version: 66.08
glider: 502
mission: 3
dive: 162
start: 12 7 110 4 22 0
data:
$ID,502
$MISSION,3
$DIVE,162
$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,-27645.873
$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,37
$R_STBD_OVSHOOT,22
$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
$GPS1,071210,041233,-7707.708,16521.047,24,1.6,25,142.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-72.5
$GPS2,071210,042136,-7707.690,16521.055,41,0.8,41,142.9
$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,221.4,51425,-17.5,-10.000
$D_GRID,573
$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,-104.50,0.000,2,0.000,0.000,422,2633,3287,0,0,0,0,0,0
$GC,125,-0.76,-146.0,3.2,-1.1,16,148,9.10,1.98,-8.57,0.000,4,0.212,0.080,2801,3770,3560,0,0,0,0,0,0
$GC,389,-0.76,-146.0,48.2,-17.2,64,397,0.00,1.80,0.00,0.000,6,0.000,0.044,2800,2650,3563,0,0,0,0,0,0
$GC,530,-0.76,-146.0,70.8,-16.1,89,537,0.00,1.85,0.00,0.000,4,0.000,0.066,2792,3764,3563,0,0,0,0,0,0
$GC,556,-0.76,-146.0,75.4,-17.9,93,563,0.00,1.77,0.00,0.000,6,0.000,0.044,2793,2636,3563,0,0,0,0,0,0
$GC,693,-0.76,-146.0,99.2,-17.4,118,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2635,3563,0,0,0,0,0,0
$GC,829,-0.76,-146.0,121.7,-16.7,131,833,0.00,1.85,0.00,0.000,4,0.000,0.064,2783,3770,3563,0,0,0,0,0,0
$GC,876,-0.76,-146.0,130.9,-18.2,135,886,0.10,1.77,0.00,0.000,6,0.153,0.044,2815,2655,3563,0,0,0,0,0,0
$GC,1012,-0.76,-146.0,151.5,-15.2,148,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2654,3564,0,0,0,0,0,0
$GC,1140,-0.76,-146.0,170.8,-15.2,160,1144,0.00,1.80,0.00,0.000,4,0.000,0.066,2808,3763,3564,0,0,0,0,0,0
$GC,1176,-0.76,-146.0,177.1,-15.9,163,1186,0.00,1.75,0.00,0.000,6,0.000,0.044,2808,2665,3564,0,0,0,0,0,0
$GC,1314,-0.76,-146.0,197.0,-14.6,176,1318,0.00,1.77,0.00,0.000,4,0.000,0.065,2800,3764,3564,0,0,0,0,0,0
$GC,1340,-0.76,-146.0,201.8,-15.6,178,1349,0.00,1.75,0.00,0.000,6,0.000,0.043,2800,2667,3564,0,0,0,0,0,0
$GC,1476,-0.76,-146.0,222.2,-15.5,191,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2667,3564,0,0,0,0,0,0
$GC,1602,-0.76,-146.0,241.3,-15.4,203,1606,0.00,1.77,0.00,0.000,4,0.000,0.064,2791,3765,3564,0,0,0,0,0,0
$GC,1647,-0.76,-146.0,248.6,-16.5,207,1651,0.00,1.70,0.00,0.000,6,0.000,0.044,2791,2672,3564,0,0,0,0,0,0
$GC,1786,-0.76,-146.0,270.5,-15.3,220,1787,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2669,3564,0,0,0,0,0,0
$GC,1978,-0.76,-146.0,300.1,-15.4,238,1982,0.00,1.77,0.00,0.000,4,0.000,0.065,2784,3767,3564,0,0,0,0,0,0
$GC,2016,-0.76,-146.0,306.8,-17.0,241,2024,0.08,1.73,0.00,0.000,6,0.155,0.044,2808,2682,3564,0,0,0,0,0,0
$GC,2216,-0.76,-146.0,334.4,-14.2,260,2219,0.00,1.75,0.00,0.000,4,0.000,0.067,2801,3763,3564,0,0,0,0,0,0
$GC,2242,-0.76,-146.0,338.9,-14.7,262,2250,0.00,1.70,0.00,0.000,6,0.000,0.044,2801,2688,3563,0,0,0,0,0,0
$GC,2441,-0.76,-146.0,367.7,-14.6,281,2444,0.00,1.75,0.00,0.000,4,0.000,0.065,2793,3768,3564,0,0,0,0,0,0
$GC,2467,-0.76,-146.0,372.0,-15.0,283,2475,0.00,1.70,0.00,0.000,6,0.000,0.044,2793,2695,3564,0,0,0,0,0,0
$GC,2665,-0.76,-146.0,402.2,-15.5,302,2670,0.00,1.77,0.00,0.000,4,0.000,0.065,2785,3760,3563,0,0,0,0,0,0
