version: 66.08
glider: 502
mission: 3
dive: 177
start: 12 8 110 18 13 56
data:
$ID,502
$MISSION,3
$DIVE,177
$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,-27663.498
$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,32
$R_STBD_OVSHOOT,32
$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
$GPS1,081210,180707,-7653.677,16528.881,28,1.1,29,141.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-72.9
$GPS2,081210,181332,-7653.686,16529.006,16,1.5,16,141.9
$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,219.1,25350,-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,-146.0,0.0,0.0,0,91,0.00,0.00,-73.10,0.000,2,0.000,0.000,423,2669,2689,0,0,0,0,0,0
$GC,93,-0.76,-146.0,3.0,-2.2,11,153,8.95,2.40,-44.40,0.000,4,0.201,0.065,2809,1234,3559,0,0,0,0,0,0
$GC,303,-0.76,-146.0,23.8,-13.3,47,310,0.00,2.33,0.00,0.000,6,0.000,0.059,2800,2647,3562,0,0,0,0,0,0
$GC,439,-0.76,-146.0,45.8,-15.6,72,448,0.00,2.28,0.00,0.000,4,0.000,0.052,2800,1249,3563,0,0,0,0,0,0
$GC,476,-0.76,-146.0,51.5,-15.2,78,484,0.00,2.33,0.00,0.000,6,0.000,0.060,2790,2644,3563,0,0,0,0,0,0
$GC,617,-0.76,-146.0,74.1,-16.6,103,624,0.00,1.80,0.00,0.000,4,0.000,0.063,2782,3763,3563,0,0,0,0,0,0
$GC,653,-0.76,-146.0,80.2,-17.5,109,661,0.12,1.77,0.00,0.000,6,0.168,0.044,2815,2627,3563,0,0,0,0,0,0
$GC,800,-0.76,-146.0,101.7,-14.7,134,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2625,3563,0,0,0,0,0,0
$GC,926,-0.76,-146.0,119.8,-14.4,146,930,0.00,2.17,0.00,0.000,4,0.000,0.054,2815,1244,3562,0,0,0,0,0,0
$GC,955,-0.76,-146.0,123.9,-14.0,148,959,0.00,2.30,0.00,0.000,6,0.000,0.060,2807,2657,3563,0,0,0,0,0,0
$GC,1091,-0.76,-146.0,143.2,-14.1,160,1095,0.00,1.75,0.00,0.000,4,0.000,0.062,2799,3765,3563,0,0,0,0,0,0
$GC,1149,-0.76,-146.0,153.1,-17.8,165,1158,0.00,1.75,0.00,0.000,6,0.000,0.044,2799,2662,3562,0,0,0,0,0,0
$GC,1287,-0.76,-146.0,173.5,-14.9,178,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2662,3562,0,0,0,0,0,0
$GC,1422,-0.76,-146.0,194.7,-15.7,191,1425,0.00,1.77,0.00,0.000,4,0.000,0.063,2790,3764,3563,0,0,0,0,0,0
$GC,1458,-0.76,-146.0,201.2,-17.0,194,1467,0.00,1.75,0.00,0.000,6,0.000,0.044,2790,2662,3563,0,0,0,0,0,0
$GC,1594,-0.76,-146.0,222.5,-16.3,207,1595,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2661,3562,0,0,0,0,0,0
$GC,1721,-0.76,-146.0,242.8,-15.8,219,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2661,3563,0,0,0,0,0,0
$GC,1849,-0.76,-146.0,262.9,-15.5,231,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2661,3562,0,0,0,0,0,0
$GC,2039,-0.76,-146.0,291.8,-15.1,249,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2661,3562,0,0,0,0,0,0
$GC,2230,-0.76,-146.0,320.7,-14.7,267,2233,0.00,1.80,0.00,0.000,4,0.000,0.066,2783,3771,3562,0,0,0,0,0,0
$GC,2267,-0.76,-146.0,326.8,-16.1,270,2276,0.10,1.75,0.00,0.000,6,0.145,0.044,2815,2670,3562,0,0,0,0,0,0
$GC,2469,-0.76,-146.0,351.2,-12.2,289,2473,0.00,1.77,0.00,0.000,4,0.000,0.064,2808,3771,3563,0,0,0,0,0,0
$GC,2503,-0.76,-146.0,356.2,-13.9,292,2507,0.00,1.70,0.00,0.000,6,0.000,0.044,2808,2672,3562,0,0,0,0,0,0
