version: 66.08
glider: 502
mission: 3
dive: 171
start: 12 8 110 3 1 30
data:
$ID,502
$MISSION,3
$DIVE,171
$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,-27657.207
$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,40
$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
$GPS1,081210,025456,-7657.402,16525.285,32,1.4,33,142.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-65.5
$GPS2,081210,030107,-7657.396,16525.238,40,0.8,40,142.2
$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,221.4,32283,-17.5,-10.000
$D_GRID,572
$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,-146.0,0.0,0.0,0,97,0.00,0.00,-78.20,0.000,2,0.000,0.000,418,2634,2777,0,0,0,0,0,0
$GC,99,-0.76,-146.0,3.0,-2.6,12,154,8.98,2.28,-38.15,0.000,4,0.203,0.064,2810,1240,3558,0,0,0,0,0,0
$GC,401,-0.76,-146.0,39.6,-15.3,65,408,0.00,2.33,0.00,0.000,6,0.000,0.059,2801,2651,3562,0,0,0,0,0,0
$GC,537,-0.76,-146.0,62.0,-16.9,90,546,0.00,2.28,0.00,0.000,4,0.000,0.052,2802,1252,3562,0,0,0,0,0,0
$GC,613,-0.76,-146.0,73.8,-15.3,103,620,0.00,2.30,0.00,0.000,6,0.000,0.058,2793,2654,3562,0,0,0,0,0,0
$GC,749,-0.76,-146.0,97.5,-17.9,128,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2654,3562,0,0,0,0,0,0
$GC,886,-0.76,-146.0,120.6,-16.9,142,890,0.00,1.77,0.00,0.000,4,0.000,0.063,2784,3768,3562,0,0,0,0,0,0
$GC,920,-0.76,-146.0,126.6,-18.1,145,925,0.12,1.73,0.00,0.000,6,0.173,0.044,2817,2654,3562,0,0,0,0,0,0
$GC,1061,-0.76,-146.0,147.6,-14.4,158,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2652,3562,0,0,0,0,0,0
$GC,1188,-0.76,-146.0,165.2,-13.7,170,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2652,3562,0,0,0,0,0,0
$GC,1316,-0.76,-146.0,182.2,-13.2,182,1319,0.00,1.80,0.00,0.000,4,0.000,0.066,2810,3764,3562,0,0,0,0,0,0
$GC,1350,-0.76,-146.0,187.0,-14.0,185,1353,0.00,1.73,0.00,0.000,6,0.000,0.044,2810,2648,3562,0,0,0,0,0,0
$GC,1491,-0.76,-146.0,207.4,-14.2,198,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2647,3562,0,0,0,0,0,0
$GC,1618,-0.76,-146.0,225.3,-14.1,210,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2647,3562,0,0,0,0,0,0
$GC,1745,-0.76,-146.0,243.4,-14.0,222,1749,0.00,1.80,0.00,0.000,4,0.000,0.063,2801,3764,3562,0,0,0,0,0,0
$GC,1781,-0.76,-146.0,248.6,-15.5,225,1784,0.00,1.73,0.00,0.000,6,0.000,0.044,2801,2650,3562,0,0,0,0,0,0
$GC,1920,-0.76,-146.0,269.7,-14.8,238,1924,0.00,2.20,0.00,0.000,4,0.000,0.054,2801,1246,3562,0,0,0,0,0,0
$GC,1941,-0.76,-146.0,273.2,-15.1,239,1949,0.00,2.33,0.00,0.000,6,0.000,0.059,2792,2651,3562,0,0,0,0,0,0
$GC,2140,-0.76,-146.0,303.6,-15.2,258,2143,0.00,1.77,0.00,0.000,4,0.000,0.063,2783,3770,3562,0,0,0,0,0,0
$GC,2190,-0.76,-146.0,312.1,-16.4,262,2198,0.12,1.75,0.00,0.000,6,0.169,0.044,2817,2670,3562,0,0,0,0,0,0
$GC,2387,-0.76,-146.0,339.5,-14.0,281,2391,0.00,2.25,0.00,0.000,4,0.000,0.054,2817,1240,3562,0,0,0,0,0,0
$GC,2404,-0.76,-146.0,341.8,-13.7,282,2409,0.00,2.33,0.00,0.000,6,0.000,0.059,2807,2673,3562,0,0,0,0,0,0
$GC,2601,-0.76,-146.0,370.3,-14.8,300,2605,0.00,1.73,0.00,0.000,4,0.000,0.063,2799,3763,3562,0,0,0,0,0,0
$GC,2647,-0.76,-146.0,377.4,-15.6,304,2650,0.00,1.75,0.00,0.000,6,0.000,0.044,2799,2662,3561,0,0,0,0,0,0
