version: 66.08
glider: 502
mission: 3
dive: 167
start: 12 7 110 16 52 7
data:
$ID,502
$MISSION,3
$DIVE,167
$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,-27652.168
$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,34
$R_STBD_OVSHOOT,25
$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
$GPS1,071210,164306,-7702.129,16524.887,44,0.8,45,142.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-70.4
$GPS2,071210,165143,-7702.087,16524.844,12,0.9,17,142.5
$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,220.6,40965,-17.5,-10.000
$D_GRID,576
$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,-78.72,0.000,2,0.000,0.000,416,2654,2766,0,0,0,0,0,0
$GC,98,-0.76,-146.0,3.0,-2.9,12,160,8.95,1.90,-40.78,0.000,4,0.203,0.082,2803,3761,3559,0,0,0,0,0,0
$GC,405,-0.76,-146.0,43.6,-17.0,66,413,0.00,1.80,0.00,0.000,6,0.000,0.044,2803,2641,3561,0,0,0,0,0,0
$GC,545,-0.76,-146.0,66.1,-17.2,91,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2641,3561,0,0,0,0,0,0
$GC,682,-0.76,-146.0,88.8,-15.8,116,690,0.00,1.88,0.00,0.000,4,0.000,0.063,2794,3765,3562,0,0,0,0,0,0
$GC,714,-0.76,-146.0,93.9,-17.2,121,721,0.00,1.77,0.00,0.000,6,0.000,0.044,2794,2633,3562,0,0,0,0,0,0
$GC,856,-0.76,-146.0,117.7,-16.5,137,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2631,3562,0,0,0,0,0,0
$GC,983,-0.76,-146.0,138.9,-16.6,149,987,0.00,1.85,0.00,0.000,4,0.000,0.065,2785,3767,3562,0,0,0,0,0,0
$GC,1019,-0.76,-146.0,145.6,-16.7,152,1029,0.08,1.77,0.00,0.000,6,0.152,0.044,2810,2650,3562,0,0,0,0,0,0
$GC,1156,-0.76,-146.0,166.1,-15.3,165,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2650,3562,0,0,0,0,0,0
$GC,1282,-0.76,-146.0,185.5,-15.5,177,1286,0.00,1.83,0.00,0.000,4,0.000,0.065,2803,3764,3562,0,0,0,0,0,0
$GC,1319,-0.76,-146.0,191.9,-16.0,180,1327,0.00,1.75,0.00,0.000,6,0.000,0.044,2803,2665,3562,0,0,0,0,0,0
$GC,1454,-0.76,-146.0,212.8,-15.7,193,1456,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2664,3562,0,0,0,0,0,0
$GC,1581,-0.76,-146.0,232.5,-15.0,205,1582,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2664,3562,0,0,0,0,0,0
$GC,1708,-0.76,-146.0,252.0,-15.2,217,1711,0.00,1.77,0.00,0.000,4,0.000,0.064,2796,3763,3562,0,0,0,0,0,0
$GC,1757,-0.76,-146.0,260.3,-16.3,221,1764,0.00,1.75,0.00,0.000,6,0.000,0.044,2796,2661,3562,0,0,0,0,0,0
$GC,1956,-0.76,-146.0,290.8,-15.9,240,1957,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2660,3562,0,0,0,0,0,0
$GC,2146,-0.76,-146.0,320.8,-15.8,258,2149,0.00,1.80,0.00,0.000,4,0.000,0.064,2787,3767,3562,0,0,0,0,0,0
$GC,2206,-0.76,-146.0,331.1,-17.4,263,2214,0.08,1.75,0.00,0.000,6,0.153,0.044,2811,2672,3562,0,0,0,0,0,0
$GC,2405,-0.76,-146.0,359.2,-13.9,282,2406,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2670,3562,0,0,0,0,0,0
$GC,2595,-0.76,-146.0,385.8,-13.7,300,2599,0.00,1.77,0.00,0.000,4,0.000,0.064,2804,3764,3562,0,0,0,0,0,0
$GC,2655,-0.76,-146.0,395.1,-14.7,305,2663,0.00,1.73,0.00,0.000,6,0.000,0.044,2804,2679,3562,0,0,0,0,0,0
$GC,2854,-0.76,-146.0,422.8,-13.9,324,2857,0.00,1.77,0.00,0.000,4,0.000,0.064,2796,3770,3562,0,0,0,0,0,0
$GC,2888,-0.76,-146.0,427.9,-15.1,327,2891,0.00,1.70,0.00,0.000,6,0.000,0.044,2796,2677,3562,0,0,0,0,0,0
