version: 66.08
glider: 502
mission: 3
dive: 640
start: 1 16 111 8 10 34
data:
$ID,502
$MISSION,3
$DIVE,640
$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,2
$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,-30948.783
$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,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
$GPS1,160111,074120,-7627.141,17213.770,12,2.0,13,129.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-57.5
$GPS2,160111,081007,-7626.888,17213.590,27,1.5,27,129.2
$SPEED_LIMITS,0.157,0.251
$TGT_NAME,HEADING
$TGT_LATLONG,-7625.012,17258.873
$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,310.8,20000,-16.0,-9.091
$D_GRID,584
$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,-146.0,0.0,0.0,0,157,0.00,0.00,-138.10,0.000,2,0.000,0.000,348,2637,3171,0,0,0,0,0,0
$GC,162,-0.71,-146.0,3.2,-2.0,20,193,11.75,2.30,-11.52,0.000,4,0.197,0.067,2817,3765,3559,0,0,0,0,0,0
$GC,345,-0.71,-146.0,33.7,-15.7,52,353,0.00,2.15,0.00,0.000,6,0.000,0.035,2817,2652,3561,0,0,0,0,0,0
$GC,682,-0.71,-146.0,83.6,-15.4,113,689,0.00,2.22,0.00,0.000,4,0.000,0.057,2808,3767,3562,0,0,0,0,0,0
$GC,774,-0.71,-146.0,98.6,-15.4,129,782,0.00,2.12,0.00,0.000,6,0.000,0.036,2809,2640,3562,0,0,0,0,0,0
$GC,1101,-0.71,-146.0,149.7,-15.6,160,1105,0.00,2.22,0.00,0.000,4,0.000,0.057,2799,3770,3562,0,0,0,0,0,0
$GC,1189,-0.71,-146.0,164.8,-16.0,167,1198,0.10,2.08,0.00,0.000,6,0.126,0.036,2826,2682,3562,0,0,0,0,0,0
$GC,1518,-0.71,-146.0,209.5,-13.7,198,1522,0.00,2.12,0.00,0.000,4,0.000,0.056,2819,3769,3562,0,0,0,0,0,0
$GC,1559,-0.71,-146.0,215.8,-15.2,201,1563,0.00,2.00,0.00,0.000,6,0.000,0.036,2820,2687,3562,0,0,0,0,0,0
$GC,1891,-0.71,-146.0,261.0,-13.2,232,1895,0.00,2.10,0.00,0.000,4,0.000,0.057,2811,3764,3562,0,0,0,0,0,0
$GC,1937,-0.71,-146.0,267.6,-14.2,236,1940,0.00,1.98,0.00,0.000,6,0.000,0.036,2811,2694,3562,0,0,0,0,0,0
$GC,2269,-0.71,-146.0,314.4,-14.5,267,2273,0.00,2.08,0.00,0.000,4,0.000,0.057,2803,3763,3562,0,0,0,0,0,0
$GC,2302,-0.71,-146.0,319.9,-15.0,269,2311,0.12,1.98,0.00,0.000,6,0.142,0.037,2830,2693,3562,0,0,0,0,0,0
$GC,2629,-0.71,-146.0,361.8,-13.0,300,2633,0.00,2.10,0.00,0.000,4,0.000,0.057,2825,3770,3562,0,0,0,0,0,0
$GC,2669,-0.71,-146.0,367.4,-14.1,303,2673,0.00,1.95,0.00,0.000,6,0.000,0.037,2825,2710,3561,0,0,0,0,0,0
$STATE,2927,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2927,begin apogee
$GC,2933,-0.27,0.0,401.3,12.8,327,3302,0.52,0.00,259.52,0.855,4,0.114,0.000,2968,2490,2971,0,0,0,0,20,1
$STATE,3302,end apogee,CONTROL_FINISHED_OK
$STATE,3302,begin climb
$GC,3305,0.71,146.0,417.9,0.0,360,3680,1.17,2.88,259.52,0.796,4,0.076,0.045,3289,1099,2412,0,0,0,0,20,1
$GC,3706,0.71,146.0,393.4,9.2,396,3741,0.00,2.90,21.60,0.769,6,0.000,0.047,3289,2500,2365,0,0,0,0,1,0
$GC,4060,0.71,146.0,358.0,10.2,429,4064,0.00,2.80,0.00,0.000,4,0.000,0.045,3299,1097,2356,0,0,0,0,0,0
$GC,4123,0.71,146.0,351.8,10.1,434,4127,0.00,2.90,0.00,0.000,6,0.000,0.047,3299,2520,2355,0,0,0,0,0,0
$GC,4449,0.71,146.0,317.7,10.9,464,4453,0.00,2.47,0.00,0.000,4,0.000,0.052,3299,3766,2353,0,0,0,0,0,0
