version: 66.08
glider: 502
mission: 3
dive: 169
start: 12 7 110 21 59 50
data:
$ID,502
$MISSION,3
$DIVE,169
$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,-27654.689
$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,31
$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
$GPS1,071210,215330,-7659.413,16522.223,44,1.0,45,142.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-67.2
$GPS2,071210,215926,-7659.398,16522.164,15,1.7,15,142.4
$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,222.9,36082,-17.5,-10.000
$D_GRID,567
$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,-146.0,0.0,0.0,0,96,0.00,0.00,-78.60,0.000,2,0.000,0.000,415,2667,2780,0,0,0,0,0,0
$GC,98,-0.76,-146.0,3.1,-2.8,12,153,9.05,2.40,-38.88,0.000,4,0.205,0.064,2815,1226,3559,0,0,0,0,0,0
$GC,389,-0.76,-146.0,37.3,-15.2,63,396,0.00,2.35,0.00,0.000,6,0.000,0.060,2806,2650,3562,0,0,0,0,0,0
$GC,526,-0.76,-146.0,60.6,-16.6,88,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2650,3563,0,0,0,0,0,0
$GC,666,-0.76,-146.0,83.7,-16.0,113,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2650,3562,0,0,0,0,0,0
$GC,809,-0.76,-146.0,107.3,-16.2,135,813,0.00,1.80,0.00,0.000,4,0.000,0.063,2798,3764,3563,0,0,0,0,0,0
$GC,844,-0.76,-146.0,113.1,-17.2,138,848,0.00,1.75,0.00,0.000,6,0.000,0.044,2798,2637,3562,0,0,0,0,0,0
$GC,986,-0.76,-146.0,136.5,-16.6,151,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2635,3563,0,0,0,0,0,0
$GC,1121,-0.76,-146.0,159.3,-16.5,164,1124,0.00,1.83,0.00,0.000,4,0.000,0.064,2789,3764,3562,0,0,0,0,0,0
$GC,1166,-0.76,-146.0,167.3,-17.5,168,1170,0.00,1.73,0.00,0.000,6,0.000,0.044,2789,2651,3562,0,0,0,0,0,0
$GC,1308,-0.76,-146.0,191.3,-16.9,181,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2649,3562,0,0,0,0,0,0
$GC,1443,-0.76,-146.0,215.5,-17.4,194,1446,0.00,1.83,0.00,0.000,4,0.000,0.064,2781,3765,3562,0,0,0,0,0,0
$GC,1477,-0.76,-146.0,221.5,-17.7,197,1481,0.12,1.73,0.00,0.000,6,0.168,0.044,2813,2653,3562,0,0,0,0,0,0
$GC,1617,-0.76,-146.0,243.1,-15.3,210,1618,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2651,3562,0,0,0,0,0,0
$GC,1743,-0.76,-146.0,261.8,-14.3,222,1744,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2651,3562,0,0,0,0,0,0
$GC,1935,-0.76,-146.0,289.3,-13.9,240,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2651,3562,0,0,0,0,0,0
$GC,2127,-0.76,-146.0,316.3,-14.3,258,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2651,3562,0,0,0,0,0,0
$GC,2316,-0.76,-146.0,344.4,-14.5,276,2320,0.00,1.80,0.00,0.000,4,0.000,0.066,2806,3763,3563,0,0,0,0,0,0
$GC,2373,-0.76,-146.0,352.9,-15.3,281,2377,0.00,1.75,0.00,0.000,6,0.000,0.045,2806,2666,3562,0,0,0,0,0,0
$GC,2575,-0.76,-146.0,382.3,-14.4,300,2579,0.00,1.77,0.00,0.000,4,0.000,0.063,2798,3763,3562,0,0,0,0,0,0
$GC,2609,-0.76,-146.0,387.5,-16.0,303,2613,0.00,1.70,0.00,0.000,6,0.000,0.044,2798,2667,3562,0,0,0,0,0,0
$GC,2813,-0.76,-146.0,417.2,-14.6,322,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2664,3562,0,0,0,0,0,0
