version: 66.08
glider: 502
mission: 3
dive: 156
start: 12 6 110 13 54 25
data:
$ID,502
$MISSION,3
$DIVE,156
$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,3
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-27638.32
$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,28
$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
$GPS1,061210,134826,-7713.653,16514.316,20,1.2,21,143.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-68.3
$GPS2,061210,135402,-7713.595,16514.176,15,1.9,15,143.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NORTH
$TGT_LATLONG,-7640.000,16530.000
$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,222.8,62584,-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,16,-0.76,-146.0,0.0,0.0,0,123,0.00,0.00,-104.75,0.000,2,0.000,0.000,420,2662,3273,0,0,0,0,0,0
$GC,126,-0.76,-146.0,3.2,-1.5,16,154,9.07,2.40,-9.18,0.000,4,0.207,0.067,2807,1243,3561,0,0,0,0,0,0
$GC,401,-0.76,-146.0,45.1,-15.4,65,408,0.00,2.33,0.00,0.000,6,0.000,0.060,2799,2649,3563,0,0,0,0,0,0
$GC,538,-0.76,-146.0,70.1,-18.0,90,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2649,3564,0,0,0,0,0,0
$GC,679,-0.76,-146.0,93.3,-16.4,115,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2649,3564,0,0,0,0,0,0
$GC,816,-0.76,-146.0,116.2,-17.0,131,819,0.00,1.80,0.00,0.000,4,0.000,0.063,2790,3774,3564,0,0,0,0,0,0
$GC,861,-0.76,-146.0,124.3,-17.3,135,864,0.00,1.73,0.00,0.000,6,0.000,0.045,2790,2667,3564,0,0,0,0,0,0
$GC,1002,-0.76,-146.0,148.3,-16.8,148,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2665,3564,0,0,0,0,0,0
$GC,1129,-0.76,-146.0,169.8,-17.0,160,1132,0.00,1.80,0.00,0.000,4,0.000,0.064,2782,3773,3564,0,0,0,0,0,0
$GC,1175,-0.76,-146.0,178.6,-17.6,164,1185,0.08,1.77,0.00,0.000,6,0.156,0.044,2807,2665,3564,0,0,0,0,0,0
$GC,1312,-0.76,-146.0,199.2,-15.5,177,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2663,3564,0,0,0,0,0,0
$GC,1438,-0.76,-146.0,218.7,-15.1,189,1442,0.00,1.80,0.00,0.000,4,0.000,0.063,2800,3773,3564,0,0,0,0,0,0
$GC,1464,-0.76,-146.0,223.4,-16.0,191,1473,0.00,1.75,0.00,0.000,6,0.000,0.044,2800,2676,3564,0,0,0,0,0,0
$GC,1600,-0.76,-146.0,244.4,-15.9,204,1602,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2676,3564,0,0,0,0,0,0
$GC,1726,-0.76,-146.0,264.2,-15.6,216,1729,0.00,1.77,0.00,0.000,4,0.000,0.066,2791,3766,3564,0,0,0,0,0,0
$GC,1776,-0.76,-146.0,272.7,-16.4,220,1783,0.00,1.73,0.00,0.000,6,0.000,0.044,2791,2686,3564,0,0,0,0,0,0
$GC,1973,-0.76,-146.0,304.6,-15.9,239,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2684,3564,0,0,0,0,0,0
$GC,2164,-0.76,-146.0,334.5,-16.0,257,2168,0.00,1.80,0.00,0.000,4,0.000,0.066,2783,3762,3564,0,0,0,0,0,0
$GC,2243,-0.76,-146.0,348.1,-17.0,264,2247,0.08,1.73,0.00,0.000,6,0.154,0.044,2809,2680,3563,0,0,0,0,0,0
$GC,2445,-0.76,-146.0,378.8,-14.8,283,2449,0.00,1.75,0.00,0.000,4,0.000,0.065,2802,3763,3563,0,0,0,0,0,0
$GC,2472,-0.76,-146.0,383.3,-15.7,285,2479,0.00,1.70,0.00,0.000,6,0.000,0.043,2802,2693,3563,0,0,0,0,0,0
