version: 66.08
glider: 502
mission: 3
dive: 643
start: 1 16 111 15 26 7
data:
$ID,502
$MISSION,3
$DIVE,643
$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,-30952.75
$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,28
$R_STBD_OVSHOOT,19
$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
$GPS1,160111,151520,-7625.912,17223.609,13,1.6,14,128.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-66.6
$GPS2,160111,152538,-7625.893,17223.559,13,1.9,13,128.9
$SPEED_LIMITS,0.157,0.251
$TGT_NAME,HEADING
$TGT_LATLONG,-7624.017,17308.787
$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,326.0,20000,-16.0,-9.091
$D_GRID,575
$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,-146.0,0.0,0.0,0,68,0.00,0.00,-50.08,0.000,2,0.000,0.000,397,2668,2826,0,0,0,0,0,0
$GC,71,-0.71,-146.0,3.0,-2.2,7,121,12.18,2.28,-28.48,0.000,4,0.200,0.064,2818,3766,3557,0,0,0,0,0,0
$GC,265,-0.71,-146.0,29.4,-17.1,40,273,0.00,2.25,0.00,0.000,6,0.000,0.036,2818,2646,3560,0,0,0,0,0,0
$GC,600,-0.71,-146.0,78.5,-13.5,101,608,0.00,2.80,0.00,0.000,4,0.000,0.044,2818,1249,3561,0,0,0,0,0,0
$GC,621,-0.71,-146.0,81.8,-14.8,104,629,0.00,2.95,0.00,0.000,6,0.000,0.051,2807,2655,3561,0,0,0,0,0,0
$GC,952,-0.71,-146.0,130.5,-14.7,146,956,0.00,2.28,0.00,0.000,4,0.000,0.054,2799,3772,3561,0,0,0,0,0,0
$GC,1018,-0.71,-146.0,141.3,-14.9,151,1027,0.10,2.20,0.00,0.000,6,0.128,0.036,2824,2673,3561,0,0,0,0,0,0
$GC,1347,-0.71,-146.0,184.5,-13.3,182,1351,0.00,2.25,0.00,0.000,4,0.000,0.055,2817,3766,3561,0,0,0,0,0,0
$GC,1391,-0.71,-146.0,191.5,-14.4,185,1400,0.00,2.20,0.00,0.000,6,0.000,0.036,2817,2670,3561,0,0,0,0,0,0
$GC,1719,-0.71,-146.0,236.1,-13.3,216,1723,0.00,2.25,0.00,0.000,4,0.000,0.055,2808,3764,3561,0,0,0,0,0,0
$GC,1772,-0.71,-146.0,243.8,-14.0,220,1776,0.00,2.12,0.00,0.000,6,0.000,0.036,2809,2681,3561,0,0,0,0,0,0
$GC,2098,-0.71,-146.0,289.7,-13.6,250,2102,0.00,2.25,0.00,0.000,4,0.000,0.056,2800,3767,3561,0,0,0,0,0,0
$GC,2133,-0.71,-146.0,294.8,-14.7,253,2138,0.15,2.12,0.00,0.000,6,0.136,0.036,2832,2686,3561,0,0,0,0,0,0
$GC,2463,-0.71,-146.0,335.1,-12.1,284,2467,0.00,2.22,0.00,0.000,4,0.000,0.057,2825,3764,3561,0,0,0,0,0,0
$GC,2503,-0.71,-146.0,340.2,-13.5,287,2510,0.00,2.10,0.00,0.000,6,0.000,0.036,2825,2691,3561,0,0,0,0,0,0
$GC,2829,-0.71,-146.0,381.1,-12.7,318,2833,0.00,2.22,0.00,0.000,4,0.000,0.057,2817,3764,3561,0,0,0,0,0,0
$GC,2864,-0.71,-146.0,385.7,-13.5,321,2868,0.00,2.10,0.00,0.000,6,0.000,0.036,2817,2694,3561,0,0,0,0,0,0
$STATE,2973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2974,begin apogee
$GC,2980,-0.27,0.0,400.0,13.2,331,3347,0.60,0.00,259.52,0.848,4,0.114,0.000,2969,2493,2980,0,0,0,0,20,1
$STATE,3348,end apogee,CONTROL_FINISHED_OK
$STATE,3348,begin climb
$GC,3351,0.71,146.0,414.7,0.0,364,3726,1.20,2.95,259.52,0.787,4,0.074,0.044,3290,1094,2427,0,0,0,0,20,1
$GC,3756,0.71,146.0,388.5,9.6,400,3807,0.00,3.00,29.98,0.747,6,0.000,0.047,3289,2502,2365,0,0,0,0,2,0
$GC,4125,0.71,146.0,350.6,10.1,435,4129,0.00,2.90,0.00,0.000,4,0.000,0.044,3300,1098,2357,0,0,0,0,0,0
