version: 66.08
glider: 502
mission: 3
dive: 123
start: 12 3 110 14 51 45
data:
$ID,502
$MISSION,3
$DIVE,123
$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,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,2
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-26256.09
$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,24
$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
$GPS1,031210,144525,-7726.049,16511.221,22,1.5,34,144.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-63.4
$GPS2,031210,145122,-7725.998,16511.148,15,3.2,34,144.2
$SPEED_LIMITS,0.173,0.260
$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,191.7,6084,-17.5,-10.000
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,109,0.00,0.00,-91.38,0.000,2,0.000,0.000,409,2627,2995,0,0,0,0,0,0
$GC,112,-0.76,-146.0,3.1,-1.7,14,147,9.30,0.00,-20.52,0.000,6,0.216,0.000,2810,2627,3559,0,0,0,0,0,0
$GC,280,-0.76,-146.0,32.5,-20.3,43,287,0.00,2.22,0.00,0.000,4,0.000,0.052,2810,1241,3562,0,0,0,0,0,0
$GC,328,-0.76,-146.0,43.7,-21.5,51,335,0.00,2.33,0.00,0.000,6,0.000,0.060,2801,2649,3563,0,0,0,0,0,0
$GC,464,-0.76,-146.0,69.1,-20.4,76,473,0.00,1.85,0.00,0.000,4,0.000,0.063,2793,3759,3563,0,0,0,0,0,0
$GC,543,-0.76,-146.0,86.5,-24.0,90,552,0.00,1.77,0.00,0.000,6,0.000,0.044,2793,2649,3563,0,0,0,0,0,0
$GC,686,-0.76,-146.0,117.4,-22.6,109,690,0.00,2.22,0.00,0.000,4,0.000,0.054,2793,1240,3563,0,0,0,0,0,0
$GC,717,-0.76,-146.0,123.0,-15.7,111,727,0.10,2.33,0.00,0.000,6,0.144,0.060,2816,2638,3563,0,0,0,0,0,0
$GC,855,-0.76,-146.0,146.4,-17.7,124,859,0.00,1.80,0.00,0.000,4,0.000,0.066,2808,3760,3563,0,0,0,0,0,0
$GC,902,-0.76,-146.0,156.7,-20.7,128,911,0.00,1.75,0.00,0.000,6,0.000,0.044,2808,2660,3563,0,0,0,0,0,0
$GC,1038,-0.76,-146.0,185.8,-20.5,141,1042,0.00,1.80,0.00,0.000,4,0.000,0.066,2800,3767,3563,0,0,0,0,0,0
$GC,1085,-0.76,-146.0,196.1,-20.4,145,1095,0.00,1.75,0.00,0.000,6,0.000,0.043,2800,2663,3563,0,0,0,0,0,0
$GC,1221,-0.76,-146.0,220.0,-16.5,158,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2662,3563,0,0,0,0,0,0
$GC,1349,-0.76,-146.0,242.1,-17.6,170,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2662,3563,0,0,0,0,0,0
$GC,1475,-0.76,-146.0,263.6,-15.5,182,1478,0.00,1.77,0.00,0.000,4,0.000,0.066,2791,3760,3563,0,0,0,0,0,0
$GC,1523,-0.76,-146.0,272.6,-17.9,186,1532,0.00,1.73,0.00,0.000,6,0.000,0.044,2791,2677,3563,0,0,0,0,0,0
$GC,1722,-0.76,-146.0,302.9,-14.5,205,1726,0.00,2.25,0.00,0.000,4,0.000,0.054,2791,1242,3563,0,0,0,0,0,0
$GC,1753,-0.76,-146.0,308.2,-14.8,207,1762,0.10,2.35,0.00,0.000,6,0.144,0.060,2814,2664,3563,0,0,0,0,0,0
$GC,1953,-0.76,-146.0,334.5,-13.1,226,1957,0.00,1.75,0.00,0.000,4,0.000,0.066,2808,3763,3563,0,0,0,0,0,0
$GC,2013,-0.76,-146.0,343.9,-14.2,231,2021,0.00,1.73,0.00,0.000,6,0.000,0.044,2808,2673,3563,0,0,0,0,0,0
$GC,2211,-0.76,-146.0,372.6,-14.6,250,2213,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2672,3563,0,0,0,0,0,0
