version: 66.08
glider: 502
mission: 3
dive: 641
start: 1 16 111 10 30 0
data:
$ID,502
$MISSION,3
$DIVE,641
$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,-30950.137
$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,30
$R_STBD_OVSHOOT,24
$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
$GPS1,160111,101907,-7626.666,17217.133,43,1.0,44,129.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-56.6
$GPS2,160111,102932,-7626.596,17216.895,12,1.4,12,129.1
$SPEED_LIMITS,0.157,0.251
$TGT_NAME,HEADING
$TGT_LATLONG,-7624.721,17302.162
$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,315.1,20000,-16.0,-9.091
$D_GRID,579
$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,-146.0,0.0,0.0,0,151,0.00,0.00,-131.85,0.000,2,0.000,0.000,376,2666,3063,0,0,0,0,0,0
$GC,154,-0.71,-146.0,3.1,-2.6,19,190,12.18,2.25,-16.33,0.000,4,0.203,0.067,2817,3757,3555,0,0,0,0,0,0
$GC,310,-0.71,-146.0,27.8,-14.4,46,318,0.00,2.17,0.00,0.000,6,0.000,0.036,2817,2653,3559,0,0,0,0,0,0
$GC,644,-0.71,-146.0,78.0,-14.4,107,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2652,3560,0,0,0,0,0,0
$GC,977,-0.71,-146.0,126.0,-13.7,152,981,0.00,2.22,0.00,0.000,4,0.000,0.057,2808,3759,3561,0,0,0,0,0,0
$GC,1073,-0.71,-146.0,140.7,-14.9,160,1077,0.00,2.10,0.00,0.000,6,0.000,0.037,2808,2655,3561,0,0,0,0,0,0
$GC,1402,-0.71,-146.0,187.5,-14.0,190,1406,0.00,2.20,0.00,0.000,4,0.000,0.057,2800,3756,3561,0,0,0,0,0,0
$GC,1476,-0.71,-146.0,198.8,-15.3,196,1480,0.12,2.08,0.00,0.000,6,0.145,0.036,2827,2664,3560,0,0,0,0,0,0
$GC,1805,-0.71,-146.0,240.8,-12.6,226,1809,0.00,2.17,0.00,0.000,4,0.000,0.056,2821,3756,3561,0,0,0,0,0,0
$GC,1848,-0.71,-146.0,247.4,-13.5,229,1857,0.00,2.10,0.00,0.000,6,0.000,0.036,2821,2675,3561,0,0,0,0,0,0
$GC,2174,-0.71,-146.0,291.0,-13.6,260,2178,0.00,2.17,0.00,0.000,4,0.000,0.057,2812,3762,3561,0,0,0,0,0,0
$GC,2235,-0.71,-146.0,299.9,-13.7,265,2247,0.00,2.05,0.00,0.000,6,0.000,0.036,2812,2678,3561,0,0,0,0,0,0
$GC,2563,-0.71,-146.0,344.2,-13.5,296,2567,0.00,2.15,0.00,0.000,4,0.000,0.057,2803,3756,3560,0,0,0,0,0,0
$GC,2602,-0.71,-146.0,350.0,-15.1,299,2611,0.12,2.03,0.00,0.000,6,0.144,0.037,2831,2685,3560,0,0,0,0,0,0
$GC,2937,-0.71,-146.0,390.4,-11.4,330,2941,0.00,2.12,0.00,0.000,4,0.000,0.057,2824,3756,3560,0,0,0,0,0,0
$GC,2992,-0.71,-146.0,397.7,-12.8,334,2999,0.00,2.00,0.00,0.000,6,0.000,0.037,2824,2699,3560,0,0,0,0,0,0
$STATE,3020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3020,begin apogee
$GC,3027,-0.27,0.0,401.0,12.3,337,3394,0.55,0.00,259.52,0.848,4,0.115,0.000,2970,2496,2970,0,0,0,0,20,1
$STATE,3395,end apogee,CONTROL_FINISHED_OK
$STATE,3395,begin climb
$GC,3399,0.71,146.0,415.7,0.0,370,3770,1.17,2.92,259.52,0.789,4,0.074,0.044,3288,1097,2414,0,0,0,0,20,1
$GC,3777,0.72,153.2,392.3,8.8,403,3832,0.00,2.95,37.35,0.770,6,0.000,0.047,3288,2492,2336,0,0,0,0,2,0
$GC,4158,0.72,153.2,352.4,10.5,439,4163,0.00,2.85,0.00,0.000,4,0.000,0.044,3297,1093,2325,0,0,0,0,0,0
$GC,4213,0.72,153.2,346.6,10.2,443,4220,0.00,2.92,0.00,0.000,6,0.000,0.047,3297,2519,2324,0,0,0,0,0,0
