version: 66.08
glider: 502
mission: 3
dive: 160
start: 12 6 110 23 26 31
data:
$ID,502
$MISSION,3
$DIVE,160
$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,-27643.354
$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,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
$GPS1,061210,232025,-7709.636,16517.059,45,1.4,46,143.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-72.5
$GPS2,061210,232608,-7709.634,16517.057,11,1.2,11,143.1
$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,222.7,55159,-17.5,-10.000
$D_GRID,556
$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
$STATE,14,begin dive
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$GC,125,-0.76,-146.0,3.2,-1.2,16,148,9.05,1.90,-8.80,0.000,4,0.206,0.080,2799,3761,3560,0,0,0,0,0,0
$GC,390,-0.76,-146.0,48.1,-17.5,64,398,0.00,1.80,0.00,0.000,6,0.000,0.045,2799,2644,3563,0,0,0,0,0,0
$GC,530,-0.76,-146.0,71.1,-16.0,89,537,0.00,1.85,0.00,0.000,4,0.000,0.063,2790,3769,3563,0,0,0,0,0,0
$GC,559,-0.76,-146.0,76.3,-18.1,94,567,0.00,1.80,0.00,0.000,6,0.000,0.044,2790,2650,3563,0,0,0,0,0,0
$GC,700,-0.76,-146.0,100.3,-17.5,119,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2649,3563,0,0,0,0,0,0
$GC,835,-0.76,-146.0,124.2,-17.2,132,839,0.00,1.83,0.00,0.000,4,0.000,0.066,2781,3760,3563,0,0,0,0,0,0
$GC,893,-0.76,-146.0,135.2,-17.9,137,902,0.08,1.75,0.00,0.000,6,0.150,0.044,2806,2661,3563,0,0,0,0,0,0
$GC,1029,-0.76,-146.0,156.3,-15.3,150,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2660,3563,0,0,0,0,0,0
$GC,1156,-0.76,-146.0,175.9,-14.9,162,1160,0.00,1.80,0.00,0.000,4,0.000,0.064,2799,3770,3563,0,0,0,0,0,0
$GC,1201,-0.76,-146.0,183.1,-16.1,166,1205,0.00,1.73,0.00,0.000,6,0.000,0.044,2799,2660,3563,0,0,0,0,0,0
$GC,1343,-0.76,-146.0,205.4,-15.6,179,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2657,3563,0,0,0,0,0,0
$GC,1470,-0.76,-146.0,225.2,-15.3,191,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2658,3563,0,0,0,0,0,0
$GC,1597,-0.76,-146.0,244.8,-15.6,203,1600,0.00,1.80,0.00,0.000,4,0.000,0.065,2791,3765,3563,0,0,0,0,0,0
$GC,1622,-0.76,-146.0,249.7,-17.6,205,1633,0.00,1.75,0.00,0.000,6,0.000,0.044,2790,2669,3563,0,0,0,0,0,0
$GC,1757,-0.76,-146.0,270.9,-15.7,218,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2667,3563,0,0,0,0,0,0
$GC,1949,-0.76,-146.0,301.0,-15.6,236,1953,0.00,1.77,0.00,0.000,4,0.000,0.065,2782,3763,3563,0,0,0,0,0,0
$GC,1994,-0.76,-146.0,308.6,-17.0,240,1999,0.10,1.73,0.00,0.000,6,0.147,0.044,2815,2680,3563,0,0,0,0,0,0
$GC,2197,-0.76,-146.0,336.0,-13.3,259,2200,0.00,1.75,0.00,0.000,4,0.000,0.065,2808,3759,3563,0,0,0,0,0,0
$GC,2230,-0.76,-146.0,340.9,-14.7,262,2234,0.00,1.67,0.00,0.000,6,0.000,0.044,2808,2680,3564,0,0,0,0,0,0
$GC,2433,-0.76,-146.0,368.7,-13.5,281,2434,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2679,3563,0,0,0,0,0,0
$GC,2624,-0.76,-146.0,394.8,-13.8,299,2628,0.00,1.75,0.00,0.000,4,0.000,0.065,2800,3761,3563,0,0,0,0,0,0
