version: 66.08
glider: 502
mission: 3
dive: 178
start: 12 8 110 20 42 25
data:
$ID,502
$MISSION,3
$DIVE,178
$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,-27664.756
$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,32
$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
$GPS1,081210,203201,-7652.650,16530.354,42,0.9,43,141.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-71.3
$GPS2,081210,204201,-7652.593,16530.617,10,1.0,15,141.7
$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,217.7,23325,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,96,0.00,0.00,-78.38,0.000,2,0.000,0.000,417,2671,2793,0,0,0,0,0,0
$GC,99,-0.76,-146.0,3.2,-2.5,12,153,8.95,2.33,-36.95,0.000,4,0.203,0.066,2810,1245,3560,0,0,0,0,0,0
$GC,313,-0.76,-146.0,25.9,-13.8,49,320,0.00,2.30,0.00,0.000,6,0.000,0.060,2801,2642,3563,0,0,0,0,0,0
$GC,451,-0.76,-146.0,47.8,-15.3,74,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2642,3563,0,0,0,0,0,0
$GC,592,-0.76,-146.0,69.8,-16.0,99,599,0.00,1.80,0.00,0.000,4,0.000,0.063,2793,3764,3563,0,0,0,0,0,0
$GC,639,-0.76,-146.0,77.6,-16.7,107,646,0.00,1.77,0.00,0.000,6,0.000,0.044,2793,2629,3563,0,0,0,0,0,0
$GC,778,-0.76,-146.0,100.1,-16.1,132,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2628,3563,0,0,0,0,0,0
$GC,907,-0.76,-146.0,120.5,-15.9,144,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2628,3563,0,0,0,0,0,0
$GC,1033,-0.76,-146.0,141.3,-16.5,156,1036,0.00,1.85,0.00,0.000,4,0.000,0.064,2783,3771,3563,0,0,0,0,0,0
$GC,1078,-0.76,-146.0,149.0,-17.6,160,1082,0.12,1.75,0.00,0.000,6,0.171,0.044,2817,2655,3563,0,0,0,0,0,0
$GC,1218,-0.76,-146.0,169.6,-14.3,173,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2652,3563,0,0,0,0,0,0
$GC,1345,-0.76,-146.0,187.7,-14.3,185,1348,0.00,1.83,0.00,0.000,4,0.000,0.065,2810,3767,3563,0,0,0,0,0,0
$GC,1371,-0.76,-146.0,192.2,-15.4,187,1380,0.00,1.75,0.00,0.000,6,0.000,0.044,2810,2661,3563,0,0,0,0,0,0
$GC,1506,-0.76,-146.0,211.4,-14.0,200,1510,0.00,1.80,0.00,0.000,4,0.000,0.065,2801,3773,3563,0,0,0,0,0,0
$GC,1543,-0.76,-146.0,217.5,-15.3,203,1552,0.00,1.75,0.00,0.000,6,0.000,0.044,2801,2667,3562,0,0,0,0,0,0
$GC,1681,-0.76,-146.0,236.7,-14.5,216,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2665,3563,0,0,0,0,0,0
$GC,1815,-0.76,-146.0,256.3,-14.2,229,1818,0.00,1.77,0.00,0.000,4,0.000,0.064,2793,3769,3562,0,0,0,0,0,0
$GC,1863,-0.76,-146.0,264.0,-15.0,233,1871,0.00,1.73,0.00,0.000,6,0.000,0.044,2793,2677,3563,0,0,0,0,0,0
$GC,2062,-0.76,-146.0,292.1,-14.1,252,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2677,3563,0,0,0,0,0,0
$GC,2253,-0.76,-146.0,319.4,-14.5,270,2256,0.00,1.77,0.00,0.000,4,0.000,0.066,2785,3771,3562,0,0,0,0,0,0
$GC,2279,-0.76,-146.0,323.9,-15.9,272,2288,0.08,1.75,0.00,0.000,6,0.148,0.044,2810,2673,3563,0,0,0,0,0,0
$GC,2481,-0.76,-146.0,350.3,-12.9,291,2485,0.00,1.77,0.00,0.000,4,0.000,0.064,2803,3773,3562,0,0,0,0,0,0
$GC,2509,-0.76,-146.0,354.9,-14.9,293,2516,0.00,1.70,0.00,0.000,6,0.000,0.044,2803,2683,3562,0,0,0,0,0,0
$GC,2707,-0.76,-146.0,382.4,-13.9,312,2708,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2682,3563,0,0,0,0,0,0