$GC,4539,0.72,153.2,311.3,11.1,474,4543,0.00,2.53,0.00,0.000,4,0.000,0.052,3297,3764,2323,0,0,0,0,0,0
$GC,4662,0.72,153.2,295.4,13.0,484,4669,0.00,2.42,0.00,0.000,6,0.000,0.035,3306,2530,2322,0,0,0,0,0,0
$GC,4987,0.72,153.2,258.5,11.1,515,4992,0.00,2.50,0.00,0.000,4,0.000,0.053,3306,3767,2321,0,0,0,0,0,0
$GC,5087,0.72,153.2,244.8,14.0,523,5095,0.00,2.42,0.00,0.000,6,0.000,0.035,3315,2544,2320,0,0,0,0,0,0
$GC,5416,0.72,153.2,206.5,11.8,554,5420,0.00,2.45,0.00,0.000,4,0.000,0.052,3316,3765,2320,0,0,0,0,0,0
$GC,5503,0.72,153.2,193.8,14.4,561,5512,0.00,2.38,0.00,0.000,6,0.000,0.034,3324,2554,2320,0,0,0,0,0,0
$GC,5831,0.72,153.2,154.0,11.7,592,5835,0.00,2.42,0.00,0.000,4,0.000,0.052,3324,3764,2318,0,0,0,0,0,0
$GC,5917,0.72,153.2,141.8,14.6,599,5922,0.15,2.33,0.00,0.000,6,0.138,0.034,3301,2554,2319,0,0,0,0,0,0
$GC,6244,0.72,153.2,107.5,9.5,629,6248,0.00,2.42,0.00,0.000,4,0.000,0.053,3301,3764,2317,0,0,0,0,0,0
$GC,6322,0.72,153.2,98.6,12.3,636,6330,0.00,2.33,0.00,0.000,6,0.000,0.034,3309,2570,2317,0,0,0,0,0,0
$GC,6655,0.72,153.2,63.0,10.8,697,6663,0.00,2.40,0.00,0.000,4,0.000,0.052,3309,3765,2317,0,0,0,0,0,0
$GC,6704,0.72,153.2,57.2,12.8,705,6712,0.00,2.28,0.00,0.000,6,0.000,0.035,3316,2576,2317,0,0,0,0,0,0
$GC,7039,0.72,153.2,17.7,14.0,766,7046,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2574,2316,0,0,0,0,0,0
$FREEZE,8.52,0.276,-1.896,2,11,0
$FREEZE,8.23,0.277,-1.896,2,11,0
$FREEZE,7.76,0.277,-1.896,2,11,0
$FREEZE,7.18,0.277,-1.895,2,11,0
$FREEZE,6.52,0.278,-1.895,2,11,0
$FREEZE,5.71,0.280,-1.894,2,11,0
$FREEZE,4.93,0.280,-1.893,2,11,0
$FREEZE,3.98,0.284,-1.893,2,11,0
$FREEZE,3.32,0.287,-1.892,2,11,0
$FREEZE,2.34,0.286,-1.891,2,11,0
$STATE,7165,end climb,SURFACE_DEPTH_REACHED
$STATE,7165,begin surface coast
$FREEZE,1.62,0.282,-1.891,2,11,0
$FREEZE,1.30,0.269,-1.891,2,11,0
$FREEZE,1.26,0.252,-1.168,2,11,0
$FREEZE,1.37,0.219,-1.894,2,11,0
$FINISH,1.4,1.027681
$STATE,7190,end surface coast,CONTROL_FINISHED_OK
$STATE,7190,begin surface
$SM_CCo,7210,317.17,0.682,9,1,496,604.41
$SM_CCo,7577,17.62,0.359,2,0,420,623.30
$SM_GC,1.99,0.00,0.00,17.62,0.000,0.000,0.359,420,2656,420,-8.27,0.17,623.30
$IRIDIUM_FIX,-7545.40,17210.37,160111,101034
$TT8_MAMPS,0.027713
$HUMID,51.29
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,20.0,17.4
$24V_AH,19.1,92.308
$10V_AH,9.6,63.916
$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,23.450,70.875,556.400,334.800,0.000,85.360,225.323,0.000,1.500,0.000,13.694,1854.592,2681.105,1151.245,2241.594,286.739,0.000,2018.373,0.000,1372.612,0.000,9.479,0.000
$DEVICE_MAMPS,203.490,79.560,847.620,682.380,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,551.906,986.207,999.941,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258156
$DATA_FILE_SIZE,53725,792
$CAP_FILE_SIZE,94322,24
$CFSIZE,260165632,217214976
$ERRORS,0,0,0,0,0,0,0,0,0,0,3,0,0,53,0
$CURRENT,0.039, 17.7,1
$GPS,160111,123738,-7626.390,17220.537,12,1.6,12,129.0
$ESCAPE_REASON,MAX_VBD_ERRORS
$ESCAPE_STARTED_DIVE,637