version: 66.08
glider: 502
mission: 3
dive: 157
start: 12 6 110 16 14 7
data:
$ID,502
$MISSION,3
$DIVE,157
$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,-27639.58
$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,25
$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
$GPS1,061210,160807,-7712.686,16514.402,38,0.8,39,143.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-67.5
$GPS2,061210,161344,-7712.668,16514.393,14,1.4,14,143.3
$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,223.0,60868,-17.5,-10.000
$D_GRID,544
$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,15,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,123,0.00,0.00,-103.85,0.000,2,0.000,0.000,428,2658,3247,0,0,0,0,0,0
$GC,125,-0.76,-146.0,3.0,-0.7,16,153,9.05,1.90,-10.35,0.000,4,0.207,0.084,2803,3758,3559,0,0,0,0,0,0
$GC,377,-0.76,-146.0,43.6,-17.4,61,384,0.00,1.75,0.00,0.000,6,0.000,0.044,2803,2644,3562,0,0,0,0,0,0
$GC,514,-0.76,-146.0,67.0,-17.2,86,522,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2642,3562,0,0,0,0,0,0
$GC,654,-0.76,-146.0,89.7,-16.7,111,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2642,3562,0,0,0,0,0,0
$GC,798,-0.76,-146.0,112.9,-16.5,130,801,0.00,1.83,0.00,0.000,4,0.000,0.065,2795,3763,3562,0,0,0,0,0,0
$GC,833,-0.76,-146.0,119.2,-18.7,133,837,0.00,1.73,0.00,0.000,6,0.000,0.043,2795,2652,3562,0,0,0,0,0,0
$GC,974,-0.76,-146.0,143.5,-17.3,146,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2651,3562,0,0,0,0,0,0
$GC,1101,-0.76,-146.0,165.3,-17.4,158,1105,0.00,1.80,0.00,0.000,4,0.000,0.065,2787,3761,3562,0,0,0,0,0,0
$GC,1135,-0.76,-146.0,171.3,-18.1,161,1139,0.12,1.70,0.00,0.000,6,0.174,0.044,2820,2665,3562,0,0,0,0,0,0
$GC,1275,-0.76,-146.0,192.9,-14.7,174,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2663,3562,0,0,0,0,0,0
$GC,1402,-0.76,-146.0,211.7,-14.8,186,1406,0.00,1.77,0.00,0.000,4,0.000,0.064,2813,3762,3562,0,0,0,0,0,0
$GC,1447,-0.76,-146.0,218.6,-15.9,190,1451,0.00,1.70,0.00,0.000,6,0.000,0.044,2812,2666,3562,0,0,0,0,0,0
$GC,1590,-0.76,-146.0,239.0,-14.5,203,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2663,3563,0,0,0,0,0,0
$GC,1723,-0.76,-146.0,258.4,-13.9,216,1726,0.00,1.77,0.00,0.000,4,0.000,0.065,2804,3761,3563,0,0,0,0,0,0
$GC,1779,-0.76,-146.0,266.6,-14.4,221,1783,0.00,1.70,0.00,0.000,6,0.000,0.044,2804,2665,3562,0,0,0,0,0,0
$GC,1982,-0.76,-146.0,294.4,-13.6,240,1986,0.00,1.77,0.00,0.000,4,0.000,0.065,2797,3763,3562,0,0,0,0,0,0
$GC,2031,-0.76,-146.0,301.7,-14.1,244,2039,0.00,1.70,0.00,0.000,6,0.000,0.043,2797,2688,3563,0,0,0,0,0,0
$GC,2231,-0.76,-146.0,328.8,-13.9,263,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2689,3563,0,0,0,0,0,0
$GC,2420,-0.76,-146.0,355.4,-13.5,281,2424,0.00,1.75,0.00,0.000,4,0.000,0.065,2789,3769,3563,0,0,0,0,0,0
$GC,2458,-0.76,-146.0,361.2,-15.3,284,2466,0.00,1.73,0.00,0.000,6,0.000,0.044,2788,2689,3562,0,0,0,0,0,0
$GC,2657,-0.76,-146.0,389.6,-14.6,303,2661,0.10,1.80,0.00,0.000,4,0.187,0.065,2806,3757,3562,0,0,0,0,0,0
