version: 66.08
glider: 502
mission: 3
dive: 170
start: 12 8 110 0 31 13
data:
$ID,502
$MISSION,3
$DIVE,170
$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,-27655.947
$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,33
$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
$GPS1,081210,002106,-7658.304,16523.855,27,0.8,44,142.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-65.3
$GPS2,081210,003049,-7658.277,16523.734,10,1.2,15,142.3
$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,222.2,33955,-17.5,-10.000
$D_GRID,572
$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,-146.0,0.0,0.0,0,116,0.00,0.00,-98.25,0.000,2,0.000,0.000,416,2639,3187,0,0,0,0,0,0
$GC,118,-0.76,-146.0,3.1,-0.6,15,147,8.93,2.28,-12.30,0.000,4,0.203,0.064,2807,1238,3559,0,0,0,0,0,0
$GC,387,-0.76,-146.0,42.2,-14.8,63,394,0.00,2.33,0.00,0.000,6,0.000,0.058,2798,2651,3563,0,0,0,0,0,0
$GC,524,-0.76,-146.0,65.2,-17.2,88,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2651,3563,0,0,0,0,0,0
$GC,665,-0.76,-146.0,89.0,-16.9,113,672,0.00,1.80,0.00,0.000,4,0.000,0.061,2790,3774,3563,0,0,0,0,0,0
$GC,705,-0.76,-146.0,96.2,-17.7,120,713,0.00,1.80,0.00,0.000,6,0.000,0.046,2790,2651,3563,0,0,0,0,0,0
$GC,850,-0.76,-146.0,120.4,-16.7,135,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2650,3563,0,0,0,0,0,0
$GC,976,-0.76,-146.0,142.0,-16.4,147,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2650,3563,0,0,0,0,0,0
$GC,1103,-0.76,-146.0,163.8,-16.7,159,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2651,3563,0,0,0,0,0,0
$GC,1230,-0.76,-146.0,184.8,-16.7,171,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2651,3563,0,0,0,0,0,0
$GC,1358,-0.76,-146.0,205.9,-16.2,183,1361,0.00,1.83,0.00,0.000,4,0.000,0.064,2782,3764,3563,0,0,0,0,0,0
$GC,1413,-0.76,-146.0,215.9,-18.2,188,1418,0.12,1.73,0.00,0.000,6,0.170,0.045,2815,2651,3563,0,0,0,0,0,0
$GC,1555,-0.76,-146.0,236.8,-14.8,201,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2649,3563,0,0,0,0,0,0
$GC,1680,-0.76,-146.0,254.9,-14.0,213,1683,0.00,1.80,0.00,0.000,4,0.000,0.063,2808,3764,3563,0,0,0,0,0,0
$GC,1706,-0.76,-146.0,259.4,-15.1,215,1714,0.00,1.75,0.00,0.000,6,0.000,0.044,2808,2669,3563,0,0,0,0,0,0
$GC,1905,-0.76,-146.0,289.0,-15.5,234,1906,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2667,3563,0,0,0,0,0,0
$GC,2097,-0.76,-146.0,316.7,-14.0,252,2098,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2668,3563,0,0,0,0,0,0
$GC,2287,-0.76,-146.0,343.9,-14.1,270,2290,0.00,1.77,0.00,0.000,4,0.000,0.063,2800,3766,3562,0,0,0,0,0,0
$GC,2309,-0.76,-146.0,347.2,-15.0,272,2313,0.00,1.75,0.00,0.000,6,0.000,0.045,2800,2672,3562,0,0,0,0,0,0
$GC,2512,-0.76,-146.0,377.7,-15.3,291,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2668,3563,0,0,0,0,0,0
$GC,2703,-0.76,-146.0,406.1,-15.1,309,2704,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2669,3562,0,0,0,0,0,0
$GC,2896,-0.76,-146.0,435.0,-15.3,327,2898,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2669,3563,0,0,0,0,0,0