$GC,4594,0.71,146.0,299.1,12.9,476,4601,0.00,2.38,0.00,0.000,6,0.000,0.035,3308,2531,2352,0,0,0,0,0,0
$GC,4920,0.71,146.0,263.0,11.5,507,4924,0.00,2.45,0.00,0.000,4,0.000,0.051,3308,3768,2351,0,0,0,0,0,0
$GC,5019,0.71,146.0,249.7,13.6,515,5026,0.00,2.35,0.00,0.000,6,0.000,0.035,3318,2535,2350,0,0,0,0,0,0
$GC,5346,0.71,146.0,212.3,11.5,546,5351,0.00,2.42,0.00,0.000,4,0.000,0.053,3318,3765,2350,0,0,0,0,0,0
$GC,5445,0.71,146.0,198.3,14.3,554,5453,0.10,2.33,0.00,0.000,6,0.128,0.035,3302,2554,2350,0,0,0,0,0,0
$GC,5772,0.71,146.0,163.8,10.1,585,5776,0.00,2.40,0.00,0.000,4,0.000,0.054,3301,3771,2349,0,0,0,0,0,0
$GC,5846,0.71,146.0,154.9,12.6,591,5850,0.00,2.28,0.00,0.000,6,0.000,0.036,3309,2562,2349,0,0,0,0,0,0
$GC,6173,0.71,146.0,118.6,10.8,621,6177,0.00,2.38,0.00,0.000,4,0.000,0.054,3309,3768,2349,0,0,0,0,0,0
$GC,6272,0.71,146.0,105.9,13.2,629,6281,0.00,2.28,0.00,0.000,6,0.000,0.036,3318,2571,2348,0,0,0,0,0,0
$GC,6604,0.71,146.0,68.2,11.2,685,6612,0.00,2.35,0.00,0.000,4,0.000,0.054,3318,3771,2348,0,0,0,0,0,0
$GC,6699,0.71,146.0,55.9,13.7,702,6708,0.10,2.25,0.00,0.000,6,0.125,0.035,3301,2590,2347,0,0,0,0,0,0
$GC,7036,0.71,146.0,18.7,12.4,763,7043,0.00,2.85,0.00,0.000,4,0.000,0.044,3310,1088,2347,0,0,0,0,0,0
$GC,7062,0.71,146.0,15.7,10.9,767,7069,0.00,2.95,0.00,0.000,6,0.000,0.048,3310,2600,2346,0,0,0,0,0,0
$FREEZE,8.83,0.077,-1.898,2,10,2
$FREEZE,8.54,0.077,-1.898,2,10,2
$FREEZE,8.25,0.080,-1.897,2,10,2
$FREEZE,7.73,0.078,-1.897,2,10,2
$FREEZE,6.83,0.086,-1.896,2,10,2
$FREEZE,6.20,0.090,-1.896,2,10,2
$FREEZE,5.47,0.092,-1.895,2,10,2
$FREEZE,4.75,0.093,-1.895,2,10,2
$FREEZE,3.89,0.093,-1.894,2,10,2
$FREEZE,3.34,0.093,-1.894,2,10,2
$FREEZE,2.95,0.094,-1.893,2,10,2
$STATE,7192,end climb,SURFACE_DEPTH_REACHED
$STATE,7192,begin surface coast
$FREEZE,2.39,0.092,-1.893,2,10,2
$FREEZE,1.68,0.039,-1.896,2,10,2
$FREEZE,1.39,0.088,-1.892,2,10,2
$FREEZE,1.33,0.002,-1.898,2,10,2
$FREEZE,1.33,-0.052,-1.828,2,10,2
$FINISH,1.3,1.026766
$STATE,7223,end surface coast,CONTROL_FINISHED_OK
$STATE,7223,begin surface
$SM_CCo,7243,319.80,0.694,8,1,483,607.60
$SM_CCo,7608,14.68,0.332,1,0,420,623.30
$SM_GC,1.89,0.00,0.00,14.68,0.000,0.000,0.332,412,2666,420,-8.29,0.45,623.30
$IRIDIUM_FIX,-7536.68,17211.62,160111,080839
$TT8_MAMPS,0.027713
$HUMID,50.94
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,18.4
$24V_AH,19.3,92.106
$10V_AH,9.6,63.813
$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,22.700,75.475,540.650,334.475,0.000,90.317,108.946,1040.811,1.750,0.000,28.444,1863.707,2715.585,1123.294,3146.760,509.336,0.000,1984.353,0.000,1367.243,0.000,9.494,0.000
$DEVICE_MAMPS,197.370,93.330,855.270,693.855,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,554.107,987.464,1005.534,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258132
$DATA_FILE_SIZE,53712,795
$CAP_FILE_SIZE,118797,24
$CFSIZE,260165632,217272320
$ERRORS,0,1,0,0,0,0,0,0,0,0,3,0,0,50,0
$CURRENT,0.022, 22.9,1
$GPS,160111,101907,-7626.666,17217.133,43,1.0,44,129.1
$ESCAPE_REASON,MAX_VBD_ERRORS
$ESCAPE_STARTED_DIVE,637