version: 66.08
glider: 502
mission: 3
dive: 168
start: 12 7 110 19 29 21
data:
$ID,502
$MISSION,3
$DIVE,168
$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,-27653.43
$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,35
$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
$GPS1,071210,191828,-7700.784,16523.906,36,2.4,56,142.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-66.7
$GPS2,071210,192858,-7700.738,16523.773,12,2.3,31,142.4
$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,221.6,38500,-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,-146.0,0.0,0.0,0,105,0.00,0.00,-85.78,0.000,2,0.000,0.000,420,2673,2916,0,0,0,0,0,0
$GC,107,-0.76,-146.0,3.2,-2.9,13,154,8.98,2.33,-29.90,0.000,4,0.206,0.068,2820,1245,3559,0,0,0,0,0,0
$GC,401,-0.76,-146.0,35.3,-12.7,65,408,0.00,2.30,0.00,0.000,6,0.000,0.060,2810,2647,3563,0,0,0,0,0,0
$GC,538,-0.76,-146.0,56.0,-17.3,90,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2646,3563,0,0,0,0,0,0
$GC,679,-0.76,-146.0,78.7,-16.1,115,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2646,3562,0,0,0,0,0,0
$GC,814,-0.76,-146.0,100.4,-16.0,140,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2647,3563,0,0,0,0,0,0
$GC,943,-0.76,-146.0,120.3,-15.7,152,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2646,3563,0,0,0,0,0,0
$GC,1070,-0.76,-146.0,140.0,-15.7,164,1074,0.00,1.77,0.00,0.000,4,0.000,0.062,2802,3763,3563,0,0,0,0,0,0
$GC,1105,-0.76,-146.0,145.3,-15.2,167,1108,0.00,1.73,0.00,0.000,6,0.000,0.044,2802,2649,3562,0,0,0,0,0,0
$GC,1246,-0.76,-146.0,167.8,-16.0,180,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2647,3562,0,0,0,0,0,0
$GC,1373,-0.76,-146.0,188.2,-16.0,192,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2647,3562,0,0,0,0,0,0
$GC,1499,-0.76,-146.0,208.7,-16.8,204,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2647,3562,0,0,0,0,0,0
$GC,1627,-0.76,-146.0,229.7,-16.3,216,1631,0.00,1.80,0.00,0.000,4,0.000,0.064,2795,3763,3562,0,0,0,0,0,0
$GC,1672,-0.76,-146.0,237.7,-17.9,220,1676,0.00,1.73,0.00,0.000,6,0.000,0.044,2795,2651,3562,0,0,0,0,0,0
$GC,1811,-0.76,-146.0,260.8,-16.2,233,1815,0.00,2.20,0.00,0.000,4,0.000,0.054,2794,1245,3562,0,0,0,0,0,0
$GC,1840,-0.76,-146.0,265.4,-16.0,235,1845,0.12,2.30,0.00,0.000,6,0.168,0.060,2817,2664,3562,0,0,0,0,0,0
$GC,2037,-0.76,-146.0,292.9,-13.8,253,2041,0.00,1.80,0.00,0.000,4,0.000,0.064,2810,3764,3562,0,0,0,0,0,0
$GC,2071,-0.76,-146.0,297.7,-14.8,256,2074,0.00,1.73,0.00,0.000,6,0.000,0.044,2810,2649,3563,0,0,0,0,0,0
$GC,2274,-0.76,-146.0,326.7,-14.0,275,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2647,3562,0,0,0,0,0,0
$GC,2465,-0.76,-146.0,354.7,-15.4,293,2468,0.00,1.80,0.00,0.000,4,0.000,0.064,2801,3761,3562,0,0,0,0,0,0
$GC,2521,-0.76,-146.0,363.9,-17.2,298,2525,0.00,1.70,0.00,0.000,6,0.000,0.044,2801,2663,3562,0,0,0,0,0,0
$GC,2724,-0.76,-146.0,395.3,-16.0,317,2725,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2661,3562,0,0,0,0,0,0
$GC,2917,-0.76,-146.0,424.9,-15.2,335,2920,0.00,1.77,0.00,0.000,4,0.000,0.064,2794,3763,3562,0,0,0,0,0,0
$GC,2943,-0.76,-146.0,429.7,-16.0,337,2951,0.00,1.75,0.00,0.000,6,0.000,0.044,2794,2658,3562,0,0,0,0,0,0