$GC,2670,-0.76,-146.0,413.2,-14.6,304,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2693,3563,0,0,0,0,0,0
$GC,2861,-0.76,-146.0,440.9,-14.3,322,2865,0.00,1.75,0.00,0.000,4,0.000,0.065,2794,3771,3563,0,0,0,0,0,0
$GC,2924,-0.76,-146.0,450.5,-15.7,327,2930,0.00,1.67,0.00,0.000,6,0.000,0.044,2794,2693,3563,0,0,0,0,0,0
$GC,3121,-0.76,-146.0,480.3,-15.1,346,3124,0.00,1.75,0.00,0.000,4,0.000,0.065,2785,3770,3563,0,0,0,0,0,0
$GC,3158,-0.76,-146.0,486.6,-16.3,349,3167,0.08,1.67,0.00,0.000,6,0.154,0.044,2810,2713,3563,0,0,0,0,0,0
$GC,3353,-0.76,-146.0,513.5,-13.8,362,3357,0.00,1.70,0.00,0.000,4,0.000,0.065,2802,3764,3563,0,0,0,0,0,0
$GC,3380,-0.76,-146.0,517.6,-14.4,362,3388,0.00,1.67,0.00,0.000,6,0.000,0.044,2803,2711,3563,0,0,0,0,0,0
$STATE,3571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3571,begin apogee
$GC,3576,-0.17,0.0,544.3,14.0,369,3714,0.62,0.00,133.88,1.164,4,0.134,0.000,3004,2487,2961,0,0,0,0,0,0
$STATE,3715,end apogee,CONTROL_FINISHED_OK
$STATE,3715,begin climb
$GC,3717,0.76,146.0,549.4,0.0,373,3872,0.98,2.55,145.77,1.089,4,0.076,0.052,3313,1094,2364,0,0,0,0,0,0
$GC,3995,0.76,146.0,522.2,12.8,382,4000,0.00,2.47,0.00,0.000,6,0.000,0.055,3312,2495,2353,0,0,0,0,0,0
$GC,4194,0.76,146.0,496.3,13.2,390,4198,0.00,2.30,0.00,0.000,4,0.000,0.053,3322,1091,2349,0,0,0,0,0,0
$GC,4323,0.76,146.0,479.1,13.3,401,4327,0.00,2.35,0.00,0.000,6,0.000,0.057,3322,2520,2347,0,0,0,0,0,0
$GC,4522,0.76,146.0,451.7,13.9,419,4525,0.00,2.00,0.00,0.000,4,0.000,0.060,3322,3767,2345,0,0,0,0,0,0
$GC,4594,0.76,146.0,440.0,16.8,425,4601,0.00,1.95,0.00,0.000,6,0.000,0.044,3331,2522,2346,0,0,0,0,0,0
$GC,4792,0.76,146.0,411.3,14.7,444,4795,0.00,2.03,0.00,0.000,4,0.000,0.062,3332,3772,2345,0,0,0,0,0,0
$GC,4825,0.76,146.0,405.7,16.9,447,4829,0.00,1.95,0.00,0.000,6,0.000,0.043,3341,2522,2345,0,0,0,0,0,0
$GC,5030,0.76,146.0,375.4,14.9,466,5033,0.00,2.03,0.00,0.000,4,0.000,0.060,3341,3774,2344,0,0,0,0,0,0
$GC,5052,0.76,146.0,371.6,15.5,468,5057,0.15,1.95,0.00,0.000,6,0.171,0.043,3311,2523,2344,0,0,0,0,0,0
$GC,5252,0.76,146.0,346.5,12.2,486,5255,0.00,2.03,0.00,0.000,4,0.000,0.063,3311,3769,2343,0,0,0,0,0,0
$GC,5286,0.76,146.0,341.4,13.9,489,5290,0.00,1.92,0.00,0.000,6,0.000,0.044,3319,2535,2343,0,0,0,0,0,0
$GC,5489,0.76,146.0,315.1,12.5,508,5493,0.00,2.00,0.00,0.000,4,0.000,0.060,3319,3774,2343,0,0,0,0,0,0
$GC,5539,0.76,146.0,307.5,16.0,512,5546,0.00,1.92,0.00,0.000,6,0.000,0.044,3328,2549,2343,0,0,0,0,0,0
$GC,5736,0.76,146.0,279.6,14.1,531,5740,0.00,1.98,0.00,0.000,4,0.000,0.062,3328,3771,2342,0,0,0,0,0,0
$GC,5794,0.76,146.0,270.9,16.4,536,5797,0.00,1.90,0.00,0.000,6,0.000,0.043,3337,2550,2342,0,0,0,0,0,0
$GC,5998,0.76,146.0,241.3,14.9,555,5999,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2549,2342,0,0,0,0,0,0
$GC,6126,0.76,146.0,222.9,14.5,567,6129,0.00,1.98,0.00,0.000,4,0.000,0.062,3337,3772,2342,0,0,0,0,0,0
$GC,6162,0.76,146.0,216.3,17.1,570,6172,0.10,1.90,0.00,0.000,6,0.145,0.043,3314,2570,2341,0,0,0,0,0,0