$GC,2682,-0.76,-146.0,393.6,-13.9,305,2690,0.00,1.70,0.00,0.000,6,0.000,0.044,2806,2690,3563,0,0,0,0,0,0
$GC,2881,-0.76,-146.0,419.9,-13.4,324,2882,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2690,3562,0,0,0,0,0,0
$GC,3072,-0.76,-146.0,445.7,-13.8,342,3075,0.00,1.75,0.00,0.000,4,0.000,0.065,2798,3767,3563,0,0,0,0,0,0
$GC,3128,-0.76,-146.0,453.8,-14.6,347,3131,0.00,1.65,0.00,0.000,6,0.000,0.044,2798,2701,3562,0,0,0,0,0,0
$GC,3331,-0.76,-146.0,482.7,-14.2,366,3334,0.00,1.73,0.00,0.000,4,0.000,0.067,2790,3761,3562,0,0,0,0,0,0
$GC,3357,-0.76,-146.0,487.0,-15.4,368,3365,0.00,1.67,0.00,0.000,6,0.000,0.044,2790,2710,3563,0,0,0,0,0,0
$GC,3572,-0.76,-146.0,518.8,-14.8,381,3573,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2709,3563,0,0,0,0,0,0
$STATE,3754,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3754,begin apogee
$GC,3759,-0.17,0.0,545.8,14.8,387,3898,0.68,0.00,133.45,1.161,4,0.136,0.000,3006,2485,2961,0,0,0,0,0,0
$STATE,3899,end apogee,CONTROL_FINISHED_OK
$STATE,3899,begin climb
$GC,3900,0.76,146.0,550.8,0.0,391,4055,0.95,2.55,145.35,1.082,4,0.075,0.052,3307,1096,2364,0,0,0,0,0,0
$GC,4183,0.76,146.0,523.8,12.2,400,4188,0.00,2.47,0.00,0.000,6,0.000,0.054,3307,2497,2352,0,0,0,0,0,0
$GC,4391,0.76,146.0,497.2,13.0,407,4395,0.00,2.30,0.00,0.000,4,0.000,0.053,3315,1099,2348,0,0,0,0,0,0
$GC,4520,0.76,146.0,480.5,13.1,418,4524,0.00,2.35,0.00,0.000,6,0.000,0.054,3315,2520,2346,0,0,0,0,0,0
$GC,4718,0.76,146.0,453.7,13.6,436,4722,0.00,2.00,0.00,0.000,4,0.000,0.060,3315,3768,2345,0,0,0,0,0,0
$GC,4819,0.76,146.0,437.7,16.0,445,4823,0.00,1.98,0.00,0.000,6,0.000,0.044,3324,2523,2344,0,0,0,0,0,0
$GC,5022,0.76,146.0,408.6,14.5,464,5026,0.00,2.03,0.00,0.000,4,0.000,0.062,3324,3768,2343,0,0,0,0,0,0
$GC,5067,0.76,146.0,401.3,16.6,468,5071,0.00,1.92,0.00,0.000,6,0.000,0.044,3334,2539,2343,0,0,0,0,0,0
$GC,5271,0.76,146.0,370.4,14.9,487,5275,0.00,2.00,0.00,0.000,4,0.000,0.060,3334,3771,2343,0,0,0,0,0,0
$GC,5304,0.76,146.0,364.6,16.7,490,5309,0.12,1.92,0.00,0.000,6,0.171,0.044,3311,2543,2343,0,0,0,0,0,0
$GC,5504,0.76,146.0,337.6,13.2,508,5507,0.00,1.98,0.00,0.000,4,0.000,0.062,3311,3764,2342,0,0,0,0,0,0
$GC,5541,0.76,146.0,331.6,15.0,511,5549,0.00,1.92,0.00,0.000,6,0.000,0.043,3319,2555,2342,0,0,0,0,0,0
$GC,5739,0.76,146.0,304.6,13.6,530,5743,0.00,1.95,0.00,0.000,4,0.000,0.061,3319,3764,2342,0,0,0,0,0,0
$GC,5773,0.76,146.0,299.4,15.5,533,5777,0.00,1.88,0.00,0.000,6,0.000,0.043,3328,2558,2342,0,0,0,0,0,0
$GC,5976,0.76,146.0,270.6,14.1,552,5980,0.00,1.95,0.00,0.000,4,0.000,0.060,3328,3769,2341,0,0,0,0,0,0
$GC,6004,0.76,146.0,266.4,15.8,554,6010,0.00,1.90,0.00,0.000,6,0.000,0.043,3337,2557,2341,0,0,0,0,0,0
$GC,6202,0.76,146.0,238.0,14.1,573,6204,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2555,2341,0,0,0,0,0,0
$GC,6329,0.76,146.0,220.6,13.8,585,6333,0.00,1.95,0.00,0.000,4,0.000,0.060,3337,3768,2341,0,0,0,0,0,0
$GC,6385,0.76,146.0,212.4,16.0,590,6389,0.12,1.88,0.00,0.000,6,0.172,0.044,3313,2561,2341,0,0,0,0,0,0
