version: 66.08
glider: 502
mission: 3
dive: 66
start: 11 27 110 0 58 53
data:
$ID,502
$MISSION,3
$DIVE,66
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$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,1
$SURFACE_URGENCY_TRY,2
$SURFACE_URGENCY_FORCE,2
$T_DIVE,125
$T_MISSION,150
$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,0.0049999999
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$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,10
$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,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-22040.348
$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,0.02
$PITCH_ADJ_DBAND,1
$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,29
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,261110,062908,-7726.157,16510.441,181,99.0,181,144.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-12.2
$GPS2,261110,062908,-7726.157,16510.441,181,99.0,181,144.2
$SPEED_LIMITS,0.208,0.300
$TGT_NAME,SOUND2
$TGT_LATLONG,-7723.000,16505.000
$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,195.2,6247,-18.7,-12.000
$D_GRID,544
$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,14,-0.84,-175.2,0.0,0.0,0,173,0.00,0.00,-155.82,0.000,2,0.000,0.000,426,2653,3446,0,0,0,0,0,0
$GC,176,-0.84,-175.2,3.5,-2.8,24,198,9.02,1.83,-5.97,0.000,4,0.222,0.085,2775,3763,3680,0,0,0,0,0,0
$GC,432,-0.69,-175.2,56.4,-19.1,70,441,0.17,1.80,0.00,0.000,6,0.151,0.048,2832,2647,3683,0,0,0,0,0,0
$GC,574,-0.67,-175.2,76.7,-14.3,95,581,0.00,1.88,0.00,0.000,4,0.000,0.072,2825,3757,3683,0,0,0,0,0,0
$GC,611,-0.62,-175.2,82.0,-14.9,101,618,0.15,1.77,0.00,0.000,6,0.157,0.049,2868,2634,3683,0,0,0,0,0,0
$GC,750,-0.66,-175.2,97.5,-10.4,126,758,0.00,1.90,0.00,0.000,4,0.000,0.073,2867,3756,3683,0,0,0,0,0,0
$GC,790,-0.70,-175.2,102.1,-11.2,131,799,0.00,1.77,0.00,0.000,6,0.000,0.048,2867,2645,3683,0,0,0,0,0,0
$GC,926,-0.74,-175.2,116.4,-10.9,144,930,0.12,1.85,0.00,0.000,4,0.092,0.073,2792,3763,3683,0,0,0,0,0,0
$GC,971,-0.64,-175.2,123.4,-17.5,148,975,0.22,1.75,0.00,0.000,6,0.155,0.048,2859,2645,3683,0,0,0,0,0,0
$GC,1112,-0.67,-175.2,140.0,-10.8,161,1116,0.00,1.85,0.00,0.000,4,0.000,0.072,2854,3769,3684,0,0,0,0,0,0
$GC,1158,-0.69,-175.2,145.4,-11.4,165,1162,0.00,1.75,0.00,0.000,6,0.000,0.048,2854,2653,3683,0,0,0,0,0,0
$GC,1299,-0.69,-175.2,160.9,-10.7,178,1302,0.00,1.85,0.00,0.000,4,0.000,0.073,2847,3763,3683,0,0,0,0,0,0
$GC,1334,-0.69,-175.2,165.0,-11.8,181,1338,0.00,1.75,0.00,0.000,6,0.000,0.047,2847,2643,3683,0,0,0,0,0,0
$GC,1476,-0.69,-175.2,181.3,-11.7,194,1480,0.00,1.85,0.00,0.000,4,0.000,0.071,2842,3769,3683,0,0,0,0,0,0
$GC,1512,-0.69,-175.2,186.6,-13.1,197,1522,0.00,1.80,0.00,0.000,6,0.000,0.048,2842,2645,3683,0,0,0,0,0,0
$GC,1648,-0.69,-175.2,203.0,-12.6,210,1652,0.00,1.83,0.00,0.000,4,0.000,0.071,2833,3763,3683,0,0,0,0,0,0
$GC,1682,-0.67,-175.2,207.3,-13.7,213,1686,0.00,1.75,0.00,0.000,6,0.000,0.047,2834,2638,3683,0,0,0,0,0,0
$GC,1822,-0.67,-175.2,226.0,-13.4,226,1826,0.00,1.85,0.00,0.000,4,0.000,0.072,2826,3764,3683,0,0,0,0,0,0
$GC,1867,-0.64,-175.2,232.4,-15.0,230,1872,0.10,1.75,0.00,0.000,6,0.175,0.047,2853,2640,3683,0,0,0,0,0,0