$GC,2692,-0.76,-146.0,406.9,-16.1,304,2700,0.00,1.67,0.00,0.000,6,0.000,0.043,2785,2704,3563,0,0,0,0,0,0
$GC,2892,-0.76,-146.0,437.9,-15.7,323,2893,0.12,0.00,0.00,0.000,6,0.174,0.000,2818,2702,3564,0,0,0,0,0,0
$GC,3081,-0.76,-146.0,463.6,-13.5,341,3084,0.00,1.73,0.00,0.000,4,0.000,0.067,2812,3766,3563,0,0,0,0,0,0
$GC,3137,-0.76,-146.0,471.7,-14.0,346,3141,0.00,1.65,0.00,0.000,6,0.000,0.044,2812,2698,3563,0,0,0,0,0,0
$GC,3340,-0.76,-146.0,499.3,-13.4,365,3344,0.00,1.73,0.00,0.000,4,0.000,0.067,2803,3764,3563,0,0,0,0,0,0
$GC,3373,-0.76,-146.0,504.2,-15.0,367,3377,0.00,1.65,0.00,0.000,6,0.000,0.044,2803,2694,3563,0,0,0,0,0,0
$GC,3591,-0.76,-146.0,535.5,-14.3,374,3594,0.00,1.75,0.00,0.000,4,0.000,0.066,2796,3773,3563,0,0,0,0,0,0
$GC,3628,-0.76,-146.0,541.5,-15.4,375,3633,0.00,1.67,0.00,0.000,6,0.000,0.044,2796,2723,3563,0,0,0,0,0,0
$GC,3843,-0.76,-146.0,572.2,-14.3,382,3847,0.00,1.70,0.00,0.000,4,0.000,0.067,2788,3770,3563,0,0,0,0,0,0
$STATE,3852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3852,begin apogee
$GC,3857,-0.17,0.0,574.2,14.4,382,3996,0.68,0.00,134.15,1.177,4,0.141,0.000,3001,2489,2961,0,0,0,0,0,0
$STATE,3997,end apogee,CONTROL_FINISHED_OK
$STATE,3997,begin climb
$GC,3999,0.76,146.0,579.6,0.0,386,4157,0.98,2.55,146.10,1.107,4,0.076,0.052,3308,1093,2364,0,0,0,0,0,0
$GC,4252,0.76,146.0,556.4,12.2,393,4259,0.00,2.47,0.00,0.000,6,0.000,0.055,3308,2504,2354,0,0,0,0,0,0
$GC,4442,0.76,146.0,531.9,13.0,400,4446,0.00,2.33,0.00,0.000,4,0.000,0.054,3317,1099,2350,0,0,0,0,0,0
$GC,4571,0.76,146.0,515.6,11.8,404,4576,0.00,2.33,0.00,0.000,6,0.000,0.056,3317,2516,2347,0,0,0,0,0,0
$GC,4766,0.76,146.0,489.7,13.4,415,4770,0.00,2.03,0.00,0.000,4,0.000,0.060,3317,3774,2346,0,0,0,0,0,0
$GC,4867,0.76,146.0,474.1,16.0,424,4871,0.00,1.95,0.00,0.000,6,0.000,0.044,3326,2532,2346,0,0,0,0,0,0
$GC,5070,0.76,146.0,445.4,13.9,443,5074,0.00,2.05,0.00,0.000,4,0.000,0.060,3327,3790,2345,0,0,0,0,0,0
$GC,5115,0.76,146.0,438.2,16.4,447,5118,0.00,1.98,0.00,0.000,6,0.000,0.044,3336,2526,2345,0,0,0,0,0,0
$GC,5318,0.76,146.0,407.1,15.4,466,5321,0.00,2.00,0.00,0.000,4,0.000,0.061,3336,3764,2344,0,0,0,0,0,0
$GC,5363,0.76,146.0,399.0,18.5,470,5367,0.08,1.95,0.00,0.000,6,0.155,0.044,3308,2545,2344,0,0,0,0,0,0
$GC,5566,0.76,146.0,369.9,14.2,489,5569,0.00,1.98,0.00,0.000,4,0.000,0.063,3308,3764,2343,0,0,0,0,0,0
$GC,5626,0.76,146.0,360.2,16.6,494,5634,0.00,1.92,0.00,0.000,6,0.000,0.043,3316,2553,2343,0,0,0,0,0,0
$GC,5824,0.76,146.0,332.9,13.3,513,5828,0.00,1.98,0.00,0.000,4,0.000,0.062,3316,3775,2343,0,0,0,0,0,0
$GC,5892,0.76,146.0,322.4,16.5,519,5896,0.00,1.88,0.00,0.000,6,0.000,0.043,3325,2562,2343,0,0,0,0,0,0
$GC,6095,0.76,146.0,293.8,14.3,538,6098,0.00,1.95,0.00,0.000,4,0.000,0.062,3325,3768,2343,0,0,0,0,0,0
$GC,6174,0.76,146.0,280.9,17.3,545,6177,0.00,1.88,0.00,0.000,6,0.000,0.044,3334,2568,2342,0,0,0,0,0,0
$GC,6376,0.76,146.0,250.7,14.7,564,6380,0.00,1.95,0.00,0.000,4,0.000,0.063,3333,3774,2342,0,0,0,0,0,0
$GC,6433,0.76,146.0,241.5,17.6,569,6437,0.12,1.85,0.00,0.000,6,0.171,0.044,3310,2581,2342,0,0,0,0,0,0
$GC,6574,0.76,146.0,222.7,12.7,582,6575,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2579,2342,0,0,0,0,0,0
