version: 66.08
glider: 502
mission: 3
dive: 128
start: 12 4 110 1 19 30
data:
$ID,502
$MISSION,3
$DIVE,128
$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,-26262.471
$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,31
$R_STBD_OVSHOOT,21
$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
$GPS1,041210,011306,-7724.707,16508.715,9,2.0,19,144.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-59.4
$GPS2,041210,011907,-7724.688,16508.607,12,2.0,17,144.2
$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,359.1,7655,-17.5,-10.000
$D_GRID,538
$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,-146.0,0.0,0.0,0,122,0.00,0.00,-103.88,0.000,2,0.000,0.000,422,2644,3230,0,0,0,0,0,0
$GC,124,-0.76,-146.0,3.1,-2.0,16,152,9.10,1.88,-11.23,0.000,4,0.211,0.080,2805,3767,3557,0,0,0,0,0,0
$GC,160,-0.76,-146.0,6.9,-10.7,21,166,0.00,1.77,0.00,0.000,6,0.000,0.044,2805,2642,3557,0,0,0,0,0,0
$GC,297,-0.76,-146.0,29.5,-19.9,46,305,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2641,3559,0,0,0,0,0,0
$GC,437,-0.76,-146.0,52.1,-17.6,71,444,0.00,1.85,0.00,0.000,4,0.000,0.066,2797,3764,3560,0,0,0,0,0,0
$GC,462,-0.76,-146.0,56.7,-18.5,75,469,0.00,1.77,0.00,0.000,6,0.000,0.044,2797,2633,3560,0,0,0,0,0,0
$GC,598,-0.76,-146.0,81.9,-16.0,100,607,0.00,1.90,0.00,0.000,4,0.000,0.066,2788,3763,3560,0,0,0,0,0,0
$GC,641,-0.76,-146.0,90.6,-21.6,107,648,0.00,1.77,0.00,0.000,6,0.000,0.044,2789,2630,3560,0,0,0,0,0,0
$GC,778,-0.76,-146.0,112.2,-16.9,125,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2629,3560,0,0,0,0,0,0
$GC,906,-0.76,-146.0,135.6,-17.9,137,910,0.10,1.88,0.00,0.000,4,0.193,0.066,2806,3768,3560,0,0,0,0,0,0
$GC,930,-0.76,-146.0,140.4,-16.9,139,940,0.00,1.77,0.00,0.000,6,0.000,0.044,2806,2658,3560,0,0,0,0,0,0
$GC,1068,-0.76,-146.0,160.9,-16.0,152,1072,0.00,2.22,0.00,0.000,4,0.000,0.053,2806,1241,3560,0,0,0,0,0,0
$GC,1096,-0.76,-146.0,165.6,-15.7,154,1100,0.00,2.30,0.00,0.000,6,0.000,0.060,2796,2661,3560,0,0,0,0,0,0
$GC,1232,-0.76,-146.0,187.1,-16.5,166,1236,0.00,1.75,0.00,0.000,4,0.000,0.064,2788,3760,3560,0,0,0,0,0,0
$GC,1288,-0.76,-146.0,197.3,-18.1,171,1293,0.10,1.70,0.00,0.000,6,0.187,0.044,2813,2662,3560,0,0,0,0,0,0
$GC,1430,-0.76,-146.0,219.1,-14.8,184,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2661,3560,0,0,0,0,0,0
$GC,1556,-0.76,-146.0,237.6,-14.3,196,1560,0.00,1.77,0.00,0.000,4,0.000,0.065,2806,3761,3560,0,0,0,0,0,0
$GC,1581,-0.76,-146.0,242.0,-15.7,198,1591,0.00,1.73,0.00,0.000,6,0.000,0.044,2806,2673,3560,0,0,0,0,0,0
$GC,1717,-0.76,-146.0,261.0,-14.0,211,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2673,3560,0,0,0,0,0,0
$GC,1907,-0.76,-146.0,287.4,-13.9,229,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2672,3560,0,0,0,0,0,0
$GC,2098,-0.76,-146.0,313.8,-13.6,247,2102,0.00,1.77,0.00,0.000,4,0.000,0.067,2798,3766,3560,0,0,0,0,0,0
$GC,2143,-0.76,-146.0,320.3,-14.5,251,2147,0.00,1.73,0.00,0.000,6,0.000,0.045,2798,2681,3560,0,0,0,0,0,0
$GC,2347,-0.76,-146.0,350.3,-14.8,270,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2680,3560,0,0,0,0,0,0