$GC,3090,-0.76,-146.0,457.3,-14.1,346,3094,0.00,1.77,0.00,0.000,4,0.000,0.064,2788,3767,3562,0,0,0,0,0,0
$GC,3124,-0.76,-146.0,462.5,-15.1,349,3129,0.10,1.67,0.00,0.000,6,0.183,0.044,2813,2686,3562,0,0,0,0,0,0
$GC,3328,-0.76,-146.0,489.1,-12.7,368,3332,0.00,1.75,0.00,0.000,4,0.000,0.064,2806,3761,3562,0,0,0,0,0,0
$GC,3362,-0.76,-146.0,494.0,-14.0,371,3365,0.00,1.65,0.00,0.000,6,0.000,0.044,2806,2694,3562,0,0,0,0,0,0
$GC,3569,-0.76,-146.0,522.4,-13.8,381,3570,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2693,3562,0,0,0,0,0,0
$GC,3752,-0.76,-146.0,547.6,-13.7,387,3756,0.00,1.75,0.00,0.000,4,0.000,0.064,2798,3770,3562,0,0,0,0,0,0
$GC,3795,-0.76,-146.0,554.5,-15.6,388,3801,0.00,1.70,0.00,0.000,6,0.000,0.044,2798,2701,3561,0,0,0,0,0,0
$STATE,3971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3971,begin apogee
$GC,3976,-0.17,0.0,579.6,14.2,394,4115,0.65,0.00,134.35,1.174,4,0.137,0.000,3005,2491,2961,0,0,0,0,0,0
$STATE,4116,end apogee,CONTROL_FINISHED_OK
$STATE,4116,begin climb
$GC,4117,0.76,146.0,585.2,0.0,398,4273,0.98,2.55,146.60,1.106,4,0.074,0.052,3313,1098,2365,0,0,0,0,0,0
$GC,4386,0.76,146.0,561.2,11.6,407,4390,0.00,2.42,0.00,0.000,6,0.000,0.054,3313,2497,2353,0,0,0,0,0,0
$GC,4598,0.76,146.0,533.9,13.0,414,4602,0.00,2.28,0.00,0.000,4,0.000,0.052,3323,1100,2349,0,0,0,0,0,0
$GC,4736,0.76,146.0,516.1,12.1,418,4741,0.00,2.35,0.00,0.000,6,0.000,0.054,3323,2513,2346,0,0,0,0,0,0
$GC,4936,0.76,146.0,489.7,13.5,428,4939,0.00,2.03,0.00,0.000,4,0.000,0.061,3323,3774,2346,0,0,0,0,0,0
$GC,5018,0.76,146.0,476.9,15.2,435,5026,0.00,2.00,0.00,0.000,6,0.000,0.044,3333,2528,2346,0,0,0,0,0,0
$GC,5218,0.76,146.0,449.4,14.3,454,5222,0.00,2.00,0.00,0.000,4,0.000,0.061,3333,3768,2345,0,0,0,0,0,0
$GC,5252,0.76,146.0,444.0,15.7,457,5257,0.12,1.92,0.00,0.000,6,0.170,0.043,3310,2530,2345,0,0,0,0,0,0
$GC,5450,0.76,146.0,417.8,12.9,475,5453,0.00,2.00,0.00,0.000,4,0.000,0.061,3310,3767,2344,0,0,0,0,0,0
$GC,5495,0.76,146.0,411.1,15.5,479,5499,0.00,1.92,0.00,0.000,6,0.000,0.043,3317,2527,2343,0,0,0,0,0,0
$GC,5697,0.76,146.0,383.6,12.9,498,5701,0.00,2.00,0.00,0.000,4,0.000,0.061,3317,3764,2343,0,0,0,0,0,0
$GC,5742,0.76,146.0,376.8,15.3,502,5746,0.00,1.90,0.00,0.000,6,0.000,0.042,3326,2540,2343,0,0,0,0,0,0
$GC,5945,0.76,146.0,348.0,14.0,521,5949,0.00,2.03,0.00,0.000,4,0.000,0.061,3326,3789,2342,0,0,0,0,0,0
$GC,5978,0.76,146.0,342.8,15.6,524,5982,0.00,1.92,0.00,0.000,6,0.000,0.043,3335,2552,2343,0,0,0,0,0,0
$GC,6181,0.76,146.0,312.9,14.2,543,6185,0.00,1.98,0.00,0.000,4,0.000,0.061,3335,3775,2342,0,0,0,0,0,0
$GC,6208,0.76,146.0,308.5,15.9,545,6216,0.10,1.92,0.00,0.000,6,0.151,0.043,3313,2561,2342,0,0,0,0,0,0
$GC,6406,0.76,146.0,283.9,11.8,564,6409,0.00,1.95,0.00,0.000,4,0.000,0.061,3313,3770,2342,0,0,0,0,0,0
$GC,6444,0.76,146.0,278.6,13.7,567,6451,0.00,1.90,0.00,0.000,6,0.000,0.044,3320,2571,2342,0,0,0,0,0,0
$GC,6643,0.76,146.0,253.9,12.9,586,6647,0.00,1.92,0.00,0.000,4,0.000,0.061,3321,3764,2342,0,0,0,0,0,0
$GC,6677,0.76,146.0,249.1,14.2,589,6681,0.00,1.83,0.00,0.000,6,0.000,0.043,3330,2577,2341,0,0,0,0,0,0