$GC,2404,-0.76,-146.0,401.0,-15.0,268,2408,0.00,2.25,0.00,0.000,4,0.000,0.053,2807,1239,3563,0,0,0,0,0,0
$GC,2443,-0.76,-146.0,406.8,-14.7,271,2447,0.00,2.33,0.00,0.000,6,0.000,0.059,2798,2677,3563,0,0,0,0,0,0
$GC,2641,-0.76,-146.0,435.5,-14.2,289,2645,0.00,1.73,0.00,0.000,4,0.000,0.064,2790,3760,3563,0,0,0,0,0,0
$GC,2679,-0.76,-146.0,441.9,-16.0,292,2687,0.00,1.73,0.00,0.000,6,0.000,0.044,2790,2673,3563,0,0,0,0,0,0
$GC,2877,-0.76,-146.0,470.8,-14.5,311,2878,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2672,3563,0,0,0,0,0,0
$GC,3068,-0.76,-146.0,498.9,-14.9,329,3072,0.00,1.80,0.00,0.000,4,0.000,0.067,2782,3753,3563,0,0,0,0,0,0
$GC,3111,-0.76,-146.0,506.0,-16.0,331,3116,0.10,1.70,0.00,0.000,6,0.148,0.044,2814,2681,3563,0,0,0,0,0,0
$GC,3319,-0.76,-146.0,532.1,-12.5,338,3320,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2682,3563,0,0,0,0,0,0
$STATE,3409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3409,begin apogee
$GC,3414,-0.17,0.0,544.4,13.4,341,3552,0.57,0.00,133.40,1.170,4,0.129,0.000,3003,2487,2961,0,0,0,0,0,0
$STATE,3552,end apogee,CONTROL_FINISHED_OK
$STATE,3552,begin climb
$GC,3554,0.76,146.0,550.2,0.0,345,3708,0.98,2.53,144.43,1.093,4,0.076,0.052,3312,1100,2364,0,0,0,0,0,0
$GC,3836,0.76,146.0,523.4,12.3,354,3841,0.00,2.47,0.00,0.000,6,0.000,0.054,3312,2501,2352,0,0,0,0,0,0
$GC,4035,0.76,146.0,496.2,13.7,362,4039,0.00,2.30,0.00,0.000,4,0.000,0.052,3322,1099,2348,0,0,0,0,0,0
$GC,4175,0.76,146.0,477.6,12.9,374,4179,0.00,2.35,0.00,0.000,6,0.000,0.055,3322,2522,2346,0,0,0,0,0,0
$GC,4377,0.76,146.0,450.3,13.2,393,4381,0.00,2.00,0.00,0.000,4,0.000,0.060,3322,3768,2345,0,0,0,0,0,0
$GC,4483,0.76,146.0,433.3,15.9,402,4490,0.00,1.98,0.00,0.000,6,0.000,0.044,3332,2534,2345,0,0,0,0,0,0
$GC,4681,0.76,146.0,405.7,13.4,421,4685,0.00,2.00,0.00,0.000,4,0.000,0.062,3332,3769,2344,0,0,0,0,0,0
$GC,4726,0.76,146.0,398.9,15.7,425,4730,0.00,1.92,0.00,0.000,6,0.000,0.044,3341,2538,2344,0,0,0,0,0,0
$GC,4928,0.76,146.0,370.7,13.5,444,4930,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2535,2343,0,0,0,0,0,0
$GC,5120,0.76,146.0,344.7,13.8,462,5123,0.00,1.98,0.00,0.000,4,0.000,0.061,3342,3763,2343,0,0,0,0,0,0
$GC,5168,0.76,146.0,336.5,16.2,466,5177,0.10,1.95,0.00,0.000,6,0.152,0.043,3319,2538,2342,0,0,0,0,0,0
$GC,5369,0.76,146.0,309.9,13.7,485,5372,0.00,1.98,0.00,0.000,4,0.000,0.061,3318,3763,2342,0,0,0,0,0,0
$GC,5395,0.76,146.0,305.4,15.4,487,5403,0.00,1.92,0.00,0.000,6,0.000,0.044,3326,2553,2342,0,0,0,0,0,0
$GC,5593,0.76,146.0,276.3,14.8,506,5597,0.00,1.95,0.00,0.000,4,0.000,0.062,3326,3763,2342,0,0,0,0,0,0
$GC,5627,0.76,146.0,271.0,16.1,509,5631,0.00,1.85,0.00,0.000,6,0.000,0.043,3335,2561,2341,0,0,0,0,0,0
$GC,5831,0.76,146.0,239.9,15.3,528,5835,0.00,1.95,0.00,0.000,4,0.000,0.062,3335,3768,2341,0,0,0,0,0,0
$GC,5909,0.76,146.0,226.6,17.6,535,5913,0.12,1.83,0.00,0.000,6,0.174,0.043,3312,2586,2341,0,0,0,0,0,0