$GC,2537,-0.76,-146.0,377.6,-14.1,288,2540,0.00,1.75,0.00,0.000,4,0.000,0.066,2790,3760,3560,0,0,0,0,0,0
$GC,2615,-0.76,-146.0,389.0,-14.5,295,2619,0.00,1.65,0.00,0.000,6,0.000,0.044,2790,2692,3560,0,0,0,0,0,0
$GC,2818,-0.76,-146.0,418.0,-15.0,314,2822,0.00,2.28,0.00,0.000,4,0.000,0.054,2790,1241,3560,0,0,0,0,0,0
$GC,2858,-0.76,-146.0,423.8,-14.8,317,2863,0.12,2.35,0.00,0.000,6,0.171,0.059,2813,2693,3560,0,0,0,0,0,0
$GC,3055,-0.76,-146.0,449.6,-12.7,335,3060,0.00,1.75,0.00,0.000,4,0.000,0.064,2806,3764,3560,0,0,0,0,0,0
$GC,3122,-0.76,-146.0,458.7,-13.7,341,3126,0.00,1.65,0.00,0.000,6,0.000,0.044,2806,2693,3560,0,0,0,0,0,0
$GC,3325,-0.76,-146.0,485.9,-13.8,360,3328,0.00,1.73,0.00,0.000,4,0.000,0.065,2798,3760,3559,0,0,0,0,0,0
$GC,3370,-0.76,-146.0,492.4,-14.9,364,3373,0.00,1.65,0.00,0.000,6,0.000,0.044,2798,2692,3559,0,0,0,0,0,0
$GC,3589,-0.76,-146.0,522.5,-13.9,375,3593,0.00,1.73,0.00,0.000,4,0.000,0.064,2790,3760,3559,0,0,0,0,0,0
$GC,3627,-0.76,-146.0,528.8,-15.7,376,3631,0.00,1.65,0.00,0.000,6,0.000,0.044,2790,2718,3559,0,0,0,0,0,0
$STATE,3716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3716,begin apogee
$GC,3720,-0.17,0.0,542.0,14.8,379,3860,0.68,0.00,132.62,1.164,4,0.138,0.000,3005,2495,2960,0,0,0,0,0,0
$STATE,3861,end apogee,CONTROL_FINISHED_OK
$STATE,3861,begin climb
$GC,3862,0.76,146.0,547.0,0.0,383,4017,0.95,2.55,144.73,1.102,4,0.074,0.052,3308,1092,2363,0,0,0,0,0,0
$GC,4106,0.76,146.0,524.7,12.8,391,4111,0.00,2.45,0.00,0.000,6,0.000,0.054,3308,2499,2354,0,0,0,0,0,0
$GC,4319,0.76,146.0,497.5,12.6,398,4323,0.00,2.33,0.00,0.000,4,0.000,0.051,3318,1095,2349,0,0,0,0,0,0
$GC,4453,0.76,146.0,481.2,12.4,410,4458,0.00,2.33,0.00,0.000,6,0.000,0.055,3318,2514,2346,0,0,0,0,0,0
$GC,4651,0.76,146.0,455.6,13.1,428,4654,0.00,2.00,0.00,0.000,4,0.000,0.060,3318,3762,2345,0,0,0,0,0,0
$GC,4767,0.76,146.0,438.1,14.7,438,4775,0.00,1.95,0.00,0.000,6,0.000,0.042,3327,2545,2345,0,0,0,0,0,0
$GC,4965,0.76,146.0,411.3,13.3,457,4969,0.00,1.98,0.00,0.000,4,0.000,0.063,3327,3760,2344,0,0,0,0,0,0
$GC,4988,0.76,146.0,408.0,14.4,459,4991,0.00,1.90,0.00,0.000,6,0.000,0.044,3337,2542,2345,0,0,0,0,0,0
$GC,5191,0.76,146.0,379.1,14.7,478,5194,0.00,1.98,0.00,0.000,4,0.000,0.063,3337,3762,2343,0,0,0,0,0,0
$GC,5251,0.76,146.0,368.7,17.3,483,5259,0.10,1.90,0.00,0.000,6,0.150,0.043,3314,2562,2343,0,0,0,0,0,0
$GC,5451,0.76,146.0,341.3,13.9,502,5454,0.00,1.95,0.00,0.000,4,0.000,0.063,3314,3764,2343,0,0,0,0,0,0
$GC,5518,0.76,146.0,330.8,15.9,508,5522,0.00,1.85,0.00,0.000,6,0.000,0.044,3321,2567,2343,0,0,0,0,0,0
$GC,5721,0.76,146.0,302.0,14.2,527,5724,0.00,1.95,0.00,0.000,4,0.000,0.064,3321,3770,2342,0,0,0,0,0,0
$GC,5766,0.76,146.0,295.0,15.7,531,5769,0.00,1.85,0.00,0.000,6,0.000,0.044,3330,2574,2342,0,0,0,0,0,0
$GC,5969,0.76,146.0,266.9,13.5,550,5972,0.00,1.92,0.00,0.000,4,0.000,0.062,3330,3766,2342,0,0,0,0,0,0
$GC,6013,0.76,146.0,260.3,15.9,554,6017,0.00,1.85,0.00,0.000,6,0.000,0.043,3339,2599,2341,0,0,0,0,0,0