$GC,2850,-0.76,-146.0,408.5,-15.2,323,2851,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2660,3561,0,0,0,0,0,0
$GC,3040,-0.76,-146.0,437.7,-15.2,341,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2660,3562,0,0,0,0,0,0
$GC,3232,-0.76,-146.0,466.4,-15.0,359,3236,0.00,1.80,0.00,0.000,4,0.000,0.065,2792,3767,3561,0,0,0,0,0,0
$GC,3281,-0.76,-146.0,474.5,-15.6,363,3288,0.00,1.75,0.00,0.000,6,0.000,0.044,2792,2671,3561,0,0,0,0,0,0
$GC,3478,-0.76,-146.0,504.9,-15.7,380,3479,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2670,3561,0,0,0,0,0,0
$GC,3661,-0.76,-146.0,533.0,-15.2,386,3663,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2670,3561,0,0,0,0,0,0
$GC,3845,-0.76,-146.0,560.5,-15.0,392,3849,0.00,1.77,0.00,0.000,4,0.000,0.064,2784,3766,3561,0,0,0,0,0,0
$GC,3883,-0.76,-146.0,566.7,-16.1,393,3888,0.08,1.75,0.00,0.000,6,0.149,0.044,2809,2669,3561,0,0,0,0,0,0
$STATE,3942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3942,begin apogee
$GC,3947,-0.17,0.0,574.9,13.9,395,4085,0.60,0.00,133.85,1.178,4,0.129,0.000,3006,2490,2960,0,0,0,0,0,0
$STATE,4086,end apogee,CONTROL_FINISHED_OK
$STATE,4086,begin climb
$GC,4088,0.76,146.0,580.2,0.0,399,4243,0.95,2.55,146.48,1.106,4,0.074,0.052,3306,1105,2364,0,0,0,0,0,0
$GC,4338,0.76,146.0,558.0,11.4,407,4342,0.00,2.45,0.00,0.000,6,0.000,0.054,3306,2501,2353,0,0,0,0,0,0
$GC,4540,0.76,146.0,533.1,12.3,414,4544,0.00,2.33,0.00,0.000,4,0.000,0.054,3316,1094,2349,0,0,0,0,0,0
$GC,4656,0.76,146.0,518.3,12.4,417,4661,0.00,2.40,0.00,0.000,6,0.000,0.055,3316,2521,2347,0,0,0,0,0,0
$GC,4854,0.76,146.0,492.3,13.1,426,4858,0.00,2.00,0.00,0.000,4,0.000,0.060,3316,3767,2346,0,0,0,0,0,0
$GC,4960,0.76,146.0,475.7,15.7,435,4967,0.00,1.95,0.00,0.000,6,0.000,0.043,3325,2546,2346,0,0,0,0,0,0
$GC,5158,0.76,146.0,447.7,14.0,454,5161,0.00,1.98,0.00,0.000,4,0.000,0.060,3325,3767,2344,0,0,0,0,0,0
$GC,5195,0.76,146.0,441.4,16.6,457,5203,0.00,1.95,0.00,0.000,6,0.000,0.041,3335,2542,2344,0,0,0,0,0,0
$GC,5395,0.76,146.0,412.0,14.9,476,5399,0.00,1.98,0.00,0.000,4,0.000,0.061,3335,3767,2343,0,0,0,0,0,0
$GC,5432,0.76,146.0,405.3,17.0,479,5440,0.10,1.95,0.00,0.000,6,0.147,0.042,3312,2546,2343,0,0,0,0,0,0
$GC,5631,0.76,146.0,378.6,13.2,498,5634,0.00,1.98,0.00,0.000,4,0.000,0.062,3312,3768,2343,0,0,0,0,0,0
$GC,5664,0.76,146.0,373.5,15.0,501,5668,0.00,1.90,0.00,0.000,6,0.000,0.043,3319,2545,2343,0,0,0,0,0,0
$GC,5867,0.76,146.0,345.0,14.0,520,5871,0.00,1.98,0.00,0.000,4,0.000,0.061,3319,3767,2343,0,0,0,0,0,0
$GC,5895,0.76,146.0,340.6,15.9,522,5902,0.00,1.90,0.00,0.000,6,0.000,0.042,3328,2552,2342,0,0,0,0,0,0
$GC,6092,0.76,146.0,312.3,14.2,541,6096,0.00,1.95,0.00,0.000,4,0.000,0.060,3328,3767,2342,0,0,0,0,0,0
$GC,6149,0.76,146.0,303.2,16.0,546,6153,0.00,1.90,0.00,0.000,6,0.000,0.042,3337,2564,2342,0,0,0,0,0,0
$GC,6351,0.76,146.0,273.3,14.3,565,6355,0.00,1.95,0.00,0.000,4,0.000,0.061,3337,3775,2341,0,0,0,0,0,0
$GC,6378,0.76,146.0,268.8,16.5,567,6386,0.10,1.90,0.00,0.000,6,0.148,0.043,3314,2578,2341,0,0,0,0,0,0
$GC,6578,0.76,146.0,243.6,12.5,586,6579,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2576,2341,0,0,0,0,0,0