$GC,6820,0.76,146.0,230.8,12.6,602,6827,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2575,2341,0,0,0,0,0,0
$GC,6954,0.76,146.0,213.1,13.6,615,6958,0.00,1.92,0.00,0.000,4,0.000,0.061,3330,3770,2341,0,0,0,0,0,0
$GC,7001,0.76,146.0,205.5,15.9,619,7010,0.00,1.88,0.00,0.000,6,0.000,0.044,3339,2589,2341,0,0,0,0,0,0
$GC,7139,0.76,146.0,186.6,13.8,632,7147,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2588,2341,0,0,0,0,0,0
$GC,7274,0.76,146.0,167.6,14.6,645,7275,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2588,2341,0,0,0,0,0,0
$GC,7401,0.76,146.0,149.7,14.1,657,7403,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2588,2341,0,0,0,0,0,0
$GC,7529,0.76,146.0,131.6,14.1,669,7533,0.00,1.90,0.00,0.000,4,0.000,0.063,3338,3769,2341,0,0,0,0,0,0
$GC,7574,0.76,146.0,124.5,16.2,673,7578,0.12,1.83,0.00,0.000,6,0.176,0.044,3315,2588,2341,0,0,0,0,0,0
$GC,7715,0.76,146.0,105.5,13.3,686,7716,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2586,2341,0,0,0,0,0,0
$GC,7843,0.76,146.0,88.7,13.6,705,7849,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2586,2341,0,0,0,0,0,0
$GC,7978,0.76,146.0,70.9,12.3,730,7987,0.00,1.95,0.00,0.000,4,0.000,0.063,3315,3761,2341,0,0,0,0,0,0
$GC,8014,0.76,146.0,66.2,13.4,736,8022,0.00,1.85,0.00,0.000,6,0.000,0.044,3322,2593,2341,0,0,0,0,0,0
$GC,8156,0.76,146.0,48.1,12.6,761,8162,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2592,2341,0,0,0,0,0,0
$GC,8292,0.76,146.0,30.4,13.7,786,8299,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2592,2341,0,0,0,0,0,0
$GC,8433,0.76,146.0,12.3,13.6,811,8439,0.00,1.90,0.00,0.000,4,0.000,0.060,3322,3767,2341,0,0,0,0,0,0
$FREEZE,8.80,-1.433,-1.905,2,1,0
$FREEZE,7.92,-1.428,-1.905,2,1,0
$FREEZE,7.14,-1.417,-1.904,2,1,0
$FREEZE,6.30,-1.408,-1.903,2,1,0
$GC,8476,0.76,146.0,6.3,14.7,818,8484,0.00,1.85,0.00,0.000,6,0.000,0.042,3332,2595,2341,0,0,0,0,0,0
$FREEZE,3.89,-1.396,-1.901,2,1,0
$FREEZE,3.24,-1.394,-1.901,2,1,0
$FREEZE,2.40,-1.392,-1.900,2,1,0
$STATE,8501,end climb,SURFACE_DEPTH_REACHED
$STATE,8501,begin surface coast
$FREEZE,1.78,-1.394,-1.900,2,1,0
$FREEZE,1.46,-1.402,-1.900,2,1,0
$FREEZE,1.46,-1.383,-1.897,2,1,0
$FREEZE,1.40,-1.404,-1.404,2,1,0
$FINISH,1.4,1.020709
$STATE,8528,end surface coast,FINISH_DEPTH_REACHED
$STATE,8529,begin surface
$SM_CCo,8543,139.60,0.780,1,0,1329,400.08
$SM_GC,2.20,0.00,0.00,139.60,0.000,0.000,0.780,420,2673,1329,-8.26,0.65,400.08
$IRIDIUM_FIX,-7621.20,16536.88,071210,161628
$TT8_MAMPS,0.027713
$HUMID,51.06
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.4,17.6
$24V_AH,20.9,37.562
$10V_AH,9.9,22.336
$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,18.700,95.225,280.950,139.600,0.000,58.324,118.999,175.721,2.750,0.000,18.102,2056.767,4088.661,572.061,2328.695,164.076,0.000,1449.252,0.000,1448.722,0.000,14.644,0.000
$DEVICE_MAMPS,202.725,104.040,1173.510,779.535,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,583.369,1011.143,900.166,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,57001,826
$CAP_FILE_SIZE,121816,0
$CFSIZE,260165632,243396608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071210,191828,-7700.784,16523.906,36,2.4,56,142.4