version: 66.08
glider: 502
mission: 3
dive: 184
start: 12 9 110 9 19 43
data:
$ID,502
$MISSION,3
$DIVE,184
$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,623.29712
$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,-28272.207
$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,41
$R_STBD_OVSHOOT,16
$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
$GPS1,081210,231402,-7651.353,16531.492,301,99.0,301,141.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,14.3
$GPS2,081210,231402,-7651.353,16531.492,301,99.0,301,141.7
$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,216.6,21035,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,57,0.00,0.00,-39.92,0.000,2,0.000,0.000,3302,2486,3368,0,0,0,0,0,0
$GC,59,-0.76,-146.0,3.1,-1.1,6,74,1.42,2.22,-7.80,0.000,4,0.100,0.078,2809,3775,3558,0,0,0,0,0,0
$GC,311,-0.76,-146.0,39.9,-15.9,51,318,0.00,1.77,0.00,0.000,6,0.000,0.044,2809,2644,3561,0,0,0,0,0,0
$GC,448,-0.76,-146.0,61.5,-14.7,76,456,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2644,3561,0,0,0,0,0,0
$GC,588,-0.76,-146.0,82.9,-15.5,101,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2644,3561,0,0,0,0,0,0
$GC,730,-0.76,-146.0,105.3,-15.9,124,734,0.00,1.83,0.00,0.000,4,0.000,0.064,2800,3770,3561,0,0,0,0,0,0
$GC,789,-0.76,-146.0,115.6,-16.8,129,798,0.00,1.77,0.00,0.000,6,0.000,0.044,2800,2655,3562,0,0,0,0,0,0
$GC,927,-0.76,-146.0,137.1,-16.1,142,930,0.00,1.83,0.00,0.000,4,0.000,0.065,2792,3780,3562,0,0,0,0,0,0
$GC,982,-0.76,-146.0,147.1,-17.7,147,986,0.00,1.73,0.00,0.000,6,0.000,0.044,2793,2670,3562,0,0,0,0,0,0
$GC,1125,-0.76,-146.0,171.0,-17.0,160,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2669,3562,0,0,0,0,0,0
$GC,1259,-0.76,-146.0,194.1,-17.1,173,1263,0.00,1.77,0.00,0.000,4,0.000,0.064,2784,3770,3562,0,0,0,0,0,0
$GC,1293,-0.76,-146.0,200.2,-18.6,176,1298,0.12,1.70,0.00,0.000,6,0.171,0.044,2818,2674,3561,0,0,0,0,0,0
$GC,1434,-0.76,-146.0,221.7,-14.9,189,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2672,3561,0,0,0,0,0,0
$GC,1561,-0.76,-146.0,240.1,-14.2,201,1565,0.00,1.77,0.00,0.000,4,0.000,0.063,2811,3771,3561,0,0,0,0,0,0
$GC,1586,-0.76,-146.0,244.5,-16.3,203,1595,0.00,1.75,0.00,0.000,6,0.000,0.044,2811,2673,3561,0,0,0,0,0,0
$GC,1721,-0.76,-146.0,264.6,-14.7,216,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2673,3561,0,0,0,0,0,0
$GC,1913,-0.76,-146.0,292.9,-14.8,234,1917,0.00,1.77,0.00,0.000,4,0.000,0.065,2802,3769,3561,0,0,0,0,0,0
$GC,1959,-0.76,-146.0,300.2,-15.5,238,1963,0.00,1.67,0.00,0.000,6,0.000,0.044,2802,2687,3561,0,0,0,0,0,0
$GC,2164,-0.76,-146.0,331.2,-15.1,257,2165,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2685,3561,0,0,0,0,0,0
$GC,2353,-0.76,-146.0,359.7,-14.8,275,2357,0.00,1.77,0.00,0.000,4,0.000,0.065,2799,3780,3561,0,0,0,0,0,0
$GC,2390,-0.76,-146.0,365.8,-15.7,278,2398,0.00,1.73,0.00,0.000,6,0.000,0.043,2798,2690,3561,0,0,0,0,0,0
$GC,2589,-0.76,-146.0,395.1,-14.8,297,2590,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2689,3561,0,0,0,0,0,0
$GC,2780,-0.76,-146.0,423.0,-14.3,315,2783,0.00,1.75,0.00,0.000,4,0.000,0.064,2790,3773,3561,0,0,0,0,0,0
$GC,2817,-0.76,-146.0,429.1,-16.0,318,2825,0.00,1.70,0.00,0.000,6,0.000,0.044,2791,2697,3561,0,0,0,0,0,0
