version: 66.08
glider: 502
mission: 3
dive: 163
start: 12 7 110 6 49 49
data:
$ID,502
$MISSION,3
$DIVE,163
$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,-27647.131
$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,29
$R_STBD_OVSHOOT,22
$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
$GPS1,071210,064334,-7706.776,16522.609,19,4.5,39,142.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-71.7
$GPS2,071210,064926,-7706.759,16522.607,12,1.1,12,142.8
$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,220.8,49659,-17.5,-10.000
$D_GRID,573
$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,-146.0,0.0,0.0,0,104,0.00,0.00,-85.85,0.000,2,0.000,0.000,429,2655,2904,0,0,0,0,0,0
$GC,106,-0.76,-146.0,3.1,-3.0,13,154,9.07,2.30,-30.05,0.000,4,0.208,0.063,2818,1239,3558,0,0,0,0,0,0
$GC,401,-0.76,-146.0,37.4,-14.1,65,408,0.00,2.33,0.00,0.000,6,0.000,0.060,2808,2651,3562,0,0,0,0,0,0
$GC,537,-0.76,-146.0,59.6,-17.6,90,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2651,3562,0,0,0,0,0,0
$GC,678,-0.76,-146.0,82.3,-16.0,115,684,0.00,1.80,0.00,0.000,4,0.000,0.063,2799,3767,3562,0,0,0,0,0,0
$GC,717,-0.76,-146.0,89.4,-17.6,122,725,0.00,1.80,0.00,0.000,6,0.000,0.044,2799,2640,3562,0,0,0,0,0,0
$GC,857,-0.76,-146.0,112.4,-16.3,140,860,0.00,1.83,0.00,0.000,4,0.000,0.063,2791,3764,3562,0,0,0,0,0,0
$GC,891,-0.76,-146.0,118.4,-17.2,143,895,0.00,1.70,0.00,0.000,6,0.000,0.044,2790,2667,3562,0,0,0,0,0,0
$GC,1033,-0.76,-146.0,142.0,-16.9,156,1037,0.00,2.25,0.00,0.000,4,0.000,0.053,2791,1237,3561,0,0,0,0,0,0
$GC,1064,-0.76,-146.0,148.1,-17.3,158,1074,0.10,2.35,0.00,0.000,6,0.145,0.060,2814,2656,3562,0,0,0,0,0,0
$GC,1199,-0.76,-146.0,167.8,-14.5,171,1203,0.00,1.77,0.00,0.000,4,0.000,0.063,2807,3771,3562,0,0,0,0,0,0
$GC,1258,-0.76,-146.0,177.2,-15.4,176,1267,0.00,1.75,0.00,0.000,6,0.000,0.044,2807,2668,3562,0,0,0,0,0,0
$GC,1396,-0.76,-146.0,196.9,-14.9,189,1399,0.00,1.77,0.00,0.000,4,0.000,0.063,2799,3767,3562,0,0,0,0,0,0
$GC,1431,-0.76,-146.0,202.6,-16.3,192,1435,0.00,1.67,0.00,0.000,6,0.000,0.044,2799,2685,3562,0,0,0,0,0,0
$GC,1572,-0.76,-146.0,224.7,-15.5,205,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2683,3562,0,0,0,0,0,0
$GC,1700,-0.76,-146.0,244.4,-15.6,217,1703,0.00,1.77,0.00,0.000,4,0.000,0.064,2790,3776,3562,0,0,0,0,0,0
$GC,1736,-0.76,-146.0,251.2,-16.6,220,1745,0.00,1.73,0.00,0.000,6,0.000,0.044,2790,2687,3562,0,0,0,0,0,0
$GC,1935,-0.76,-146.0,282.9,-15.7,239,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2687,3562,0,0,0,0,0,0
$GC,2126,-0.76,-146.0,313.1,-15.7,257,2130,0.00,1.75,0.00,0.000,4,0.000,0.064,2783,3768,3561,0,0,0,0,0,0
$GC,2164,-0.76,-146.0,319.7,-16.6,260,2172,0.10,1.73,0.00,0.000,6,0.149,0.044,2815,2684,3562,0,0,0,0,0,0
$GC,2364,-0.76,-146.0,347.5,-14.0,279,2365,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2684,3562,0,0,0,0,0,0
$GC,2553,-0.76,-146.0,374.8,-14.4,297,2557,0.00,1.75,0.00,0.000,4,0.000,0.063,2808,3767,3562,0,0,0,0,0,0
$GC,2601,-0.76,-146.0,382.6,-15.9,301,2609,0.00,1.70,0.00,0.000,6,0.000,0.044,2808,2695,3562,0,0,0,0,0,0