$GC,3141,-0.76,-146.0,460.0,-15.7,356,3145,0.00,1.80,0.00,0.000,4,0.000,0.065,2785,3765,3562,0,0,0,0,0,0
$GC,3164,-0.76,-146.0,463.7,-15.9,358,3168,0.12,1.70,0.00,0.000,6,0.175,0.045,2818,2667,3562,0,0,0,0,0,0
$GC,3366,-0.76,-146.0,490.6,-13.1,377,3367,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2666,3562,0,0,0,0,0,0
$GC,3564,-0.76,-146.0,515.7,-12.6,388,3568,0.00,1.77,0.00,0.000,4,0.000,0.064,2811,3763,3562,0,0,0,0,0,0
$GC,3602,-0.76,-146.0,521.2,-13.4,389,3607,0.00,1.73,0.00,0.000,6,0.000,0.044,2811,2677,3561,0,0,0,0,0,0
$GC,3816,-0.76,-146.0,548.9,-13.1,396,3819,0.00,1.77,0.00,0.000,4,0.000,0.066,2802,3768,3561,0,0,0,0,0,0
$GC,3842,-0.76,-146.0,552.9,-13.6,396,3850,0.00,1.75,0.00,0.000,6,0.000,0.044,2803,2670,3562,0,0,0,0,0,0
$STATE,4001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4001,begin apogee
$GC,4005,-0.17,0.0,574.7,13.8,402,4144,0.62,0.00,134.02,1.171,4,0.135,0.000,3003,2493,2960,0,0,0,0,0,0
$STATE,4145,end apogee,CONTROL_FINISHED_OK
$STATE,4145,begin climb
$GC,4146,0.76,146.0,579.3,0.0,406,4301,0.98,2.55,146.15,1.090,4,0.074,0.051,3311,1100,2364,0,0,0,0,0,0
$GC,4407,0.76,146.0,554.2,12.0,414,4411,0.00,2.47,0.00,0.000,6,0.000,0.053,3312,2492,2352,0,0,0,0,0,0
$GC,4605,0.76,146.0,528.1,13.5,421,4609,0.00,2.30,0.00,0.000,4,0.000,0.054,3315,1097,2348,0,0,0,0,0,0
$GC,4709,0.76,146.0,513.9,12.9,424,4714,0.00,2.40,0.00,0.000,6,0.000,0.055,3315,2522,2346,0,0,0,0,0,0
$GC,4910,0.76,146.0,486.4,13.6,436,4914,0.00,2.00,0.00,0.000,4,0.000,0.061,3315,3767,2345,0,0,0,0,0,0
$GC,5000,0.76,146.0,472.3,16.0,444,5004,0.00,1.92,0.00,0.000,6,0.000,0.043,3324,2535,2345,0,0,0,0,0,0
$GC,5205,0.76,146.0,443.2,13.9,463,5208,0.00,2.00,0.00,0.000,4,0.000,0.061,3324,3769,2343,0,0,0,0,0,0
$GC,5254,0.76,146.0,435.0,15.9,467,5261,0.00,1.95,0.00,0.000,6,0.000,0.043,3334,2546,2343,0,0,0,0,0,0
$GC,5452,0.76,146.0,406.0,14.5,486,5455,0.00,1.98,0.00,0.000,4,0.000,0.061,3334,3767,2343,0,0,0,0,0,0
$GC,5489,0.76,146.0,399.7,17.0,489,5498,0.08,1.95,0.00,0.000,6,0.151,0.042,3318,2547,2342,0,0,0,0,0,0
$GC,5689,0.76,146.0,372.9,12.9,508,5693,0.00,1.98,0.00,0.000,4,0.000,0.063,3318,3767,2342,0,0,0,0,0,0
$GC,5738,0.76,146.0,365.2,15.5,512,5746,0.00,1.92,0.00,0.000,6,0.000,0.042,3326,2553,2342,0,0,0,0,0,0
$GC,5938,0.76,146.0,337.8,13.6,531,5942,0.00,1.98,0.00,0.000,4,0.000,0.063,3326,3775,2341,0,0,0,0,0,0
$GC,5987,0.76,146.0,329.7,16.0,535,5994,0.00,1.92,0.00,0.000,6,0.000,0.044,3335,2563,2341,0,0,0,0,0,0
$GC,6186,0.76,146.0,301.8,14.4,554,6190,0.00,1.95,0.00,0.000,4,0.000,0.061,3336,3773,2341,0,0,0,0,0,0
$GC,6224,0.76,146.0,295.2,17.1,557,6232,0.10,1.90,0.00,0.000,6,0.145,0.044,3313,2570,2341,0,0,0,0,0,0
$GC,6422,0.76,146.0,269.4,13.1,576,6426,0.00,1.92,0.00,0.000,4,0.000,0.062,3312,3767,2341,0,0,0,0,0,0
$GC,6448,0.76,146.0,265.5,14.7,578,6456,0.00,1.90,0.00,0.000,6,0.000,0.041,3320,2565,2341,0,0,0,0,0,0
$GC,6649,0.76,146.0,239.6,13.3,597,6652,0.00,1.95,0.00,0.000,4,0.000,0.062,3320,3774,2341,0,0,0,0,0,0
$GC,6683,0.76,146.0,234.6,14.7,600,6687,0.00,1.88,0.00,0.000,6,0.000,0.044,3329,2566,2341,0,0,0,0,0,0
