version: 66.08
glider: 502
mission: 3
dive: 158
start: 12 6 110 18 36 36
data:
$ID,502
$MISSION,3
$DIVE,158
$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,-27640.838
$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,30
$R_STBD_OVSHOOT,26
$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
$GPS1,061210,183019,-7711.706,16515.184,16,1.3,29,143.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-68.3
$GPS2,061210,183613,-7711.693,16515.131,15,1.3,15,143.3
$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,222.9,59038,-17.5,-10.000
$D_GRID,558
$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,-146.0,0.0,0.0,0,110,0.00,0.00,-91.55,0.000,2,0.000,0.000,423,2660,3003,0,0,0,0,0,0
$GC,112,-0.76,-146.0,3.0,-2.4,14,154,9.07,2.33,-23.58,0.000,4,0.207,0.064,2808,1233,3560,0,0,0,0,0,0
$GC,399,-0.76,-146.0,41.1,-14.1,65,406,0.00,2.33,0.00,0.000,6,0.000,0.060,2799,2649,3563,0,0,0,0,0,0
$GC,535,-0.76,-146.0,64.1,-17.2,90,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2649,3563,0,0,0,0,0,0
$GC,676,-0.76,-146.0,87.7,-16.4,115,683,0.00,1.80,0.00,0.000,4,0.000,0.063,2790,3766,3563,0,0,0,0,0,0
$GC,712,-0.76,-146.0,94.1,-19.1,121,719,0.00,1.77,0.00,0.000,6,0.000,0.044,2790,2633,3563,0,0,0,0,0,0
$GC,855,-0.76,-146.0,119.6,-18.2,137,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2632,3563,0,0,0,0,0,0
$GC,982,-0.76,-146.0,141.7,-17.1,149,985,0.00,1.85,0.00,0.000,4,0.000,0.066,2781,3767,3563,0,0,0,0,0,0
$GC,1027,-0.76,-146.0,149.6,-18.4,153,1031,0.12,1.73,0.00,0.000,6,0.173,0.044,2814,2659,3563,0,0,0,0,0,0
$GC,1168,-0.76,-146.0,171.3,-15.1,166,1172,0.00,2.22,0.00,0.000,4,0.000,0.053,2814,1247,3563,0,0,0,0,0,0
$GC,1189,-0.76,-146.0,175.0,-14.0,167,1198,0.00,2.35,0.00,0.000,6,0.000,0.059,2805,2665,3563,0,0,0,0,0,0
$GC,1326,-0.76,-146.0,194.6,-14.6,180,1330,0.00,1.75,0.00,0.000,4,0.000,0.063,2798,3764,3563,0,0,0,0,0,0
$GC,1406,-0.76,-146.0,207.7,-16.2,187,1415,0.00,1.70,0.00,0.000,6,0.000,0.044,2798,2689,3563,0,0,0,0,0,0
$GC,1543,-0.76,-146.0,228.0,-15.3,200,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2688,3563,0,0,0,0,0,0
$GC,1669,-0.76,-146.0,248.0,-15.8,212,1672,0.00,1.75,0.00,0.000,4,0.000,0.064,2789,3769,3563,0,0,0,0,0,0
$GC,1697,-0.76,-146.0,253.4,-16.6,214,1705,0.00,1.70,0.00,0.000,6,0.000,0.044,2789,2694,3563,0,0,0,0,0,0
$GC,1895,-0.76,-146.0,285.0,-16.1,233,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2693,3563,0,0,0,0,0,0
$GC,2086,-0.76,-146.0,315.5,-15.9,251,2090,0.00,1.75,0.00,0.000,4,0.000,0.064,2781,3775,3563,0,0,0,0,0,0
$GC,2135,-0.76,-146.0,324.0,-17.1,255,2143,0.10,1.73,0.00,0.000,6,0.151,0.044,2814,2693,3562,0,0,0,0,0,0
$GC,2337,-0.76,-146.0,351.4,-13.4,274,2343,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2691,3563,0,0,0,0,0,0
$GC,2534,-0.76,-146.0,378.7,-13.6,293,2538,0.00,1.73,0.00,0.000,4,0.000,0.064,2807,3764,3563,0,0,0,0,0,0
$GC,2583,-0.76,-146.0,386.0,-14.5,297,2591,0.00,1.70,0.00,0.000,6,0.000,0.044,2807,2691,3563,0,0,0,0,0,0
$GC,2781,-0.76,-146.0,413.8,-14.3,316,2785,0.00,1.75,0.00,0.000,4,0.000,0.063,2799,3774,3563,0,0,0,0,0,0
