version: 66.08
glider: 502
mission: 3
dive: 129
start: 12 4 110 3 54 13
data:
$ID,502
$MISSION,3
$DIVE,129
$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,-26263.729
$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,36
$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
$GPS1,041210,033337,-7725.921,16511.990,60,1.1,61,144.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-61.3
$GPS2,041210,035350,-7725.879,16511.322,14,1.4,14,144.2
$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,354.2,5253,-17.5,-10.000
$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,-0.76,-146.0,0.0,0.0,0,122,0.00,0.00,-104.00,0.000,2,0.000,0.000,412,2638,3239,0,0,0,0,0,0
$GC,124,-0.76,-146.0,3.2,-1.5,16,146,9.12,0.00,-9.75,0.000,6,0.213,0.000,2809,2638,3559,0,0,0,0,0,0
$GC,279,-0.76,-146.0,31.3,-17.5,43,286,0.00,2.25,0.00,0.000,4,0.000,0.053,2810,1234,3563,0,0,0,0,0,0
$GC,298,-0.76,-146.0,35.0,-16.8,46,306,0.00,2.35,0.00,0.000,6,0.000,0.057,2801,2645,3563,0,0,0,0,0,0
$GC,439,-0.76,-146.0,54.3,-12.5,71,445,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2645,3563,0,0,0,0,0,0
$GC,575,-0.76,-146.0,75.8,-18.1,96,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2645,3563,0,0,0,0,0,0
$GC,714,-0.76,-146.0,102.6,-19.6,120,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2645,3563,0,0,0,0,0,0
$GC,842,-0.76,-146.0,128.3,-18.6,132,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2645,3563,0,0,0,0,0,0
$GC,968,-0.76,-146.0,152.9,-18.7,144,972,0.00,1.80,0.00,0.000,4,0.000,0.064,2792,3771,3563,0,0,0,0,0,0
$GC,1004,-0.76,-146.0,159.3,-19.8,147,1008,0.00,1.77,0.00,0.000,6,0.000,0.044,2792,2626,3563,0,0,0,0,0,0
$GC,1146,-0.76,-146.0,185.7,-19.6,160,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2624,3563,0,0,0,0,0,0
$GC,1272,-0.76,-146.0,209.8,-18.7,172,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2624,3563,0,0,0,0,0,0
$GC,1399,-0.76,-146.0,232.5,-17.3,184,1403,0.00,1.85,0.00,0.000,4,0.000,0.065,2783,3763,3563,0,0,0,0,0,0
$GC,1447,-0.76,-146.0,241.6,-18.4,188,1457,0.10,1.77,0.00,0.000,6,0.151,0.044,2815,2641,3563,0,0,0,0,0,0
$GC,1583,-0.76,-146.0,261.0,-13.7,201,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2641,3563,0,0,0,0,0,0
$GC,1773,-0.76,-146.0,286.1,-13.2,219,1776,0.00,1.83,0.00,0.000,4,0.000,0.064,2808,3770,3563,0,0,0,0,0,0
$GC,1822,-0.76,-146.0,293.4,-14.3,223,1829,0.00,1.77,0.00,0.000,6,0.000,0.044,2808,2655,3563,0,0,0,0,0,0
$GC,2020,-0.76,-146.0,321.9,-14.0,242,2023,0.00,1.80,0.00,0.000,4,0.000,0.066,2800,3763,3563,0,0,0,0,0,0
$GC,2069,-0.76,-146.0,329.4,-14.3,246,2076,0.00,1.75,0.00,0.000,6,0.000,0.044,2800,2658,3563,0,0,0,0,0,0
$GC,2267,-0.76,-146.0,357.9,-14.4,265,2270,0.00,1.80,0.00,0.000,4,0.000,0.066,2791,3767,3563,0,0,0,0,0,0
$GC,2300,-0.76,-146.0,363.0,-14.7,268,2304,0.00,1.70,0.00,0.000,6,0.000,0.044,2791,2672,3563,0,0,0,0,0,0
$GC,2503,-0.76,-146.0,393.8,-15.7,287,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2669,3563,0,0,0,0,0,0
$GC,2696,-0.76,-146.0,423.8,-15.5,305,2699,0.00,1.77,0.00,0.000,4,0.000,0.065,2783,3767,3563,0,0,0,0,0,0
