version: 66.08
glider: 502
mission: 3
dive: 638
start: 1 16 111 3 10 14
data:
$ID,502
$MISSION,3
$DIVE,638
$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,5
$SURFACE_URGENCY_TRY,4
$SURFACE_URGENCY_FORCE,8
$T_DIVE,275
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.025
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$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,80
$ESCAPE_HEADING,70
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,8
$TGT_DEFAULT_LAT,-7715
$TGT_DEFAULT_LON,16530
$TGT_AUTO_DEFAULT,0
$SM_CC,623.29712
$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,-30946.27
$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,39
$R_STBD_OVSHOOT,15
$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
$GPS1,160111,000538,-7627.872,17208.549,15,1.3,15,129.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-54.9
$GPS2,160111,000538,-7627.872,17208.549,15,1.3,15,129.4
$SPEED_LIMITS,0.157,0.251
$TGT_NAME,HEADING
$TGT_LATLONG,-7625.997,17253.887
$TGT_RADIUS,1852.000
$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,310.6,20000,-16.0,-9.091
$D_GRID,604
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.71,-146.0,0.0,0.0,0,148,0.00,0.00,-127.85,0.000,2,0.000,0.000,423,2507,2903,0,0,0,0,0,0
$GC,154,-0.71,-146.0,3.0,-2.6,19,202,11.10,2.53,-26.20,0.000,4,0.202,0.071,2816,3767,3559,0,0,0,0,0,0
$GC,314,-0.71,-146.0,21.9,-14.0,46,322,0.00,2.08,0.00,0.000,6,0.000,0.037,2816,2660,3563,0,0,0,0,0,0
$GC,653,-0.71,-146.0,72.8,-14.8,107,660,0.00,2.15,0.00,0.000,4,0.000,0.058,2808,3769,3565,0,0,0,0,0,0
$GC,723,-0.71,-146.0,83.7,-15.3,119,730,0.00,2.05,0.00,0.000,6,0.000,0.037,2807,2666,3565,0,0,0,0,0,0
$GC,1059,-0.71,-146.0,134.3,-15.3,160,1063,0.00,2.10,0.00,0.000,4,0.000,0.058,2799,3766,3566,0,0,0,0,0,0
$GC,1113,-0.71,-146.0,143.6,-16.4,164,1122,0.10,2.03,0.00,0.000,6,0.129,0.037,2826,2668,3566,0,0,0,0,0,0
$GC,1439,-0.71,-146.0,189.4,-13.5,195,1443,0.00,2.10,0.00,0.000,4,0.000,0.058,2819,3773,3566,0,0,0,0,0,0
$GC,1492,-0.71,-146.0,196.9,-14.4,199,1495,0.00,1.98,0.00,0.000,6,0.000,0.037,2819,2676,3565,0,0,0,0,0,0
$GC,1826,-0.71,-146.0,244.0,-14.3,230,1829,0.00,2.08,0.00,0.000,4,0.000,0.059,2810,3770,3566,0,0,0,0,0,0
$GC,1870,-0.71,-146.0,251.6,-15.6,233,1877,0.00,1.98,0.00,0.000,6,0.000,0.037,2810,2687,3565,0,0,0,0,0,0
$GC,2199,-0.71,-146.0,300.8,-15.7,264,2202,0.00,2.03,0.00,0.000,4,0.000,0.057,2803,3767,3566,0,0,0,0,0,0
$GC,2244,-0.71,-146.0,308.7,-16.6,268,2249,0.12,1.90,0.00,0.000,6,0.147,0.037,2831,2694,3565,0,0,0,0,0,0
$GC,2576,-0.71,-146.0,353.0,-13.1,299,2579,0.00,2.03,0.00,0.000,4,0.000,0.058,2824,3774,3566,0,0,0,0,0,0
$GC,2610,-0.71,-146.0,357.8,-14.6,302,2614,0.00,1.90,0.00,0.000,6,0.000,0.038,2824,2698,3565,0,0,0,0,0,0
$STATE,2931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2931,begin apogee
$GC,2937,-0.27,0.0,400.7,13.2,332,3287,0.50,0.00,252.32,0.869,4,0.116,0.000,2967,2493,2962,0,0,0,0,18,0
$STATE,3287,end apogee,CONTROL_FINISHED_OK
$STATE,3287,begin climb
$GC,3290,0.71,146.0,416.9,0.0,364,3661,1.15,2.83,259.52,0.810,4,0.076,0.045,3287,1096,2391,0,0,0,0,20,1
$GC,3705,0.71,146.7,391.5,9.1,402,3727,0.00,2.88,12.38,0.812,6,0.000,0.049,3287,2509,2362,0,0,0,0,0,0
