version: 66.08
glider: 502
mission: 3
dive: 127
start: 12 3 110 23 23 47
data:
$ID,502
$MISSION,3
$DIVE,127
$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,-26261.217
$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,32
$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
$GPS1,031210,231655,-7723.958,16505.855,12,1.4,29,144.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-62.0
$GPS2,031210,232324,-7723.935,16505.555,28,1.0,45,144.2
$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,358.2,9507,-17.5,-10.000
$D_GRID,496
$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,16,-0.76,-146.0,0.0,0.0,0,122,0.00,0.00,-103.82,0.000,2,0.000,0.000,411,2657,3235,0,0,0,0,0,0
$GC,124,-0.76,-146.0,3.1,-1.9,16,152,9.12,2.33,-10.48,0.000,4,0.211,0.067,2810,1243,3560,0,0,0,0,0,0
$GC,196,-0.76,-146.0,15.6,-17.0,28,204,0.00,2.38,0.00,0.000,6,0.000,0.059,2802,2650,3562,0,0,0,0,0,0
$GC,336,-0.76,-146.0,44.1,-21.6,53,342,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2649,3563,0,0,0,0,0,0
$GC,473,-0.76,-146.0,74.6,-22.9,78,480,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2650,3563,0,0,0,0,0,0
$GC,619,-0.76,-146.0,104.9,-18.9,102,623,0.00,1.83,0.00,0.000,4,0.000,0.064,2793,3771,3563,0,0,0,0,0,0
$GC,642,-0.76,-146.0,110.1,-19.9,104,646,0.00,1.75,0.00,0.000,6,0.000,0.045,2793,2650,3563,0,0,0,0,0,0
$GC,783,-0.76,-146.0,145.4,-24.5,117,787,0.00,1.83,0.00,0.000,4,0.000,0.067,2785,3763,3563,0,0,0,0,0,0
$GC,828,-0.76,-146.0,156.9,-25.6,121,832,0.12,1.73,0.00,0.000,6,0.181,0.044,2816,2653,3563,0,0,0,0,0,0
$GC,968,-0.76,-146.0,183.9,-18.1,134,972,0.00,2.22,0.00,0.000,4,0.000,0.054,2817,1242,3563,0,0,0,0,0,0
$GC,1007,-0.76,-146.0,191.0,-17.7,137,1011,0.00,2.30,0.00,0.000,6,0.000,0.058,2808,2658,3563,0,0,0,0,0,0
$GC,1143,-0.76,-146.0,218.8,-20.8,149,1147,0.00,1.77,0.00,0.000,4,0.000,0.063,2799,3771,3563,0,0,0,0,0,0
$GC,1179,-0.76,-146.0,226.2,-17.1,152,1189,0.00,1.77,0.00,0.000,6,0.000,0.044,2799,2656,3563,0,0,0,0,0,0
$GC,1316,-0.76,-146.0,250.4,-17.2,165,1320,0.00,2.22,0.00,0.000,4,0.000,0.054,2799,1236,3563,0,0,0,0,0,0
$GC,1348,-0.76,-146.0,257.0,-17.9,167,1356,0.00,2.35,0.00,0.000,6,0.000,0.060,2789,2650,3563,0,0,0,0,0,0
$GC,1548,-0.76,-146.0,287.8,-14.0,186,1552,0.00,1.80,0.00,0.000,4,0.000,0.063,2782,3767,3563,0,0,0,0,0,0
$GC,1563,-0.76,-146.0,290.5,-14.2,187,1572,0.10,1.77,0.00,0.000,6,0.151,0.043,2814,2642,3563,0,0,0,0,0,0
$GC,1762,-0.76,-146.0,316.9,-13.6,206,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2643,3563,0,0,0,0,0,0
$GC,1953,-0.76,-146.0,343.4,-14.5,224,1956,0.00,1.83,0.00,0.000,4,0.000,0.065,2807,3771,3563,0,0,0,0,0,0
$GC,2009,-0.76,-146.0,351.8,-14.2,229,2013,0.00,1.73,0.00,0.000,6,0.000,0.044,2806,2656,3563,0,0,0,0,0,0
