version: 66.08
glider: 502
mission: 3
dive: 159
start: 12 6 110 21 1 43
data:
$ID,502
$MISSION,3
$DIVE,159
$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,-27642.096
$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,32
$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
$GPS1,061210,205536,-7710.685,16515.770,38,1.4,39,143.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-70.0
$GPS2,061210,210120,-7710.671,16515.750,16,1.3,16,143.2
$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,222.9,57129,-17.5,-10.000
$D_GRID,557
$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,-146.0,0.0,0.0,0,111,0.00,0.00,-91.97,0.000,2,0.000,0.000,420,2664,3018,0,0,0,0,0,0
$GC,113,-0.76,-146.0,3.0,-2.4,14,154,9.10,2.38,-22.75,0.000,4,0.208,0.066,2808,1243,3560,0,0,0,0,0,0
$GC,400,-0.76,-146.0,39.7,-14.1,65,407,0.00,2.33,0.00,0.000,6,0.000,0.060,2798,2653,3563,0,0,0,0,0,0
$GC,537,-0.76,-146.0,61.3,-15.9,90,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2652,3563,0,0,0,0,0,0
$GC,678,-0.76,-146.0,84.9,-16.8,115,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2653,3563,0,0,0,0,0,0
$GC,820,-0.76,-146.0,109.0,-16.7,136,823,0.00,1.77,0.00,0.000,4,0.000,0.063,2790,3766,3563,0,0,0,0,0,0
$GC,865,-0.76,-146.0,116.9,-17.1,140,869,0.00,1.73,0.00,0.000,6,0.000,0.044,2790,2654,3563,0,0,0,0,0,0
$GC,1006,-0.76,-146.0,141.0,-16.8,153,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2652,3563,0,0,0,0,0,0
$GC,1132,-0.76,-146.0,163.0,-17.8,165,1136,0.00,1.80,0.00,0.000,4,0.000,0.066,2782,3763,3563,0,0,0,0,0,0
$GC,1178,-0.76,-146.0,171.3,-18.9,169,1182,0.12,1.73,0.00,0.000,6,0.169,0.044,2815,2653,3563,0,0,0,0,0,0
$GC,1318,-0.76,-146.0,193.9,-15.6,182,1319,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2651,3562,0,0,0,0,0,0
$GC,1446,-0.76,-146.0,213.6,-15.4,194,1450,0.00,1.80,0.00,0.000,4,0.000,0.065,2808,3764,3563,0,0,0,0,0,0
$GC,1481,-0.76,-146.0,219.2,-16.7,197,1485,0.00,1.70,0.00,0.000,6,0.000,0.044,2808,2670,3563,0,0,0,0,0,0
$GC,1623,-0.76,-146.0,241.1,-14.9,210,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2668,3562,0,0,0,0,0,0
$GC,1746,-0.76,-146.0,260.3,-15.1,222,1750,0.00,1.77,0.00,0.000,4,0.000,0.063,2799,3764,3563,0,0,0,0,0,0
$GC,1792,-0.76,-146.0,267.6,-16.1,226,1795,0.00,1.70,0.00,0.000,6,0.000,0.044,2799,2669,3563,0,0,0,0,0,0
$GC,1994,-0.76,-146.0,298.8,-15.7,245,1998,0.00,1.77,0.00,0.000,4,0.000,0.064,2791,3763,3563,0,0,0,0,0,0
$GC,2031,-0.76,-146.0,305.4,-17.3,248,2039,0.00,1.73,0.00,0.000,6,0.000,0.043,2791,2682,3563,0,0,0,0,0,0
$GC,2230,-0.76,-146.0,336.7,-15.9,267,2231,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2682,3562,0,0,0,0,0,0
$GC,2421,-0.76,-146.0,366.6,-15.4,285,2424,0.00,1.77,0.00,0.000,4,0.000,0.066,2783,3773,3562,0,0,0,0,0,0
$GC,2454,-0.76,-146.0,372.0,-16.5,288,2459,0.12,1.67,0.00,0.000,6,0.170,0.044,2816,2690,3563,0,0,0,0,0,0
$GC,2657,-0.76,-146.0,399.8,-13.3,307,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2689,3563,0,0,0,0,0,0
$GC,2850,-0.76,-146.0,425.3,-13.7,325,2853,0.00,1.75,0.00,0.000,4,0.000,0.064,2809,3767,3563,0,0,0,0,0,0
