version: 66.08
glider: 502
mission: 3
dive: 161
start: 12 7 110 1 50 56
data:
$ID,502
$MISSION,3
$DIVE,161
$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,-27644.613
$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,29
$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
$GPS1,071210,014504,-7708.678,16518.969,19,2.6,39,143.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-72.9
$GPS2,071210,015032,-7708.672,16518.973,10,1.6,10,143.0
$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,222.1,53309,-17.5,-10.000
$D_GRID,564
$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,-104.18,0.000,2,0.000,0.000,426,2672,3278,0,0,0,0,0,0
$GC,124,-0.76,-146.0,3.2,-1.0,16,147,9.15,1.88,-8.98,0.000,4,0.213,0.080,2803,3756,3560,0,0,0,0,0,0
$GC,325,-0.76,-146.0,36.2,-16.4,52,333,0.00,1.77,0.00,0.000,6,0.000,0.046,2804,2650,3563,0,0,0,0,0,0
$GC,465,-0.76,-146.0,58.1,-15.6,77,472,0.00,1.83,0.00,0.000,4,0.000,0.065,2796,3757,3563,0,0,0,0,0,0
$GC,491,-0.76,-146.0,62.3,-16.8,81,498,0.00,1.77,0.00,0.000,6,0.000,0.044,2796,2633,3563,0,0,0,0,0,0
$GC,627,-0.76,-146.0,85.1,-16.5,106,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2631,3563,0,0,0,0,0,0
$GC,766,-0.76,-146.0,107.2,-16.4,127,769,0.00,1.85,0.00,0.000,4,0.000,0.065,2787,3763,3563,0,0,0,0,0,0
$GC,822,-0.76,-146.0,117.2,-18.1,132,827,0.12,1.73,0.00,0.000,6,0.174,0.044,2820,2655,3563,0,0,0,0,0,0
$GC,964,-0.76,-146.0,138.6,-14.8,145,968,0.00,1.80,0.00,0.000,4,0.000,0.064,2813,3763,3564,0,0,0,0,0,0
$GC,989,-0.76,-146.0,143.0,-15.6,147,999,0.00,1.75,0.00,0.000,6,0.000,0.044,2813,2665,3563,0,0,0,0,0,0
$GC,1126,-0.76,-146.0,163.1,-15.4,160,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2664,3564,0,0,0,0,0,0
$GC,1253,-0.76,-146.0,182.5,-14.9,172,1254,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2664,3564,0,0,0,0,0,0
$GC,1381,-0.76,-146.0,201.9,-15.5,184,1384,0.00,1.77,0.00,0.000,4,0.000,0.064,2804,3757,3564,0,0,0,0,0,0
$GC,1426,-0.76,-146.0,209.1,-16.5,188,1429,0.00,1.67,0.00,0.000,6,0.000,0.044,2804,2679,3564,0,0,0,0,0,0
$GC,1566,-0.76,-146.0,231.6,-15.7,201,1567,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2677,3564,0,0,0,0,0,0
$GC,1694,-0.76,-146.0,251.0,-14.9,213,1698,0.00,1.77,0.00,0.000,4,0.000,0.066,2797,3767,3564,0,0,0,0,0,0
$GC,1729,-0.76,-146.0,256.8,-15.9,216,1732,0.00,1.67,0.00,0.000,6,0.000,0.045,2796,2685,3563,0,0,0,0,0,0
$GC,1931,-0.76,-146.0,287.7,-14.9,235,1935,0.00,1.75,0.00,0.000,4,0.000,0.066,2789,3761,3564,0,0,0,0,0,0
$GC,1965,-0.76,-146.0,293.1,-16.2,238,1969,0.00,1.65,0.00,0.000,6,0.000,0.044,2789,2693,3563,0,0,0,0,0,0
$GC,2168,-0.76,-146.0,324.5,-15.2,257,2169,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2691,3564,0,0,0,0,0,0
$GC,2359,-0.76,-146.0,353.9,-15.3,275,2362,0.00,1.73,0.00,0.000,4,0.000,0.065,2781,3757,3564,0,0,0,0,0,0
$GC,2393,-0.76,-146.0,359.5,-16.4,278,2397,0.12,1.65,0.00,0.000,6,0.171,0.044,2814,2692,3564,0,0,0,0,0,0
$GC,2595,-0.76,-146.0,387.6,-13.3,297,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2690,3563,0,0,0,0,0,0
$GC,2786,-0.76,-146.0,413.0,-13.0,315,2789,0.00,1.73,0.00,0.000,4,0.000,0.064,2807,3757,3564,0,0,0,0,0,0
