version: 66.08
glider: 502
mission: 3
dive: 165
start: 12 7 110 11 50 31
data:
$ID,502
$MISSION,3
$DIVE,165
$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,-27649.646
$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
$GPS1,071210,114414,-7704.671,16525.098,32,1.7,33,142.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-71.3
$GPS2,071210,115007,-7704.639,16525.070,29,1.8,29,142.6
$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,220.0,45679,-17.5,-10.000
$D_GRID,580
$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,-146.0,0.0,0.0,0,105,0.00,0.00,-86.45,0.000,2,0.000,0.000,423,2671,2925,0,0,0,0,0,0
$GC,107,-0.76,-146.0,3.1,-2.9,13,154,9.02,2.38,-28.27,0.000,4,0.207,0.066,2817,1244,3560,0,0,0,0,0,0
$GC,358,-0.76,-146.0,31.9,-14.0,57,365,0.00,2.33,0.00,0.000,6,0.000,0.060,2808,2650,3563,0,0,0,0,0,0
$GC,495,-0.76,-146.0,53.0,-16.2,82,503,0.00,1.85,0.00,0.000,4,0.000,0.063,2800,3767,3562,0,0,0,0,0,0
$GC,561,-0.76,-146.0,63.8,-17.0,93,568,0.00,1.77,0.00,0.000,6,0.000,0.044,2799,2636,3562,0,0,0,0,0,0
$GC,697,-0.76,-146.0,86.9,-16.5,118,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2634,3563,0,0,0,0,0,0
$GC,836,-0.76,-146.0,109.3,-16.4,138,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2634,3563,0,0,0,0,0,0
$GC,963,-0.76,-146.0,130.2,-16.8,150,967,0.00,1.85,0.00,0.000,4,0.000,0.065,2791,3770,3563,0,0,0,0,0,0
$GC,999,-0.76,-146.0,136.3,-17.7,153,1003,0.00,1.73,0.00,0.000,6,0.000,0.044,2791,2660,3563,0,0,0,0,0,0
$GC,1141,-0.76,-146.0,160.5,-16.9,166,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2658,3563,0,0,0,0,0,0
$GC,1267,-0.76,-146.0,182.0,-17.3,178,1271,0.00,1.80,0.00,0.000,4,0.000,0.066,2784,3768,3563,0,0,0,0,0,0
$GC,1303,-0.76,-146.0,189.4,-18.9,181,1313,0.10,1.75,0.00,0.000,6,0.154,0.044,2816,2669,3563,0,0,0,0,0,0
$GC,1441,-0.76,-146.0,209.9,-14.5,194,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2667,3563,0,0,0,0,0,0
$GC,1576,-0.76,-146.0,230.0,-15.2,207,1579,0.00,1.77,0.00,0.000,4,0.000,0.063,2808,3769,3562,0,0,0,0,0,0
$GC,1610,-0.76,-146.0,235.3,-15.4,210,1613,0.00,1.70,0.00,0.000,6,0.000,0.044,2809,2671,3562,0,0,0,0,0,0
$GC,1749,-0.76,-146.0,256.8,-15.3,223,1750,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2669,3563,0,0,0,0,0,0
$GC,1942,-0.76,-146.0,285.3,-14.9,241,1945,0.00,1.77,0.00,0.000,4,0.000,0.065,2801,3764,3562,0,0,0,0,0,0
$GC,1979,-0.76,-146.0,291.9,-16.7,244,1987,0.00,1.70,0.00,0.000,6,0.000,0.044,2800,2689,3563,0,0,0,0,0,0
$GC,2178,-0.76,-146.0,321.8,-15.1,263,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2688,3563,0,0,0,0,0,0
$GC,2371,-0.76,-146.0,351.2,-15.5,281,2372,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2688,3563,0,0,0,0,0,0
$GC,2559,-0.76,-146.0,380.5,-15.5,299,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2689,3563,0,0,0,0,0,0
$GC,2751,-0.76,-146.0,409.9,-15.1,317,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2688,3562,0,0,0,0,0,0
$GC,2942,-0.76,-146.0,438.7,-14.6,335,2943,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2688,3563,0,0,0,0,0,0