$GC,6825,0.76,146.0,214.9,13.5,613,6829,0.00,1.95,0.00,0.000,4,0.000,0.061,3329,3777,2341,0,0,0,0,0,0
$GC,6861,0.76,146.0,208.9,15.6,616,6870,0.00,1.88,0.00,0.000,6,0.000,0.042,3338,2591,2341,0,0,0,0,0,0
$GC,6997,0.76,146.0,190.2,13.6,629,6998,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2590,2341,0,0,0,0,0,0
$GC,7124,0.76,146.0,172.1,14.0,641,7128,0.00,1.90,0.00,0.000,4,0.000,0.061,3338,3773,2341,0,0,0,0,0,0
$GC,7159,0.76,146.0,167.0,16.1,644,7163,0.12,1.83,0.00,0.000,6,0.175,0.043,3315,2590,2341,0,0,0,0,0,0
$GC,7298,0.76,146.0,150.3,11.3,657,7299,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2587,2340,0,0,0,0,0,0
$GC,7426,0.76,146.0,135.2,11.6,669,7427,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2587,2341,0,0,0,0,0,0
$GC,7553,0.76,146.0,119.5,12.8,681,7557,0.00,1.90,0.00,0.000,4,0.000,0.063,3314,3767,2340,0,0,0,0,0,0
$GC,7591,0.76,146.0,113.7,15.0,684,7600,0.00,1.85,0.00,0.000,6,0.000,0.042,3322,2592,2340,0,0,0,0,0,0
$GC,7727,0.76,146.0,95.6,13.6,699,7733,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2591,2340,0,0,0,0,0,0
$GC,7864,0.76,146.0,77.1,13.9,724,7872,0.00,1.95,0.00,0.000,4,0.000,0.062,3322,3770,2340,0,0,0,0,0,0
$GC,7918,0.76,146.0,68.9,16.9,733,7925,0.00,1.83,0.00,0.000,6,0.000,0.043,3331,2596,2340,0,0,0,0,0,0
$GC,8055,0.76,146.0,48.4,15.2,758,8064,0.00,2.42,0.00,0.000,4,0.000,0.053,3342,1082,2339,0,0,0,0,0,0
$GC,8087,0.76,146.0,43.8,14.5,763,8095,0.10,2.47,0.00,0.000,6,0.168,0.056,3316,2615,2339,0,0,0,0,0,0
$GC,8229,0.76,146.0,25.1,13.0,788,8237,0.00,1.88,0.00,0.000,4,0.000,0.062,3316,3768,2339,0,0,0,0,0,0
$GC,8329,0.76,146.0,10.3,12.1,806,8337,0.00,1.85,0.00,0.000,6,0.000,0.044,3323,2605,2339,0,0,0,0,0,0
$FREEZE,8.31,-1.546,-1.904,2,1,0
$FREEZE,7.75,-1.544,-1.904,2,1,0
$FREEZE,6.92,-1.542,-1.903,2,1,0
$FREEZE,6.10,-1.545,-1.903,2,1,0
$FREEZE,5.18,-1.548,-1.902,2,1,0
$FREEZE,4.40,-1.542,-1.901,2,1,0
$FREEZE,3.47,-1.544,-1.900,2,1,0
$FREEZE,2.96,-1.540,-1.900,2,1,0
$STATE,8383,end climb,SURFACE_DEPTH_REACHED
$STATE,8383,begin surface coast
$FREEZE,2.02,-1.534,-1.899,2,1,0
$FREEZE,1.49,-1.527,-1.898,2,1,0
$FREEZE,1.43,-1.528,-1.898,2,1,0
$FREEZE,1.39,-1.538,-1.111,2,1,0
$FINISH,1.4,1.016400
$STATE,8408,end surface coast,FINISH_DEPTH_REACHED
$STATE,8408,begin surface
$SM_CCo,8423,139.07,0.758,1,0,1329,400.08
$SM_GC,2.28,0.00,0.00,139.07,0.000,0.000,0.758,417,2666,1329,-8.27,0.45,400.08
$IRIDIUM_FIX,-7612.11,16529.99,071210,191954
$TT8_MAMPS,0.028462
$HUMID,51.33
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,18.2
$24V_AH,20.9,37.705
$10V_AH,9.9,22.434
$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,18.725,102.100,280.175,139.075,0.000,55.383,77.836,298.463,2.750,0.000,33.426,2050.179,4004.831,562.336,2417.367,166.440,0.000,1424.300,0.000,1429.813,0.000,14.641,0.000
$DEVICE_MAMPS,205.785,110.925,1171.215,758.115,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,578.801,1005.013,906.326,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53800,819
$CAP_FILE_SIZE,125489,0
$CFSIZE,260165632,243335168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071210,215330,-7659.413,16522.223,44,1.0,45,142.4