$GC,2842,-0.76,-146.0,420.7,-13.8,320,2846,0.00,1.65,0.00,0.000,6,0.000,0.044,2807,2692,3563,0,0,0,0,0,0
$GC,3045,-0.76,-146.0,447.3,-13.1,339,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2690,3563,0,0,0,0,0,0
$GC,3238,-0.76,-146.0,472.2,-13.1,357,3241,0.00,1.73,0.00,0.000,4,0.000,0.064,2799,3756,3563,0,0,0,0,0,0
$GC,3273,-0.76,-146.0,477.2,-14.5,360,3277,0.00,1.65,0.00,0.000,6,0.000,0.044,2799,2690,3563,0,0,0,0,0,0
$GC,3475,-0.76,-146.0,504.9,-13.3,377,3478,0.00,1.73,0.00,0.000,4,0.000,0.065,2791,3756,3563,0,0,0,0,0,0
$GC,3503,-0.76,-146.0,508.9,-14.4,377,3509,0.00,1.67,0.00,0.000,6,0.000,0.044,2791,2705,3563,0,0,0,0,0,0
$GC,3692,-0.76,-146.0,535.6,-14.1,384,3693,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2704,3563,0,0,0,0,0,0
$GC,3876,-0.76,-146.0,561.2,-13.9,390,3879,0.00,1.70,0.00,0.000,4,0.000,0.065,2783,3756,3563,0,0,0,0,0,0
$STATE,3895,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3895,begin apogee
$GC,3901,-0.17,0.0,564.5,14.8,390,4042,0.70,0.00,133.90,1.170,4,0.145,0.000,3002,2492,2961,0,0,0,0,0,0
$STATE,4043,end apogee,CONTROL_FINISHED_OK
$STATE,4043,begin climb
$GC,4044,0.76,146.0,569.7,0.0,395,4200,0.98,2.55,145.93,1.086,4,0.075,0.052,3310,1098,2364,0,0,0,0,0,0
$GC,4289,0.76,146.0,547.1,13433.7,402,4296,0.00,2.47,0.00,0.000,6,0.000,0.054,3310,2500,2353,0,0,0,0,0,0
$GC,4479,0.76,146.0,521.8,13433.7,409,4484,0.00,2.33,0.00,0.000,4,0.000,0.054,3319,1090,2349,0,0,0,0,0,0
$GC,4579,0.76,146.0,508.3,13433.7,412,4583,0.00,2.42,0.00,0.000,6,0.000,0.057,3319,2522,2347,0,0,0,0,0,0
$GC,4776,0.76,146.0,481.2,13433.7,425,4780,0.00,2.00,0.00,0.000,4,0.000,0.060,3319,3767,2346,0,0,0,0,0,0
$GC,4859,0.76,146.0,467.5,13433.7,432,4866,0.00,1.98,0.00,0.000,6,0.000,0.043,3328,2534,2346,0,0,0,0,0,0
$GC,5058,0.76,146.0,439.0,13433.7,451,5062,0.00,2.00,0.00,0.000,4,0.000,0.061,3328,3770,2344,0,0,0,0,0,0
$GC,5094,0.76,146.0,433.3,13433.7,454,5098,0.00,1.92,0.00,0.000,6,0.000,0.043,3337,2539,2344,0,0,0,0,0,0
$GC,5297,0.76,146.0,403.3,13433.7,473,5300,0.00,1.98,0.00,0.000,4,0.000,0.060,3337,3764,2343,0,0,0,0,0,0
$GC,5330,0.76,146.0,397.8,13433.7,476,5335,0.12,1.90,0.00,0.000,6,0.174,0.044,3314,2546,2343,0,0,0,0,0,0
$GC,5534,0.76,146.0,371.0,13433.7,495,5537,0.00,1.98,0.00,0.000,4,0.000,0.063,3314,3765,2342,0,0,0,0,0,0
$GC,5560,0.76,146.0,367.1,13433.7,497,5568,0.00,1.92,0.00,0.000,6,0.000,0.043,3322,2552,2343,0,0,0,0,0,0
$GC,5758,0.76,146.0,341.4,13433.7,516,5762,0.00,1.98,0.00,0.000,4,0.000,0.063,3322,3773,2342,0,0,0,0,0,0
$GC,5785,0.76,146.0,337.6,13433.7,518,5793,0.00,1.95,0.00,0.000,6,0.000,0.044,3331,2554,2342,0,0,0,0,0,0
$GC,5983,0.76,146.0,311.5,13433.7,537,5987,0.00,2.00,0.00,0.000,4,0.000,0.061,3332,3766,2342,0,0,0,0,0,0
$GC,6016,0.76,146.0,306.5,13433.7,540,6020,0.00,1.90,0.00,0.000,6,0.000,0.042,3340,2565,2341,0,0,0,0,0,0
$GC,6219,0.76,146.0,278.5,13433.7,559,6221,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2563,2341,0,0,0,0,0,0
$GC,6410,0.76,146.0,252.2,13433.7,577,6414,0.00,1.92,0.00,0.000,4,0.000,0.060,3340,3764,2341,0,0,0,0,0,0
$GC,6458,0.76,146.0,244.4,13433.7,581,6468,0.10,1.90,0.00,0.000,6,0.154,0.043,3317,2564,2341,0,0,0,0,0,0
