version: 66.08
glider: 502
mission: 3
dive: 642
start: 1 16 111 13 11 5
data:
$ID,502
$MISSION,3
$DIVE,642
$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,250
$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,-30951.396
$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,23
$R_STBD_OVSHOOT,16
$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
$GPS1,160111,123738,-7626.390,17220.537,12,1.6,12,129.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-57.3
$GPS2,160111,131037,-7626.232,17219.895,34,0.8,34,129.0
$SPEED_LIMITS,0.157,0.251
$TGT_NAME,HEADING
$TGT_LATLONG,-7624.357,17305.143
$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,318.9,20000,-16.0,-9.091
$D_GRID,576
$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,-132.25,0.000,2,0.000,0.000,335,2656,3064,0,0,0,0,0,0
$GC,155,-0.71,-146.0,3.0,-2.7,19,192,12.48,2.33,-15.23,0.000,4,0.201,0.067,2817,3767,3560,0,0,0,0,0,0
$GC,214,-0.71,-146.0,11.1,-15.0,28,222,0.00,2.25,0.00,0.000,6,0.000,0.035,2818,2641,3562,0,0,0,0,0,0
$GC,549,-0.71,-146.0,62.9,-14.7,89,557,0.00,2.78,0.00,0.000,4,0.000,0.044,2818,1244,3563,0,0,0,0,0,0
$GC,588,-0.71,-146.0,68.3,-13.6,95,595,0.00,2.88,0.00,0.000,6,0.000,0.050,2808,2645,3563,0,0,0,0,0,0
$GC,922,-0.71,-146.0,117.5,-15.3,145,927,0.00,2.28,0.00,0.000,4,0.000,0.054,2799,3769,3563,0,0,0,0,0,0
$GC,1011,-0.71,-146.0,131.8,-15.8,152,1019,0.10,2.22,0.00,0.000,6,0.132,0.035,2825,2648,3563,0,0,0,0,0,0
$GC,1339,-0.71,-146.0,175.6,-13.1,183,1343,0.00,2.28,0.00,0.000,4,0.000,0.054,2817,3763,3563,0,0,0,0,0,0
$GC,1393,-0.71,-146.0,183.7,-13.9,187,1401,0.00,2.17,0.00,0.000,6,0.000,0.035,2818,2667,3563,0,0,0,0,0,0
$GC,1720,-0.71,-146.0,228.7,-13.7,218,1724,0.00,2.25,0.00,0.000,4,0.000,0.055,2809,3768,3563,0,0,0,0,0,0
$GC,1797,-0.71,-146.0,240.2,-14.5,224,1805,0.00,2.17,0.00,0.000,6,0.000,0.036,2809,2676,3563,0,0,0,0,0,0
$GC,2122,-0.71,-146.0,285.6,-13.9,255,2126,0.00,2.22,0.00,0.000,4,0.000,0.056,2801,3763,3563,0,0,0,0,0,0
$GC,2175,-0.71,-146.0,293.0,-14.1,259,2180,0.12,2.12,0.00,0.000,6,0.143,0.036,2827,2670,3563,0,0,0,0,0,0
$GC,2500,-0.71,-146.0,334.1,-12.2,289,2504,0.00,2.25,0.00,0.000,4,0.000,0.055,2820,3769,3562,0,0,0,0,0,0
$GC,2545,-0.71,-146.0,340.5,-13.9,292,2552,0.00,2.12,0.00,0.000,6,0.000,0.037,2820,2683,3563,0,0,0,0,0,0
$GC,2871,-0.71,-146.0,382.6,-12.3,323,2875,0.00,2.20,0.00,0.000,4,0.000,0.056,2811,3763,3562,0,0,0,0,0,0
$GC,2912,-0.71,-146.0,388.0,-13.5,326,2916,0.00,2.08,0.00,0.000,6,0.000,0.036,2812,2693,3562,0,0,0,0,0,0
$STATE,3002,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3002,begin apogee
$GC,3009,-0.27,0.0,400.3,13.1,334,3378,0.62,0.00,259.52,0.844,4,0.117,0.000,2971,2494,2978,0,0,0,0,20,1
$STATE,3379,end apogee,CONTROL_FINISHED_OK
$STATE,3379,begin climb
$GC,3382,0.71,146.0,415.0,0.0,367,3756,1.17,2.92,259.52,0.785,4,0.074,0.044,3287,1095,2424,0,0,0,0,20,1
$GC,3782,0.71,146.0,390.1,9.7,403,3828,0.00,2.97,26.00,0.780,6,0.000,0.047,3287,2501,2366,0,0,0,0,2,0
$GC,4146,0.71,146.0,353.3,9.8,437,4151,0.00,2.88,0.00,0.000,4,0.000,0.044,3296,1099,2358,0,0,0,0,0,0
$GC,4223,0.71,146.0,345.4,10.0,443,4230,0.00,2.95,0.00,0.000,6,0.000,0.047,3296,2515,2357,0,0,0,0,0,0