$GC,2008,-0.67,-175.2,249.8,-11.9,243,2013,0.00,1.85,0.00,0.000,4,0.000,0.073,2854,3765,3683,0,0,0,0,0,0
$GC,2046,-0.70,-175.2,254.6,-12.0,246,2053,0.00,1.77,0.00,0.000,6,0.000,0.047,2854,2655,3683,0,0,0,0,0,0
$GC,2244,-0.73,-175.2,277.2,-11.7,265,2248,0.00,1.83,0.00,0.000,4,0.000,0.073,2847,3769,3683,0,0,0,0,0,0
$GC,2282,-0.73,-175.2,281.9,-11.9,268,2290,0.00,1.77,0.00,0.000,6,0.000,0.047,2847,2655,3683,0,0,0,0,0,0
$GC,2480,-0.73,-175.2,304.3,-11.3,287,2484,0.00,1.83,0.00,0.000,4,0.000,0.073,2842,3766,3683,0,0,0,0,0,0
$GC,2550,-0.73,-175.2,312.3,-11.1,293,2554,0.00,1.75,0.00,0.000,6,0.000,0.046,2842,2637,3683,0,0,0,0,0,0
$GC,2752,-0.73,-175.2,336.5,-11.9,312,2756,0.00,1.85,0.00,0.000,4,0.000,0.070,2833,3770,3683,0,0,0,0,0,0
$GC,2813,-0.73,-175.2,344.7,-13.4,317,2820,0.00,1.77,0.00,0.000,6,0.000,0.047,2833,2661,3683,0,0,0,0,0,0
$GC,3011,-0.73,-175.2,369.7,-12.9,336,3014,0.00,1.80,0.00,0.000,4,0.000,0.073,2826,3762,3683,0,0,0,0,0,0
$GC,3070,-0.73,-175.2,377.8,-13.1,341,3079,0.00,1.77,0.00,0.000,6,0.000,0.047,2826,2651,3683,0,0,0,0,0,0
$GC,3269,-0.73,-175.2,402.1,-12.1,360,3272,0.00,1.83,0.00,0.000,4,0.000,0.072,2817,3765,3682,0,0,0,0,0,0
$GC,3337,-0.70,-175.2,410.9,-13.2,366,3341,0.00,1.80,0.00,0.000,6,0.000,0.049,2817,2642,3682,0,0,0,0,0,0
$GC,3539,-0.67,-175.2,437.8,-12.9,385,3544,0.10,1.88,0.00,0.000,4,0.183,0.073,2837,3770,3682,0,0,0,0,0,0
$GC,3611,-0.67,-175.2,446.9,-12.2,391,3618,0.00,1.80,0.00,0.000,6,0.000,0.048,2837,2644,3682,0,0,0,0,0,0
$STATE,3648,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3648,begin apogee
$GC,3652,-0.17,0.0,451.3,11.8,395,3816,0.50,0.00,157.05,1.102,6,0.129,0.000,3002,2484,2961,0,0,0,0,0,0
$STATE,3817,end apogee,CONTROL_FINISHED_OK
$STATE,3817,begin climb
$GC,3818,0.84,175.2,457.0,0.0,410,3994,1.02,2.53,165.73,1.025,4,0.082,0.054,3338,1101,2245,0,0,0,0,0,0
$GC,4052,0.74,175.2,431.8,15.8,431,4057,0.15,2.47,0.00,0.000,6,0.159,0.057,3302,2502,2236,0,0,0,0,0,0
$GC,4249,0.65,175.2,402.3,15.2,449,4253,0.00,2.12,0.00,0.000,4,0.000,0.065,3302,3764,2230,0,0,0,0,0,0
$GC,4314,0.52,175.2,391.1,17.1,454,4323,0.25,2.10,0.00,0.000,6,0.147,0.048,3235,2508,2229,0,0,0,0,0,0
$GC,4513,0.61,224.6,370.4,9.7,473,4563,0.00,0.00,44.42,1.002,6,0.000,0.000,3235,2506,2044,0,0,0,0,0,0
$GC,4756,0.73,263.1,345.9,10.2,496,4796,0.17,0.00,35.95,0.985,6,0.069,0.000,3315,2504,1888,0,0,0,0,0,0
$GC,4987,0.67,263.1,308.7,16.2,518,4989,0.12,0.00,0.00,0.000,6,0.159,0.000,3283,2505,1878,0,0,0,0,0,0
$GC,5175,0.67,263.1,282.9,13.3,536,5177,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,2504,1876,0,0,0,0,0,0
$GC,5367,0.67,263.1,258.1,13.1,554,5370,0.00,2.08,0.00,0.000,4,0.000,0.066,3283,3770,1874,0,0,0,0,0,0
$GC,5395,0.67,263.1,254.1,15.3,556,5398,0.00,2.03,0.00,0.000,6,0.000,0.050,3287,2501,1874,0,0,0,0,0,0
$GC,5599,0.67,263.1,226.4,13.8,575,5603,0.00,2.25,0.00,0.000,4,0.000,0.059,3287,1088,1872,0,0,0,0,0,0
$GC,5628,0.71,263.1,222.5,13.5,577,5632,0.00,2.30,0.00,0.000,6,0.000,0.058,3287,2502,1871,0,0,0,0,0,0
$GC,5764,0.71,263.1,204.8,13.0,589,5767,0.00,2.03,0.00,0.000,4,0.000,0.066,3287,3761,1871,0,0,0,0,0,0
$GC,5809,0.69,263.1,198.1,15.1,593,5813,0.00,2.00,0.00,0.000,6,0.000,0.049,3295,2497,1871,0,0,0,0,0,0