$GC,2706,-0.76,-146.0,382.9,-13.5,311,2709,0.00,1.77,0.00,0.000,4,0.000,0.064,2800,3770,3562,0,0,0,0,0,0
$GC,2733,-0.76,-146.0,386.9,-14.1,313,2740,0.00,1.73,0.00,0.000,6,0.000,0.044,2800,2683,3563,0,0,0,0,0,0
$GC,2930,-0.76,-146.0,414.6,-14.2,332,2932,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2683,3562,0,0,0,0,0,0
$GC,3122,-0.76,-146.0,441.6,-13.8,350,3125,0.00,1.75,0.00,0.000,4,0.000,0.064,2792,3764,3562,0,0,0,0,0,0
$GC,3159,-0.76,-146.0,447.3,-14.5,353,3167,0.00,1.70,0.00,0.000,6,0.000,0.044,2792,2688,3562,0,0,0,0,0,0
$GC,3358,-0.76,-146.0,475.0,-14.0,372,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2687,3562,0,0,0,0,0,0
$GC,3569,-0.76,-146.0,504.6,-14.0,390,3570,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2687,3562,0,0,0,0,0,0
$GC,3752,-0.76,-146.0,529.9,-13.8,396,3756,0.00,1.75,0.00,0.000,4,0.000,0.064,2784,3770,3562,0,0,0,0,0,0
$GC,3790,-0.76,-146.0,535.9,-15.2,397,3795,0.08,1.73,0.00,0.000,6,0.149,0.044,2810,2685,3562,0,0,0,0,0,0
$STATE,3880,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3880,begin apogee
$GC,3885,-0.17,0.0,548.0,13.3,400,4023,0.60,0.00,133.30,1.154,4,0.126,0.000,3007,2490,2961,0,0,0,0,0,0
$STATE,4024,end apogee,CONTROL_FINISHED_OK
$STATE,4024,begin climb
$GC,4026,0.76,146.0,552.3,0.0,404,4180,0.95,2.55,145.85,1.079,4,0.074,0.052,3308,1100,2364,0,0,0,0,0,0
$GC,4275,0.76,146.0,528.8,11.9,412,4280,0.00,2.45,0.00,0.000,6,0.000,0.055,3309,2498,2353,0,0,0,0,0,0
$GC,4476,0.76,146.0,501.9,13.6,419,4480,0.00,2.30,0.00,0.000,4,0.000,0.053,3318,1101,2349,0,0,0,0,0,0
$GC,4594,0.76,146.0,486.4,13.2,428,4598,0.00,2.35,0.00,0.000,6,0.000,0.057,3318,2526,2346,0,0,0,0,0,0
$GC,4791,0.76,146.0,458.3,14.1,446,4794,0.00,2.00,0.00,0.000,4,0.000,0.060,3318,3775,2345,0,0,0,0,0,0
$GC,4892,0.76,146.0,442.0,16.2,455,4896,0.00,1.95,0.00,0.000,6,0.000,0.044,3327,2530,2345,0,0,0,0,0,0
$GC,5095,0.76,146.0,412.6,14.5,474,5099,0.00,2.00,0.00,0.000,4,0.000,0.061,3327,3771,2344,0,0,0,0,0,0
$GC,5145,0.76,146.0,404.3,17.0,478,5152,0.00,1.95,0.00,0.000,6,0.000,0.043,3337,2525,2344,0,0,0,0,0,0
$GC,5342,0.76,146.0,374.0,15.2,497,5346,0.00,2.00,0.00,0.000,4,0.000,0.061,3337,3770,2343,0,0,0,0,0,0
$GC,5410,0.76,146.0,362.6,17.4,503,5415,0.12,1.90,0.00,0.000,6,0.172,0.044,3314,2546,2343,0,0,0,0,0,0
$GC,5614,0.76,146.0,335.1,13.0,522,5617,0.00,1.95,0.00,0.000,4,0.000,0.060,3314,3764,2342,0,0,0,0,0,0
$GC,5648,0.76,146.0,330.0,15.6,525,5651,0.00,1.88,0.00,0.000,6,0.000,0.043,3321,2551,2342,0,0,0,0,0,0
$GC,5851,0.76,146.0,302.2,13.3,544,5854,0.00,1.98,0.00,0.000,4,0.000,0.062,3321,3776,2342,0,0,0,0,0,0
$GC,5888,0.76,146.0,296.3,15.4,547,5896,0.00,1.95,0.00,0.000,6,0.000,0.044,3330,2551,2342,0,0,0,0,0,0
$GC,6087,0.76,146.0,269.4,13.4,566,6090,0.00,1.95,0.00,0.000,4,0.000,0.061,3330,3765,2342,0,0,0,0,0,0
$GC,6124,0.76,146.0,263.3,16.6,569,6132,0.00,1.90,0.00,0.000,6,0.000,0.043,3339,2560,2341,0,0,0,0,0,0
$GC,6324,0.76,146.0,234.8,14.2,588,6325,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2559,2341,0,0,0,0,0,0
$GC,6452,0.76,146.0,216.6,14.5,600,6455,0.00,1.95,0.00,0.000,4,0.000,0.061,3339,3775,2341,0,0,0,0,0,0