$GC,3015,-0.76,-146.0,458.4,-15.0,337,3019,0.00,1.77,0.00,0.000,4,0.000,0.065,2782,3767,3560,0,0,0,0,0,0
$GC,3039,-0.76,-146.0,461.8,-15.2,339,3043,0.12,1.65,0.00,0.000,6,0.170,0.044,2816,2696,3561,0,0,0,0,0,0
$GC,3241,-0.76,-146.0,488.1,-12.3,358,3245,0.00,1.75,0.00,0.000,4,0.000,0.063,2809,3780,3561,0,0,0,0,0,0
$GC,3269,-0.76,-146.0,492.1,-14.5,360,3275,0.00,1.70,0.00,0.000,6,0.000,0.045,2809,2710,3561,0,0,0,0,0,0
$GC,3481,-0.76,-146.0,520.6,-13.4,371,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2710,3561,0,0,0,0,0,0
$GC,3665,-0.76,-146.0,544.8,-13.2,377,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2710,3561,0,0,0,0,0,0
$GC,3850,-0.76,-146.0,569.1,-13.2,383,3853,0.00,1.73,0.00,0.000,4,0.000,0.064,2801,3778,3561,0,0,0,0,0,0
$GC,3904,-0.76,-146.0,577.1,-14.3,384,3909,0.00,1.67,0.00,0.000,6,0.000,0.044,2801,2717,3560,0,0,0,0,0,0
$STATE,3915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3916,begin apogee
$GC,3920,-0.17,0.0,578.7,13.6,385,4059,0.62,0.00,133.77,1.164,4,0.130,0.000,3003,2494,2960,0,0,0,0,0,0
$STATE,4060,end apogee,CONTROL_FINISHED_OK
$STATE,4060,begin climb
$GC,4062,0.76,146.0,583.2,0.0,389,4217,0.98,2.55,147.30,1.085,4,0.071,0.052,3314,1102,2365,0,0,0,0,0,0
$GC,4311,0.76,146.0,560.1,12.0,397,4316,0.00,2.50,0.00,0.000,6,0.000,0.054,3314,2502,2354,0,0,0,0,0,0
$GC,4514,0.76,146.0,533.3,13.3,404,4518,0.00,2.30,0.00,0.000,4,0.000,0.053,3324,1101,2350,0,0,0,0,0,0
$GC,4624,0.76,146.0,518.8,12.9,407,4629,0.00,2.38,0.00,0.000,6,0.000,0.055,3324,2518,2348,0,0,0,0,0,0
$GC,4818,0.76,146.0,492.6,14.1,417,4822,0.00,2.00,0.00,0.000,4,0.000,0.060,3324,3770,2346,0,0,0,0,0,0
$GC,4889,0.76,146.0,480.8,16.4,423,4897,0.00,1.98,0.00,0.000,6,0.000,0.044,3334,2537,2346,0,0,0,0,0,0
$GC,5088,0.76,146.0,450.6,15.3,442,5091,0.00,1.98,0.00,0.000,4,0.000,0.060,3334,3768,2345,0,0,0,0,0,0
$GC,5144,0.76,146.0,440.9,18.3,447,5149,0.12,1.92,0.00,0.000,6,0.168,0.044,3311,2535,2344,0,0,0,0,0,0
$GC,5342,0.76,146.0,414.2,12.6,465,5346,0.00,1.98,0.00,0.000,4,0.000,0.061,3310,3767,2343,0,0,0,0,0,0
$GC,5391,0.76,146.0,406.8,14.7,469,5399,0.00,1.95,0.00,0.000,6,0.000,0.044,3318,2539,2343,0,0,0,0,0,0
$GC,5589,0.76,146.0,380.9,13.2,488,5593,0.00,1.98,0.00,0.000,4,0.000,0.062,3318,3767,2343,0,0,0,0,0,0
$GC,5627,0.76,146.0,375.2,15.1,491,5634,0.00,1.92,0.00,0.000,6,0.000,0.043,3327,2554,2342,0,0,0,0,0,0
$GC,5827,0.76,146.0,348.8,13.4,510,5828,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2552,2342,0,0,0,0,0,0
$GC,6015,0.76,146.0,323.7,13.0,528,6019,0.00,1.95,0.00,0.000,4,0.000,0.062,3327,3767,2342,0,0,0,0,0,0
$GC,6105,0.76,146.0,310.4,15.6,536,6108,0.00,1.88,0.00,0.000,6,0.000,0.043,3337,2555,2341,0,0,0,0,0,0
$GC,6308,0.76,146.0,283.0,13.2,555,6311,0.00,1.95,0.00,0.000,4,0.000,0.061,3337,3767,2342,0,0,0,0,0,0
$GC,6345,0.76,146.0,277.2,15.7,558,6354,0.10,1.90,0.00,0.000,6,0.138,0.043,3313,2565,2341,0,0,0,0,0,0
$GC,6544,0.76,146.0,254.0,11.1,577,6548,0.00,1.98,0.00,0.000,4,0.000,0.063,3312,3758,2341,0,0,0,0,0,0
$GC,6602,0.76,146.0,246.6,13.2,582,6606,0.00,1.83,0.00,0.000,6,0.000,0.044,3320,2573,2341,0,0,0,0,0,0
$GC,6744,0.76,146.0,229.2,12.1,595,6752,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2570,2340,0,0,0,0,0,0
$GC,6879,0.76,146.0,212.7,12.0,608,6883,0.00,1.92,0.00,0.000,4,0.000,0.062,3320,3767,2340,0,0,0,0,0,0
