1,0,1329,400.08
$SM_GC,2.07,0.00,0.00,136.20,0.000,0.000,0.780,420,2661,1329,-8.26,0.31,400.08
$IRIDIUM_FIX,-7630.39,16510.41,061210,090954
$TT8_MAMPS,0.028462
$HUMID,51.61
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,17.8
$24V_AH,21.0,35.955
$10V_AH,10.0,21.212
$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,18.725,91.300,278.900,136.200,0.000,27.611,35.662,219.502,2.500,0.000,16.490,1995.103,3594.586,549.750,2176.700,147.633,0.000,1381.713,0.000,1389.082,0.000,12.921,0.000
$DEVICE_MAMPS,207.315,120.105,1149.030,779.535,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,563.176,965.733,878.920,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53677,797
$CAP_FILE_SIZE,114774,0
$CFSIZE,260165632,244146176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061210,134826,-7713.653,16514.316,20,1.2,21,143.4