version: 66.08
glider: 502
mission: 3
dive: 166
start: 12 7 110 14 20 29
data:
$ID,502
$MISSION,3
$DIVE,166
$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,-27650.908
$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,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
$GPS1,071210,141356,-7703.417,16525.148,21,1.3,22,142.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-72.9
$GPS2,071210,142006,-7703.400,16525.102,41,1.2,41,142.5
$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,220.3,43388,-17.5,-10.000
$D_GRID,578
$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,15,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,118,0.00,0.00,-98.62,0.000,2,0.000,0.000,419,2621,3177,0,0,0,0,0,0
$GC,120,-0.76,-146.0,3.0,-1.6,15,149,9.05,2.00,-13.48,0.000,4,0.207,0.081,2813,3770,3559,0,0,0,0,0,0
$GC,392,-0.76,-146.0,44.3,-15.4,64,400,0.00,1.80,0.00,0.000,6,0.000,0.044,2813,2649,3562,0,0,0,0,0,0
$GC,531,-0.76,-146.0,66.1,-15.8,89,538,0.00,1.83,0.00,0.000,4,0.000,0.064,2804,3763,3563,0,0,0,0,0,0
$GC,578,-0.76,-146.0,73.8,-16.4,97,585,0.00,1.77,0.00,0.000,6,0.000,0.044,2804,2634,3563,0,0,0,0,0,0
$GC,716,-0.76,-146.0,95.4,-15.1,122,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2633,3563,0,0,0,0,0,0
$GC,860,-0.76,-146.0,115.5,-14.3,138,864,0.00,1.85,0.00,0.000,4,0.000,0.063,2796,3774,3563,0,0,0,0,0,0
$GC,896,-0.76,-146.0,121.8,-16.4,141,905,0.00,1.77,0.00,0.000,6,0.000,0.044,2796,2667,3562,0,0,0,0,0,0
$GC,1032,-0.76,-146.0,142.6,-15.8,154,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2666,3563,0,0,0,0,0,0
$GC,1159,-0.76,-146.0,162.9,-16.0,166,1163,0.00,1.77,0.00,0.000,4,0.000,0.064,2788,3764,3563,0,0,0,0,0,0
$GC,1196,-0.76,-146.0,169.5,-18.0,169,1206,0.08,1.75,0.00,0.000,6,0.156,0.044,2811,2666,3563,0,0,0,0,0,0
$GC,1331,-0.76,-146.0,189.8,-14.8,182,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2664,3563,0,0,0,0,0,0
$GC,1459,-0.76,-146.0,209.0,-15.4,194,1463,0.00,1.77,0.00,0.000,4,0.000,0.063,2804,3764,3563,0,0,0,0,0,0
$GC,1507,-0.76,-146.0,217.3,-16.2,198,1516,0.00,1.73,0.00,0.000,6,0.000,0.043,2804,2676,3563,0,0,0,0,0,0
$GC,1642,-0.76,-146.0,238.5,-16.1,211,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2675,3563,0,0,0,0,0,0
$GC,1769,-0.76,-146.0,259.0,-16.0,223,1773,0.00,1.83,0.00,0.000,4,0.000,0.066,2797,3767,3563,0,0,0,0,0,0
$GC,1802,-0.76,-146.0,264.6,-16.6,226,1806,0.00,1.70,0.00,0.000,6,0.000,0.044,2797,2672,3563,0,0,0,0,0,0
$GC,2005,-0.76,-146.0,297.7,-16.0,245,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2670,3563,0,0,0,0,0,0
$GC,2196,-0.76,-146.0,328.6,-16.0,263,2200,0.00,1.77,0.00,0.000,4,0.000,0.063,2788,3767,3563,0,0,0,0,0,0
$GC,2245,-0.76,-146.0,337.2,-17.3,267,2253,0.00,1.73,0.00,0.000,6,0.000,0.044,2788,2680,3563,0,0,0,0,0,0
$GC,2444,-0.76,-146.0,369.2,-16.2,286,2445,0.10,0.00,0.00,0.000,6,0.187,0.000,2813,2680,3563,0,0,0,0,0,0
$GC,2635,-0.76,-146.0,396.3,-13.5,304,2638,0.00,1.77,0.00,0.000,4,0.000,0.064,2806,3773,3563,0,0,0,0,0,0
$GC,2684,-0.76,-146.0,403.8,-14.6,308,2691,0.00,1.73,0.00,0.000,6,0.000,0.044,2806,2687,3563,0,0,0,0,0,0