$GC,6594,0.76,146.0,227.7,13433.7,594,6595,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2563,2341,0,0,0,0,0,0
$GC,6721,0.76,146.0,212.0,13433.7,606,6724,0.00,1.95,0.00,0.000,4,0.000,0.062,3317,3771,2341,0,0,0,0,0,0
$GC,6777,0.76,146.0,203.7,13433.7,611,6781,0.00,1.88,0.00,0.000,6,0.000,0.044,3325,2561,2341,0,0,0,0,0,0
$GC,6919,0.76,146.0,184.7,13433.7,624,6920,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2559,2341,0,0,0,0,0,0
$GC,7045,0.76,146.0,168.0,13433.7,636,7048,0.00,1.95,0.00,0.000,4,0.000,0.063,3325,3767,2341,0,0,0,0,0,0
$GC,7070,0.76,146.0,163.9,13433.7,638,7079,0.00,1.90,0.00,0.000,6,0.000,0.043,3334,2565,2340,0,0,0,0,0,0
$GC,7206,0.76,146.0,145.6,13433.7,651,7207,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2564,2341,0,0,0,0,0,0
$GC,7333,0.76,146.0,128.0,13433.7,663,7335,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2564,2341,0,0,0,0,0,0
$GC,7461,0.76,146.0,110.1,13433.7,675,7462,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2564,2341,0,0,0,0,0,0
$GC,7588,0.76,146.0,92.1,13433.7,692,7596,0.00,1.98,0.00,0.000,4,0.000,0.062,3334,3759,2341,0,0,0,0,0,0
$GC,7631,0.76,146.0,85.6,13433.7,699,7638,0.12,1.85,0.00,0.000,6,0.174,0.043,3310,2568,2340,0,0,0,0,0,0
$GC,7772,0.76,146.0,67.5,13433.7,724,7779,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2567,2341,0,0,0,0,0,0
$GC,7912,0.76,146.0,49.7,13433.7,749,7919,0.00,1.95,0.00,0.000,4,0.000,0.063,3310,3766,2340,0,0,0,0,0,0
$GC,7941,0.76,146.0,45.6,13433.7,754,7949,0.00,1.88,0.00,0.000,6,0.000,0.043,3318,2581,2340,0,0,0,0,0,0
$GC,8084,0.76,146.0,27.6,13433.7,779,8090,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2580,2341,0,0,0,0,0,0
$GC,8221,0.76,146.0,9.7,13433.7,804,8229,0.00,1.95,0.00,0.000,4,0.000,0.062,3318,3761,2340,0,0,0,0,0,0
$FREEZE,7.56,-1.752,-1.908,2,1,0
$FREEZE,6.84,-1.746,-1.907,2,1,0
$FREEZE,6.01,-1.726,-1.906,2,1,0
$FREEZE,5.33,-1.726,-1.906,2,1,0
$FREEZE,4.49,-1.720,-1.905,2,1,0
$FREEZE,3.66,-1.709,-1.904,2,1,0
$FREEZE,2.73,-1.648,-1.903,2,1,0
$STATE,8269,end climb,SURFACE_DEPTH_REACHED
$STATE,8269,begin surface coast
$FREEZE,1.93,-1.429,-1.901,2,1,0
$FINISH,1.9,1.027841
$STATE,8277,end surface coast,CONTROL_FINISHED_OK
$STATE,8278,begin surface
$SM_CCo,8294,137.38,0.769,1,0,1330,400.08
$SM_GC,2.26,0.00,0.00,137.38,0.000,0.000,0.769,422,2632,1330,-8.26,-0.51,400.08
$IRIDIUM_FIX,-7621.20,16505.99,061210,232358
$TT8_MAMPS,0.028462
$HUMID,51.06
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,18.2
$24V_AH,21.0,36.747
$10V_AH,9.9,21.766
$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,18.900,98.100,279.825,137.375,0.000,28.950,36.759,170.910,2.750,0.000,11.699,2031.842,3877.016,551.492,2153.190,156.409,0.000,1401.197,0.000,1401.149,0.000,14.638,0.000
$DEVICE_MAMPS,212.670,80.325,1170.450,768.825,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,574.597,989.375,896.055,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53559,813
$CAP_FILE_SIZE,119077,0
$CFSIZE,260165632,243769344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071210,041233,-7707.708,16521.047,24,1.6,25,142.9