$GC,6049,0.76,146.0,207.5,11.9,548,6050,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2583,2341,0,0,0,0,0,0
$GC,6176,0.76,146.0,190.7,13.5,560,6179,0.00,1.90,0.00,0.000,4,0.000,0.062,3311,3762,2341,0,0,0,0,0,0
$GC,6221,0.76,146.0,183.9,15.6,564,6224,0.00,1.80,0.00,0.000,6,0.000,0.044,3319,2594,2341,0,0,0,0,0,0
$GC,6363,0.76,146.0,163.1,15.0,577,6371,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2592,2341,0,0,0,0,0,0
$GC,6498,0.76,146.0,145.4,12.7,590,6501,0.00,1.90,0.00,0.000,4,0.000,0.063,3319,3765,2341,0,0,0,0,0,0
$GC,6566,0.76,146.0,135.1,14.3,596,6576,0.00,1.83,0.00,0.000,6,0.000,0.042,3328,2612,2341,0,0,0,0,0,0
$GC,6704,0.76,146.0,116.9,13.8,609,6708,0.00,1.88,0.00,0.000,4,0.000,0.063,3327,3770,2341,0,0,0,0,0,0
$GC,6783,0.76,146.0,105.3,16.3,616,6793,0.00,1.83,0.00,0.000,6,0.000,0.043,3337,2616,2341,0,0,0,0,0,0
$GC,6919,0.76,146.0,88.7,12.6,638,6928,0.00,1.90,0.00,0.000,4,0.000,0.064,3337,3758,2341,0,0,0,0,0,0
$GC,6974,0.76,146.0,80.9,16.0,647,6982,0.12,1.77,0.00,0.000,6,0.186,0.042,3314,2611,2341,0,0,0,0,0,0
$GC,7112,0.76,146.0,60.9,14.6,672,7119,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2610,2340,0,0,0,0,0,0
$GC,7252,0.76,146.0,41.9,12.5,697,7258,0.00,1.88,0.00,0.000,4,0.000,0.064,3314,3761,2341,0,0,0,0,0,0
$GC,7351,0.76,146.0,28.9,14.3,715,7358,0.00,1.77,0.00,0.000,6,0.000,0.044,3321,2620,2340,0,0,0,0,0,0
$FREEZE,8.56,-1.853,-1.908,2,1,0
$FREEZE,7.79,-1.853,-1.907,2,1,0
$GC,7492,0.76,146.0,7.8,12.6,740,7500,0.00,1.90,0.00,0.000,4,0.000,0.063,3321,3763,2340,0,0,0,0,0,0
$FREEZE,5.08,-1.853,-1.905,2,1,0
$FREEZE,4.47,-1.853,-1.905,2,1,0
$FREEZE,3.79,-1.853,-1.904,2,1,0
$FREEZE,3.24,-1.852,-1.904,2,1,0
$GC,7525,0.76,146.0,3.2,13.2,745,7532,0.00,1.75,0.00,0.000,6,0.000,0.041,3329,2647,2340,0,0,0,0,0,0
$FREEZE,1.16,-1.854,-1.902,2,1,0
$STATE,7540,end climb,SURFACE_DEPTH_REACHED
$STATE,7540,begin surface coast
$FREEZE,1.27,-1.866,-0.605,2,1,0
$FINISH,1.3,1.008794
$STATE,7547,end surface coast,FINISH_DEPTH_REACHED
$STATE,7547,begin surface
$SM_CCo,7561,132.55,0.774,1,0,1329,400.08
$SM_GC,1.91,0.00,0.00,132.55,0.000,0.000,0.774,421,2643,1329,-8.26,-0.17,400.08
$IRIDIUM_FIX,-7639.69,16512.38,031210,121258
$TT8_MAMPS,0.027713
$HUMID,50.63
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,18.1
$24V_AH,21.2,31.771
$10V_AH,10.0,18.367
$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,19.050,98.250,277.825,132.550,0.000,30.088,36.778,177.237,2.500,0.000,36.232,1869.126,3433.511,564.021,2066.224,128.402,0.000,1383.481,0.000,1338.197,0.000,12.926,0.000
$DEVICE_MAMPS,215.730,66.555,1170.450,774.180,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,527.727,898.727,801.931,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,275988
$DATA_FILE_SIZE,50296,748
$CAP_FILE_SIZE,113126,0
$CFSIZE,260165632,246022144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031210,170127,-7725.188,16509.699,27,2.1,47,144.2