version: 66.08
glider: 502
mission: 3
dive: 164
start: 12 7 110 9 19 13
data:
$ID,502
$MISSION,3
$DIVE,164
$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,-27648.387
$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,38
$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
$GPS1,071210,091304,-7705.756,16523.842,20,6.5,40,142.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-72.5
$GPS2,071210,091849,-7705.755,16523.967,11,1.2,16,142.7
$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,220.4,47768,-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,-146.0,0.0,0.0,0,96,0.00,0.00,-78.60,0.000,2,0.000,0.000,424,2631,2760,0,0,0,0,0,0
$GC,98,-0.76,-146.0,3.0,-2.4,12,160,8.98,2.30,-40.97,0.000,4,0.203,0.066,2807,1246,3560,0,0,0,0,0,0
$GC,166,-0.76,-146.0,4.4,-7.0,22,174,0.00,2.38,0.00,0.000,6,0.000,0.060,2798,2650,3560,0,0,0,0,0,0
$GC,307,-0.76,-146.0,26.0,-16.9,47,314,0.00,2.28,0.00,0.000,4,0.000,0.051,2798,1249,3562,0,0,0,0,0,0
$GC,540,-0.76,-146.0,63.3,-15.6,90,549,0.00,2.35,0.00,0.000,6,0.000,0.060,2787,2661,3563,0,0,0,0,0,0
$GC,681,-0.76,-146.0,86.3,-17.4,115,687,0.10,0.00,0.00,0.000,6,0.190,0.000,2812,2661,3563,0,0,0,0,0,0
$GC,824,-0.76,-146.0,108.8,-15.6,136,828,0.00,1.77,0.00,0.000,4,0.000,0.064,2805,3773,3563,0,0,0,0,0,0
$GC,860,-0.76,-146.0,114.5,-16.2,139,864,0.00,1.73,0.00,0.000,6,0.000,0.044,2805,2663,3563,0,0,0,0,0,0
$GC,1001,-0.76,-146.0,138.0,-16.5,152,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2661,3562,0,0,0,0,0,0
$GC,1127,-0.76,-146.0,157.8,-15.3,164,1131,0.00,1.80,0.00,0.000,4,0.000,0.064,2798,3770,3562,0,0,0,0,0,0
$GC,1152,-0.76,-146.0,162.5,-16.8,166,1162,0.00,1.75,0.00,0.000,6,0.000,0.044,2798,2670,3562,0,0,0,0,0,0
$GC,1289,-0.76,-146.0,183.8,-16.2,179,1293,0.00,1.77,0.00,0.000,4,0.000,0.063,2789,3769,3562,0,0,0,0,0,0
$GC,1312,-0.76,-146.0,187.9,-16.9,181,1316,0.00,1.70,0.00,0.000,6,0.000,0.044,2789,2674,3562,0,0,0,0,0,0
$GC,1453,-0.76,-146.0,211.6,-17.0,194,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2673,3563,0,0,0,0,0,0
$GC,1580,-0.76,-146.0,233.1,-16.7,206,1584,0.00,1.77,0.00,0.000,4,0.000,0.064,2780,3767,3562,0,0,0,0,0,0
$GC,1616,-0.76,-146.0,240.1,-18.2,209,1626,0.10,1.73,0.00,0.000,6,0.155,0.044,2812,2683,3563,0,0,0,0,0,0
$GC,1751,-0.76,-146.0,260.0,-14.9,222,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2683,3562,0,0,0,0,0,0
$GC,1942,-0.76,-146.0,288.0,-14.5,240,1945,0.00,1.75,0.00,0.000,4,0.000,0.064,2805,3763,3562,0,0,0,0,0,0
$GC,1968,-0.76,-146.0,292.2,-15.1,242,1977,0.00,1.70,0.00,0.000,6,0.000,0.044,2805,2690,3562,0,0,0,0,0,0
$GC,2167,-0.76,-146.0,322.0,-15.2,261,2171,0.00,1.80,0.00,0.000,4,0.000,0.065,2798,3768,3562,0,0,0,0,0,0
$GC,2200,-0.76,-146.0,327.4,-16.1,264,2204,0.00,1.70,0.00,0.000,6,0.000,0.044,2798,2699,3562,0,0,0,0,0,0
$GC,2403,-0.76,-146.0,358.8,-15.5,283,2405,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2697,3562,0,0,0,0,0,0
$GC,2594,-0.76,-146.0,388.2,-15.3,301,2598,0.00,1.77,0.00,0.000,4,0.000,0.067,2790,3759,3562,0,0,0,0,0,0
$GC,2631,-0.76,-146.0,394.7,-16.6,304,2639,0.00,1.67,0.00,0.000,6,0.000,0.044,2790,2700,3562,0,0,0,0,0,0