$GC,2731,-0.76,-146.0,429.7,-17.0,308,2736,0.12,1.70,0.00,0.000,6,0.174,0.045,2816,2670,3563,0,0,0,0,0,0
$GC,2936,-0.76,-146.0,457.4,-12.8,327,2937,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2669,3563,0,0,0,0,0,0
$GC,3125,-0.76,-146.0,481.8,-12.8,345,3129,0.00,1.77,0.00,0.000,4,0.000,0.066,2809,3763,3563,0,0,0,0,0,0
$GC,3153,-0.76,-146.0,485.6,-13.8,347,3160,0.00,1.67,0.00,0.000,6,0.000,0.044,2809,2680,3563,0,0,0,0,0,0
$GC,3359,-0.76,-146.0,512.5,-13.2,361,3360,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2680,3563,0,0,0,0,0,0
$GC,3541,-0.76,-146.0,537.5,-13.7,367,3544,0.00,1.75,0.00,0.000,4,0.000,0.067,2801,3760,3563,0,0,0,0,0,0
$GC,3584,-0.76,-146.0,544.2,-15.2,368,3588,0.00,1.67,0.00,0.000,6,0.000,0.044,2801,2702,3563,0,0,0,0,0,0
$GC,3791,-0.76,-146.0,572.8,-13.7,375,3795,0.00,2.30,0.00,0.000,4,0.000,0.054,2801,1237,3562,0,0,0,0,0,0
$GC,3819,-0.76,-146.0,576.6,-13.4,376,3824,0.00,2.38,0.00,0.000,6,0.000,0.060,2798,2691,3563,0,0,0,0,0,0
$STATE,3828,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3828,begin apogee
$GC,3832,-0.17,0.0,578.1,13.7,376,3971,0.65,0.00,133.88,1.185,4,0.132,0.000,3006,2494,2961,0,0,0,0,0,0
$STATE,3971,end apogee,CONTROL_FINISHED_OK
$STATE,3972,begin climb
$GC,3973,0.76,146.0,582.2,0.0,380,4128,0.95,2.55,144.73,1.108,4,0.074,0.051,3309,1101,2364,0,0,0,0,0,0
$GC,4239,0.76,146.0,554.8,14.0,389,4244,0.00,2.47,0.00,0.000,6,0.000,0.054,3308,2499,2352,0,0,0,0,0,0
$GC,4452,0.76,146.0,525.9,13.7,396,4456,0.00,2.30,0.00,0.000,4,0.000,0.052,3318,1095,2348,0,0,0,0,0,0
$GC,4557,0.76,146.0,511.9,13.2,399,4562,0.00,2.40,0.00,0.000,6,0.000,0.055,3318,2522,2346,0,0,0,0,0,0
$GC,4758,0.76,146.0,484.0,14.1,411,4762,0.00,2.00,0.00,0.000,4,0.000,0.061,3318,3764,2345,0,0,0,0,0,0
$GC,4871,0.76,146.0,465.3,17.3,421,4874,0.00,1.92,0.00,0.000,6,0.000,0.043,3328,2536,2345,0,0,0,0,0,0
$GC,5073,0.76,146.0,434.2,14.4,440,5077,0.00,2.00,0.00,0.000,4,0.000,0.061,3327,3771,2343,0,0,0,0,0,0
$GC,5133,0.76,146.0,424.1,16.6,445,5141,0.00,1.95,0.00,0.000,6,0.000,0.043,3336,2552,2343,0,0,0,0,0,0
$GC,5332,0.76,146.0,393.3,15.5,464,5335,0.00,1.98,0.00,0.000,4,0.000,0.062,3336,3773,2342,0,0,0,0,0,0
$GC,5392,0.76,146.0,382.5,17.2,469,5400,0.10,1.92,0.00,0.000,6,0.150,0.043,3313,2565,2342,0,0,0,0,0,0
$GC,5590,0.76,146.0,355.2,13.6,488,5593,0.00,1.95,0.00,0.000,4,0.000,0.063,3313,3768,2342,0,0,0,0,0,0
$GC,5635,0.76,146.0,348.2,17.0,492,5639,0.00,1.90,0.00,0.000,6,0.000,0.044,3321,2571,2342,0,0,0,0,0,0
$GC,5838,0.76,146.0,318.0,14.9,511,5841,0.00,1.95,0.00,0.000,4,0.000,0.063,3321,3774,2342,0,0,0,0,0,0
$GC,5875,0.76,146.0,311.5,17.3,514,5883,0.00,1.90,0.00,0.000,6,0.000,0.043,3330,2574,2341,0,0,0,0,0,0
$GC,6075,0.76,146.0,280.2,15.3,533,6079,0.00,1.92,0.00,0.000,4,0.000,0.062,3330,3769,2341,0,0,0,0,0,0
$GC,6113,0.76,146.0,273.4,17.2,536,6121,0.00,1.85,0.00,0.000,6,0.000,0.042,3339,2596,2341,0,0,0,0,0,0
$GC,6312,0.76,146.0,242.7,15.2,555,6316,0.00,1.92,0.00,0.000,4,0.000,0.063,3339,3763,2341,0,0,0,0,0,0