$GC,6520,0.76,146.0,204.8,17.6,606,6530,0.10,1.90,0.00,0.000,6,0.147,0.044,3315,2567,2341,0,0,0,0,0,0
$GC,6656,0.76,146.0,187.6,12.5,619,6658,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2566,2341,0,0,0,0,0,0
$GC,6783,0.76,146.0,171.8,12.3,631,6785,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2566,2341,0,0,0,0,0,0
$GC,6911,0.76,146.0,156.4,12.1,643,6914,0.00,1.92,0.00,0.000,4,0.000,0.063,3315,3764,2341,0,0,0,0,0,0
$GC,6947,0.76,146.0,151.1,14.3,646,6956,0.00,1.88,0.00,0.000,6,0.000,0.043,3323,2576,2341,0,0,0,0,0,0
$GC,7083,0.76,146.0,133.3,13.6,659,7087,0.00,1.90,0.00,0.000,4,0.000,0.061,3322,3764,2341,0,0,0,0,0,0
$GC,7109,0.76,146.0,128.9,15.0,661,7118,0.00,1.88,0.00,0.000,6,0.000,0.043,3332,2578,2341,0,0,0,0,0,0
$GC,7245,0.76,146.0,109.2,14.3,674,7246,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2577,2341,0,0,0,0,0,0
$GC,7372,0.76,146.0,90.7,14.3,692,7380,0.00,1.95,0.00,0.000,4,0.000,0.062,3332,3762,2341,0,0,0,0,0,0
$GC,7404,0.76,146.0,86.1,15.9,697,7411,0.00,1.83,0.00,0.000,6,0.000,0.043,3341,2584,2341,0,0,0,0,0,0
$GC,7542,0.76,146.0,66.2,13.8,722,7549,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2583,2341,0,0,0,0,0,0
$GC,7682,0.76,146.0,46.1,15.3,747,7689,0.00,1.90,0.00,0.000,4,0.000,0.061,3341,3765,2341,0,0,0,0,0,0
$GC,7718,0.76,146.0,40.5,16.9,753,7725,0.15,1.83,0.00,0.000,6,0.166,0.042,3309,2585,2340,0,0,0,0,0,0
$GC,7858,0.76,146.0,23.3,12.4,778,7866,0.00,2.40,0.00,0.000,4,0.000,0.054,3319,1087,2340,0,0,0,0,0,0
$GC,7883,0.76,146.0,20.0,11.7,782,7892,0.00,2.47,0.00,0.000,6,0.000,0.057,3319,2596,2340,0,0,0,0,0,0
$FREEZE,8.70,-1.631,-1.905,2,1,0
$FREEZE,8.13,-1.638,-1.904,2,1,0
$FREEZE,7.27,-1.649,-1.903,2,1,0
$FREEZE,6.71,-1.652,-1.903,2,1,0
$FREEZE,5.94,-1.651,-1.902,2,1,0
$FREEZE,5.17,-1.653,-1.901,2,1,0
$FREEZE,4.28,-1.651,-1.900,2,1,0
$FREEZE,3.74,-1.652,-1.900,2,1,0
$FREEZE,2.81,-1.651,-1.899,2,1,0
$STATE,8021,end climb,SURFACE_DEPTH_REACHED
$STATE,8021,begin surface coast
$FREEZE,1.99,-1.644,-1.898,2,1,0
$FREEZE,1.59,-1.633,-1.897,2,1,0
$FREEZE,1.53,-1.627,-1.870,2,1,0
$FREEZE,1.50,-1.635,-1.852,2,1,0
$FINISH,1.5,1.027163
$STATE,8045,end surface coast,CONTROL_FINISHED_OK
$STATE,8045,begin surface
$SM_CCo,8060,140.25,0.755,1,0,1330,400.08
$SM_GC,2.36,0.00,0.00,140.25,0.000,0.000,0.755,417,2671,1330,-8.28,0.59,400.08
$IRIDIUM_FIX,-7612.11,16537.12,081210,151540
$TT8_MAMPS,0.028462
$HUMID,51.33
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,17.4
$ALTIM_BOTTOM_PING,500.3,59.6
$24V_AH,20.9,38.887
$10V_AH,10.0,23.297
$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,18.650,99.075,279.150,140.250,0.000,31.080,38.757,211.449,2.750,0.000,17.785,2008.256,3637.988,574.100,2207.657,166.779,0.000,1423.211,0.000,1394.669,0.000,15.787,0.000
$DEVICE_MAMPS,201.195,111.690,1154.385,755.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,571.879,989.081,908.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276316
$DATA_FILE_SIZE,53629,810
$CAP_FILE_SIZE,118954,0
$CFSIZE,260165632,242753536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081210,203201,-7652.650,16530.354,42,0.9,43,141.8