$GC,2897,-0.76,-146.0,408.8,-13.7,330,2901,0.00,1.80,0.00,0.000,4,0.000,0.065,2796,3765,3563,0,0,0,0,0,0
$GC,2946,-0.76,-146.0,416.3,-15.6,334,2954,0.00,1.70,0.00,0.000,6,0.000,0.044,2796,2687,3562,0,0,0,0,0,0
$GC,3145,-0.76,-146.0,444.5,-14.3,353,3146,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2687,3562,0,0,0,0,0,0
$GC,3337,-0.76,-146.0,471.5,-13.6,371,3341,0.00,1.75,0.00,0.000,4,0.000,0.063,2788,3773,3562,0,0,0,0,0,0
$GC,3382,-0.76,-146.0,478.5,-15.2,375,3387,0.12,1.67,0.00,0.000,6,0.168,0.044,2821,2689,3562,0,0,0,0,0,0
$GC,3596,-0.76,-146.0,505.1,-12.2,393,3599,0.00,1.75,0.00,0.000,4,0.000,0.063,2814,3771,3562,0,0,0,0,0,0
$GC,3622,-0.76,-146.0,508.9,-12.8,393,3630,0.00,1.70,0.00,0.000,6,0.000,0.044,2814,2693,3562,0,0,0,0,0,0
$GC,3813,-0.76,-146.0,533.4,-13.0,400,3814,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2693,3562,0,0,0,0,0,0
$GC,3996,-0.76,-146.0,556.9,-12.8,406,4000,0.00,1.73,0.00,0.000,4,0.000,0.064,2806,3764,3562,0,0,0,0,0,0
$STATE,4022,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4022,begin apogee
$GC,4028,-0.17,0.0,560.8,13.8,406,4167,0.62,0.00,133.57,1.147,4,0.129,0.000,3008,2493,2960,0,0,0,0,0,0
$STATE,4168,end apogee,CONTROL_FINISHED_OK
$STATE,4168,begin climb
$GC,4170,0.76,146.0,566.0,0.0,411,4324,0.95,2.55,145.68,1.076,4,0.073,0.052,3310,1094,2364,0,0,0,0,0,0
$GC,4415,0.76,146.0,544.4,12.6,419,4420,0.00,2.47,0.00,0.000,6,0.000,0.055,3310,2503,2354,0,0,0,0,0,0
$GC,4627,0.76,146.0,516.7,13.1,426,4631,0.00,2.33,0.00,0.000,4,0.000,0.054,3319,1092,2349,0,0,0,0,0,0
$GC,4743,0.76,146.0,501.8,12.6,429,4747,0.00,2.38,0.00,0.000,6,0.000,0.056,3320,2506,2347,0,0,0,0,0,0
$GC,4942,0.76,146.0,474.6,13.7,447,4946,0.00,2.03,0.00,0.000,4,0.000,0.061,3319,3770,2346,0,0,0,0,0,0
$GC,5036,0.76,146.0,459.3,16.6,455,5043,0.00,2.00,0.00,0.000,6,0.000,0.043,3328,2517,2345,0,0,0,0,0,0
$GC,5234,0.76,146.0,430.4,14.2,474,5237,0.00,2.03,0.00,0.000,4,0.000,0.060,3328,3775,2344,0,0,0,0,0,0
$GC,5294,0.76,146.0,420.4,17.1,479,5301,0.00,2.00,0.00,0.000,6,0.000,0.044,3338,2519,2344,0,0,0,0,0,0
$GC,5492,0.76,146.0,391.0,14.9,498,5496,0.00,2.00,0.00,0.000,4,0.000,0.060,3338,3765,2343,0,0,0,0,0,0
$GC,5552,0.76,146.0,380.8,16.2,503,5561,0.10,1.95,0.00,0.000,6,0.153,0.042,3315,2536,2343,0,0,0,0,0,0
$GC,5751,0.76,146.0,354.8,12.7,522,5752,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2535,2342,0,0,0,0,0,0
$GC,5943,0.76,146.0,330.8,13.0,540,5947,0.00,1.98,0.00,0.000,4,0.000,0.061,3316,3767,2342,0,0,0,0,0,0
$GC,5992,0.76,146.0,323.2,14.9,544,6000,0.00,1.95,0.00,0.000,6,0.000,0.042,3323,2538,2341,0,0,0,0,0,0
$GC,6191,0.76,146.0,297.3,13.0,563,6192,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2536,2342,0,0,0,0,0,0
$GC,6383,0.76,146.0,272.5,12.9,581,6387,0.00,1.98,0.00,0.000,4,0.000,0.060,3323,3770,2341,0,0,0,0,0,0
$GC,6429,0.76,146.0,265.7,15.2,585,6432,0.00,1.90,0.00,0.000,6,0.000,0.044,3333,2547,2341,0,0,0,0,0,0
$GC,6633,0.76,146.0,237.9,13.5,604,6637,0.00,2.00,0.00,0.000,4,0.000,0.062,3333,3777,2341,0,0,0,0,0,0
$GC,6658,0.76,146.0,233.6,15.4,606,6668,0.08,1.92,0.00,0.000,6,0.151,0.043,3317,2558,2341,0,0,0,0,0,0
$GC,6795,0.76,146.0,216.6,12.5,619,6796,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2556,2341,0,0,0,0,0,0