$GC,3135,-0.76,-146.0,467.2,-14.9,353,3138,0.00,1.75,0.00,0.000,4,0.000,0.066,2792,3767,3563,0,0,0,0,0,0
$GC,3157,-0.76,-146.0,471.0,-15.3,355,3161,0.00,1.67,0.00,0.000,6,0.000,0.044,2793,2684,3563,0,0,0,0,0,0
$GC,3380,-0.76,-146.0,505.5,-15.5,374,3381,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2683,3563,0,0,0,0,0,0
$GC,3564,-0.76,-146.0,533.4,-15.0,380,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2683,3563,0,0,0,0,0,0
$GC,3747,-0.76,-146.0,560.7,-14.7,386,3751,0.00,1.77,0.00,0.000,4,0.000,0.066,2785,3773,3563,0,0,0,0,0,0
$GC,3781,-0.76,-146.0,566.0,-16.5,387,3785,0.12,1.67,0.00,0.000,6,0.173,0.045,2818,2691,3562,0,0,0,0,0,0
$STATE,3906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3906,begin apogee
$GC,3910,-0.17,0.0,582.6,12.8,391,4050,0.57,0.00,134.82,1.185,4,0.131,0.000,3005,2497,2961,0,0,0,0,0,0
$STATE,4051,end apogee,CONTROL_FINISHED_OK
$STATE,4051,begin climb
$GC,4052,0.76,146.0,587.6,0.0,395,4208,0.98,2.58,147.15,1.109,4,0.075,0.052,3313,1098,2365,0,0,0,0,0,0
$GC,4308,0.76,146.0,564.0,12.6,403,4313,0.00,2.50,0.00,0.000,6,0.000,0.054,3313,2500,2353,0,0,0,0,0,0
$GC,4505,0.76,146.0,538.3,13.4,410,4509,0.00,2.33,0.00,0.000,4,0.000,0.054,3323,1098,2349,0,0,0,0,0,0
$GC,4615,0.76,146.0,523.8,12.6,413,4620,0.00,2.40,0.00,0.000,6,0.000,0.056,3323,2524,2346,0,0,0,0,0,0
$GC,4814,0.76,146.0,496.1,14.2,421,4818,0.00,2.00,0.00,0.000,4,0.000,0.060,3323,3768,2346,0,0,0,0,0,0
$GC,4915,0.76,146.0,479.8,16.7,430,4919,0.00,1.98,0.00,0.000,6,0.000,0.044,3333,2542,2345,0,0,0,0,0,0
$GC,5117,0.76,146.0,450.0,14.7,449,5121,0.00,2.00,0.00,0.000,4,0.000,0.061,3333,3773,2344,0,0,0,0,0,0
$GC,5174,0.76,146.0,440.8,16.5,454,5178,0.05,1.98,0.00,0.000,6,0.136,0.044,3313,2546,2344,0,0,0,0,0,0
$GC,5376,0.76,146.0,413.7,13.1,473,5379,0.00,1.98,0.00,0.000,4,0.000,0.062,3313,3764,2343,0,0,0,0,0,0
$GC,5436,0.76,146.0,404.6,14.4,478,5444,0.00,1.95,0.00,0.000,6,0.000,0.043,3321,2545,2343,0,0,0,0,0,0
$GC,5634,0.76,146.0,377.6,14.1,497,5638,0.00,1.98,0.00,0.000,4,0.000,0.063,3321,3764,2343,0,0,0,0,0,0
$GC,5690,0.76,146.0,368.7,16.0,502,5694,0.00,1.92,0.00,0.000,6,0.000,0.044,3328,2557,2343,0,0,0,0,0,0
$GC,5893,0.76,146.0,339.0,14.2,521,5897,0.00,1.95,0.00,0.000,4,0.000,0.060,3328,3767,2342,0,0,0,0,0,0
$GC,5942,0.76,146.0,330.8,16.2,525,5950,0.00,1.90,0.00,0.000,6,0.000,0.042,3337,2567,2342,0,0,0,0,0,0
$GC,6141,0.76,146.0,301.8,14.7,544,6144,0.00,1.92,0.00,0.000,4,0.000,0.062,3337,3765,2341,0,0,0,0,0,0
$GC,6197,0.76,146.0,292.9,16.4,549,6201,0.10,1.88,0.00,0.000,6,0.148,0.043,3314,2582,2342,0,0,0,0,0,0
$GC,6399,0.76,146.0,267.2,12.7,568,6403,0.00,1.92,0.00,0.000,4,0.000,0.062,3314,3773,2341,0,0,0,0,0,0
$GC,6437,0.76,146.0,261.8,14.3,571,6444,0.00,1.88,0.00,0.000,6,0.000,0.043,3321,2589,2342,0,0,0,0,0,0
$GC,6638,0.76,146.0,237.4,11.9,590,6641,0.00,1.90,0.00,0.000,4,0.000,0.063,3321,3764,2341,0,0,0,0,0,0
$GC,6694,0.76,146.0,229.4,14.5,595,6697,0.00,1.83,0.00,0.000,6,0.000,0.043,3330,2584,2341,0,0,0,0,0,0