$GC,6525,0.76,146.0,195.2,12.2,603,6529,0.00,1.95,0.00,0.000,4,0.000,0.060,3313,3767,2341,0,0,0,0,0,0
$GC,6584,0.76,146.0,186.6,14.0,608,6593,0.00,1.90,0.00,0.000,6,0.000,0.043,3321,2570,2341,0,0,0,0,0,0
$GC,6721,0.76,146.0,169.2,13.0,621,6725,0.00,1.92,0.00,0.000,4,0.000,0.061,3321,3764,2341,0,0,0,0,0,0
$GC,6757,0.76,146.0,164.1,15.0,624,6761,0.00,1.83,0.00,0.000,6,0.000,0.042,3330,2582,2341,0,0,0,0,0,0
$GC,6899,0.76,146.0,144.6,13.5,637,6900,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2580,2341,0,0,0,0,0,0
$GC,7025,0.76,146.0,127.4,13.5,649,7026,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2580,2341,0,0,0,0,0,0
$GC,7152,0.76,146.0,110.1,13.3,661,7156,0.00,1.90,0.00,0.000,4,0.000,0.060,3330,3765,2341,0,0,0,0,0,0
$GC,7188,0.76,146.0,105.0,14.7,664,7192,0.00,1.83,0.00,0.000,6,0.000,0.042,3339,2584,2341,0,0,0,0,0,0
$GC,7323,0.76,146.0,85.1,14.2,686,7331,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2581,2341,0,0,0,0,0,0
$GC,7463,0.76,146.0,65.2,14.4,711,7469,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2581,2341,0,0,0,0,0,0
$GC,7599,0.76,146.0,45.9,13.7,736,7607,0.00,1.95,0.00,0.000,4,0.000,0.060,3339,3764,2341,0,0,0,0,0,0
$GC,7656,0.76,146.0,36.6,17.3,746,7665,0.10,1.88,0.00,0.000,6,0.149,0.044,3316,2584,2340,0,0,0,0,0,0
$GC,7798,0.76,146.0,18.2,13.6,771,7804,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2583,2340,0,0,0,0,0,0
$FREEZE,8.38,-1.784,-1.909,2,1,0
$FREEZE,7.66,-1.787,-1.909,2,1,0
$FREEZE,7.04,-1.782,-1.908,2,1,0
$FREEZE,6.46,-1.781,-1.908,2,1,0
$FREEZE,5.87,-1.782,-1.907,2,1,0
$FREEZE,5.38,-1.782,-1.907,2,1,0
$FREEZE,4.65,-1.781,-1.906,2,1,0
$FREEZE,4.09,-1.781,-1.906,2,1,0
$FREEZE,3.45,-1.778,-1.905,2,1,0
$FREEZE,2.88,-1.780,-1.905,2,1,0
$STATE,7921,end climb,SURFACE_DEPTH_REACHED
$STATE,7922,begin surface coast
$FREEZE,1.89,-1.774,-1.904,2,1,0
$FREEZE,1.31,-1.774,-1.903,2,1,0
$FREEZE,1.42,-1.827,-1.906,2,1,0
$FREEZE,1.36,-1.777,-1.891,2,1,0
$FREEZE,1.36,-1.794,-1.905,2,1,0
$FINISH,1.4,1.027915
$STATE,7953,end surface coast,CONTROL_FINISHED_OK
$STATE,7953,begin surface
$SM_CCo,7967,134.88,0.753,1,0,1330,400.08
$SM_GC,2.15,0.00,0.00,134.88,0.000,0.000,0.753,423,2659,1330,-8.25,0.25,400.08
$IRIDIUM_FIX,-7621.20,16517.85,061210,131352
$TT8_MAMPS,0.028462
$HUMID,50.94
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,18.5
$24V_AH,21.0,36.218
$10V_AH,10.0,21.395
$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,18.650,87.425,278.800,134.875,0.000,23.587,42.776,176.128,2.500,0.000,15.059,1995.109,3631.068,535.194,2139.298,147.935,0.000,1367.769,0.000,1390.927,0.000,13.641,0.000
$DEVICE_MAMPS,207.315,110.160,1161.270,752.760,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,564.268,966.901,882.611,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53589,798
$CAP_FILE_SIZE,114390,0
$CFSIZE,260165632,244027392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061210,183019,-7711.706,16515.184,16,1.3,29,143.3