$GC,6921,0.76,146.0,200.6,12.5,631,6923,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2556,2341,0,0,0,0,0,0
$GC,7049,0.76,146.0,184.7,12.8,643,7052,0.00,1.95,0.00,0.000,4,0.000,0.061,3317,3767,2341,0,0,0,0,0,0
$GC,7118,0.76,146.0,174.4,14.7,649,7126,0.00,1.92,0.00,0.000,6,0.000,0.043,3325,2552,2341,0,0,0,0,0,0
$GC,7253,0.76,146.0,157.4,12.7,662,7257,0.00,1.98,0.00,0.000,4,0.000,0.063,3325,3774,2341,0,0,0,0,0,0
$GC,7290,0.76,146.0,151.8,14.6,665,7299,0.00,1.92,0.00,0.000,6,0.000,0.044,3335,2559,2341,0,0,0,0,0,0
$GC,7428,0.76,146.0,134.6,12.5,678,7435,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2557,2341,0,0,0,0,0,0
$GC,7563,0.76,146.0,117.1,12.7,691,7566,0.00,1.95,0.00,0.000,4,0.000,0.061,3334,3771,2341,0,0,0,0,0,0
$GC,7619,0.76,146.0,109.0,15.2,696,7623,0.12,1.85,0.00,0.000,6,0.167,0.044,3310,2570,2341,0,0,0,0,0,0
$GC,7753,0.76,146.0,92.9,11.1,714,7761,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2568,2341,0,0,0,0,0,0
$GC,7894,0.76,146.0,77.3,10.9,739,7901,0.00,2.35,0.00,0.000,4,0.000,0.055,3320,1084,2341,0,0,0,0,0,0
$GC,7923,0.76,146.0,74.1,11.1,744,7931,0.00,2.45,0.00,0.000,6,0.000,0.057,3320,2576,2340,0,0,0,0,0,0
$GC,8065,0.76,146.0,58.2,11.2,769,8072,0.00,1.90,0.00,0.000,4,0.000,0.062,3320,3767,2340,0,0,0,0,0,0
$GC,8137,0.76,146.0,48.2,13.5,782,8145,0.00,1.88,0.00,0.000,6,0.000,0.043,3329,2577,2340,0,0,0,0,0,0
$GC,8278,0.76,146.0,31.1,12.7,807,8284,0.00,1.92,0.00,0.000,4,0.000,0.060,3329,3772,2340,0,0,0,0,0,0
$GC,8317,0.76,146.0,25.2,14.6,814,8325,0.00,1.88,0.00,0.000,6,0.000,0.044,3338,2588,2340,0,0,0,0,0,0
$FREEZE,8.54,-1.638,-1.904,2,1,0
$FREEZE,7.81,-1.627,-1.903,2,1,0
$FREEZE,6.89,-1.617,-1.902,2,1,0
$FREEZE,6.13,-1.613,-1.901,2,1,0
$GC,8461,0.76,146.0,6.1,13.6,839,8467,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2587,2340,0,0,0,0,0,0
$FREEZE,4.29,-1.574,-1.900,2,1,0
$FREEZE,3.51,-1.560,-1.899,2,1,0
$FREEZE,2.89,-1.562,-1.898,2,1,0
$STATE,8485,end climb,SURFACE_DEPTH_REACHED
$STATE,8485,begin surface coast
$FREEZE,2.11,-1.556,-1.898,2,1,0
$FREEZE,1.66,-1.543,-1.897,2,1,0
$FREEZE,1.59,-1.559,-0.472,2,1,0
$FINISH,1.6,1.006803
$STATE,8503,end surface coast,FINISH_DEPTH_REACHED
$STATE,8503,begin surface
$SM_CCo,8518,141.27,0.754,1,0,1329,400.08
$SM_GC,2.41,0.00,0.00,141.27,0.000,0.000,0.754,417,2664,1329,-8.27,0.40,400.08
$IRIDIUM_FIX,-7603.11,16548.64,081210,202037
$TT8_MAMPS,0.028462
$HUMID,51.29
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,17.7
$ALTIM_BOTTOM_PING,501.3,74.0
$24V_AH,20.9,39.027
$10V_AH,9.9,23.398
$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,18.700,101.075,279.250,141.275,0.000,56.423,87.460,267.467,2.750,0.000,16.452,2092.163,3967.643,591.547,2431.636,187.147,0.000,1478.704,0.000,1466.835,0.000,15.828,0.000
$DEVICE_MAMPS,202.725,101.745,1146.735,754.290,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,596.987,1034.069,942.625,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276300
$DATA_FILE_SIZE,57129,846
$CAP_FILE_SIZE,127788,0
$CFSIZE,260165632,242683904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081210,230807,-7651.412,16531.549,40,0.8,41,141.7