$GC,2682,-0.76,-146.0,403.0,-15.4,304,2686,0.00,1.67,0.00,0.000,6,0.000,0.044,2799,2680,3563,0,0,0,0,0,0
$GC,2885,-0.76,-146.0,432.4,-14.6,323,2886,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2679,3563,0,0,0,0,0,0
$GC,3076,-0.76,-146.0,460.7,-14.7,341,3080,0.00,1.80,0.00,0.000,4,0.000,0.066,2792,3757,3563,0,0,0,0,0,0
$GC,3113,-0.76,-146.0,466.8,-16.0,344,3121,0.05,1.70,0.00,0.000,6,0.157,0.044,2808,2689,3563,0,0,0,0,0,0
$GC,3312,-0.76,-146.0,494.9,-14.1,363,3313,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2689,3563,0,0,0,0,0,0
$GC,3507,-0.76,-146.0,522.1,-13.9,372,3510,0.00,1.75,0.00,0.000,4,0.000,0.066,2801,3766,3563,0,0,0,0,0,0
$GC,3550,-0.76,-146.0,528.7,-14.6,373,3555,0.00,1.70,0.00,0.000,6,0.000,0.044,2801,2700,3563,0,0,0,0,0,0
$STATE,3756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3756,begin apogee
$GC,3761,-0.17,0.0,558.6,14.4,380,3900,0.62,0.00,134.02,1.176,4,0.134,0.000,3002,2491,2961,0,0,0,0,0,0
$STATE,3901,end apogee,CONTROL_FINISHED_OK
$STATE,3901,begin climb
$GC,3903,0.76,146.0,564.0,0.0,384,4058,0.98,2.55,146.32,1.110,4,0.075,0.053,3311,1101,2364,0,0,0,0,0,0
$GC,4175,0.76,146.0,538.7,11.7,393,4180,0.00,2.47,0.00,0.000,6,0.000,0.054,3311,2497,2352,0,0,0,0,0,0
$GC,4389,0.76,146.0,511.5,12.9,400,4393,0.00,2.30,0.00,0.000,4,0.000,0.054,3318,1092,2348,0,0,0,0,0,0
$GC,4518,0.76,146.0,495.0,13.1,406,4522,0.00,2.35,0.00,0.000,6,0.000,0.057,3319,2524,2346,0,0,0,0,0,0
$GC,4715,0.76,146.0,468.2,13.4,424,4719,0.00,2.00,0.00,0.000,4,0.000,0.060,3319,3771,2345,0,0,0,0,0,0
$GC,4797,0.76,146.0,455.1,15.6,431,4805,0.00,2.00,0.00,0.000,6,0.000,0.044,3328,2527,2345,0,0,0,0,0,0
$GC,4998,0.76,146.0,427.2,14.2,450,5001,0.00,2.00,0.00,0.000,4,0.000,0.060,3327,3767,2344,0,0,0,0,0,0
$GC,5032,0.76,146.0,421.6,15.9,453,5035,0.00,1.92,0.00,0.000,6,0.000,0.043,3337,2532,2344,0,0,0,0,0,0
$GC,5235,0.76,146.0,391.7,14.5,472,5236,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2529,2343,0,0,0,0,0,0
$GC,5425,0.76,146.0,363.5,14.5,490,5429,0.00,2.00,0.00,0.000,4,0.000,0.060,3337,3774,2343,0,0,0,0,0,0
$GC,5482,0.76,146.0,354.0,16.8,495,5486,0.12,1.92,0.00,0.000,6,0.173,0.044,3314,2538,2343,0,0,0,0,0,0
$GC,5679,0.76,146.0,327.3,13.4,513,5680,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2536,2342,0,0,0,0,0,0
$GC,5870,0.76,146.0,302.1,13.2,531,5873,0.00,1.98,0.00,0.000,4,0.000,0.062,3314,3764,2342,0,0,0,0,0,0
$GC,5918,0.76,146.0,294.6,15.6,535,5926,0.00,1.95,0.00,0.000,6,0.000,0.043,3321,2536,2342,0,0,0,0,0,0
$GC,6117,0.76,146.0,267.5,14.2,554,6120,0.00,1.98,0.00,0.000,4,0.000,0.061,3322,3766,2342,0,0,0,0,0,0
$GC,6177,0.76,146.0,257.7,16.1,559,6184,0.00,1.92,0.00,0.000,6,0.000,0.043,3331,2552,2341,0,0,0,0,0,0
$GC,6376,0.76,146.0,229.1,14.5,578,6380,0.00,1.95,0.00,0.000,4,0.000,0.060,3331,3767,2341,0,0,0,0,0,0
$GC,6412,0.76,146.0,222.9,15.6,581,6423,0.08,1.92,0.00,0.000,6,0.152,0.042,3316,2555,2341,0,0,0,0,0,0
$GC,6548,0.76,146.0,205.6,13.3,594,6550,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2554,2341,0,0,0,0,0,0