$GC,6836,0.76,146.0,211.3,12.6,608,6840,0.00,1.92,0.00,0.000,4,0.000,0.062,3330,3776,2341,0,0,0,0,0,0
$GC,6872,0.76,146.0,206.1,16.0,611,6875,0.00,1.83,0.00,0.000,6,0.000,0.043,3340,2599,2342,0,0,0,0,0,0
$GC,7012,0.76,146.0,185.4,14.3,624,7013,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2596,2341,0,0,0,0,0,0
$GC,7139,0.76,146.0,167.0,14.6,636,7143,0.00,1.88,0.00,0.000,4,0.000,0.061,3340,3764,2341,0,0,0,0,0,0
$GC,7197,0.76,146.0,157.2,17.0,641,7207,0.10,1.83,0.00,0.000,6,0.152,0.042,3316,2613,2341,0,0,0,0,0,0
$GC,7333,0.76,146.0,139.9,12.3,654,7334,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2613,2341,0,0,0,0,0,0
$GC,7461,0.76,146.0,124.4,12.3,666,7464,0.00,1.88,0.00,0.000,4,0.000,0.063,3316,3774,2341,0,0,0,0,0,0
$GC,7517,0.76,146.0,116.6,14.3,671,7521,0.00,1.83,0.00,0.000,6,0.000,0.044,3323,2612,2341,0,0,0,0,0,0
$GC,7659,0.76,146.0,99.2,12.2,684,7668,0.00,1.90,0.00,0.000,4,0.000,0.063,3323,3755,2341,0,0,0,0,0,0
$GC,7702,0.76,146.0,93.2,14.1,691,7709,0.00,1.77,0.00,0.000,6,0.000,0.044,3332,2617,2341,0,0,0,0,0,0
$GC,7840,0.76,146.0,74.1,14.1,716,7848,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2615,2341,0,0,0,0,0,0
$GC,7981,0.76,146.0,55.2,13.4,741,7987,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2615,2341,0,0,0,0,0,0
$GC,8118,0.76,146.0,37.2,12.9,766,8126,0.00,1.90,0.00,0.000,4,0.000,0.063,3332,3767,2340,0,0,0,0,0,0
$GC,8193,0.76,146.0,26.0,15.8,779,8200,0.00,1.77,0.00,0.000,6,0.000,0.043,3341,2625,2340,0,0,0,0,0,0
$FREEZE,8.99,-1.490,-1.908,2,1,0
$FREEZE,8.29,-1.483,-1.908,2,1,0
$FREEZE,7.37,-1.433,-1.906,2,1,0
$FREEZE,6.60,-1.431,-1.906,2,1,0
$FREEZE,5.76,-1.428,-1.906,2,1,0
$GC,8333,0.76,146.0,5.8,14.1,804,8341,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2623,2340,0,0,0,0,0,0
$FREEZE,3.61,-1.433,-1.904,2,1,0
$FREEZE,2.87,-1.429,-1.904,2,1,0
$STATE,8353,end climb,SURFACE_DEPTH_REACHED
$STATE,8353,begin surface coast
$FREEZE,2.03,-1.428,-1.903,2,1,0
$FREEZE,1.41,-1.434,-1.903,2,1,0
$FREEZE,1.37,-1.468,-1.868,2,1,0
$FREEZE,1.42,-1.477,-0.800,2,1,0
$FINISH,1.4,1.011752
$STATE,8378,end surface coast,FINISH_DEPTH_REACHED
$STATE,8378,begin surface
$SM_CCo,8393,143.95,0.749,2,0,1329,400.08
$SM_GC,2.27,0.00,0.00,143.95,0.000,0.000,0.749,420,2622,1329,-8.27,-0.79,400.08
$IRIDIUM_FIX,-7621.20,16515.88,071210,090930
$TT8_MAMPS,0.028462
$HUMID,50.94
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,13.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,18.2
$24V_AH,20.9,37.290
$10V_AH,10.0,22.145
$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,18.575,88.800,281.975,143.950,0.000,29.255,38.554,172.748,2.750,0.000,30.783,2025.929,3970.937,559.347,2193.026,155.550,0.000,1413.202,0.000,1416.946,0.000,14.642,0.000
$DEVICE_MAMPS,206.550,65.790,1184.985,748.935,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,573.266,995.516,894.046,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53738,811
$CAP_FILE_SIZE,116911,0
$CFSIZE,260165632,243523584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,071210,141356,-7703.417,16525.148,21,1.3,22,142.5