$GC,6300,0.76,146.0,198.1,13.2,583,6307,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2569,2341,0,0,0,0,0,0
$GC,6435,0.76,146.0,180.5,12.6,596,6439,0.00,1.92,0.00,0.000,4,0.000,0.063,3314,3762,2341,0,0,0,0,0,0
$GC,6469,0.76,146.0,175.6,15.3,599,6473,0.00,1.85,0.00,0.000,6,0.000,0.043,3321,2565,2341,0,0,0,0,0,0
$GC,6610,0.76,146.0,156.7,13.4,612,6611,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2563,2341,0,0,0,0,0,0
$GC,6737,0.76,146.0,140.1,12.6,624,6738,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2563,2341,0,0,0,0,0,0
$GC,6864,0.76,146.0,124.0,12.7,636,6868,0.00,1.95,0.00,0.000,4,0.000,0.061,3322,3771,2341,0,0,0,0,0,0
$GC,6901,0.76,146.0,118.6,13.7,639,6910,0.00,1.90,0.00,0.000,6,0.000,0.043,3331,2573,2341,0,0,0,0,0,0
$GC,7036,0.76,146.0,101.0,12.7,652,7038,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2573,2341,0,0,0,0,0,0
$GC,7167,0.76,146.0,84.3,12.6,675,7173,0.00,1.95,0.00,0.000,4,0.000,0.061,3331,3774,2341,0,0,0,0,0,0
$GC,7202,0.76,146.0,79.2,14.7,681,7209,0.00,1.88,0.00,0.000,6,0.000,0.043,3340,2568,2341,0,0,0,0,0,0
$GC,7340,0.76,146.0,60.4,13.9,706,7348,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2567,2341,0,0,0,0,0,0
$GC,7480,0.76,146.0,41.3,13.6,731,7486,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2567,2341,0,0,0,0,0,0
$GC,7618,0.76,146.0,21.5,14.5,756,7627,0.00,1.98,0.00,0.000,4,0.000,0.062,3340,3762,2341,0,0,0,0,0,0
$GC,7650,0.76,146.0,16.5,16.9,761,7658,0.12,1.85,0.00,0.000,6,0.171,0.043,3316,2570,2341,0,0,0,0,0,0
$FREEZE,8.68,-1.788,-1.910,2,1,0
$FREEZE,7.85,-1.787,-1.909,2,1,0
$FREEZE,7.13,-1.788,-1.908,2,1,0
$FREEZE,6.27,-1.787,-1.908,2,1,0
$FREEZE,5.57,-1.787,-1.907,2,1,0
$FREEZE,4.85,-1.787,-1.907,2,1,0
$FREEZE,4.09,-1.786,-1.906,2,1,0
$FREEZE,3.24,-1.788,-1.905,2,1,0
$FREEZE,2.58,-1.786,-1.905,2,1,0
$STATE,7753,end climb,SURFACE_DEPTH_REACHED
$STATE,7754,begin surface coast
$FREEZE,1.74,-1.786,-1.904,2,1,0
$FREEZE,1.29,-1.793,-1.904,2,1,0
$FREEZE,1.49,-1.801,-1.904,2,1,0
$FREEZE,1.45,-1.793,-1.904,2,1,0
$FINISH,1.4,1.027906
$STATE,7779,end surface coast,CONTROL_FINISHED_OK
$STATE,7779,begin surface
$SM_CCo,7794,142.68,0.757,2,0,1328,400.08
$SM_GC,2.10,0.00,0.00,142.68,0.000,0.000,0.757,430,2658,1328,-8.23,0.23,400.08
$IRIDIUM_FIX,-7630.39,16505.99,061210,111127
$TT8_MAMPS,0.027713
$HUMID,51.10
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.3,18.1
$24V_AH,21.0,36.087
$10V_AH,9.9,21.303
$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,18.750,89.025,279.650,142.675,0.000,30.763,39.006,170.509,2.500,0.000,15.983,1948.494,3495.549,566.287,2117.872,159.893,0.000,1390.602,0.000,1362.142,0.000,12.925,0.000
$DEVICE_MAMPS,207.315,98.685,1163.565,756.585,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,553.022,955.091,881.277,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276284
$DATA_FILE_SIZE,53751,783
$CAP_FILE_SIZE,113597,0
$CFSIZE,260165632,244088832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,061210,160807,-7712.686,16514.402,38,0.8,39,143.3