version: 66.08
glider: 502
mission: 3
dive: 101
start: 12 1 110 10 11 27
data:
$ID,502
$MISSION,3
$DIVE,101
$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,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,2
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-25618.775
$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,30
$R_STBD_OVSHOOT,20
$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
$GPS1,011210,095207,-7723.905,16507.045,45,0.8,46,144.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-48.5
$GPS2,011210,095207,-7723.905,16507.045,121,99.0,121,144.2
$SPEED_LIMITS,0.173,0.260
$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,1.3,9199,-17.5,-10.000
$D_GRID,514
$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,-146.0,0.0,0.0,0,182,0.00,0.00,-163.38,0.000,2,0.000,0.000,393,2660,3519,0,0,0,0,0,0
$GC,184,-0.76,-146.0,3.1,-2.6,25,200,9.10,2.35,-1.20,0.000,4,0.213,0.064,2811,1232,3560,0,0,0,0,0,0
$GC,227,-0.76,-146.0,13.2,-21.8,32,236,0.00,2.38,0.00,0.000,6,0.000,0.060,2802,2648,3563,0,0,0,0,0,0
$GC,367,-0.76,-146.0,41.6,-20.5,57,374,0.00,2.25,0.00,0.000,4,0.000,0.050,2802,1240,3563,0,0,0,0,0,0
$GC,417,-0.76,-146.0,51.3,-17.9,66,425,0.00,2.33,0.00,0.000,6,0.000,0.057,2791,2640,3563,0,0,0,0,0,0
$GC,558,-0.76,-146.0,75.3,-17.1,91,565,0.00,1.83,0.00,0.000,4,0.000,0.066,2782,3767,3563,0,0,0,0,0,0
$GC,594,-0.76,-146.0,82.2,-19.2,97,602,0.12,1.77,0.00,0.000,6,0.189,0.047,2814,2637,3563,0,0,0,0,0,0
$GC,739,-0.76,-146.0,105.8,-16.1,120,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2636,3564,0,0,0,0,0,0
$GC,865,-0.76,-146.0,125.7,-15.6,132,869,0.00,1.85,0.00,0.000,4,0.000,0.067,2807,3769,3563,0,0,0,0,0,0
$GC,890,-0.76,-146.0,130.4,-16.6,134,900,0.00,1.77,0.00,0.000,6,0.000,0.045,2806,2662,3563,0,0,0,0,0,0
$GC,1027,-0.76,-146.0,151.7,-15.8,147,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2661,3564,0,0,0,0,0,0
$GC,1154,-0.76,-146.0,171.7,-16.0,159,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2661,3564,0,0,0,0,0,0
$GC,1282,-0.76,-146.0,191.2,-15.5,171,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2661,3564,0,0,0,0,0,0
$GC,1409,-0.76,-146.0,210.8,-15.3,183,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2661,3564,0,0,0,0,0,0
$GC,1537,-0.76,-146.0,229.9,-15.0,195,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2661,3564,0,0,0,0,0,0
$GC,1664,-0.76,-146.0,248.8,-14.7,207,1667,0.00,1.80,0.00,0.000,4,0.000,0.067,2798,3766,3563,0,0,0,0,0,0
$GC,1700,-0.76,-146.0,254.7,-16.5,210,1703,0.00,1.73,0.00,0.000,6,0.000,0.046,2798,2657,3563,0,0,0,0,0,0
$GC,1903,-0.76,-146.0,285.9,-15.4,229,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2655,3564,0,0,0,0,0,0
$GC,2093,-0.76,-146.0,315.4,-15.4,247,2097,0.00,1.80,0.00,0.000,4,0.000,0.069,2790,3761,3563,0,0,0,0,0,0
$GC,2131,-0.76,-146.0,321.9,-17.2,250,2139,0.00,1.75,0.00,0.000,6,0.000,0.045,2790,2662,3563,0,0,0,0,0,0