$GC,6218,0.76,146.0,231.5,14.4,573,6219,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2596,2341,0,0,0,0,0,0
$GC,6345,0.76,146.0,212.9,14.8,585,6348,0.00,1.88,0.00,0.000,4,0.000,0.062,3339,3763,2341,0,0,0,0,0,0
$GC,6400,0.76,146.0,204.0,16.4,590,6405,0.12,1.80,0.00,0.000,6,0.177,0.044,3315,2597,2341,0,0,0,0,0,0
$GC,6541,0.76,146.0,185.3,13.0,603,6542,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2595,2341,0,0,0,0,0,0
$GC,6668,0.76,146.0,169.0,13.2,615,6671,0.00,1.88,0.00,0.000,4,0.000,0.062,3315,3763,2341,0,0,0,0,0,0
$GC,6704,0.76,146.0,163.4,15.1,618,6713,0.00,1.83,0.00,0.000,6,0.000,0.044,3322,2609,2341,0,0,0,0,0,0
$GC,6840,0.76,146.0,144.6,14.9,631,6841,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2609,2341,0,0,0,0,0,0
$GC,6967,0.76,146.0,125.9,15.4,643,6971,0.00,1.88,0.00,0.000,4,0.000,0.064,3322,3768,2340,0,0,0,0,0,0
$GC,7023,0.76,146.0,116.5,18.8,648,7027,0.00,1.77,0.00,0.000,6,0.000,0.044,3331,2619,2341,0,0,0,0,0,0
$GC,7157,0.76,146.0,97.2,13.9,662,7165,0.00,2.42,0.00,0.000,4,0.000,0.051,3342,1098,2341,0,0,0,0,0,0
$GC,7190,0.76,146.0,92.3,16.8,667,7197,0.12,2.42,0.00,0.000,6,0.163,0.054,3309,2607,2340,0,0,0,0,0,0
$GC,7329,0.76,146.0,66.9,10.8,692,7337,0.00,1.88,0.00,0.000,4,0.000,0.061,3310,3766,2340,0,0,0,0,0,0
$GC,7419,0.76,146.0,50.7,13.6,708,7427,0.00,1.80,0.00,0.000,6,0.000,0.044,3317,2622,2340,0,0,0,0,0,0
$GC,7560,0.76,146.0,33.3,10.2,733,7567,0.00,1.85,0.00,0.000,4,0.000,0.062,3317,3766,2340,0,0,0,0,0,0
$GC,7589,0.76,146.0,29.5,11.8,738,7597,0.00,1.77,0.00,0.000,6,0.000,0.044,3325,2642,2340,0,0,0,0,0,0
$GC,7731,0.76,146.0,12.0,13.6,763,7738,0.00,1.83,0.00,0.000,4,0.000,0.063,3325,3770,2340,0,0,0,0,0,0
$FREEZE,8.58,-1.851,-1.908,2,1,0
$FREEZE,7.40,-1.854,-1.907,2,1,0
$FREEZE,6.71,-1.857,-1.907,2,1,0
$FREEZE,5.68,-1.852,-1.906,2,1,0
$FREEZE,4.72,-1.854,-1.905,2,1,0
$FREEZE,3.51,-1.851,-1.904,2,1,0
$FREEZE,2.70,-1.855,-1.903,2,1,0
$STATE,7790,end climb,SURFACE_DEPTH_REACHED
$STATE,7790,begin surface coast
$FREEZE,1.26,-1.860,-1.902,2,1,0
$FINISH,1.3,1.027888
$STATE,7798,end surface coast,CONTROL_FINISHED_OK
$STATE,7798,begin surface
$SM_CCo,7813,132.30,0.776,1,0,1330,400.08
$SM_GC,1.94,0.00,0.00,132.30,0.000,0.000,0.776,422,2638,1330,-8.25,-0.34,400.08
$IRIDIUM_FIX,-7639.69,16505.38,031210,232311
$TT8_MAMPS,0.028462
$HUMID,51.33
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,13.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,17.7
$24V_AH,21.1,32.411
$10V_AH,10.0,18.796
$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,18.825,107.600,277.350,132.300,0.000,27.608,49.178,186.526,2.000,0.000,18.489,1941.993,3560.221,545.811,2133.730,137.862,0.000,1387.401,0.000,1376.020,0.000,12.915,0.000
$DEVICE_MAMPS,211.140,80.325,1164.330,776.475,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,546.819,930.550,840.665,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53688,774
$CAP_FILE_SIZE,117562,0
$CFSIZE,260165632,245714944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041210,033337,-7725.921,16511.990,60,1.1,61,144.2