version: 66.08
glider: 502
mission: 3
dive: 639
start: 1 16 111 5 36 1
data:
$ID,502
$MISSION,3
$DIVE,639
$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,-30947.529
$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,31
$R_STBD_OVSHOOT,17
$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
$GPS1,160111,052337,-7627.481,17210.105,267,1.6,267,129.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-61.2
$GPS2,160111,053536,-7627.379,17210.166,33,1.3,33,129.4
$SPEED_LIMITS,0.157,0.251
$TGT_NAME,HEADING
$TGT_LATLONG,-7625.503,17255.477
$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,594
$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,16,-0.71,-146.0,0.0,0.0,0,148,0.00,0.00,-129.65,0.000,2,0.000,0.000,391,2659,3006,0,0,0,0,0,0
$GC,153,-0.71,-146.0,3.0,-1.6,20,189,11.55,2.25,-18.52,0.000,4,0.202,0.066,2820,3770,3559,0,0,0,0,0,0
$GC,261,-0.71,-146.0,15.4,-15.9,37,268,0.00,2.10,0.00,0.000,6,0.000,0.037,2820,2650,3562,0,0,0,0,0,0
$GC,597,-0.71,-146.0,65.7,-14.5,98,605,0.00,2.22,0.00,0.000,4,0.000,0.057,2811,3762,3562,0,0,0,0,0,0
$GC,663,-0.71,-146.0,75.9,-15.6,109,670,0.00,2.05,0.00,0.000,6,0.000,0.036,2811,2657,3563,0,0,0,0,0,0
$GC,996,-0.71,-146.0,125.7,-14.6,154,1000,0.00,2.15,0.00,0.000,4,0.000,0.056,2803,3764,3563,0,0,0,0,0,0
$GC,1049,-0.71,-146.0,134.9,-17.0,158,1058,0.08,2.05,0.00,0.000,6,0.129,0.036,2823,2673,3564,0,0,0,0,0,0
$GC,1376,-0.71,-146.0,179.6,-13.9,189,1380,0.00,2.10,0.00,0.000,4,0.000,0.056,2817,3764,3563,0,0,0,0,0,0
$GC,1439,-0.71,-146.0,188.8,-15.0,194,1443,0.00,1.98,0.00,0.000,6,0.000,0.037,2817,2684,3563,0,0,0,0,0,0
$GC,1772,-0.71,-146.0,236.4,-14.3,225,1775,0.00,2.10,0.00,0.000,4,0.000,0.057,2808,3768,3563,0,0,0,0,0,0
$GC,1803,-0.71,-146.0,240.8,-14.3,227,1807,0.00,1.98,0.00,0.000,6,0.000,0.037,2808,2688,3563,0,0,0,0,0,0
$GC,2134,-0.71,-146.0,289.6,-14.4,258,2138,0.00,2.10,0.00,0.000,4,0.000,0.057,2800,3770,3563,0,0,0,0,0,0
$GC,2194,-0.71,-146.0,299.1,-15.8,263,2202,0.12,1.95,0.00,0.000,6,0.145,0.037,2828,2698,3563,0,0,0,0,0,0
$GC,2520,-0.71,-146.0,339.3,-12.0,294,2523,0.00,2.05,0.00,0.000,4,0.000,0.058,2821,3765,3563,0,0,0,0,0,0
$GC,2558,-0.71,-146.0,344.5,-12.8,297,2565,0.00,1.92,0.00,0.000,6,0.000,0.037,2821,2702,3563,0,0,0,0,0,0
$GC,2885,-0.71,-146.0,385.7,-12.6,328,2888,0.00,2.05,0.00,0.000,4,0.000,0.058,2813,3769,3562,0,0,0,0,0,0
$GC,2919,-0.71,-146.0,390.5,-14.0,331,2923,0.00,1.90,0.00,0.000,6,0.000,0.037,2813,2718,3562,0,0,0,0,0,0
$STATE,2995,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2995,begin apogee
$GC,3001,-0.27,0.0,400.7,13.4,338,3369,0.57,0.00,259.52,0.862,4,0.116,0.000,2971,2496,2963,0,0,0,0,20,1
$STATE,3370,end apogee,CONTROL_FINISHED_OK
$STATE,3370,begin climb
$GC,3374,0.71,146.0,415.9,0.0,372,3746,1.15,2.85,259.52,0.802,4,0.074,0.045,3291,1095,2394,0,0,0,0,20,1
$GC,3755,0.71,146.0,390.9,10.0,407,3778,0.00,2.90,13.00,0.792,6,0.000,0.047,3291,2501,2364,0,0,0,0,1,0
$GC,4096,0.71,146.0,353.5,11.0,439,4100,0.00,2.75,0.00,0.000,4,0.000,0.045,3300,1095,2356,0,0,0,0,0,0