$GC,4045,0.71,146.7,357.0,10.2,434,4050,0.00,2.75,0.00,0.000,4,0.000,0.047,3287,1097,2354,0,0,0,0,0,0
$GC,4119,0.71,146.7,349.5,10.0,440,4124,0.00,2.80,0.00,0.000,6,0.000,0.050,3287,2515,2353,0,0,0,0,0,0
$GC,4444,0.71,146.7,316.6,10.0,470,4448,0.00,2.40,0.00,0.000,4,0.000,0.054,3288,3764,2351,0,0,0,0,0,0
$GC,4602,0.71,146.7,298.5,11.7,483,4608,0.00,2.25,0.00,0.000,6,0.000,0.035,3296,2540,2349,0,0,0,0,0,0
$GC,4927,0.71,146.7,264.4,10.6,514,4931,0.00,2.38,0.00,0.000,4,0.000,0.055,3296,3764,2348,0,0,0,0,0,0
$GC,4954,0.71,146.7,261.0,12.4,516,4961,0.00,2.28,0.00,0.000,6,0.000,0.035,3306,2530,2348,0,0,0,0,0,0
$GC,5283,0.71,146.7,224.9,10.9,547,5287,0.00,2.35,0.00,0.000,4,0.000,0.052,3305,3764,2347,0,0,0,0,0,0
$GC,5358,0.71,146.7,214.5,13.3,553,5366,0.00,2.25,0.00,0.000,6,0.000,0.035,3315,2555,2347,0,0,0,0,0,0
$GC,5685,0.71,146.7,178.2,11.3,584,5689,0.00,2.33,0.00,0.000,4,0.000,0.053,3315,3772,2347,0,0,0,0,0,0
$GC,5736,0.71,146.7,171.6,14.0,588,5740,0.00,2.22,0.00,0.000,6,0.000,0.037,3323,2553,2346,0,0,0,0,0,0
$GC,6062,0.71,146.7,132.1,12.1,618,6066,0.00,2.33,0.00,0.000,4,0.000,0.052,3323,3773,2346,0,0,0,0,0,0
$GC,6148,0.71,146.7,120.6,13.8,625,6153,0.15,2.20,0.00,0.000,6,0.139,0.037,3298,2561,2346,0,0,0,0,0,0
$GC,6479,0.71,146.7,89.2,9.3,665,6486,0.00,2.30,0.00,0.000,4,0.000,0.054,3298,3764,2345,0,0,0,0,0,0
$GC,6521,0.71,146.7,84.3,11.8,672,6529,0.00,2.20,0.00,0.000,6,0.000,0.035,3306,2565,2345,0,0,0,0,0,0
$GC,6857,0.71,146.7,48.1,10.7,733,6864,0.00,2.30,0.00,0.000,4,0.000,0.054,3305,3773,2345,0,0,0,0,0,0
$GC,6937,0.71,146.7,38.7,12.3,747,6944,0.00,2.17,0.00,0.000,6,0.000,0.036,3315,2569,2344,0,0,0,0,0,0
$FREEZE,8.49,0.050,-1.897,2,8,0
$FREEZE,7.84,0.047,-1.896,2,8,0
$FREEZE,7.14,0.048,-1.896,2,8,0
$FREEZE,6.46,0.048,-1.895,2,8,0
$FREEZE,5.73,0.043,-1.895,2,8,0
$FREEZE,4.86,0.048,-1.894,2,8,0
$FREEZE,4.12,0.050,-1.893,2,8,0
$FREEZE,3.07,0.052,-1.892,2,8,0
$FREEZE,2.22,0.058,-1.891,2,8,0
$STATE,7272,end climb,SURFACE_DEPTH_REACHED
$STATE,7272,begin surface coast
$FREEZE,1.26,0.058,-1.891,2,8,0
$FREEZE,1.26,-0.064,-1.898,2,8,0
$FREEZE,1.36,0.021,-1.890,2,8,0
$FREEZE,1.30,0.035,-1.176,2,8,0
$FINISH,1.3,1.017364
$STATE,7297,end surface coast,CONTROL_FINISHED_OK
$STATE,7297,begin surface
$SM_CCo,7316,319.80,0.705,8,1,453,615.20
$SM_CCo,7682,7.62,0.094,1,0,420,623.30
$SM_GC,1.85,0.00,0.00,7.62,0.000,0.000,0.094,419,2656,420,-8.27,0.17,623.30
$IRIDIUM_FIX,-7545.40,17200.00,150111,232351
$TT8_MAMPS,0.028462
$HUMID,51.73
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.6
$24V_AH,19.6,91.645
$10V_AH,9.4,63.590
$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,21.675,72.600,524.225,327.425,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1808.464,2751.241,1080.796,1925.819,199.541,0.000,1942.568,0.000,1376.163,0.000,9.488,0.000
$DEVICE_MAMPS,201.960,81.090,869.040,704.565,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,566.005,1010.241,1024.467,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258100
$DATA_FILE_SIZE,57142,811
$CAP_FILE_SIZE,90701,16
$CFSIZE,260165632,217403392
$ERRORS,0,0,0,0,0,0,0,0,0,0,2,0,0,47,0
$GPS,160111,052337,-7627.481,17210.105,267,1.6,267,129.4
$ESCAPE_REASON,MAX_VBD_ERRORS
$ESCAPE_STARTED_DIVE,637