$GC,2329,-0.76,-146.0,352.6,-15.5,269,2330,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2662,3563,0,0,0,0,0,0
$GC,2520,-0.76,-146.0,381.9,-15.2,287,2521,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2662,3563,0,0,0,0,0,0
$GC,2712,-0.76,-146.0,411.0,-15.2,305,2716,0.00,1.85,0.00,0.000,4,0.000,0.069,2782,3766,3563,0,0,0,0,0,0
$GC,2757,-0.76,-146.0,418.3,-16.7,309,2761,0.12,1.70,0.00,0.000,6,0.175,0.046,2815,2672,3562,0,0,0,0,0,0
$GC,2958,-0.76,-146.0,445.5,-13.2,328,2960,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2669,3562,0,0,0,0,0,0
$GC,3152,-0.76,-146.0,469.5,-12.3,346,3156,0.00,2.25,0.00,0.000,4,0.000,0.054,2814,1237,3563,0,0,0,0,0,0
$GC,3168,-0.76,-146.0,471.8,-12.6,347,3172,0.00,2.33,0.00,0.000,6,0.000,0.059,2808,2675,3563,0,0,0,0,0,0
$GC,3367,-0.76,-146.0,496.7,-12.3,365,3371,0.00,1.75,0.00,0.000,4,0.000,0.066,2799,3773,3563,0,0,0,0,0,0
$GC,3401,-0.76,-146.0,501.5,-14.0,368,3405,0.00,1.70,0.00,0.000,6,0.000,0.046,2799,2674,3563,0,0,0,0,0,0
$STATE,3495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3495,begin apogee
$GC,3499,-0.17,0.0,514.4,13.5,371,3638,0.62,0.00,132.88,1.142,4,0.133,0.000,3002,2494,2960,0,0,0,0,0,0
$STATE,3639,end apogee,CONTROL_FINISHED_OK
$STATE,3639,begin climb
$GC,3640,0.76,146.0,519.5,0.0,375,3793,0.95,2.53,143.88,1.068,4,0.076,0.051,3306,1099,2365,0,0,0,0,0,0
$GC,3894,0.76,146.0,495.3,13.3,384,3902,0.00,2.45,0.00,0.000,6,0.000,0.054,3307,2501,2354,0,0,0,0,0,0
$GC,4092,0.76,146.0,469.2,13.3,403,4096,0.00,2.33,0.00,0.000,4,0.000,0.052,3317,1090,2348,0,0,0,0,0,0
$GC,4213,0.76,146.0,452.6,13.3,413,4221,0.00,2.40,0.00,0.000,6,0.000,0.056,3317,2512,2346,0,0,0,0,0,0
$GC,4413,0.76,146.0,424.7,14.4,432,4417,0.00,2.03,0.00,0.000,4,0.000,0.063,3317,3764,2345,0,0,0,0,0,0
$GC,4496,0.76,146.0,410.8,17.0,439,4503,0.00,1.98,0.00,0.000,6,0.000,0.044,3326,2542,2344,0,0,0,0,0,0
$GC,4694,0.76,146.0,381.8,14.5,458,4697,0.00,2.00,0.00,0.000,4,0.000,0.066,3326,3764,2343,0,0,0,0,0,0
$GC,4744,0.76,146.0,373.7,16.8,462,4751,0.00,1.95,0.00,0.000,6,0.000,0.045,3336,2531,2343,0,0,0,0,0,0
$GC,4942,0.76,146.0,344.1,14.8,481,4945,0.00,2.03,0.00,0.000,4,0.000,0.063,3335,3775,2343,0,0,0,0,0,0
$GC,5009,0.76,146.0,332.3,17.8,487,5013,0.12,1.90,0.00,0.000,6,0.182,0.046,3313,2561,2342,0,0,0,0,0,0
$GC,5206,0.76,146.0,304.5,13.6,505,5210,0.00,1.95,0.00,0.000,4,0.000,0.064,3313,3764,2342,0,0,0,0,0,0
$GC,5262,0.76,146.0,295.9,15.7,510,5266,0.00,1.85,0.00,0.000,6,0.000,0.045,3321,2572,2341,0,0,0,0,0,0
$GC,5466,0.76,146.0,267.6,14.2,529,5469,0.00,1.95,0.00,0.000,4,0.000,0.065,3321,3772,2341,0,0,0,0,0,0
$GC,5533,0.76,146.0,256.8,15.9,535,5537,0.00,1.85,0.00,0.000,6,0.000,0.045,3330,2582,2341,0,0,0,0,0,0
$GC,5737,0.76,146.0,226.6,14.7,554,5741,0.00,1.92,0.00,0.000,4,0.000,0.064,3330,3772,2341,0,0,0,0,0,0
$GC,5793,0.76,146.0,217.3,16.8,559,5797,0.00,1.83,0.00,0.000,6,0.000,0.045,3339,2602,2340,0,0,0,0,0,0