$GC,4549,0.71,146.0,311.5,10.3,474,4554,0.00,2.58,0.00,0.000,4,0.000,0.052,3296,3768,2355,0,0,0,0,0,0
$GC,4704,0.71,146.0,292.3,12.7,487,4708,0.00,2.42,0.00,0.000,6,0.000,0.034,3305,2541,2354,0,0,0,0,0,0
$GC,5029,0.71,146.0,255.8,11.3,517,5034,0.00,2.53,0.00,0.000,4,0.000,0.053,3306,3768,2353,0,0,0,0,0,0
$GC,5128,0.71,146.0,242.6,13.4,525,5137,0.00,2.45,0.00,0.000,6,0.000,0.035,3313,2543,2353,0,0,0,0,0,0
$GC,5455,0.71,146.0,205.9,11.4,556,5460,0.00,2.50,0.00,0.000,4,0.000,0.053,3313,3764,2352,0,0,0,0,0,0
$GC,5532,0.71,146.0,195.5,12.9,562,5541,0.00,2.42,0.00,0.000,6,0.000,0.034,3322,2546,2351,0,0,0,0,0,0
$GC,5860,0.71,146.0,156.7,11.8,593,5864,0.00,2.50,0.00,0.000,4,0.000,0.051,3322,3770,2352,0,0,0,0,0,0
$GC,5978,0.71,146.0,140.2,14.1,603,5983,0.15,2.35,0.00,0.000,6,0.138,0.034,3301,2562,2352,0,0,0,0,0,0
$GC,6305,0.71,146.0,104.9,10.8,633,6309,0.00,2.47,0.00,0.000,4,0.000,0.052,3300,3770,2351,0,0,0,0,0,0
$GC,6335,0.71,146.0,101.5,11.7,635,6339,0.00,2.35,0.00,0.000,6,0.000,0.034,3308,2566,2351,0,0,0,0,0,0
$GC,6666,0.71,146.0,67.2,10.6,694,6674,0.00,2.50,0.00,0.000,4,0.000,0.054,3308,3762,2350,0,0,0,0,0,0
$GC,6756,0.71,146.0,56.4,12.4,710,6765,0.00,2.35,0.00,0.000,6,0.000,0.035,3315,2580,2349,0,0,0,0,0,0
$GC,7089,0.71,146.0,21.0,11.7,771,7096,0.00,2.95,0.00,0.000,4,0.000,0.043,3326,1095,2349,0,0,0,0,0,0
$GC,7116,0.71,146.0,18.0,10.6,775,7124,0.12,3.05,0.00,0.000,6,0.135,0.048,3301,2583,2348,0,0,0,0,0,0
$FREEZE,8.90,-0.133,-1.894,2,1,0
$FREEZE,8.27,-0.133,-1.894,2,1,0
$FREEZE,7.56,-0.134,-1.893,2,1,0
$FREEZE,6.75,-0.133,-1.893,2,1,0
$FREEZE,6.04,-0.132,-1.892,2,1,0
$FREEZE,5.24,-0.132,-1.892,2,1,0
$FREEZE,4.62,-0.131,-1.891,2,1,0
$FREEZE,4.11,-0.134,-1.891,2,1,0
$FREEZE,3.71,-0.135,-1.890,2,1,0
$FREEZE,3.24,-0.134,-1.890,2,1,0
$FREEZE,2.76,-0.132,-1.890,2,1,0
$STATE,7267,end climb,SURFACE_DEPTH_REACHED
$STATE,7267,begin surface coast
$FREEZE,2.01,-0.135,-1.889,2,1,0
$FREEZE,1.49,-0.132,-1.889,2,1,0
$FREEZE,1.40,-0.144,-1.889,2,1,0
$FREEZE,1.33,-0.133,-1.888,2,1,0
$FREEZE,1.44,-0.138,-1.889,2,1,0
$FREEZE,1.32,-0.197,-1.892,2,1,0
$FREEZE,1.26,-0.226,-0.859,2,1,0
$FINISH,1.3,1.012682
$STATE,7309,end surface coast,CONTROL_FINISHED_OK
$STATE,7309,begin surface
$SM_CCo,7329,65.40,0.691,1,0,1940,250.20
$SM_GC,2.11,0.00,0.00,65.40,0.000,0.000,0.691,433,2663,1940,-8.22,0.37,250.20
$IRIDIUM_FIX,-7545.40,17219.47,160111,121249
$TT8_MAMPS,0.027713
$HUMID,55.07
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.2,16.9
$24V_AH,19.1,92.538
$10V_AH,9.6,64.033
$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,24.150,84.250,545.050,65.400,0.000,79.979,121.184,1357.472,2.000,0.000,35.483,1900.958,2703.730,828.303,3509.571,440.947,0.000,1711.427,0.000,1400.221,0.000,11.114,0.000
$DEVICE_MAMPS,201.195,79.560,843.795,690.795,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,563.043,1009.254,1022.178,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,57178,808
$CAP_FILE_SIZE,122308,16
$CFSIZE,260165632,217194496
$ERRORS,0,0,0,0,0,0,0,0,0,0,2,0,0,43,0
$CURRENT,0.075, 19.6,1
$GPS,160111,151520,-7625.912,17223.609,13,1.6,14,128.9
$ESCAPE_REASON,MAX_VBD_ERRORS
$ESCAPE_STARTED_DIVE,637