$GC,2211,-0.76,-146.0,379.0,-13.2,248,2215,0.00,1.80,0.00,0.000,4,0.000,0.066,2798,3763,3563,0,0,0,0,0,0
$GC,2249,-0.76,-146.0,384.3,-13.5,251,2257,0.00,1.75,0.00,0.000,6,0.000,0.044,2798,2665,3563,0,0,0,0,0,0
$GC,2447,-0.76,-146.0,412.6,-15.3,270,2448,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2664,3563,0,0,0,0,0,0
$GC,2638,-0.76,-146.0,440.2,-14.2,288,2642,0.00,1.77,0.00,0.000,4,0.000,0.064,2790,3764,3563,0,0,0,0,0,0
$GC,2676,-0.76,-146.0,446.4,-16.6,291,2683,0.00,1.73,0.00,0.000,6,0.000,0.044,2790,2675,3563,0,0,0,0,0,0
$STATE,2843,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2843,begin apogee
$GC,2847,-0.17,0.0,473.8,16.8,307,2989,0.68,0.00,131.57,1.121,4,0.138,0.000,3005,2494,2960,0,0,0,0,0,0
$STATE,2990,end apogee,CONTROL_FINISHED_OK
$STATE,2990,begin climb
$GC,2991,0.76,146.0,481.4,0.0,320,3144,0.90,0.00,142.93,1.054,6,0.079,0.000,3301,2494,2364,0,0,0,0,0,0
$GC,3336,0.76,146.0,451.1,12.3,352,3339,0.00,2.17,0.00,0.000,4,0.000,0.060,3301,3764,2351,0,0,0,0,0,0
$GC,3397,0.76,146.0,441.8,14.8,357,3401,0.00,2.05,0.00,0.000,6,0.000,0.043,3310,2505,2350,0,0,0,0,0,0
$GC,3596,0.76,146.0,414.9,14.0,375,3600,0.00,2.10,0.00,0.000,4,0.000,0.061,3311,3774,2347,0,0,0,0,0,0
$GC,3671,0.76,146.0,403.0,15.9,381,3675,0.00,1.98,0.00,0.000,6,0.000,0.044,3320,2526,2346,0,0,0,0,0,0
$GC,3874,0.76,146.0,374.6,14.2,400,3877,0.00,2.03,0.00,0.000,4,0.000,0.060,3320,3771,2345,0,0,0,0,0,0
$GC,3923,0.76,146.0,366.2,17.8,404,3931,0.00,1.98,0.00,0.000,6,0.000,0.043,3328,2542,2345,0,0,0,0,0,0
$GC,4121,0.76,146.0,336.8,14.5,423,4125,0.00,2.00,0.00,0.000,4,0.000,0.062,3328,3773,2344,0,0,0,0,0,0
$GC,4181,0.76,146.0,326.1,17.7,428,4189,0.00,1.95,0.00,0.000,6,0.000,0.042,3337,2554,2343,0,0,0,0,0,0
$GC,4379,0.76,146.0,294.1,16.4,447,4383,0.00,1.98,0.00,0.000,4,0.000,0.061,3337,3775,2343,0,0,0,0,0,0
$GC,4424,0.76,146.0,286.1,18.4,451,4429,0.12,1.90,0.00,0.000,6,0.179,0.043,3315,2554,2343,0,0,0,0,0,0
$GC,4627,0.76,146.0,257.0,13.7,470,4631,0.00,1.95,0.00,0.000,4,0.000,0.061,3315,3764,2342,0,0,0,0,0,0
$GC,4655,0.76,146.0,252.7,15.0,472,4662,0.00,1.88,0.00,0.000,6,0.000,0.043,3322,2561,2342,0,0,0,0,0,0
$GC,4855,0.76,146.0,223.1,15.5,491,4859,0.00,1.95,0.00,0.000,4,0.000,0.061,3322,3768,2342,0,0,0,0,0,0
$GC,4878,0.76,146.0,219.1,15.9,493,4882,0.00,1.85,0.00,0.000,6,0.000,0.043,3331,2574,2342,0,0,0,0,0,0
$GC,5019,0.76,146.0,196.9,15.8,506,5022,0.00,1.92,0.00,0.000,4,0.000,0.062,3331,3765,2342,0,0,0,0,0,0
$GC,5053,0.76,146.0,191.5,16.9,509,5057,0.00,1.83,0.00,0.000,6,0.000,0.043,3341,2585,2342,0,0,0,0,0,0
$GC,5195,0.76,146.0,170.5,14.7,522,5196,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2583,2341,0,0,0,0,0,0