$GC,2882,-0.76,-146.0,431.6,-13.9,327,2886,0.00,1.75,0.00,0.000,4,0.000,0.064,2799,3764,3563,0,0,0,0,0,0
$GC,2909,-0.76,-146.0,435.9,-14.5,329,2916,0.00,1.70,0.00,0.000,6,0.000,0.043,2798,2694,3563,0,0,0,0,0,0
$GC,3107,-0.76,-146.0,464.1,-14.4,348,3108,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2693,3563,0,0,0,0,0,0
$GC,3298,-0.76,-146.0,491.7,-14.5,366,3302,0.00,1.73,0.00,0.000,4,0.000,0.063,2790,3764,3563,0,0,0,0,0,0
$GC,3332,-0.76,-146.0,496.9,-16.2,369,3336,0.00,1.65,0.00,0.000,6,0.000,0.044,2790,2696,3562,0,0,0,0,0,0
$GC,3538,-0.76,-146.0,527.3,-14.7,377,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2694,3562,0,0,0,0,0,0
$GC,3724,-0.76,-146.0,554.3,-14.7,383,3728,0.00,1.75,0.00,0.000,4,0.000,0.064,2783,3774,3563,0,0,0,0,0,0
$GC,3779,-0.76,-146.0,563.7,-16.2,384,3784,0.10,1.70,0.00,0.000,6,0.149,0.044,2815,2704,3563,0,0,0,0,0,0
$STATE,3912,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3912,begin apogee
$GC,3916,-0.17,0.0,581.7,13.4,389,4055,0.57,0.00,134.10,1.162,4,0.131,0.000,3003,2494,2960,0,0,0,0,0,0
$STATE,4056,end apogee,CONTROL_FINISHED_OK
$STATE,4056,begin climb
$GC,4058,0.76,146.0,587.0,0.0,393,4212,0.98,2.55,145.65,1.079,4,0.076,0.052,3311,1096,2364,0,0,0,0,0,0
$GC,4302,0.76,146.0,564.7,12.2,401,4306,0.00,2.45,0.00,0.000,6,0.000,0.054,3311,2500,2354,0,0,0,0,0,0
$GC,4515,0.76,146.0,536.8,13.3,408,4519,0.00,2.33,0.00,0.000,4,0.000,0.054,3321,1092,2349,0,0,0,0,0,0
$GC,4631,0.76,146.0,521.5,12.9,411,4636,0.00,2.40,0.00,0.000,6,0.000,0.057,3321,2515,2346,0,0,0,0,0,0
$GC,4824,0.76,146.0,495.0,13.9,419,4827,0.00,2.00,0.00,0.000,4,0.000,0.060,3321,3764,2346,0,0,0,0,0,0
$GC,4925,0.76,146.0,478.2,17.3,428,4929,0.00,1.98,0.00,0.000,6,0.000,0.043,3329,2534,2345,0,0,0,0,0,0
$GC,5128,0.76,146.0,447.5,15.0,447,5132,0.00,2.00,0.00,0.000,4,0.000,0.060,3328,3773,2344,0,0,0,0,0,0
$GC,5162,0.76,146.0,441.8,17.3,450,5165,0.00,1.95,0.00,0.000,6,0.000,0.044,3338,2524,2344,0,0,0,0,0,0
$GC,5366,0.76,146.0,409.7,15.9,469,5370,0.00,2.00,0.00,0.000,4,0.000,0.061,3338,3764,2343,0,0,0,0,0,0
$GC,5449,0.76,146.0,394.4,18.5,476,5457,0.10,1.92,0.00,0.000,6,0.152,0.042,3316,2552,2343,0,0,0,0,0,0
$GC,5648,0.76,146.0,366.3,14.2,495,5652,0.00,2.00,0.00,0.000,4,0.000,0.063,3315,3758,2343,0,0,0,0,0,0
$GC,5692,0.76,146.0,359.3,15.6,499,5696,0.00,1.88,0.00,0.000,6,0.000,0.044,3323,2551,2342,0,0,0,0,0,0
$GC,5895,0.76,146.0,330.3,14.2,518,5898,0.00,1.98,0.00,0.000,4,0.000,0.062,3323,3770,2342,0,0,0,0,0,0
$GC,5929,0.76,146.0,325.1,16.5,521,5933,0.00,1.88,0.00,0.000,6,0.000,0.044,3333,2560,2342,0,0,0,0,0,0
$GC,6132,0.76,146.0,295.8,14.1,540,6135,0.00,1.95,0.00,0.000,4,0.000,0.061,3333,3765,2342,0,0,0,0,0,0
$GC,6177,0.76,146.0,288.5,16.3,544,6181,0.12,1.85,0.00,0.000,6,0.173,0.042,3309,2568,2342,0,0,0,0,0,0
$GC,6381,0.76,146.0,262.8,12.3,563,6384,0.00,1.95,0.00,0.000,4,0.000,0.063,3309,3772,2341,0,0,0,0,0,0
$GC,6407,0.76,146.0,258.8,13.2,565,6415,0.00,1.90,0.00,0.000,6,0.000,0.044,3316,2576,2341,0,0,0,0,0,0
$GC,6607,0.76,146.0,233.3,13.2,584,6611,0.00,1.92,0.00,0.000,4,0.000,0.062,3316,3770,2341,0,0,0,0,0,0