$GC,4158,0.71,146.0,346.6,11.3,444,4163,0.00,2.85,0.00,0.000,6,0.000,0.048,3300,2521,2355,0,0,0,0,0,0
$GC,4483,0.71,146.0,308.7,11.9,474,4488,0.00,2.42,0.00,0.000,4,0.000,0.053,3300,3768,2353,0,0,0,0,0,0
$GC,4638,0.71,146.0,288.2,13.2,487,4643,0.00,2.30,0.00,0.000,6,0.000,0.035,3307,2540,2352,0,0,0,0,0,0
$GC,4964,0.71,146.0,250.8,11.1,517,4968,0.00,2.38,0.00,0.000,4,0.000,0.054,3308,3764,2351,0,0,0,0,0,0
$GC,5049,0.71,146.0,240.1,13.2,524,5053,0.00,2.28,0.00,0.000,6,0.000,0.035,3316,2538,2350,0,0,0,0,0,0
$GC,5378,0.71,146.0,201.6,11.4,554,5382,0.00,2.38,0.00,0.000,4,0.000,0.054,3316,3767,2350,0,0,0,0,0,0
$GC,5453,0.71,146.0,190.6,14.5,560,5461,0.00,2.28,0.00,0.000,6,0.000,0.035,3324,2554,2349,0,0,0,0,0,0
$GC,5780,0.71,146.0,150.9,12.3,591,5784,0.00,2.33,0.00,0.000,4,0.000,0.053,3323,3764,2349,0,0,0,0,0,0
$GC,5866,0.71,146.0,138.1,15.0,598,5875,0.12,2.25,0.00,0.000,6,0.125,0.035,3300,2562,2349,0,0,0,0,0,0
$GC,6193,0.71,146.0,101.4,10.9,629,6197,0.00,2.33,0.00,0.000,4,0.000,0.054,3300,3772,2348,0,0,0,0,0,0
$GC,6242,0.71,146.0,95.1,12.9,636,6251,0.00,2.25,0.00,0.000,6,0.000,0.037,3307,2567,2348,0,0,0,0,0,0
$GC,6578,0.71,146.0,57.8,11.2,697,6584,0.00,2.30,0.00,0.000,4,0.000,0.054,3307,3765,2348,0,0,0,0,0,0
$GC,6629,0.71,146.0,51.3,12.5,706,6637,0.00,2.22,0.00,0.000,6,0.000,0.036,3316,2567,2347,0,0,0,0,0,0
$GC,6965,0.71,146.0,13.2,10.8,767,6971,0.00,2.33,0.00,0.000,4,0.000,0.057,3316,3768,2347,0,0,0,0,0,0
$FREEZE,8.83,0.015,-1.897,2,9,0
$FREEZE,8.30,0.015,-1.897,2,9,0
$FREEZE,7.52,0.016,-1.896,2,9,0
$FREEZE,6.68,0.015,-1.896,2,9,0
$FREEZE,5.98,0.016,-1.895,2,9,0
$FREEZE,5.23,0.016,-1.895,2,9,0
$FREEZE,4.34,0.016,-1.894,2,9,0
$FREEZE,3.81,0.016,-1.893,2,9,0
$FREEZE,3.26,0.016,-1.893,2,9,0
$FREEZE,2.79,0.017,-1.893,2,9,0
$STATE,7047,end climb,SURFACE_DEPTH_REACHED
$STATE,7047,begin surface coast
$FREEZE,1.55,0.016,-1.892,2,9,0
$FREEZE,1.30,-0.009,-0.987,2,9,0
$FINISH,1.3,1.014574
$STATE,7061,end surface coast,CONTROL_FINISHED_OK
$STATE,7061,begin surface
$SM_CCo,7082,319.80,0.698,8,1,472,610.30
$SM_CCo,7448,12.57,0.269,1,0,420,623.30
$SM_GC,1.98,0.00,0.00,12.57,0.000,0.000,0.269,411,2637,420,-8.29,-0.37,623.30
$IRIDIUM_FIX,-7545.40,17209.12,160111,050555
$TT8_MAMPS,0.027713
$HUMID,51.18
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,18.9
$24V_AH,19.5,91.845
$10V_AH,9.6,63.698
$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,22.350,76.800,532.050,332.375,0.000,83.848,225.322,0.000,1.250,0.000,34.174,1737.566,2744.112,1094.529,2225.982,383.286,0.000,1948.633,0.000,1340.827,0.000,9.495,0.000
$DEVICE_MAMPS,201.960,65.790,862.155,698.445,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,545.736,973.925,988.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53720,783
$CAP_FILE_SIZE,93681,24
$CFSIZE,260165632,217346048
$ERRORS,0,0,0,0,0,0,0,0,0,0,3,0,0,50,0
$GPS,160111,074120,-7627.141,17213.770,12,2.0,13,129.2
$ESCAPE_REASON,MAX_VBD_ERRORS
$ESCAPE_STARTED_DIVE,637