$GC,4202,0.71,146.0,342.3,10.9,441,4210,0.00,2.97,0.00,0.000,6,0.000,0.047,3300,2516,2356,0,0,0,0,0,0
$GC,4528,0.71,146.0,306.5,10.9,472,4532,0.00,2.58,0.00,0.000,4,0.000,0.052,3300,3763,2355,0,0,0,0,0,0
$GC,4673,0.71,146.0,287.8,12.4,484,4680,0.00,2.45,0.00,0.000,6,0.000,0.034,3308,2535,2353,0,0,0,0,0,0
$GC,4999,0.71,146.0,251.0,11.3,515,5003,0.00,2.55,0.00,0.000,4,0.000,0.051,3308,3764,2352,0,0,0,0,0,0
$GC,5085,0.71,146.0,239.8,13.6,522,5089,0.00,2.42,0.00,0.000,6,0.000,0.034,3315,2536,2352,0,0,0,0,0,0
$GC,5413,0.71,146.0,200.8,11.8,552,5418,0.00,2.55,0.00,0.000,4,0.000,0.051,3315,3770,2351,0,0,0,0,0,0
$GC,5523,0.71,146.0,184.9,13.9,561,5532,0.00,2.45,0.00,0.000,6,0.000,0.035,3323,2553,2351,0,0,0,0,0,0
$GC,5852,0.71,146.0,145.7,11.5,592,5856,0.00,2.50,0.00,0.000,4,0.000,0.051,3324,3766,2351,0,0,0,0,0,0
$GC,5940,0.71,146.0,133.0,14.5,599,5948,0.12,2.42,0.00,0.000,6,0.122,0.034,3302,2559,2350,0,0,0,0,0,0
$GC,6267,0.71,146.0,98.5,10.0,631,6274,0.00,2.50,0.00,0.000,4,0.000,0.053,3302,3763,2350,0,0,0,0,0,0
$GC,6340,0.71,146.0,89.5,12.6,644,6349,0.00,2.40,0.00,0.000,6,0.000,0.034,3310,2563,2350,0,0,0,0,0,0
$GC,6674,0.71,146.0,53.7,10.7,705,6681,0.00,2.50,0.00,0.000,4,0.000,0.052,3310,3767,2349,0,0,0,0,0,0
$GC,6701,0.71,146.0,50.6,11.2,709,6709,0.00,2.35,0.00,0.000,6,0.000,0.034,3319,2571,2349,0,0,0,0,0,0
$GC,7036,0.71,146.0,13.7,11.1,770,7044,0.00,2.50,0.00,0.000,4,0.000,0.052,3319,3760,2348,0,0,0,0,0,0
$FREEZE,8.29,-0.123,-1.894,2,2,0
$FREEZE,7.54,-0.124,-1.893,2,2,0
$FREEZE,6.59,-0.123,-1.892,2,2,0
$FREEZE,5.91,-0.122,-1.892,2,2,0
$FREEZE,5.34,-0.121,-1.891,2,2,0
$FREEZE,4.76,-0.122,-1.891,2,2,0
$FREEZE,4.13,-0.122,-1.890,2,2,0
$FREEZE,3.46,-0.122,-1.890,2,2,0
$FREEZE,2.67,-0.120,-1.889,2,2,0
$STATE,7121,end climb,SURFACE_DEPTH_REACHED
$STATE,7121,begin surface coast
$FREEZE,1.25,-0.122,-1.888,2,2,0
$FINISH,1.3,1.027620
$STATE,7129,end surface coast,CONTROL_FINISHED_OK
$STATE,7129,begin surface
$SM_CCo,7151,311.80,0.673,10,1,581,583.56
$SM_CCo,7518,37.53,0.494,3,0,419,623.30
$SM_GC,1.88,0.00,0.00,37.53,0.000,0.000,0.494,408,2637,419,-8.30,-0.37,623.30
$IRIDIUM_FIX,-7545.40,17237.68,160111,151537
$TT8_MAMPS,0.028462
$HUMID,50.66
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,14.10
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.8,19.2
$24V_AH,19.0,92.740
$10V_AH,9.5,64.135
$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,23.850,83.200,549.025,349.325,0.000,76.551,225.323,0.000,2.250,0.000,14.205,1853.431,2695.620,1133.827,2197.012,295.088,0.000,1978.759,0.000,1348.153,0.000,9.495,0.000
$DEVICE_MAMPS,199.665,64.260,847.620,673.200,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,547.767,972.865,985.406,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53767,785
$CAP_FILE_SIZE,93692,24
$CFSIZE,260165632,217141248
$ERRORS,0,0,0,0,0,0,0,0,0,0,3,0,0,55,0
$CURRENT,0.101, 22.3,1
$GPS,160111,173337,-7625.527,17227.592,37,1.0,38,128.8
$ESCAPE_REASON,MAX_VBD_ERRORS
$ESCAPE_STARTED_DIVE,637