$GC,3086,-0.76,-146.0,463.8,-14.9,345,3087,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2669,3562,0,0,0,0,0,0
$GC,3277,-0.76,-146.0,492.4,-14.6,363,3278,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2669,3562,0,0,0,0,0,0
$GC,3485,-0.76,-146.0,521.7,-14.0,373,3486,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2669,3563,0,0,0,0,0,0
$GC,3667,-0.76,-146.0,547.4,-13.9,379,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2669,3563,0,0,0,0,0,0
$STATE,3849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3849,begin apogee
$GC,3854,-0.17,0.0,573.0,13.8,385,3993,0.62,0.00,133.30,1.164,4,0.135,0.000,3001,2489,2962,0,0,0,0,0,0
$STATE,3993,end apogee,CONTROL_FINISHED_OK
$STATE,3994,begin climb
$GC,3995,0.76,146.0,577.9,0.0,389,4150,0.98,2.55,146.02,1.086,4,0.076,0.053,3309,1094,2365,0,0,0,0,0,0
$GC,4268,0.76,146.0,551.9,12.7,398,4272,0.00,2.45,0.00,0.000,6,0.000,0.055,3310,2500,2353,0,0,0,0,0,0
$GC,4480,0.76,146.0,524.4,13.0,405,4484,0.00,2.30,0.00,0.000,4,0.000,0.051,3319,1095,2349,0,0,0,0,0,0
$GC,4567,0.76,146.0,512.9,12.2,407,4575,0.00,2.40,0.00,0.000,6,0.000,0.056,3319,2523,2347,0,0,0,0,0,0
$GC,4761,0.76,146.0,487.4,13.8,418,4765,0.00,2.00,0.00,0.000,4,0.000,0.062,3318,3763,2346,0,0,0,0,0,0
$GC,4885,0.76,146.0,467.7,16.7,429,4889,0.00,1.90,0.00,0.000,6,0.000,0.043,3328,2546,2346,0,0,0,0,0,0
$GC,5087,0.76,146.0,439.1,13.5,448,5091,0.00,1.98,0.00,0.000,4,0.000,0.062,3328,3764,2344,0,0,0,0,0,0
$GC,5178,0.76,146.0,424.7,16.2,456,5181,0.00,1.88,0.00,0.000,6,0.000,0.042,3337,2550,2345,0,0,0,0,0,0
$GC,5380,0.76,146.0,394.5,14.9,475,5384,0.00,1.98,0.00,0.000,4,0.000,0.062,3337,3768,2344,0,0,0,0,0,0
$GC,5465,0.76,146.0,380.3,17.6,482,5472,0.12,1.88,0.00,0.000,6,0.173,0.043,3314,2564,2343,0,0,0,0,0,0
$GC,5662,0.76,146.0,354.2,12.8,501,5665,0.00,1.95,0.00,0.000,4,0.000,0.063,3314,3768,2343,0,0,0,0,0,0
$GC,5744,0.76,146.0,341.8,15.2,508,5752,0.00,1.88,0.00,0.000,6,0.000,0.043,3320,2583,2343,0,0,0,0,0,0
$GC,5944,0.76,146.0,315.8,12.7,527,5948,0.00,1.90,0.00,0.000,4,0.000,0.061,3320,3764,2342,0,0,0,0,0,0
$GC,5982,0.76,146.0,309.8,14.9,530,5990,0.00,1.85,0.00,0.000,6,0.000,0.043,3329,2593,2342,0,0,0,0,0,0
$GC,6180,0.76,146.0,282.1,14.2,549,6184,0.00,1.90,0.00,0.000,4,0.000,0.062,3329,3773,2342,0,0,0,0,0,0
$GC,6241,0.76,146.0,272.4,15.8,554,6248,0.00,1.85,0.00,0.000,6,0.000,0.043,3338,2605,2342,0,0,0,0,0,0
$GC,6440,0.76,146.0,244.5,14.0,573,6444,0.00,1.88,0.00,0.000,4,0.000,0.061,3338,3771,2342,0,0,0,0,0,0
$GC,6499,0.76,146.0,234.7,16.0,578,6508,0.10,1.85,0.00,0.000,6,0.150,0.044,3315,2606,2342,0,0,0,0,0,0
$GC,6636,0.76,146.0,218.0,12.4,591,6637,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2605,2342,0,0,0,0,0,0
$GC,6762,0.76,146.0,203.0,11.9,603,6766,0.00,1.88,0.00,0.000,4,0.000,0.063,3315,3770,2341,0,0,0,0,0,0
$GC,6798,0.76,146.0,197.8,13.3,606,6807,0.00,1.85,0.00,0.000,6,0.000,0.043,3322,2607,2341,0,0,0,0,0,0