$GC,6653,0.76,146.0,226.5,15.3,588,6656,0.00,1.85,0.00,0.000,6,0.000,0.043,3325,2573,2341,0,0,0,0,0,0
$GC,6793,0.76,146.0,207.2,13.6,601,6794,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2570,2341,0,0,0,0,0,0
$GC,6921,0.76,146.0,189.9,13.9,613,6925,0.00,1.92,0.00,0.000,4,0.000,0.062,3325,3766,2341,0,0,0,0,0,0
$GC,6966,0.76,146.0,183.0,16.2,617,6970,0.00,1.83,0.00,0.000,6,0.000,0.042,3334,2586,2341,0,0,0,0,0,0
$GC,7107,0.76,146.0,163.3,14.0,630,7108,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2583,2341,0,0,0,0,0,0
$GC,7234,0.76,146.0,145.7,13.6,642,7238,0.00,1.90,0.00,0.000,4,0.000,0.062,3335,3765,2341,0,0,0,0,0,0
$GC,7282,0.76,146.0,137.9,15.6,646,7292,0.08,1.85,0.00,0.000,6,0.158,0.042,3319,2593,2341,0,0,0,0,0,0
$GC,7418,0.76,146.0,120.7,12.5,659,7421,0.00,1.90,0.00,0.000,4,0.000,0.063,3319,3768,2341,0,0,0,0,0,0
$GC,7463,0.76,146.0,114.4,13.8,663,7467,0.00,1.83,0.00,0.000,6,0.000,0.043,3327,2592,2341,0,0,0,0,0,0
$GC,7599,0.76,146.0,96.7,13.2,677,7605,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2590,2341,0,0,0,0,0,0
$GC,7734,0.76,146.0,79.1,13.0,702,7742,0.00,1.92,0.00,0.000,4,0.000,0.062,3327,3756,2340,0,0,0,0,0,0
$GC,7777,0.76,146.0,73.2,14.0,709,7783,0.00,1.80,0.00,0.000,6,0.000,0.043,3336,2598,2341,0,0,0,0,0,0
$GC,7916,0.76,146.0,54.6,13.3,734,7924,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2597,2340,0,0,0,0,0,0
$GC,8056,0.76,146.0,35.7,12.9,759,8063,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2597,2340,0,0,0,0,0,0
$GC,8193,0.76,146.0,17.1,13.7,784,8202,0.00,1.92,0.00,0.000,4,0.000,0.061,3336,3764,2340,0,0,0,0,0,0
$GC,8230,0.76,146.0,11.6,15.7,790,8238,0.10,1.83,0.00,0.000,6,0.152,0.043,3313,2613,2340,0,0,0,0,0,0
$FREEZE,8.62,-1.597,-1.906,2,1,0
$FREEZE,7.84,-1.586,-1.905,2,1,0
$FREEZE,7.18,-1.586,-1.905,2,1,0
$FREEZE,6.36,-1.582,-1.904,2,1,0
$FREEZE,5.70,-1.581,-1.904,2,1,0
$FREEZE,4.97,-1.578,-1.903,2,1,0
$FREEZE,4.29,-1.576,-1.903,2,1,0
$FREEZE,3.61,-1.576,-1.902,2,1,0
$FREEZE,2.90,-1.578,-1.902,2,1,0
$STATE,8297,end climb,SURFACE_DEPTH_REACHED
$STATE,8298,begin surface coast
$FREEZE,1.96,-1.580,-1.901,2,1,0
$FREEZE,1.46,-1.572,-1.900,2,1,0
$FREEZE,1.42,-1.581,-0.155,2,1,0
$FINISH,1.4,1.002007
$STATE,8316,end surface coast,FINISH_DEPTH_REACHED
$STATE,8316,begin surface
$SM_CCo,8331,139.25,0.763,1,0,1328,400.08
$SM_GC,2.24,0.00,0.00,139.25,0.000,0.000,0.763,415,2654,1328,-8.28,0.11,400.08
$IRIDIUM_FIX,-7621.20,16527.59,071210,111138
$TT8_MAMPS,0.028462
$HUMID,50.86
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,17.6
$24V_AH,20.9,37.423
$10V_AH,10.0,22.239
$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,18.775,98.650,279.750,139.250,0.000,30.148,37.460,178.540,2.750,0.000,42.177,2015.330,3915.838,555.316,2205.061,158.084,0.000,1418.839,0.000,1421.010,0.000,14.641,0.000
$DEVICE_MAMPS,206.550,127.755,1162.035,762.705,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,568.209,989.781,896.971,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53766,804
$CAP_FILE_SIZE,119777,0
$CFSIZE,260165632,243458048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071210,164306,-7702.129,16524.887,44,0.8,45,142.5