$GC,2885,-0.76,-146.0,430.5,-14.6,328,2889,0.00,1.67,0.00,0.000,6,0.000,0.044,2809,2687,3563,0,0,0,0,0,0
$GC,3088,-0.76,-146.0,459.1,-13.9,347,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2684,3563,0,0,0,0,0,0
$GC,3279,-0.76,-146.0,486.3,-14.4,365,3283,0.00,1.80,0.00,0.000,4,0.000,0.065,2801,3763,3563,0,0,0,0,0,0
$GC,3328,-0.76,-146.0,494.1,-15.8,369,3336,0.00,1.70,0.00,0.000,6,0.000,0.044,2801,2696,3563,0,0,0,0,0,0
$GC,3531,-0.76,-146.0,523.7,-14.6,379,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2695,3563,0,0,0,0,0,0
$GC,3715,-0.76,-146.0,550.2,-14.4,385,3719,0.00,1.75,0.00,0.000,4,0.000,0.065,2793,3771,3563,0,0,0,0,0,0
$GC,3736,-0.76,-146.0,553.9,-15.8,385,3741,0.00,1.70,0.00,0.000,6,0.000,0.044,2793,2705,3562,0,0,0,0,0,0
$STATE,3778,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3778,begin apogee
$GC,3782,-0.17,0.0,560.3,15.5,387,3922,0.65,0.00,133.18,1.156,4,0.136,0.000,3001,2496,2960,0,0,0,0,0,0
$STATE,3922,end apogee,CONTROL_FINISHED_OK
$STATE,3923,begin climb
$GC,3924,0.76,146.0,566.6,0.0,391,4079,0.98,2.55,145.30,1.076,4,0.075,0.052,3310,1094,2364,0,0,0,0,0,0
$GC,4178,0.76,146.0,545.1,11.1,399,4184,0.00,2.50,0.00,0.000,6,0.000,0.054,3310,2496,2354,0,0,0,0,0,0
$GC,4381,0.76,146.0,520.0,12.7,406,4384,0.00,2.33,0.00,0.000,4,0.000,0.053,3319,1098,2349,0,0,0,0,0,0
$GC,4508,0.76,146.0,504.3,11.2,409,4515,0.00,2.40,0.00,0.000,6,0.000,0.055,3319,2527,2346,0,0,0,0,0,0
$GC,4704,0.76,146.0,478.9,13.0,426,4708,0.00,2.00,0.00,0.000,4,0.000,0.061,3319,3767,2346,0,0,0,0,0,0
$GC,4800,0.76,146.0,464.1,15.8,434,4806,0.00,1.95,0.00,0.000,6,0.000,0.043,3328,2532,2345,0,0,0,0,0,0
$GC,4997,0.76,146.0,435.7,14.2,453,5001,0.00,2.00,0.00,0.000,4,0.000,0.060,3328,3765,2344,0,0,0,0,0,0
$GC,5031,0.76,146.0,430.3,16.7,456,5034,0.00,1.92,0.00,0.000,6,0.000,0.042,3337,2535,2344,0,0,0,0,0,0
$GC,5235,0.76,146.0,399.4,15.2,475,5236,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2532,2343,0,0,0,0,0,0
$GC,5424,0.76,146.0,370.7,15.2,493,5428,0.00,2.00,0.00,0.000,4,0.000,0.061,3337,3770,2343,0,0,0,0,0,0
$GC,5469,0.76,146.0,363.1,17.4,497,5474,0.12,1.92,0.00,0.000,6,0.174,0.044,3314,2538,2343,0,0,0,0,0,0
$GC,5667,0.76,146.0,336.1,13.1,515,5669,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2535,2342,0,0,0,0,0,0
$GC,5859,0.76,146.0,310.8,12.9,533,5863,0.00,2.00,0.00,0.000,4,0.000,0.062,3314,3775,2342,0,0,0,0,0,0
$GC,5905,0.76,146.0,304.1,15.0,537,5909,0.00,1.92,0.00,0.000,6,0.000,0.044,3322,2539,2342,0,0,0,0,0,0
$GC,6108,0.76,146.0,276.3,13.4,556,6111,0.00,1.98,0.00,0.000,4,0.000,0.061,3322,3764,2342,0,0,0,0,0,0
$GC,6134,0.76,146.0,272.0,15.0,558,6142,0.00,1.92,0.00,0.000,6,0.000,0.044,3331,2556,2341,0,0,0,0,0,0
$GC,6334,0.76,146.0,243.9,14.2,577,6338,0.00,1.95,0.00,0.000,4,0.000,0.060,3331,3767,2341,0,0,0,0,0,0
$GC,6370,0.76,146.0,237.4,16.6,580,6380,0.00,1.92,0.00,0.000,6,0.000,0.042,3340,2554,2341,0,0,0,0,0,0
$GC,6508,0.76,146.0,217.5,14.9,593,6509,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2552,2341,0,0,0,0,0,0