$GC,5949,0.69,263.1,178.4,13.9,606,5953,0.00,2.25,0.00,0.000,4,0.000,0.059,3300,1081,1870,0,0,0,0,0,0
$GC,5980,0.71,263.1,174.0,13.0,608,5988,0.00,2.35,0.00,0.000,6,0.000,0.057,3300,2504,1871,0,0,0,0,0,0
$GC,6116,0.71,263.1,155.4,14.2,621,6119,0.00,2.03,0.00,0.000,4,0.000,0.067,3300,3765,1870,0,0,0,0,0,0
$GC,6152,0.67,263.1,149.4,15.5,624,6161,0.00,2.05,0.00,0.000,6,0.000,0.050,3309,2497,1871,0,0,0,0,0,0
$GC,6288,0.64,263.1,129.6,15.1,637,6293,0.15,2.25,0.00,0.000,4,0.155,0.058,3277,1081,1871,0,0,0,0,0,0
$GC,6308,0.64,263.1,126.4,13.7,638,6318,0.00,2.33,0.00,0.000,6,0.000,0.057,3277,2498,1870,0,0,0,0,0,0
$GC,6444,0.68,270.0,110.6,11.7,651,6458,0.00,2.12,4.40,0.695,4,0.000,0.067,3277,3773,1860,0,0,0,0,0,0
$GC,6482,0.68,270.0,105.8,13.0,654,6486,0.00,2.03,0.00,0.000,6,0.000,0.050,3286,2496,1860,0,0,0,0,0,0
$GC,6617,0.68,270.0,88.3,12.5,675,6624,0.00,2.25,0.00,0.000,4,0.000,0.058,3295,1085,1859,0,0,0,0,0,0
$GC,6654,0.72,270.0,83.7,12.2,681,6661,0.00,2.33,0.00,0.000,6,0.000,0.058,3295,2511,1858,0,0,0,0,0,0
$GC,6792,0.72,270.0,65.0,13.6,706,6800,0.00,2.05,0.00,0.000,4,0.000,0.067,3295,3758,1858,0,0,0,0,0,0
$GC,6835,0.70,270.0,59.1,14.2,713,6842,0.00,2.00,0.00,0.000,6,0.000,0.050,3304,2498,1858,0,0,0,0,0,0
$GC,6972,0.70,270.0,39.9,13.1,738,6980,0.00,2.28,0.00,0.000,4,0.000,0.058,3314,1088,1858,0,0,0,0,0,0
$GC,7004,0.70,270.0,35.7,13.7,743,7011,0.00,2.30,0.00,0.000,6,0.000,0.059,3314,2502,1857,0,0,0,0,0,0
$GC,7141,0.66,270.0,15.0,14.8,768,7150,0.12,2.08,0.00,0.000,4,0.166,0.067,3280,3755,1858,0,0,0,0,0,0
$FREEZE,8.67,-1.667,-1.906,2,9,0
$FREEZE,7.81,-1.639,-1.905,2,9,0
$FREEZE,7.24,-1.635,-1.904,2,9,0
$FREEZE,6.39,-1.627,-1.903,2,9,0
$FREEZE,5.60,-1.625,-1.903,2,9,0
$FREEZE,4.83,-1.624,-1.902,2,9,0
$GC,7214,0.66,270.0,4.8,13.3,780,7222,0.00,2.03,0.00,0.000,6,0.000,0.051,3287,2498,1858,0,0,0,0,0,0
$FREEZE,2.85,-1.624,-1.901,2,9,0
$STATE,7230,end climb,SURFACE_DEPTH_REACHED
$STATE,7230,begin surface coast
$FREEZE,1.95,-1.626,-1.900,2,9,0
$FREEZE,1.58,-1.630,-1.899,2,9,0
$FREEZE,1.51,-1.629,-1.899,2,9,0
$FREEZE,1.48,-1.621,-1.899,2,9,0
$FINISH,1.5,1.027827
$STATE,7254,end surface coast,CONTROL_FINISHED_OK
$STATE,7254,begin surface
$SM_CCo,7268,218.38,0.766,3,0,420,623.30
$SM_GC,1.26,0.00,0.00,218.38,0.000,0.000,0.766,424,2658,420,-8.26,0.23,623.30
$IRIDIUM_FIX,-7639.69,16500.29,261110,060609
$TT8_MAMPS,0.028462
$HUMID,50.98
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,14.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,17.6
$ALTIM_BOTTOM_PING,400.8,80.6
$24V_AH,21.7,22.236
$10V_AH,10.0,12.263
$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,19.900,114.975,407.550,218.375,0.000,99.258,17.058,0.000,2.250,0.000,181.672,1887.973,3025.646,807.224,2154.727,173.755,0.000,1657.313,0.000,1330.582,0.000,12.406,0.000
$DEVICE_MAMPS,221.850,84.915,1102.365,765.765,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,550.444,958.522,953.455,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,275884
$DATA_FILE_SIZE,53939,786
$CAP_FILE_SIZE,121842,0
$CFSIZE,260165632,249966592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,8
$GPS,261110,062908,-7726.157,16510.441,181,99.0,181,144.2