$GC,2830,-0.76,-146.0,426.0,-15.8,323,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2699,3563,0,0,0,0,0,0
$GC,3023,-0.76,-146.0,455.7,-15.2,341,3026,0.00,1.75,0.00,0.000,4,0.000,0.067,2781,3771,3562,0,0,0,0,0,0
$GC,3072,-0.76,-146.0,464.2,-15.9,345,3080,0.10,1.70,0.00,0.000,6,0.151,0.044,2813,2701,3562,0,0,0,0,0,0
$GC,3270,-0.76,-146.0,491.4,-13.4,364,3271,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2701,3562,0,0,0,0,0,0
$GC,3467,-0.76,-146.0,518.0,-13.5,375,3470,0.00,1.73,0.00,0.000,4,0.000,0.066,2806,3764,3562,0,0,0,0,0,0
$GC,3515,-0.76,-146.0,525.3,-15.0,376,3520,0.00,1.67,0.00,0.000,6,0.000,0.044,2806,2708,3562,0,0,0,0,0,0
$GC,3718,-0.76,-146.0,553.8,-14.2,383,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2707,3562,0,0,0,0,0,0
$GC,3901,-0.76,-146.0,579.5,-13.9,389,3905,0.00,1.73,0.00,0.000,4,0.000,0.066,2798,3770,3562,0,0,0,0,0,0
$STATE,3920,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3920,begin apogee
$GC,3927,-0.17,0.0,582.8,14.7,389,4067,0.65,0.00,134.00,1.175,4,0.137,0.000,3004,2487,2960,0,0,0,0,0,0
$STATE,4068,end apogee,CONTROL_FINISHED_OK
$STATE,4068,begin climb
$GC,4069,0.76,146.0,588.2,0.0,394,4225,0.98,2.53,146.75,1.108,4,0.075,0.052,3313,1098,2364,0,0,0,0,0,0
$GC,4330,0.76,146.0,563.3,14554.6,402,4335,0.00,2.47,0.00,0.000,6,0.000,0.054,3313,2494,2353,0,0,0,0,0,0
$GC,4538,0.76,146.0,535.7,14554.6,409,4543,0.00,2.30,0.00,0.000,4,0.000,0.053,3322,1094,2349,0,0,0,0,0,0
$GC,4660,0.76,146.0,519.6,14554.6,412,4668,0.00,2.38,0.00,0.000,6,0.000,0.054,3322,2513,2346,0,0,0,0,0,0
$GC,4853,0.76,146.0,492.5,14554.6,421,4856,0.00,2.03,0.00,0.000,4,0.000,0.060,3323,3774,2345,0,0,0,0,0,0
$GC,4935,0.76,146.0,478.6,14554.6,428,4943,0.00,2.00,0.00,0.000,6,0.000,0.044,3329,2525,2345,0,0,0,0,0,0
$GC,5135,0.76,146.0,449.1,14554.6,447,5139,0.00,2.03,0.00,0.000,4,0.000,0.060,3330,3779,2344,0,0,0,0,0,0
$GC,5184,0.76,146.0,440.6,14554.6,451,5192,0.00,1.98,0.00,0.000,6,0.000,0.043,3339,2537,2344,0,0,0,0,0,0
$GC,5382,0.76,146.0,410.4,14554.6,470,5386,0.00,2.00,0.00,0.000,4,0.000,0.060,3339,3774,2343,0,0,0,0,0,0
$GC,5415,0.76,146.0,404.9,14554.6,473,5420,0.15,1.92,0.00,0.000,6,0.172,0.044,3309,2539,2343,0,0,0,0,0,0
$GC,5614,0.76,146.0,379.4,14554.6,491,5616,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2537,2343,0,0,0,0,0,0
$GC,5803,0.76,146.0,355.2,14554.6,509,5807,0.00,2.00,0.00,0.000,4,0.000,0.061,3309,3777,2342,0,0,0,0,0,0
$GC,5841,0.76,146.0,349.7,14554.6,512,5849,0.00,1.98,0.00,0.000,6,0.000,0.044,3316,2538,2342,0,0,0,0,0,0
$GC,6039,0.76,146.0,323.7,14554.6,531,6041,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2536,2341,0,0,0,0,0,0
$GC,6230,0.76,146.0,298.6,14554.6,549,6234,0.00,2.03,0.00,0.000,4,0.000,0.061,3316,3795,2341,0,0,0,0,0,0
$GC,6280,0.76,146.0,291.3,14554.6,553,6287,0.00,2.00,0.00,0.000,6,0.000,0.044,3326,2544,2341,0,0,0,0,0,0
$GC,6477,0.76,146.0,264.8,14554.6,572,6479,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2542,2341,0,0,0,0,0,0
$GC,6671,0.76,146.0,239.8,14554.6,590,6672,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2542,2341,0,0,0,0,0,0