$GC,5933,0.76,146.0,195.3,15.1,572,5937,0.00,1.90,0.00,0.000,4,0.000,0.065,3339,3773,2340,0,0,0,0,0,0
$GC,5970,0.76,146.0,188.7,18.0,575,5980,0.10,1.85,0.00,0.000,6,0.161,0.044,3317,2613,2340,0,0,0,0,0,0
$GC,6107,0.76,146.0,170.1,13.4,588,6111,0.00,1.88,0.00,0.000,4,0.000,0.067,3316,3767,2340,0,0,0,0,0,0
$GC,6143,0.76,146.0,164.7,15.2,591,6146,0.00,1.75,0.00,0.000,6,0.000,0.044,3324,2632,2340,0,0,0,0,0,0
$GC,6283,0.76,146.0,144.9,13.8,604,6287,0.00,1.85,0.00,0.000,4,0.000,0.067,3324,3770,2339,0,0,0,0,0,0
$GC,6339,0.76,146.0,136.4,15.7,609,6342,0.00,1.73,0.00,0.000,6,0.000,0.045,3332,2657,2339,0,0,0,0,0,0
$GC,6479,0.76,146.0,116.7,13.7,622,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2655,2339,0,0,0,0,0,0
$GC,6606,0.76,146.0,99.5,13.5,634,6614,0.00,1.85,0.00,0.000,4,0.000,0.067,3332,3761,2339,0,0,0,0,0,0
$GC,6649,0.76,146.0,92.9,16.1,641,6656,0.00,1.75,0.00,0.000,6,0.000,0.045,3341,2663,2338,0,0,0,0,0,0
$GC,6787,0.76,146.0,72.9,13.8,666,6794,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2662,2339,0,0,0,0,0,0
$GC,6927,0.76,146.0,53.8,16.6,691,6934,0.00,2.47,0.00,0.000,4,0.000,0.053,3352,1091,2339,0,0,0,0,0,0
$GC,6967,0.76,146.0,46.8,17.4,698,6975,0.12,2.60,0.00,0.000,6,0.152,0.054,3312,2689,2339,0,0,0,0,0,0
$GC,7108,0.76,146.0,27.4,15.3,723,7115,0.00,1.75,0.00,0.000,4,0.000,0.066,3313,3778,2339,0,0,0,0,0,0
$GC,7167,0.76,146.0,19.7,12.2,733,7174,0.00,1.70,0.00,0.000,6,0.000,0.046,3320,2709,2338,0,0,0,0,0,0
$FREEZE,8.81,-1.698,-1.905,2,4,2
$FREEZE,8.16,-1.696,-1.905,2,4,2
$FREEZE,7.15,-1.701,-1.904,2,4,2
$FREEZE,6.00,-1.697,-1.903,2,4,2
$FREEZE,4.69,-1.696,-1.902,2,4,2
$FREEZE,4.00,-1.698,-1.902,2,4,2
$FREEZE,3.01,-1.700,-1.901,2,4,2
$FREEZE,2.22,-1.703,-1.900,2,4,2
$STATE,7280,end climb,SURFACE_DEPTH_REACHED
$STATE,7280,begin surface coast
$FREEZE,1.21,-1.708,-1.899,2,4,2
$FREEZE,1.14,-1.802,-1.903,2,4,2
$FREEZE,1.01,-1.962,-1.510,2,4,2
$FINISH,1.0,1.022258
$STATE,7300,end surface coast,CONTROL_FINISHED_OK
$STATE,7301,begin surface
$SM_CCo,7315,270.83,0.757,2,0,420,623.30
$SM_GC,1.58,0.00,0.00,270.83,0.000,0.000,0.757,419,2641,420,-8.24,-0.25,623.30
$IRIDIUM_FIX,-7639.69,16514.88,011210,090923
$TT8_MAMPS,0.028462
$HUMID,49.60
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,17.9
$ALTIM_BOTTOM_PING,500.7,26.6
$24V_AH,21.4,28.695
$10V_AH,9.9,16.335
$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,18.750,91.500,276.750,270.825,0.000,86.188,130.313,538.622,2.750,0.000,121.570,1861.472,3309.621,711.583,2713.920,143.185,0.000,1512.957,0.000,1302.720,0.000,15.703,0.000
$DEVICE_MAMPS,213.435,110.160,1142.145,756.585,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,533.054,910.533,854.628,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276060
$DATA_FILE_SIZE,50414,756
$CAP_FILE_SIZE,117747,0
$CFSIZE,260165632,247361536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,011210,121926,-7724.576,16508.836,27,2.5,47,144.2