$GC,3003,-0.76,-146.0,446.0,-15.3,340,3006,0.00,1.77,0.00,0.000,4,0.000,0.063,2790,3767,3562,0,0,0,0,0,0
$GC,3037,-0.76,-146.0,451.6,-16.2,343,3040,0.00,1.70,0.00,0.000,6,0.000,0.044,2790,2674,3562,0,0,0,0,0,0
$GC,3241,-0.76,-146.0,484.1,-16.0,362,3242,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2671,3562,0,0,0,0,0,0
$GC,3437,-0.76,-146.0,514.8,-15.3,375,3441,0.00,1.77,0.00,0.000,4,0.000,0.063,2781,3772,3562,0,0,0,0,0,0
$GC,3464,-0.76,-146.0,519.4,-16.5,375,3472,0.10,1.75,0.00,0.000,6,0.148,0.044,2814,2677,3562,0,0,0,0,0,0
$GC,3655,-0.76,-146.0,544.7,-13.0,382,3656,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2676,3562,0,0,0,0,0,0
$STATE,3837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3837,begin apogee
$GC,3841,-0.17,0.0,568.2,12.8,388,3980,0.57,0.00,133.50,1.163,4,0.131,0.000,3002,2483,2960,0,0,0,0,0,0
$STATE,3980,end apogee,CONTROL_FINISHED_OK
$STATE,3980,begin climb
$GC,3982,0.76,146.0,573.2,0.0,392,4137,0.98,2.53,145.73,1.090,4,0.075,0.051,3310,1099,2364,0,0,0,0,0,0
$GC,4242,0.76,146.0,549.1,11.8,400,4247,0.00,2.47,0.00,0.000,6,0.000,0.054,3311,2490,2353,0,0,0,0,0,0
$GC,4440,0.76,146.0,524.5,12.5,407,4445,0.00,2.30,0.00,0.000,4,0.000,0.053,3318,1093,2349,0,0,0,0,0,0
$GC,4540,0.76,146.0,512.1,11.8,410,4545,0.00,2.42,0.00,0.000,6,0.000,0.056,3318,2533,2346,0,0,0,0,0,0
$GC,4736,0.76,146.0,487.0,13.0,421,4739,0.00,1.98,0.00,0.000,4,0.000,0.062,3318,3763,2346,0,0,0,0,0,0
$GC,4837,0.76,146.0,471.4,15.7,430,4841,0.00,1.90,0.00,0.000,6,0.000,0.043,3328,2546,2345,0,0,0,0,0,0
$GC,5039,0.76,146.0,442.2,14.6,449,5043,0.00,2.00,0.00,0.000,4,0.000,0.063,3328,3773,2344,0,0,0,0,0,0
$GC,5073,0.76,146.0,436.9,16.3,452,5077,0.00,1.92,0.00,0.000,6,0.000,0.044,3337,2542,2344,0,0,0,0,0,0
$GC,5276,0.76,146.0,406.8,14.4,471,5280,0.00,2.00,0.00,0.000,4,0.000,0.061,3337,3773,2343,0,0,0,0,0,0
$GC,5326,0.76,146.0,398.6,16.7,475,5334,0.12,1.90,0.00,0.000,6,0.171,0.044,3314,2553,2343,0,0,0,0,0,0
$GC,5524,0.76,146.0,372.8,13.2,494,5527,0.00,1.98,0.00,0.000,4,0.000,0.062,3314,3772,2343,0,0,0,0,0,0
$GC,5558,0.76,146.0,367.7,15.1,497,5561,0.00,1.88,0.00,0.000,6,0.000,0.044,3321,2562,2343,0,0,0,0,0,0
$GC,5762,0.76,146.0,339.8,13.4,516,5766,0.00,1.95,0.00,0.000,4,0.000,0.062,3321,3764,2342,0,0,0,0,0,0
$GC,5818,0.76,146.0,331.2,16.0,521,5821,0.00,1.85,0.00,0.000,6,0.000,0.043,3328,2569,2342,0,0,0,0,0,0
$GC,6020,0.76,146.0,302.4,13.8,540,6024,0.00,1.95,0.00,0.000,4,0.000,0.063,3328,3775,2342,0,0,0,0,0,0
$GC,6081,0.76,146.0,292.6,16.7,545,6088,0.00,1.90,0.00,0.000,6,0.000,0.044,3337,2573,2341,0,0,0,0,0,0
$GC,6280,0.76,146.0,264.0,14.4,564,6284,0.00,1.92,0.00,0.000,4,0.000,0.061,3338,3768,2341,0,0,0,0,0,0
$GC,6340,0.76,146.0,253.9,16.6,569,6349,0.10,1.88,0.00,0.000,6,0.152,0.043,3314,2589,2341,0,0,0,0,0,0
$GC,6542,0.76,146.0,229.1,12.2,588,6546,0.00,1.90,0.00,0.000,4,0.000,0.063,3314,3764,2341,0,0,0,0,0,0
$GC,6598,0.76,146.0,221.0,15.3,593,6601,0.00,1.80,0.00,0.000,6,0.000,0.043,3321,2601,2341,0,0,0,0,0,0