$GC,6704,0.76,146.0,228.1,12.4,598,6708,0.00,1.92,0.00,0.000,4,0.000,0.062,3313,3770,2341,0,0,0,0,0,0
$GC,6740,0.76,146.0,223.6,14.4,601,6744,0.00,1.85,0.00,0.000,6,0.000,0.042,3321,2570,2341,0,0,0,0,0,0
$GC,6882,0.76,146.0,205.7,12.4,614,6890,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2568,2341,0,0,0,0,0,0
$GC,7017,0.76,146.0,189.1,11.8,627,7020,0.00,1.95,0.00,0.000,4,0.000,0.063,3321,3773,2341,0,0,0,0,0,0
$GC,7063,0.76,146.0,182.7,14.3,631,7067,0.00,1.85,0.00,0.000,6,0.000,0.044,3330,2580,2341,0,0,0,0,0,0
$GC,7205,0.76,146.0,164.3,13.2,644,7213,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2577,2341,0,0,0,0,0,0
$GC,7340,0.76,146.0,146.2,13.1,657,7344,0.00,1.92,0.00,0.000,4,0.000,0.060,3331,3774,2341,0,0,0,0,0,0
$GC,7385,0.76,146.0,139.4,15.1,661,7389,0.00,1.85,0.00,0.000,6,0.000,0.043,3340,2580,2341,0,0,0,0,0,0
$GC,7528,0.76,146.0,118.7,14.5,674,7535,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2577,2341,0,0,0,0,0,0
$GC,7661,0.76,146.0,98.4,15.1,688,7669,0.00,1.95,0.00,0.000,4,0.000,0.060,3340,3763,2341,0,0,0,0,0,0
$GC,7708,0.76,146.0,90.5,16.8,696,7716,0.10,1.85,0.00,0.000,6,0.149,0.042,3316,2593,2341,0,0,0,0,0,0
$GC,7849,0.76,146.0,70.8,13.4,721,7855,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2592,2341,0,0,0,0,0,0
$GC,7985,0.76,146.0,53.1,11.6,746,7994,0.00,1.95,0.00,0.000,4,0.000,0.063,3316,3765,2341,0,0,0,0,0,0
$GC,8018,0.76,146.0,48.9,13.8,751,8025,0.00,1.83,0.00,0.000,6,0.000,0.042,3324,2588,2341,0,0,0,0,0,0
$GC,8157,0.76,146.0,32.7,10.8,776,8165,0.00,1.95,0.00,0.000,4,0.000,0.061,3323,3766,2341,0,0,0,0,0,0
$GC,8225,0.76,146.0,23.3,15.1,788,8233,0.00,1.83,0.00,0.000,6,0.000,0.043,3333,2611,2340,0,0,0,0,0,0
$FREEZE,8.63,-1.467,-1.904,2,1,0
$FREEZE,8.09,-1.468,-1.904,2,1,0
$FREEZE,7.25,-1.464,-1.903,2,1,0
$FREEZE,6.61,-1.464,-1.903,2,1,0
$FREEZE,5.69,-1.467,-1.902,2,1,0
$FREEZE,4.88,-1.474,-1.901,2,1,0
$GC,8368,0.76,146.0,4.9,13.9,813,8375,0.00,1.88,0.00,0.000,4,0.000,0.060,3333,3770,2340,0,0,0,0,0,0
$FREEZE,2.57,-1.461,-1.899,2,1,0
$STATE,8384,end climb,SURFACE_DEPTH_REACHED
$STATE,8384,begin surface coast
$FREEZE,1.54,-1.459,-1.898,2,1,0
$FREEZE,1.49,-1.468,-1.154,2,1,0
$FINISH,1.5,1.017031
$STATE,8397,end surface coast,FINISH_DEPTH_REACHED
$STATE,8397,begin surface
$SM_CCo,8414,139.48,0.760,1,0,1329,400.08
$SM_GC,2.28,0.00,0.00,139.48,0.000,0.000,0.760,421,2639,1329,-8.26,-0.31,400.08
$IRIDIUM_FIX,-7621.20,16724.10,081210,000032
$TT8_MAMPS,0.028462
$HUMID,51.37
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.4,17.3
$24V_AH,20.9,38.113
$10V_AH,10.0,22.721
$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,18.650,106.500,280.325,139.475,0.000,28.008,40.893,177.819,2.750,0.000,41.461,2036.011,3937.993,571.534,2221.896,166.155,0.000,1437.118,0.000,1419.873,0.000,14.642,0.000
$DEVICE_MAMPS,202.725,65.790,1178.100,760.410,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,577.054,1007.960,925.423,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,56956,817
$CAP_FILE_SIZE,121037,0
$CFSIZE,260165632,243146752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081210,052507,-7656.803,16526.111,17,1.9,23,142.1