$GC,6936,0.76,146.0,181.2,12.0,619,6937,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2607,2342,0,0,0,0,0,0
$GC,7061,0.76,146.0,165.6,12.5,631,7065,0.00,1.88,0.00,0.000,4,0.000,0.063,3322,3768,2341,0,0,0,0,0,0
$GC,7109,0.76,146.0,158.6,14.6,635,7118,0.00,1.83,0.00,0.000,6,0.000,0.043,3331,2613,2341,0,0,0,0,0,0
$GC,7245,0.76,146.0,142.0,11.8,648,7246,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2613,2341,0,0,0,0,0,0
$GC,7372,0.76,146.0,126.5,12.0,660,7376,0.00,1.88,0.00,0.000,4,0.000,0.063,3331,3773,2341,0,0,0,0,0,0
$GC,7420,0.76,146.0,119.5,14.5,664,7429,0.00,1.80,0.00,0.000,6,0.000,0.043,3340,2632,2342,0,0,0,0,0,0
$GC,7556,0.76,146.0,101.9,12.8,677,7559,0.00,1.83,0.00,0.000,4,0.000,0.062,3340,3765,2341,0,0,0,0,0,0
$GC,7583,0.76,146.0,97.9,14.2,680,7592,0.10,1.77,0.00,0.000,6,0.151,0.043,3316,2639,2341,0,0,0,0,0,0
$GC,7724,0.76,146.0,81.1,11.9,705,7731,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2638,2341,0,0,0,0,0,0
$GC,7862,0.76,146.0,65.5,11.1,730,7869,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2638,2341,0,0,0,0,0,0
$GC,8002,0.76,146.0,49.8,11.9,755,8008,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2638,2341,0,0,0,0,0,0
$GC,8139,0.76,146.0,34.1,11.6,780,8147,0.00,1.88,0.00,0.000,4,0.000,0.063,3316,3768,2341,0,0,0,0,0,0
$GC,8182,0.76,146.0,28.8,12.7,787,8189,0.00,1.77,0.00,0.000,6,0.000,0.042,3323,2623,2341,0,0,0,0,0,0
$GC,8320,0.76,146.0,11.1,13.0,812,8328,0.00,1.90,0.00,0.000,4,0.000,0.063,3323,3770,2341,0,0,0,0,0,0
$FREEZE,8.87,-1.508,-1.906,2,1,0
$FREEZE,8.07,-1.509,-1.905,2,1,0
$FREEZE,6.93,-1.504,-1.904,2,1,0
$FREEZE,6.10,-1.500,-1.904,2,1,0
$FREEZE,4.98,-1.492,-1.903,2,1,0
$FREEZE,4.23,-1.487,-1.902,2,1,0
$FREEZE,3.20,-1.495,-1.901,2,1,0
$FREEZE,2.51,-1.484,-1.900,2,1,0
$STATE,8374,end climb,SURFACE_DEPTH_REACHED
$STATE,8374,begin surface coast
$FREEZE,1.80,-1.482,-1.900,2,1,0
$FREEZE,1.54,-1.490,-1.900,2,1,0
$FREEZE,1.47,-1.487,-1.014,2,1,0
$FINISH,1.5,1.014961
$STATE,8394,end surface coast,FINISH_DEPTH_REACHED
$STATE,8394,begin surface
$SM_CCo,8410,138.93,0.763,1,0,1330,400.08
$SM_GC,2.11,0.00,0.00,138.93,0.000,0.000,0.763,421,2634,1330,-8.26,-0.45,400.08
$IRIDIUM_FIX,-7612.11,16532.38,081210,000032
$TT8_MAMPS,0.028462
$HUMID,51.26
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,14.10
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.8,18.8
$24V_AH,20.9,37.978
$10V_AH,9.9,22.625
$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,18.500,77.475,279.325,138.925,0.000,57.840,92.006,262.031,3.000,0.000,16.378,2036.341,4034.356,549.592,2361.798,159.455,0.000,1390.511,0.000,1415.403,0.000,14.644,0.000
$DEVICE_MAMPS,203.490,67.320,1163.565,763.470,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,582.342,1013.878,920.564,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,56998,824
$CAP_FILE_SIZE,117876,0
$CFSIZE,260165632,243216384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081210,025456,-7657.402,16525.285,32,1.4,33,142.2