$GC,6740,0.76,146.0,202.5,12.7,606,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2598,2341,0,0,0,0,0,0
$GC,6875,0.76,146.0,184.7,13.0,619,6878,0.00,1.88,0.00,0.000,4,0.000,0.063,3321,3764,2341,0,0,0,0,0,0
$GC,6920,0.76,146.0,178.3,15.1,623,6923,0.00,1.80,0.00,0.000,6,0.000,0.042,3330,2599,2341,0,0,0,0,0,0
$GC,7062,0.76,146.0,159.5,13.2,636,7066,0.00,1.88,0.00,0.000,4,0.000,0.063,3331,3764,2341,0,0,0,0,0,0
$GC,7098,0.76,146.0,153.6,14.6,639,7107,0.00,1.80,0.00,0.000,6,0.000,0.042,3339,2623,2341,0,0,0,0,0,0
$GC,7234,0.76,146.0,134.8,14.4,652,7237,0.00,1.85,0.00,0.000,4,0.000,0.062,3339,3771,2341,0,0,0,0,0,0
$GC,7268,0.76,146.0,129.5,15.8,655,7272,0.12,1.77,0.00,0.000,6,0.175,0.043,3315,2621,2340,0,0,0,0,0,0
$GC,7408,0.76,146.0,111.3,12.5,668,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2618,2341,0,0,0,0,0,0
$GC,7535,0.76,146.0,95.6,12.0,683,7542,0.00,1.88,0.00,0.000,4,0.000,0.063,3315,3770,2341,0,0,0,0,0,0
$GC,7575,0.76,146.0,89.8,14.1,690,7583,0.00,1.83,0.00,0.000,6,0.000,0.043,3322,2618,2340,0,0,0,0,0,0
$GC,7715,0.76,146.0,72.1,13.0,715,7721,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2617,2340,0,0,0,0,0,0
$GC,7851,0.76,146.0,54.6,13.2,740,7860,0.00,1.90,0.00,0.000,4,0.000,0.062,3323,3764,2340,0,0,0,0,0,0
$GC,7916,0.76,146.0,45.0,15.0,751,7923,0.00,1.77,0.00,0.000,6,0.000,0.043,3331,2620,2340,0,0,0,0,0,0
$GC,8054,0.76,146.0,26.5,12.5,776,8062,0.00,1.90,0.00,0.000,4,0.000,0.061,3332,3768,2340,0,0,0,0,0,0
$GC,8112,0.76,146.0,17.8,16.2,786,8121,0.00,1.77,0.00,0.000,6,0.000,0.043,3340,2644,2340,0,0,0,0,0,0
$FREEZE,8.99,-1.564,-1.905,2,1,0
$FREEZE,8.04,-1.556,-1.904,2,1,0
$FREEZE,7.30,-1.563,-1.904,2,1,0
$FREEZE,6.32,-1.582,-1.903,2,1,0
$FREEZE,5.58,-1.564,-1.902,2,1,0
$FREEZE,4.60,-1.553,-1.901,2,1,0
$FREEZE,3.53,-1.565,-1.901,2,1,0
$FREEZE,2.65,-1.553,-1.900,2,1,0
$STATE,8218,end climb,SURFACE_DEPTH_REACHED
$STATE,8218,begin surface coast
$FREEZE,1.61,-1.551,-1.899,2,1,0
$FREEZE,1.59,-1.549,-1.899,2,1,0
$FREEZE,1.44,-1.585,-1.694,2,1,0
$FINISH,1.4,1.024907
$STATE,8237,end surface coast,CONTROL_FINISHED_OK
$STATE,8238,begin surface
$SM_CCo,8252,138.73,0.747,1,0,1329,400.08
$SM_GC,2.28,0.00,0.00,138.73,0.000,0.000,0.747,420,2641,1329,-8.26,-0.25,400.08
$IRIDIUM_FIX,-7612.11,16523.15,071210,191927
$TT8_MAMPS,0.028462
$HUMID,51.02
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,19.3
$24V_AH,20.9,37.838
$10V_AH,10.0,22.528
$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,18.700,92.150,279.225,138.725,0.000,29.702,46.768,180.153,2.750,0.000,15.898,2021.081,3855.232,544.699,2174.860,160.442,0.000,1394.164,0.000,1408.838,0.000,14.645,0.000
$DEVICE_MAMPS,205.020,65.790,1162.800,747.405,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,570.390,989.939,892.986,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53757,807
$CAP_FILE_SIZE,116240,0
$CFSIZE,260165632,243277824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081210,002106,-7658.304,16523.855,27,0.8,44,142.3