$GC,6701,0.76,146.0,206.7,12.7,594,6704,0.00,1.90,0.00,0.000,4,0.000,0.062,3310,3764,2341,0,0,0,0,0,0
$GC,6768,0.76,146.0,197.2,14.9,600,6771,0.00,1.80,0.00,0.000,6,0.000,0.044,3318,2600,2342,0,0,0,0,0,0
$GC,6910,0.76,146.0,178.7,12.9,613,6914,0.00,1.88,0.00,0.000,4,0.000,0.062,3318,3764,2341,0,0,0,0,0,0
$GC,6957,0.76,146.0,171.4,15.1,617,6966,0.00,1.83,0.00,0.000,6,0.000,0.042,3327,2612,2342,0,0,0,0,0,0
$GC,7093,0.76,146.0,154.1,12.5,630,7097,0.00,1.88,0.00,0.000,4,0.000,0.063,3327,3775,2342,0,0,0,0,0,0
$GC,7150,0.76,146.0,145.7,15.6,635,7154,0.00,1.80,0.00,0.000,6,0.000,0.044,3335,2624,2341,0,0,0,0,0,0
$GC,7292,0.76,146.0,126.0,13.8,648,7300,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2621,2341,0,0,0,0,0,0
$GC,7427,0.76,146.0,107.4,13.2,661,7431,0.00,1.83,0.00,0.000,4,0.000,0.061,3336,3764,2341,0,0,0,0,0,0
$GC,7463,0.76,146.0,101.6,15.7,664,7473,0.10,1.80,0.00,0.000,6,0.147,0.043,3312,2624,2341,0,0,0,0,0,0
$GC,7602,0.76,146.0,85.3,11.7,688,7610,0.00,1.88,0.00,0.000,4,0.000,0.061,3312,3758,2341,0,0,0,0,0,0
$GC,7639,0.76,146.0,80.6,13.0,694,7647,0.00,1.77,0.00,0.000,6,0.000,0.044,3319,2637,2341,0,0,0,0,0,0
$GC,7780,0.76,146.0,64.1,10.9,719,7786,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2635,2341,0,0,0,0,0,0
$GC,7916,0.76,146.0,47.5,12.5,744,7924,0.00,1.88,0.00,0.000,4,0.000,0.063,3319,3769,2341,0,0,0,0,0,0
$GC,7981,0.76,146.0,38.7,14.5,755,7987,0.00,1.77,0.00,0.000,6,0.000,0.043,3328,2627,2341,0,0,0,0,0,0
$GC,8121,0.76,146.0,20.2,13.6,780,8130,0.00,1.88,0.00,0.000,4,0.000,0.060,3328,3763,2341,0,0,0,0,0,0
$GC,8158,0.76,146.0,14.4,16.2,786,8167,0.00,1.75,0.00,0.000,6,0.000,0.043,3336,2657,2341,0,0,0,0,0,0
$FREEZE,8.97,-1.674,-1.909,2,1,0
$FREEZE,8.13,-1.679,-1.909,2,1,0
$FREEZE,7.34,-1.680,-1.908,2,1,0
$FREEZE,6.56,-1.679,-1.908,2,1,0
$FREEZE,5.75,-1.675,-1.907,2,1,0
$FREEZE,5.05,-1.674,-1.906,2,1,0
$FREEZE,4.11,-1.674,-1.906,2,1,0
$FREEZE,3.44,-1.674,-1.905,2,1,0
$FREEZE,2.62,-1.671,-1.904,2,1,0
$STATE,8239,end climb,SURFACE_DEPTH_REACHED
$STATE,8239,begin surface coast
$FREEZE,1.87,-1.668,-1.904,2,1,0
$FREEZE,1.37,-1.665,-1.903,2,1,0
$FREEZE,1.35,-1.669,-0.875,2,1,0
$FINISH,1.4,1.012886
$STATE,8260,end surface coast,FINISH_DEPTH_REACHED
$STATE,8260,begin surface
$SM_CCo,8274,138.23,0.763,1,0,1330,400.08
$SM_GC,2.13,0.00,0.00,138.23,0.000,0.000,0.763,429,2655,1330,-8.24,0.14,400.08
$IRIDIUM_FIX,-7621.20,16510.96,071210,040457
$TT8_MAMPS,0.028462
$HUMID,50.90
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,13.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.1,17.2
$24V_AH,20.9,36.886
$10V_AH,9.9,21.862
$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,18.875,111.975,280.250,138.225,0.000,60.636,112.400,184.817,2.750,0.000,42.084,2024.842,3852.466,572.586,2351.969,164.503,0.000,1463.859,0.000,1453.385,0.000,14.632,0.000
$DEVICE_MAMPS,211.905,80.325,1176.570,763.470,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,567.103,983.743,890.722,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53689,803
$CAP_FILE_SIZE,124129,0
$CFSIZE,260165632,243703808
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071210,064334,-7706.776,16522.609,19,4.5,39,142.8