$GC,2819,-0.76,-146.0,419.9,-15.7,319,2826,0.00,1.70,0.00,0.000,6,0.000,0.044,2799,2707,3562,0,0,0,0,0,0
$GC,3018,-0.76,-146.0,449.3,-14.8,338,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2707,3563,0,0,0,0,0,0
$GC,3208,-0.76,-146.0,477.3,-14.5,356,3211,0.00,1.70,0.00,0.000,4,0.000,0.065,2790,3764,3562,0,0,0,0,0,0
$GC,3253,-0.76,-146.0,484.3,-15.9,360,3257,0.00,1.65,0.00,0.000,6,0.000,0.044,2790,2696,3563,0,0,0,0,0,0
$GC,3452,-0.76,-146.0,514.4,-15.0,373,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2694,3562,0,0,0,0,0,0
$GC,3636,-0.76,-146.0,541.4,-14.7,379,3639,0.00,1.73,0.00,0.000,4,0.000,0.065,2782,3764,3562,0,0,0,0,0,0
$GC,3662,-0.76,-146.0,545.7,-16.2,379,3671,0.10,1.65,0.00,0.000,6,0.151,0.044,2815,2724,3563,0,0,0,0,0,0
$STATE,3760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3760,begin apogee
$GC,3764,-0.17,0.0,558.7,13.3,383,3902,0.57,0.00,133.12,1.147,4,0.129,0.000,3003,2483,2961,0,0,0,0,0,0
$STATE,3903,end apogee,CONTROL_FINISHED_OK
$STATE,3903,begin climb
$GC,3904,0.76,146.0,563.3,0.0,387,4065,0.98,2.53,147.20,1.060,4,0.076,0.052,3312,1099,2364,0,0,0,0,1,0
$GC,4178,0.76,146.0,537.3,13.0,396,4182,0.00,2.45,0.00,0.000,6,0.000,0.055,3312,2506,2352,0,0,0,0,0,0
$GC,4389,0.76,146.0,509.5,13.2,403,4394,0.00,2.33,0.00,0.000,4,0.000,0.054,3321,1093,2348,0,0,0,0,0,0
$GC,4512,0.76,146.0,493.7,12.7,408,4519,0.00,2.38,0.00,0.000,6,0.000,0.055,3321,2509,2346,0,0,0,0,0,0
$GC,4710,0.76,146.0,467.2,13.5,427,4713,0.00,2.03,0.00,0.000,4,0.000,0.061,3321,3767,2345,0,0,0,0,0,0
$GC,4792,0.76,146.0,454.2,16.0,434,4800,0.00,2.00,0.00,0.000,6,0.000,0.043,3328,2526,2345,0,0,0,0,0,0
$GC,4992,0.76,146.0,426.5,13.7,453,4996,0.00,2.00,0.00,0.000,4,0.000,0.060,3328,3764,2344,0,0,0,0,0,0
$GC,5018,0.76,146.0,421.9,15.9,455,5026,0.00,1.98,0.00,0.000,6,0.000,0.042,3338,2526,2344,0,0,0,0,0,0
$GC,5217,0.76,146.0,393.1,14.7,474,5220,0.00,2.00,0.00,0.000,4,0.000,0.060,3337,3764,2343,0,0,0,0,0,0
$GC,5250,0.76,146.0,387.5,16.8,477,5255,0.12,1.95,0.00,0.000,6,0.176,0.044,3314,2530,2343,0,0,0,0,0,0
$GC,5448,0.76,146.0,361.5,12.9,495,5452,0.00,2.03,0.00,0.000,4,0.000,0.061,3315,3773,2343,0,0,0,0,0,0
$GC,5475,0.76,146.0,357.3,14.8,497,5482,0.00,1.98,0.00,0.000,6,0.000,0.044,3323,2532,2343,0,0,0,0,0,0
$GC,5675,0.76,146.0,331.0,13.2,516,5678,0.00,2.00,0.00,0.000,4,0.000,0.060,3323,3772,2342,0,0,0,0,0,0
$GC,5709,0.76,146.0,325.8,14.9,519,5712,0.00,1.92,0.00,0.000,6,0.000,0.043,3332,2539,2342,0,0,0,0,0,0
$GC,5911,0.76,146.0,297.0,13.9,538,5913,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2536,2342,0,0,0,0,0,0
$GC,6102,0.76,146.0,270.9,13.4,556,6106,0.00,1.98,0.00,0.000,4,0.000,0.060,3332,3764,2341,0,0,0,0,0,0
$GC,6153,0.76,146.0,263.3,15.4,560,6160,0.00,1.90,0.00,0.000,6,0.000,0.043,3341,2552,2341,0,0,0,0,0,0
$GC,6351,0.76,146.0,234.7,14.5,579,6355,0.00,1.95,0.00,0.000,4,0.000,0.060,3341,3764,2341,0,0,0,0,0,0
$GC,6377,0.76,146.0,230.3,16.5,581,6387,0.10,1.92,0.00,0.000,6,0.151,0.042,3318,2554,2341,0,0,0,0,0,0