$GC,2800,-0.76,-146.0,412.2,-15.1,320,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2694,3562,0,0,0,0,0,0
$GC,2991,-0.76,-146.0,440.0,-14.5,338,2994,0.00,1.75,0.00,0.000,4,0.000,0.064,2800,3771,3562,0,0,0,0,0,0
$GC,3039,-0.76,-146.0,447.7,-15.7,342,3048,0.00,1.70,0.00,0.000,6,0.000,0.044,2800,2702,3561,0,0,0,0,0,0
$GC,3238,-0.76,-146.0,476.2,-14.3,361,3239,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2702,3561,0,0,0,0,0,0
$GC,3438,-0.76,-146.0,504.7,-14.3,378,3442,0.00,1.73,0.00,0.000,4,0.000,0.067,2793,3767,3561,0,0,0,0,0,0
$GC,3472,-0.76,-146.0,509.8,-14.9,379,3476,0.00,1.65,0.00,0.000,6,0.000,0.044,2793,2697,3561,0,0,0,0,0,0
$GC,3690,-0.76,-146.0,542.4,-15.0,386,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2696,3561,0,0,0,0,0,0
$GC,3874,-0.76,-146.0,569.7,-14.9,392,3877,0.00,1.75,0.00,0.000,4,0.000,0.066,2784,3772,3561,0,0,0,0,0,0
$STATE,3893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3893,begin apogee
$GC,3899,-0.17,0.0,573.2,15.2,392,4038,0.70,0.00,133.55,1.170,4,0.139,0.000,3005,2490,2960,0,0,0,0,0,0
$STATE,4039,end apogee,CONTROL_FINISHED_OK
$STATE,4039,begin climb
$GC,4040,0.76,146.0,578.6,0.0,397,4197,0.95,2.55,146.27,1.103,4,0.076,0.052,3306,1097,2364,0,0,0,0,0,0
$GC,4281,0.76,146.0,557.7,11.3,404,4285,0.00,2.47,0.00,0.000,6,0.000,0.053,3306,2511,2354,0,0,0,0,0,0
$GC,4483,0.76,146.0,532.7,12.3,411,4487,0.00,2.35,0.00,0.000,4,0.000,0.054,3315,1088,2350,0,0,0,0,0,0
$GC,4612,0.76,146.0,516.7,12.3,415,4616,0.00,2.38,0.00,0.000,6,0.000,0.057,3316,2529,2347,0,0,0,0,0,0
$GC,4804,0.76,146.0,491.7,12.7,424,4808,0.00,2.00,0.00,0.000,4,0.000,0.061,3316,3773,2346,0,0,0,0,0,0
$GC,4906,0.76,146.0,476.3,15.3,433,4910,0.00,1.95,0.00,0.000,6,0.000,0.044,3325,2532,2346,0,0,0,0,0,0
$GC,5108,0.76,146.0,447.7,13.4,452,5112,0.00,2.00,0.00,0.000,4,0.000,0.061,3325,3768,2344,0,0,0,0,0,0
$GC,5135,0.76,146.0,443.5,15.4,454,5143,0.00,1.98,0.00,0.000,6,0.000,0.042,3334,2533,2344,0,0,0,0,0,0
$GC,5335,0.76,146.0,415.1,14.4,473,5338,0.00,2.00,0.00,0.000,4,0.000,0.060,3334,3774,2343,0,0,0,0,0,0
$GC,5383,0.76,146.0,406.6,16.5,477,5392,0.10,1.98,0.00,0.000,6,0.150,0.043,3312,2543,2343,0,0,0,0,0,0
$GC,5582,0.76,146.0,381.4,12.2,496,5586,0.00,1.98,0.00,0.000,4,0.000,0.063,3312,3764,2343,0,0,0,0,0,0
$GC,5627,0.76,146.0,375.0,15.0,500,5631,0.00,1.95,0.00,0.000,6,0.000,0.044,3320,2542,2343,0,0,0,0,0,0
$GC,5829,0.76,146.0,348.1,13.2,519,5833,0.00,1.98,0.00,0.000,4,0.000,0.063,3320,3764,2342,0,0,0,0,0,0
$GC,5878,0.76,146.0,340.3,16.1,523,5886,0.00,1.92,0.00,0.000,6,0.000,0.043,3328,2556,2342,0,0,0,0,0,0
$GC,6076,0.76,146.0,313.7,13.3,542,6080,0.00,1.95,0.00,0.000,4,0.000,0.060,3328,3765,2342,0,0,0,0,0,0
$GC,6132,0.76,146.0,305.3,15.6,547,6136,0.00,1.90,0.00,0.000,6,0.000,0.043,3337,2565,2342,0,0,0,0,0,0
$GC,6335,0.76,146.0,276.2,14.2,566,6339,0.00,1.95,0.00,0.000,4,0.000,0.061,3338,3772,2342,0,0,0,0,0,0
$GC,6384,0.76,146.0,268.2,16.5,570,6392,0.10,1.90,0.00,0.000,6,0.150,0.044,3314,2573,2342,0,0,0,0,0,0
$GC,6584,0.76,146.0,243.3,12.1,589,6587,0.00,1.92,0.00,0.000,4,0.000,0.063,3314,3764,2341,0,0,0,0,0,0