$GC,6369,0.76,146.0,233.1,17.6,560,6373,0.12,1.80,0.00,0.000,6,0.178,0.043,3315,2598,2341,0,0,0,0,0,0
$GC,6509,0.76,146.0,212.2,14.4,573,6512,0.00,1.90,0.00,0.000,4,0.000,0.063,3315,3774,2341,0,0,0,0,0,0
$GC,6534,0.76,146.0,207.6,15.7,575,6544,0.00,1.83,0.00,0.000,6,0.000,0.043,3323,2622,2341,0,0,0,0,0,0
$GC,6671,0.76,146.0,188.7,14.1,588,6672,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2621,2341,0,0,0,0,0,0
$GC,6798,0.76,146.0,170.7,13.5,600,6801,0.00,1.85,0.00,0.000,4,0.000,0.062,3323,3772,2340,0,0,0,0,0,0
$GC,6866,0.76,146.0,159.5,16.2,606,6876,0.00,1.83,0.00,0.000,6,0.000,0.043,3331,2618,2340,0,0,0,0,0,0
$GC,7003,0.76,146.0,140.2,14.2,619,7006,0.00,1.85,0.00,0.000,4,0.000,0.063,3331,3765,2340,0,0,0,0,0,0
$GC,7061,0.76,146.0,130.0,16.1,624,7070,0.00,1.77,0.00,0.000,6,0.000,0.042,3340,2643,2340,0,0,0,0,0,0
$GC,7199,0.76,146.0,108.7,16.9,637,7202,0.00,1.80,0.00,0.000,4,0.000,0.063,3340,3764,2340,0,0,0,0,0,0
$GC,7215,0.76,146.0,105.8,15.1,638,7223,0.10,1.77,0.00,0.000,6,0.160,0.042,3317,2641,2340,0,0,0,0,0,0
$GC,7348,0.76,146.0,91.8,10.0,658,7356,0.00,2.47,0.00,0.000,4,0.000,0.051,3326,1088,2339,0,0,0,0,0,0
$GC,7380,0.76,147.2,88.8,9.9,663,7387,0.00,2.53,0.00,0.000,6,0.000,0.055,3326,2652,2339,0,0,0,0,0,0
$GC,7517,0.76,147.2,70.1,16.7,688,7525,0.00,1.80,0.00,0.000,4,0.000,0.063,3326,3757,2339,0,0,0,0,0,0
$GC,7592,0.76,147.2,56.0,17.0,701,7599,0.00,1.75,0.00,0.000,6,0.000,0.042,3335,2647,2339,0,0,0,0,0,0
$GC,7731,0.76,147.2,25.2,19.7,726,7739,0.00,1.85,0.00,0.000,4,0.000,0.062,3335,3770,2339,0,0,0,0,0,0
$GC,7778,0.76,147.2,14.6,23.9,734,7786,0.08,1.73,0.00,0.000,6,0.159,0.043,3318,2678,2339,0,0,0,0,0,0
$FREEZE,8.47,-1.851,-1.908,2,1,0
$FREEZE,7.64,-1.852,-1.907,2,1,0
$FREEZE,6.58,-1.857,-1.906,2,1,0
$FREEZE,5.85,-1.856,-1.906,2,1,0
$FREEZE,4.73,-1.854,-1.905,2,1,0
$FREEZE,3.74,-1.851,-1.904,2,1,0
$FREEZE,2.74,-1.852,-1.903,2,1,0
$STATE,7848,end climb,SURFACE_DEPTH_REACHED
$STATE,7848,begin surface coast
$FREEZE,1.78,-1.851,-1.902,2,1,0
$FREEZE,1.27,-1.959,-1.237,2,1,0
$FINISH,1.3,1.018260
$STATE,7862,end surface coast,FINISH_DEPTH_REACHED
$STATE,7862,begin surface
$SM_CCo,7875,132.70,0.773,1,0,1329,400.08
$SM_GC,1.78,0.00,0.00,132.70,0.000,0.000,0.773,416,2676,1329,-8.28,0.74,400.08
$IRIDIUM_FIX,-7639.69,16512.38,041210,030319
$TT8_MAMPS,0.028462
$HUMID,51.33
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,17.8
$ALTIM_BOTTOM_PING,551.7,40.0
$24V_AH,21.1,32.583
$10V_AH,9.9,18.892
$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,18.725,101.200,278.600,132.700,0.000,79.301,125.913,715.183,3.000,0.000,15.793,1893.000,3835.345,557.882,2794.242,150.616,0.000,1386.220,0.000,1348.927,0.000,17.461,0.000
$DEVICE_MAMPS,212.670,66.555,1184.985,772.650,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,527.908,902.982,784.795,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,275984
$DATA_FILE_SIZE,50405,748
$CAP_FILE_SIZE,126046,0
$CFSIZE,260165632,245649408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041210,060906,-7727.188,16513.410,43,1.1,44,144.2