version: 66.08
glider: 502
mission: 3
dive: 71
start: 11 27 110 12 19 50
data:
$ID,502
$MISSION,3
$DIVE,71
$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,-23869.18
$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,27
$R_STBD_OVSHOOT,23
$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,1.33
$_SM_ANGLEo,-13.5
$GPS2,261110,062908,-7726.157,16510.441,181,99.0,181,144.2
$SPEED_LIMITS,0.208,0.300
$TGT_NAME,SOUND1
$TGT_LATLONG,-7728.000,16520.000
$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,347.4,5139,-18.7,-12.000
$D_GRID,582
$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,-0.84,-175.2,0.0,0.0,0,167,0.00,0.00,-149.40,0.000,2,0.000,0.000,426,2660,3320,0,0,0,0,0,0
$GC,170,-0.84,-175.2,3.0,-1.3,23,198,9.00,1.85,-10.30,0.000,4,0.220,0.085,2781,3754,3680,0,0,0,0,0,0
$GC,269,-0.67,-175.2,22.9,-19.9,40,278,0.20,1.80,0.00,0.000,6,0.147,0.049,2845,2643,3682,0,0,0,0,0,0
$GC,412,-0.67,-175.2,42.1,-12.9,65,418,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2643,3683,0,0,0,0,0,0
$GC,548,-0.67,-175.2,59.3,-12.1,90,557,0.00,1.88,0.00,0.000,4,0.000,0.070,2838,3759,3683,0,0,0,0,0,0
$GC,613,-0.67,-175.2,67.8,-13.6,101,619,0.00,1.77,0.00,0.000,6,0.000,0.047,2838,2633,3683,0,0,0,0,0,0
$GC,751,-0.65,-175.2,85.7,-12.6,126,759,0.00,1.90,0.00,0.000,4,0.000,0.072,2829,3759,3683,0,0,0,0,0,0
$GC,783,-0.61,-175.2,90.3,-14.0,131,791,0.12,1.77,0.00,0.000,6,0.166,0.047,2864,2634,3683,0,0,0,0,0,0
$GC,928,-0.65,-175.2,106.2,-11.0,152,931,0.00,1.85,0.00,0.000,4,0.000,0.070,2857,3761,3683,0,0,0,0,0,0
$GC,964,-0.67,-175.2,110.9,-11.4,155,973,0.00,1.77,0.00,0.000,6,0.000,0.047,2857,2650,3683,0,0,0,0,0,0
$GC,1100,-0.67,-175.2,125.6,-11.0,168,1104,0.00,1.83,0.00,0.000,4,0.000,0.072,2852,3762,3683,0,0,0,0,0,0
$GC,1137,-0.67,-175.2,130.4,-12.5,171,1146,0.00,1.77,0.00,0.000,6,0.000,0.047,2852,2652,3683,0,0,0,0,0,0
$GC,1274,-0.67,-175.2,145.9,-11.8,184,1278,0.00,1.83,0.00,0.000,4,0.000,0.071,2843,3764,3683,0,0,0,0,0,0
$GC,1309,-0.67,-175.2,150.4,-13.3,187,1312,0.00,1.75,0.00,0.000,6,0.000,0.048,2843,2644,3683,0,0,0,0,0,0
$GC,1451,-0.67,-175.2,168.0,-12.7,200,1454,0.00,1.83,0.00,0.000,4,0.000,0.070,2835,3761,3683,0,0,0,0,0,0
$GC,1495,-0.67,-175.2,174.1,-13.9,204,1499,0.00,1.75,0.00,0.000,6,0.000,0.047,2836,2640,3683,0,0,0,0,0,0
$GC,1636,-0.67,-175.2,192.3,-12.7,217,1639,0.00,1.85,0.00,0.000,4,0.000,0.071,2826,3766,3683,0,0,0,0,0,0
$GC,1672,-0.63,-175.2,197.1,-14.6,220,1676,0.12,1.75,0.00,0.000,6,0.163,0.048,2862,2643,3683,0,0,0,0,0,0
$GC,1814,-0.67,-175.2,213.3,-10.9,233,1817,0.00,1.83,0.00,0.000,4,0.000,0.070,2855,3762,3683,0,0,0,0,0,0
$GC,1851,-0.70,-175.2,218.3,-12.0,236,1860,0.00,1.77,0.00,0.000,6,0.000,0.047,2855,2649,3683,0,0,0,0,0,0
$GC,1988,-0.70,-175.2,233.4,-11.3,249,1992,0.00,1.83,0.00,0.000,4,0.000,0.070,2847,3766,3683,0,0,0,0,0,0
$GC,2024,-0.70,-175.2,237.6,-12.2,252,2028,0.00,1.75,0.00,0.000,6,0.000,0.047,2847,2641,3683,0,0,0,0,0,0
$GC,2163,-0.70,-175.2,254.1,-11.4,265,2167,0.00,1.85,0.00,0.000,4,0.000,0.072,2842,3770,3683,0,0,0,0,0,0