$GC,6651,0.76,146.0,234.0,14.2,595,6654,0.00,1.83,0.00,0.000,6,0.000,0.043,3321,2581,2341,0,0,0,0,0,0
$GC,6793,0.76,146.0,215.7,12.7,608,6796,0.00,1.92,0.00,0.000,4,0.000,0.062,3321,3773,2341,0,0,0,0,0,0
$GC,6829,0.76,146.0,210.0,14.1,611,6838,0.00,1.88,0.00,0.000,6,0.000,0.044,3331,2590,2341,0,0,0,0,0,0
$GC,6965,0.76,146.0,192.3,12.9,624,6966,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2589,2341,0,0,0,0,0,0
$GC,7092,0.76,146.0,175.7,13.0,636,7096,0.00,1.90,0.00,0.000,4,0.000,0.061,3331,3770,2341,0,0,0,0,0,0
$GC,7140,0.76,146.0,167.7,16.7,640,7149,0.00,1.85,0.00,0.000,6,0.000,0.043,3340,2605,2341,0,0,0,0,0,0
$GC,7278,0.76,146.0,147.7,15.0,653,7279,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2604,2341,0,0,0,0,0,0
$GC,7404,0.76,146.0,129.1,15.2,665,7407,0.00,1.88,0.00,0.000,4,0.000,0.061,3340,3771,2341,0,0,0,0,0,0
$GC,7440,0.76,146.0,122.7,16.6,668,7449,0.10,1.88,0.00,0.000,6,0.151,0.044,3316,2590,2341,0,0,0,0,0,0
$GC,7577,0.76,146.0,104.3,13.9,681,7585,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2589,2341,0,0,0,0,0,0
$GC,7715,0.76,146.0,85.1,13.2,703,7721,0.00,1.90,0.00,0.000,4,0.000,0.062,3316,3764,2341,0,0,0,0,0,0
$GC,7775,0.76,146.0,75.9,14.7,714,7783,0.00,1.83,0.00,0.000,6,0.000,0.043,3323,2611,2341,0,0,0,0,0,0
$GC,7916,0.76,146.0,58.3,12.5,739,7922,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2610,2341,0,0,0,0,0,0
$GC,8051,0.76,146.0,40.8,12.6,764,8059,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2610,2341,0,0,0,0,0,0
$GC,8192,0.76,146.0,22.8,14.1,789,8198,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2610,2340,0,0,0,0,0,0
$FREEZE,9.00,-1.680,-1.909,2,1,0
$FREEZE,8.44,-1.668,-1.908,2,1,0
$FREEZE,7.63,-1.657,-1.908,2,1,0
$FREEZE,6.97,-1.646,-1.907,2,1,0
$FREEZE,6.07,-1.631,-1.906,2,1,0
$FREEZE,5.42,-1.632,-1.906,2,1,0
$FREEZE,4.46,-1.617,-1.905,2,1,0
$GC,8332,0.76,146.0,4.5,13.3,814,8340,0.00,1.90,0.00,0.000,4,0.000,0.061,3323,3761,2341,0,0,0,0,0,0
$FREEZE,2.35,-1.549,-1.903,2,1,0
$STATE,8346,end climb,SURFACE_DEPTH_REACHED
$STATE,8346,begin surface coast
$FREEZE,1.63,-1.526,-1.901,2,1,0
$FREEZE,1.35,-1.508,-0.457,2,1,0
$FINISH,1.3,1.006573
$STATE,8359,end surface coast,FINISH_DEPTH_REACHED
$STATE,8359,begin surface
$SM_CCo,8375,137.85,0.769,1,0,1329,400.08
$SM_GC,2.19,0.00,0.00,137.85,0.000,0.000,0.769,425,2634,1329,-8.25,-0.45,400.08
$IRIDIUM_FIX,-7621.20,16532.08,071210,040445
$TT8_MAMPS,0.028462
$HUMID,51.29
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,17.7
$24V_AH,20.9,37.021
$10V_AH,10.0,21.957
$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,18.750,104.025,279.825,137.850,0.000,29.825,45.870,180.934,2.750,0.000,13.201,2036.064,3878.752,581.281,2216.182,161.329,0.000,1458.477,0.000,1448.192,0.000,14.641,0.000
$DEVICE_MAMPS,208.080,66.555,1169.685,768.825,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,577.445,1002.987,896.787,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276276
$DATA_FILE_SIZE,53748,818
$CAP_FILE_SIZE,120702,0
$CFSIZE,260165632,243642368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071210,091304,-7705.756,16523.842,20,6.5,40,142.7