$GC,6676,0.76,146.0,189.2,13.0,606,6680,0.00,1.95,0.00,0.000,4,0.000,0.060,3316,3767,2341,0,0,0,0,0,0
$GC,6713,0.76,146.0,183.5,13.9,609,6722,0.00,1.90,0.00,0.000,6,0.000,0.043,3324,2562,2341,0,0,0,0,0,0
$GC,6850,0.76,146.0,166.3,13.1,622,6851,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2561,2341,0,0,0,0,0,0
$GC,6976,0.76,146.0,149.5,13.2,634,6980,0.00,1.95,0.00,0.000,4,0.000,0.061,3324,3774,2341,0,0,0,0,0,0
$GC,7023,0.76,146.0,142.1,15.1,638,7032,0.00,1.90,0.00,0.000,6,0.000,0.043,3333,2569,2341,0,0,0,0,0,0
$GC,7159,0.76,146.0,123.4,14.0,651,7163,0.00,1.92,0.00,0.000,4,0.000,0.063,3333,3764,2341,0,0,0,0,0,0
$GC,7194,0.76,146.0,118.0,16.1,654,7198,0.12,1.85,0.00,0.000,6,0.168,0.043,3309,2569,2340,0,0,0,0,0,0
$GC,7336,0.76,146.0,99.6,12.5,667,7342,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2567,2341,0,0,0,0,0,0
$GC,7472,0.76,146.0,82.5,12.4,692,7480,0.00,1.98,0.00,0.000,4,0.000,0.062,3309,3758,2341,0,0,0,0,0,0
$GC,7519,0.76,146.0,76.0,14.1,700,7527,0.00,1.85,0.00,0.000,6,0.000,0.044,3317,2592,2341,0,0,0,0,0,0
$GC,7659,0.76,146.0,57.9,13.1,725,7665,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2591,2341,0,0,0,0,0,0
$GC,7796,0.76,146.0,39.4,13.9,750,7805,0.00,1.95,0.00,0.000,4,0.000,0.062,3317,3768,2340,0,0,0,0,0,0
$GC,7852,0.76,146.0,31.6,15.8,759,7858,0.00,1.85,0.00,0.000,6,0.000,0.043,3326,2580,2340,0,0,0,0,0,0
$GC,7990,0.76,146.0,12.4,13.1,784,7997,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2579,2340,0,0,0,0,0,0
$FREEZE,8.81,-1.732,-1.909,2,1,0
$FREEZE,8.11,-1.729,-1.908,2,1,0
$FREEZE,7.20,-1.729,-1.907,2,1,0
$FREEZE,6.58,-1.708,-1.907,2,1,0
$FREEZE,5.77,-1.707,-1.906,2,1,0
$FREEZE,5.07,-1.696,-1.906,2,1,0
$FREEZE,4.21,-1.678,-1.905,2,1,0
$FREEZE,3.55,-1.658,-1.904,2,1,0
$FREEZE,2.76,-1.583,-1.903,2,1,0
$STATE,8059,end climb,SURFACE_DEPTH_REACHED
$STATE,8059,begin surface coast
$FREEZE,1.99,-1.527,-1.902,2,1,0
$FREEZE,1.40,-1.248,-1.901,2,1,0
$FREEZE,1.39,-1.211,-0.875,2,1,0
$FINISH,1.4,1.012891
$STATE,8080,end surface coast,FINISH_DEPTH_REACHED
$STATE,8080,begin surface
$SM_CCo,8094,136.88,0.775,1,0,1329,400.08
$SM_GC,2.16,0.00,0.00,136.88,0.000,0.000,0.775,426,2671,1329,-8.25,0.59,400.08
$IRIDIUM_FIX,-7621.20,16508.48,061210,202057
$TT8_MAMPS,0.027713
$HUMID,51.33
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,13.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,18.3
$24V_AH,20.9,36.615
$10V_AH,10.0,21.672
$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,18.700,88.075,280.350,136.875,0.000,30.866,45.593,172.653,2.750,0.000,12.548,1989.643,3739.547,552.371,2152.599,150.363,0.000,1396.294,0.000,1397.607,0.000,14.633,0.000
$DEVICE_MAMPS,205.785,94.095,1175.805,774.945,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,564.555,972.935,879.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53674,799
$CAP_FILE_SIZE,115404,0
$CFSIZE,260165632,243838976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,071210,014504,-7708.678,16518.969,19,2.6,39,143.0