$GC,6513,0.76,146.0,212.4,13.3,594,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2552,2341,0,0,0,0,0,0
$GC,6639,0.76,146.0,196.4,12.2,606,6640,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2552,2341,0,0,0,0,0,0
$GC,6767,0.76,146.0,179.9,13.5,618,6770,0.00,1.95,0.00,0.000,4,0.000,0.060,3318,3764,2341,0,0,0,0,0,0
$GC,6812,0.76,146.0,173.3,14.6,622,6815,0.00,1.88,0.00,0.000,6,0.000,0.042,3326,2555,2341,0,0,0,0,0,0
$GC,6952,0.76,146.0,153.8,13.4,635,6954,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2553,2341,0,0,0,0,0,0
$GC,7080,0.76,146.0,136.9,13.2,647,7083,0.00,1.95,0.00,0.000,4,0.000,0.061,3326,3764,2341,0,0,0,0,0,0
$GC,7125,0.76,146.0,130.4,15.2,651,7128,0.00,1.85,0.00,0.000,6,0.000,0.043,3335,2563,2341,0,0,0,0,0,0
$GC,7265,0.76,146.0,110.6,13.8,664,7266,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2561,2341,0,0,0,0,0,0
$GC,7392,0.76,146.0,93.0,13.9,680,7399,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2561,2340,0,0,0,0,0,0
$GC,7532,0.76,146.0,74.5,13.7,705,7539,0.00,1.95,0.00,0.000,4,0.000,0.060,3335,3767,2340,0,0,0,0,0,0
$GC,7589,0.76,146.0,65.7,15.8,715,7596,0.12,1.88,0.00,0.000,6,0.174,0.043,3312,2564,2340,0,0,0,0,0,0
$GC,7729,0.76,146.0,48.4,11.2,740,7737,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2563,2340,0,0,0,0,0,0
$GC,7869,0.76,146.0,31.2,11.9,765,7875,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2563,2340,0,0,0,0,0,0
$GC,8005,0.76,146.0,14.8,11.9,790,8013,0.00,1.98,0.00,0.000,4,0.000,0.062,3312,3758,2341,0,0,0,0,0,0
$FREEZE,8.92,-1.771,-1.909,2,1,0
$FREEZE,7.94,-1.768,-1.909,2,1,0
$GC,8053,0.76,146.0,7.9,15.4,798,8061,0.00,1.88,0.00,0.000,6,0.000,0.044,3319,2576,2341,0,0,0,0,0,0
$FREEZE,5.84,-1.762,-1.907,2,1,0
$FREEZE,5.21,-1.757,-1.906,2,1,0
$FREEZE,4.49,-1.754,-1.906,2,1,0
$FREEZE,3.86,-1.749,-1.905,2,1,0
$FREEZE,3.15,-1.749,-1.904,2,1,0
$FREEZE,2.33,-1.756,-1.904,2,1,0
$STATE,8096,end climb,SURFACE_DEPTH_REACHED
$STATE,8096,begin surface coast
$FREEZE,1.56,-1.751,-1.903,2,1,0
$FREEZE,1.21,-1.729,-1.558,2,1,0
$FINISH,1.2,1.022943
$STATE,8109,end surface coast,FINISH_DEPTH_REACHED
$STATE,8110,begin surface
$SM_CCo,8125,135.80,0.757,1,0,1330,400.08
$SM_GC,2.10,0.00,0.00,135.80,0.000,0.000,0.757,421,2663,1330,-8.26,0.37,400.08
$IRIDIUM_FIX,-7621.20,16431.14,061210,161629
$TT8_MAMPS,0.027713
$HUMID,51.10
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,18.6
$24V_AH,21.0,36.349
$10V_AH,10.0,21.488
$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,18.750,93.450,280.325,135.800,0.000,25.841,36.792,191.003,2.750,0.000,15.889,2000.469,3727.592,573.505,2173.270,148.994,0.000,1419.839,0.000,1399.739,0.000,14.641,0.000
$DEVICE_MAMPS,207.315,99.450,1146.735,756.585,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,569.661,983.670,893.988,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276244
$DATA_FILE_SIZE,53708,807
$CAP_FILE_SIZE,116873,0
$CFSIZE,260165632,243957760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,061210,205536,-7710.685,16515.770,38,1.4,39,143.2