$GC,2208,-0.70,-175.2,259.7,-12.4,269,2212,0.00,1.75,0.00,0.000,6,0.000,0.048,2842,2648,3683,0,0,0,0,0,0
$GC,2412,-0.70,-175.2,283.7,-12.0,288,2416,0.00,1.83,0.00,0.000,4,0.000,0.071,2833,3765,3683,0,0,0,0,0,0
$GC,2472,-0.70,-175.2,291.8,-13.2,293,2480,0.00,1.77,0.00,0.000,6,0.000,0.047,2833,2653,3683,0,0,0,0,0,0
$GC,2670,-0.70,-175.2,316.5,-12.7,312,2674,0.00,1.83,0.00,0.000,4,0.000,0.072,2825,3767,3683,0,0,0,0,0,0
$GC,2727,-0.67,-175.2,324.2,-14.0,317,2731,0.00,1.75,0.00,0.000,6,0.000,0.048,2825,2647,3683,0,0,0,0,0,0
$GC,2930,-0.64,-175.2,351.7,-13.9,336,2935,0.12,1.85,0.00,0.000,4,0.168,0.072,2853,3764,3683,0,0,0,0,0,0
$GC,2979,-0.68,-175.2,358.2,-12.0,340,2987,0.00,1.77,0.00,0.000,6,0.000,0.047,2853,2651,3683,0,0,0,0,0,0
$GC,3180,-0.70,-175.2,380.5,-11.3,359,3184,0.00,1.85,0.00,0.000,4,0.000,0.071,2844,3767,3683,0,0,0,0,0,0
$GC,3236,-0.72,-175.2,387.6,-12.6,364,3240,0.00,1.75,0.00,0.000,6,0.000,0.049,2844,2646,3683,0,0,0,0,0,0
$GC,3439,-0.72,-175.2,411.4,-11.8,383,3443,0.00,1.83,0.00,0.000,4,0.000,0.073,2842,3759,3683,0,0,0,0,0,0
$GC,3502,-0.74,-175.2,418.8,-11.7,388,3508,0.00,1.77,0.00,0.000,6,0.000,0.048,2842,2630,3683,0,0,0,0,0,0
$GC,3699,-0.74,-175.2,441.7,-11.4,407,3703,0.00,1.85,0.00,0.000,4,0.000,0.072,2833,3762,3683,0,0,0,0,0,0
$GC,3757,-0.74,-175.2,448.7,-12.4,412,3760,0.00,1.73,0.00,0.000,6,0.000,0.048,2833,2651,3683,0,0,0,0,0,0
$STATE,3770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3770,begin apogee
$GC,3774,-0.17,0.0,450.4,12.4,413,3938,0.52,0.00,156.80,1.092,6,0.129,0.000,3005,2490,2960,0,0,0,0,0,0
$STATE,3939,end apogee,CONTROL_FINISHED_OK
$STATE,3939,begin climb
$GC,3940,0.84,175.2,457.0,0.0,428,4116,1.00,2.55,166.07,1.011,4,0.079,0.055,3328,1095,2244,0,0,0,0,0,0
$GC,4185,0.75,175.2,431.2,14.8,450,4189,0.00,2.47,0.00,0.000,6,0.000,0.054,3328,2504,2233,0,0,0,0,0,0
$GC,4382,0.61,175.2,399.5,16.3,468,4387,0.22,2.12,0.00,0.000,4,0.155,0.063,3268,3764,2227,0,0,0,0,0,0
$GC,4455,0.54,175.2,389.1,13.7,474,4459,0.15,2.05,0.00,0.000,6,0.162,0.047,3237,2505,2227,0,0,0,0,0,0
$GC,4653,0.63,225.5,369.6,9.7,492,4703,0.00,0.00,44.38,1.002,6,0.000,0.000,3237,2502,2042,0,0,0,0,0,0
$GC,4896,0.73,260.3,345.2,10.4,515,4934,0.17,2.20,33.00,0.988,4,0.070,0.063,3316,3764,1897,0,0,0,0,0,0
$GC,4962,0.62,260.3,334.0,19.0,520,4970,0.20,2.10,0.00,0.000,6,0.149,0.048,3272,2500,1894,0,0,0,0,0,0
$GC,5161,0.62,260.3,307.7,13.1,539,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,2497,1888,0,0,0,0,0,0
$GC,5351,0.62,260.3,283.0,12.8,557,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,2497,1886,0,0,0,0,0,0
$GC,5542,0.62,260.3,259.1,12.5,575,5546,0.00,2.10,0.00,0.000,4,0.000,0.067,3272,3774,1884,0,0,0,0,0,0
$GC,5564,0.62,260.3,256.0,13.7,576,5571,0.00,2.05,0.00,0.000,6,0.000,0.049,3280,2493,1884,0,0,0,0,0,0
$GC,5763,0.62,260.3,230.5,12.8,595,5767,0.00,2.22,0.00,0.000,4,0.000,0.057,3288,1089,1884,0,0,0,0,0,0
$GC,5782,0.62,260.3,228.1,12.9,596,5786,0.00,2.30,0.00,0.000,6,0.000,0.058,3288,2504,1883,0,0,0,0,0,0
$GC,5916,0.62,260.3,209.9,13.5,608,5920,0.00,2.03,0.00,0.000,4,0.000,0.067,3288,3761,1883,0,0,0,0,0,0