$GC,5320,0.76,146.0,152.1,14.1,534,5324,0.00,1.90,0.00,0.000,4,0.000,0.061,3341,3764,2342,0,0,0,0,0,0
$GC,5344,0.76,146.0,148.4,15.3,536,5348,0.15,1.83,0.00,0.000,6,0.171,0.041,3309,2578,2341,0,0,0,0,0,0
$GC,5484,0.76,146.0,130.2,12.7,549,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2576,2341,0,0,0,0,0,0
$GC,5610,0.76,146.0,114.7,12.2,561,5611,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2576,2341,0,0,0,0,0,0
$GC,5738,0.76,146.0,99.1,11.9,573,5745,0.00,1.95,0.00,0.000,4,0.000,0.062,3309,3776,2341,0,0,0,0,0,0
$GC,5767,0.76,146.0,94.8,15.1,578,5775,0.00,1.88,0.00,0.000,6,0.000,0.043,3317,2593,2340,0,0,0,0,0,0
$GC,5908,0.76,146.0,73.2,17.4,603,5915,0.00,1.90,0.00,0.000,4,0.000,0.062,3317,3765,2341,0,0,0,0,0,0
$GC,5937,0.76,146.0,67.8,18.7,608,5945,0.00,1.83,0.00,0.000,6,0.000,0.043,3326,2611,2340,0,0,0,0,0,0
$GC,6077,0.76,146.0,44.2,17.8,633,6084,0.00,1.88,0.00,0.000,4,0.000,0.063,3326,3768,2341,0,0,0,0,0,0
$GC,6103,0.76,146.0,39.6,17.5,637,6109,0.00,1.80,0.00,0.000,6,0.000,0.043,3335,2610,2341,0,0,0,0,0,0
$GC,6243,0.76,146.0,19.6,10.2,662,6251,0.00,2.45,0.00,0.000,4,0.000,0.057,3346,1088,2340,0,0,0,0,0,0
$GC,6264,0.76,146.0,16.9,11.0,665,6271,0.12,2.50,0.00,0.000,6,0.168,0.056,3313,2640,2340,0,0,0,0,0,0
$FREEZE,8.80,-1.858,-1.908,2,1,0
$FREEZE,8.10,-1.861,-1.908,2,1,0
$FREEZE,7.12,-1.862,-1.907,2,1,0
$FREEZE,6.25,-1.857,-1.906,2,1,0
$FREEZE,5.06,-1.858,-1.905,2,1,0
$FREEZE,4.13,-1.859,-1.905,2,1,0
$FREEZE,2.97,-1.860,-1.904,2,1,0
$STATE,6350,end climb,SURFACE_DEPTH_REACHED
$STATE,6350,begin surface coast
$FREEZE,1.93,-1.860,-1.903,2,1,0
$FREEZE,1.35,-1.860,-1.902,2,1,0
$FREEZE,1.17,-2.299,-0.285,2,1,0
$FINISH,1.2,1.003909
$STATE,6370,end surface coast,FINISH_DEPTH_REACHED
$STATE,6370,begin surface
$SM_CCo,6384,120.62,0.101,0,0,1330,400.08
$SM_GC,1.79,0.00,0.00,120.62,0.000,0.000,0.101,427,2642,1330,-8.25,-0.23,400.08
$IRIDIUM_FIX,-7639.69,16514.88,031210,212112
$TT8_MAMPS,0.028462
$HUMID,51.53
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,13.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,18.1
$ALTIM_BOTTOM_PING,450.7,36.4
$24V_AH,21.2,32.279
$10V_AH,10.0,18.706
$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,18.800,90.300,274.500,120.625,0.000,27.582,37.136,202.911,2.750,0.000,46.653,1659.589,2713.418,529.945,1871.358,126.969,0.000,1240.121,0.000,1135.544,0.000,16.935,0.000
$DEVICE_MAMPS,211.140,67.320,1121.490,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,479.671,804.459,751.337,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,275956
$DATA_FILE_SIZE,47095,683
$CAP_FILE_SIZE,101155,0
$CFSIZE,260165632,245800960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041210,011306,-7724.707,16508.715,9,2.0,19,144.2