$GC,6915,0.76,146.0,207.4,14.4,611,6925,0.00,1.88,0.00,0.000,6,0.000,0.043,3329,2581,2340,0,0,0,0,0,0
$GC,7051,0.76,146.0,190.3,12.3,624,7053,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2580,2340,0,0,0,0,0,0
$GC,7179,0.76,146.0,174.4,12.6,636,7183,0.00,1.90,0.00,0.000,4,0.000,0.061,3329,3767,2340,0,0,0,0,0,0
$GC,7237,0.76,146.0,165.6,15.1,641,7246,0.00,1.88,0.00,0.000,6,0.000,0.043,3338,2583,2340,0,0,0,0,0,0
$GC,7374,0.76,146.0,148.2,12.8,654,7375,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2583,2340,0,0,0,0,0,0
$GC,7500,0.76,146.0,132.1,12.7,666,7504,0.00,1.90,0.00,0.000,4,0.000,0.061,3339,3767,2339,0,0,0,0,0,0
$GC,7567,0.76,146.0,122.4,15.4,672,7571,0.12,1.83,0.00,0.000,6,0.169,0.044,3314,2585,2339,0,0,0,0,0,0
$GC,7707,0.76,146.0,105.6,11.4,685,7710,0.00,1.90,0.00,0.000,4,0.000,0.061,3314,3768,2339,0,0,0,0,0,0
$GC,7732,0.76,146.0,102.0,13.3,687,7741,0.00,1.85,0.00,0.000,6,0.000,0.044,3321,2603,2339,0,0,0,0,0,0
$GC,7867,0.76,146.0,86.4,11.7,710,7874,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2602,2339,0,0,0,0,0,0
$GC,8007,0.76,146.0,70.8,11.1,735,8014,0.00,1.88,0.00,0.000,4,0.000,0.060,3321,3767,2339,0,0,0,0,0,0
$GC,8036,0.76,146.0,66.9,13.0,740,8044,0.00,1.85,0.00,0.000,6,0.000,0.044,3330,2601,2339,0,0,0,0,0,0
$GC,8178,0.76,146.0,49.8,12.7,765,8184,0.00,1.88,0.00,0.000,4,0.000,0.060,3330,3768,2339,0,0,0,0,0,0
$GC,8246,0.76,146.0,39.9,14.1,777,8253,0.00,1.77,0.00,0.000,6,0.000,0.043,3339,2622,2339,0,0,0,0,0,0
$GC,8384,0.76,146.0,21.5,13.1,802,8392,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2621,2339,0,0,0,0,0,0
$FREEZE,8.66,-1.516,-1.900,2,6,2
$FREEZE,8.04,-1.519,-1.900,2,6,2
$FREEZE,7.27,-1.521,-1.899,2,6,2
$FREEZE,6.54,-1.525,-1.898,2,6,2
$FREEZE,5.77,-1.526,-1.898,2,6,2
$FREEZE,5.09,-1.528,-1.897,2,6,2
$FREEZE,4.26,-1.528,-1.896,2,6,2
$FREEZE,3.40,-1.534,-1.896,2,6,2
$GC,8526,0.76,146.0,3.4,12.9,827,8532,0.00,1.85,0.00,0.000,4,0.000,0.060,3339,3768,2339,0,0,0,0,0,0
$FREEZE,1.43,-1.553,-1.894,2,6,2
$STATE,8539,end climb,SURFACE_DEPTH_REACHED
$STATE,8539,begin surface coast
$FREEZE,1.46,-1.612,-0.826,2,6,2
$FREEZE,1.48,-1.592,-0.673,2,6,2
$FREEZE,1.46,-1.625,-0.504,2,6,2
$FREEZE,1.46,-1.644,-0.033,2,6,2
$FINISH,1.5,1.000175
$STATE,8564,end surface coast,CONTROL_FINISHED_OK
$STATE,8564,begin surface
$SM_CCo,8581,305.45,0.715,6,0,420,623.30
$SM_GC,2.24,0.00,0.00,305.45,0.000,0.000,0.715,434,2636,420,-8.23,-0.40,623.30
$IRIDIUM_FIX,-7603.11,16541.80,081210,232337
$TT8_MAMPS,0.028462
$HUMID,49.29
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,13.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.4
$ALTIM_BOTTOM_PING,553.0,57.4
$24V_AH,20.8,39.665
$10V_AH,9.9,23.879
$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,11.200,102.125,281.075,305.450,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2107.285,4030.580,720.887,1977.284,134.910,0.000,1588.457,0.000,1466.675,0.000,17.502,0.000
$DEVICE_MAMPS,170.595,78.030,1164.330,714.510,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,589.720,1019.091,919.354,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276308
$DATA_FILE_SIZE,56906,833
$CAP_FILE_SIZE,116631,0
$CFSIZE,260165632,242348032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,081210,231402,-7651.353,16531.492,301,99.0,301,141.7