$GC,5964,0.59,260.3,202.3,15.0,612,5974,0.10,2.05,0.00,0.000,6,0.132,0.049,3262,2495,1883,0,0,0,0,0,0
$GC,6100,0.67,284.3,187.0,10.9,625,6126,0.00,2.38,20.42,0.933,4,0.000,0.058,3262,1085,1801,0,0,0,0,0,0
$GC,6140,0.76,305.4,182.6,11.0,628,6167,0.15,2.35,20.33,0.904,6,0.078,0.057,3330,2504,1715,0,0,0,0,0,0
$GC,6294,0.69,305.4,157.6,17.9,642,6299,0.15,2.08,0.00,0.000,4,0.153,0.066,3288,3761,1706,0,0,0,0,0,0
$GC,6324,0.69,305.4,151.7,16.2,644,6334,0.00,2.08,0.00,0.000,6,0.000,0.048,3295,2503,1706,0,0,0,0,0,0
$GC,6461,0.69,305.4,133.3,13.6,657,6465,0.00,2.28,0.00,0.000,4,0.000,0.057,3300,1085,1704,0,0,0,0,0,0
$GC,6490,0.73,305.4,129.4,13.4,659,6494,0.00,2.33,0.00,0.000,6,0.000,0.058,3300,2504,1702,0,0,0,0,0,0
$GC,6626,0.73,305.4,110.7,13.7,671,6629,0.00,2.05,0.00,0.000,4,0.000,0.067,3300,3766,1702,0,0,0,0,0,0
$GC,6663,0.73,305.4,104.2,15.9,674,6672,0.00,2.08,0.00,0.000,6,0.000,0.049,3309,2491,1702,0,0,0,0,0,0
$GC,6798,0.73,305.4,84.2,15.1,696,6806,0.00,2.28,0.00,0.000,4,0.000,0.058,3315,1089,1701,0,0,0,0,0,0
$GC,6831,0.75,305.4,79.7,14.4,701,6838,0.00,2.30,0.00,0.000,6,0.000,0.057,3315,2502,1700,0,0,0,0,0,0
$GC,6970,0.73,305.4,58.5,15.9,726,6978,0.00,2.08,0.00,0.000,4,0.000,0.067,3316,3757,1700,0,0,0,0,0,0
$GC,7005,0.69,305.4,52.4,17.3,732,7014,0.10,2.05,0.00,0.000,6,0.131,0.050,3290,2491,1700,0,0,0,0,0,0
$GC,7148,0.72,305.4,33.3,14.0,757,7155,0.00,2.22,0.00,0.000,4,0.000,0.057,3298,1089,1699,0,0,0,0,0,0
$GC,7173,0.77,305.4,29.8,13.0,761,7180,0.00,2.30,0.00,0.000,6,0.000,0.057,3298,2503,1698,0,0,0,0,0,0
$GC,7314,0.77,305.4,10.1,15.3,786,7322,0.00,2.08,0.00,0.000,4,0.000,0.067,3298,3759,1698,0,0,0,0,0,0
$FREEZE,7.47,-1.614,-1.904,2,14,2
$FREEZE,6.69,-1.611,-1.904,2,14,2
$FREEZE,5.67,-1.611,-1.903,2,14,2
$FREEZE,4.89,-1.613,-1.903,2,14,2
$FREEZE,3.80,-1.612,-1.902,2,14,2
$FREEZE,3.02,-1.613,-1.901,2,14,2
$FREEZE,2.13,-1.615,-1.900,2,14,2
$STATE,7364,end climb,SURFACE_DEPTH_REACHED
$STATE,7364,begin surface coast
$FREEZE,1.08,-1.646,-1.899,2,14,2
$FREEZE,1.18,-1.663,-1.900,2,14,2
$FREEZE,1.16,-1.695,-1.903,2,14,2
$FINISH,1.2,1.027889
$STATE,7383,end surface coast,CONTROL_FINISHED_OK
$STATE,7383,begin surface
$SM_CCo,7399,212.02,0.767,4,0,420,623.30
$SM_GC,2.19,0.00,0.00,212.02,0.000,0.000,0.767,425,2648,420,-8.25,-0.03,623.30
$IRIDIUM_FIX,-7639.69,16500.29,261110,060609
$TT8_MAMPS,0.028462
$HUMID,49.92
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,13.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,18.8
$24V_AH,21.7,23.113
$10V_AH,10.0,12.766
$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,19.975,122.475,441.000,212.025,0.000,99.239,17.435,0.000,2.500,0.000,181.709,1928.531,3042.403,824.867,2179.391,210.900,0.000,1710.429,0.000,1357.125,0.000,14.165,0.000
$DEVICE_MAMPS,220.320,84.915,1092.420,766.530,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,557.925,972.586,965.481,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53616,797
$CAP_FILE_SIZE,124212,0
$CFSIZE,260165632,249647104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,261110,062908,-7726.157,16510.441,181,99.0,181,144.2