$GC,6798,0.76,146.0,223.5,14554.6,602,6799,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2542,2341,0,0,0,0,0,0
$GC,6925,0.76,146.0,207.6,14554.6,614,6929,0.00,2.00,0.00,0.000,4,0.000,0.062,3326,3778,2341,0,0,0,0,0,0
$GC,6961,0.76,146.0,202.9,14554.6,617,6964,0.00,1.92,0.00,0.000,6,0.000,0.044,3336,2542,2341,0,0,0,0,0,0
$GC,7103,0.76,146.0,184.0,14554.6,630,7110,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2539,2341,0,0,0,0,0,0
$GC,7238,0.76,146.0,166.4,14554.6,643,7241,0.00,2.00,0.00,0.000,4,0.000,0.061,3336,3777,2341,0,0,0,0,0,0
$GC,7295,0.76,146.0,157.4,14554.6,648,7305,0.10,1.95,0.00,0.000,6,0.153,0.043,3313,2549,2341,0,0,0,0,0,0
$GC,7432,0.76,146.0,141.3,14554.6,661,7435,0.00,1.98,0.00,0.000,4,0.000,0.062,3313,3771,2341,0,0,0,0,0,0
$GC,7466,0.76,146.0,136.7,14554.6,664,7470,0.00,1.90,0.00,0.000,6,0.000,0.044,3321,2558,2340,0,0,0,0,0,0
$GC,7608,0.76,146.0,118.3,14554.6,677,7609,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2556,2340,0,0,0,0,0,0
$GC,7734,0.76,146.0,102.2,14554.6,689,7735,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2556,2340,0,0,0,0,0,0
$GC,7863,0.76,146.0,85.1,14554.6,711,7869,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2555,2340,0,0,0,0,0,0
$GC,8000,0.76,146.0,66.9,14554.6,736,8008,0.00,2.00,0.00,0.000,4,0.000,0.061,3321,3767,2340,0,0,0,0,0,0
$GC,8036,0.76,146.0,62.0,14554.6,742,8044,0.00,1.90,0.00,0.000,6,0.000,0.043,3330,2564,2340,0,0,0,0,0,0
$GC,8178,0.76,146.0,42.9,14554.6,767,8184,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2563,2340,0,0,0,0,0,0
$GC,8313,0.76,146.0,24.0,14554.6,792,8322,0.00,2.00,0.00,0.000,4,0.000,0.063,3330,3770,2340,0,0,0,0,0,0
$GC,8361,0.76,146.0,16.8,14554.6,800,8369,0.00,1.90,0.00,0.000,6,0.000,0.043,3339,2567,2340,0,0,0,0,0,0
$FREEZE,8.42,-1.632,-1.908,2,1,0
$FREEZE,7.88,-1.633,-1.908,2,1,0
$FREEZE,7.11,-1.639,-1.907,2,1,0
$FREEZE,6.40,-1.636,-1.907,2,1,0
$FREEZE,5.53,-1.635,-1.906,2,1,0
$FREEZE,4.85,-1.608,-1.905,2,1,0
$FREEZE,3.89,-1.629,-1.905,2,1,0
$FREEZE,3.07,-1.627,-1.904,2,1,0
$FREEZE,2.27,-1.615,-1.904,2,1,0
$STATE,8466,end climb,SURFACE_DEPTH_REACHED
$STATE,8466,begin surface coast
$FREEZE,1.41,-1.621,-1.903,2,1,0
$FINISH,1.4,1.027892
$STATE,8474,end surface coast,CONTROL_FINISHED_OK
$STATE,8474,begin surface
$SM_CCo,8488,138.15,0.767,1,0,1329,400.08
$SM_GC,2.20,0.00,0.00,138.15,0.000,0.000,0.767,423,2670,1329,-8.26,0.59,400.08
$IRIDIUM_FIX,-7621.20,16515.88,071210,060609
$TT8_MAMPS,0.028462
$HUMID,50.98
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.3,17.4
$24V_AH,20.9,37.155
$10V_AH,9.8,22.051
$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,18.650,93.700,280.750,138.150,0.000,31.087,37.860,176.405,2.750,0.000,17.398,2035.673,4039.591,571.617,2182.056,152.486,0.000,1431.921,0.000,1415.413,0.000,14.642,0.000
$DEVICE_MAMPS,203.490,89.505,1175.040,767.295,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,578.355,1005.886,902.488,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276244
$DATA_FILE_SIZE,53792,819
$CAP_FILE_SIZE,118482,0
$CFSIZE,260165632,243585024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071210,114414,-7704.671,16525.098,32,1.7,33,142.6