$GC,6634,0.76,146.0,199.0,14.5,605,6635,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2552,2341,0,0,0,0,0,0
$GC,6761,0.76,146.0,180.1,14.7,617,6762,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2552,2341,0,0,0,0,0,0
$GC,6889,0.76,146.0,161.4,14.7,629,6892,0.00,1.98,0.00,0.000,4,0.000,0.060,3341,3776,2341,0,0,0,0,0,0
$GC,6924,0.76,146.0,155.9,16.3,632,6929,0.15,1.90,0.00,0.000,6,0.171,0.043,3310,2553,2341,0,0,0,0,0,0
$GC,7059,0.76,146.0,137.8,12.4,644,7060,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2551,2341,0,0,0,0,0,0
$GC,7186,0.76,146.0,122.0,12.4,656,7190,0.00,1.98,0.00,0.000,4,0.000,0.061,3309,3773,2341,0,0,0,0,0,0
$GC,7220,0.76,146.0,117.2,14.8,659,7224,0.00,1.90,0.00,0.000,6,0.000,0.044,3318,2553,2341,0,0,0,0,0,0
$GC,7354,0.76,146.0,99.2,13.1,672,7362,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2550,2341,0,0,0,0,0,0
$GC,7495,0.76,146.0,80.7,13.0,697,7502,0.00,1.98,0.00,0.000,4,0.000,0.060,3318,3768,2341,0,0,0,0,0,0
$GC,7545,0.76,146.0,73.3,15.5,706,7553,0.00,1.90,0.00,0.000,6,0.000,0.043,3327,2567,2341,0,0,0,0,0,0
$GC,7687,0.76,146.0,54.5,13.6,731,7694,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2567,2341,0,0,0,0,0,0
$GC,7823,0.76,146.0,35.7,14.2,756,7832,0.00,1.98,0.00,0.000,4,0.000,0.063,3327,3758,2341,0,0,0,0,0,0
$GC,7855,0.76,146.0,31.1,14.8,761,7862,0.00,1.85,0.00,0.000,6,0.000,0.043,3336,2568,2341,0,0,0,0,0,0
$GC,7997,0.76,146.0,11.3,12.9,786,8004,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2566,2340,0,0,0,0,0,0
$FREEZE,8.36,-1.701,-1.908,2,1,0
$FREEZE,7.50,-1.685,-1.908,2,1,0
$FREEZE,6.80,-1.710,-1.907,2,1,0
$FREEZE,5.96,-1.705,-1.907,2,1,0
$FREEZE,5.16,-1.697,-1.906,2,1,0
$FREEZE,4.32,-1.666,-1.905,2,1,0
$FREEZE,3.63,-1.664,-1.904,2,1,0
$FREEZE,2.77,-1.631,-1.903,2,1,0
$STATE,8055,end climb,SURFACE_DEPTH_REACHED
$STATE,8055,begin surface coast
$FREEZE,2.06,-1.642,-1.903,2,1,0
$FREEZE,1.35,-1.614,-1.902,2,1,0
$FREEZE,1.29,-1.594,-1.882,2,1,0
$FREEZE,1.34,-1.602,-1.519,2,1,0
$FINISH,1.3,1.022382
$STATE,8082,end surface coast,FINISH_DEPTH_REACHED
$STATE,8082,begin surface
$SM_CCo,8097,136.62,0.780,1,0,1330,400.08
$SM_GC,2.14,0.00,0.00,136.62,0.000,0.000,0.780,414,2655,1330,-8.29,0.14,400.08
$IRIDIUM_FIX,-7621.20,16508.48,061210,181837
$TT8_MAMPS,0.028462
$HUMID,50.90
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,18.0
$24V_AH,21.0,36.481
$10V_AH,9.9,21.580
$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,18.850,85.200,278.475,136.625,0.000,23.404,39.445,182.087,2.750,0.000,17.039,1999.744,3764.840,537.097,2132.367,153.770,0.000,1369.349,0.000,1381.590,0.000,14.642,0.000
$DEVICE_MAMPS,208.080,94.860,1155.915,779.535,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,565.707,974.698,874.460,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276260
$DATA_FILE_SIZE,53618,800
$CAP_FILE_SIZE,114887,0
$CFSIZE,260165632,243900416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061210,232025,-7709.636,16517.059,45,1.4,46,143.1