version: 66.08
glider: 502
mission: 3
dive: 656
start: 1 17 111 19 41 57
data:
$ID,502
$MISSION,3
$DIVE,656
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$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,80
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.025
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$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,-1
$ESCAPE_HEADING,270
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,8
$TGT_DEFAULT_LAT,-7715
$TGT_DEFAULT_LON,16530
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,-32153.039
$T_RSLEEP,15
$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,15
$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,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,2
$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
$GPS1,170111,193502,-7621.522,17217.244,14,1.6,14,128.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-69.1
$GPS2,170111,194130,-7621.463,17217.219,39,1.1,45,128.8
$SPEED_LIMITS,0.144,0.221
$TGT_NAME,PICKUP
$TGT_LATLONG,-7630.000,17400.000
$TGT_RADIUS,5000.000
$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,25.8,47166,-16.7,-8.333
$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,-0.70,-116.8,0.0,0.0,0,89,0.00,0.00,-70.70,0.000,2,0.000,0.000,421,2642,3040,0,0,0,0,0,0
$GC,93,-0.70,-116.8,3.1,-2.1,10,130,12.43,2.95,-13.65,0.000,4,0.202,0.057,2831,1247,3442,0,0,0,0,0,0
$GC,144,-0.70,-116.8,8.0,-10.1,17,150,0.00,3.00,0.00,0.000,6,0.000,0.056,2826,2649,3443,0,0,0,0,0,0
$GC,476,-0.70,-116.8,54.0,-13.7,78,484,0.00,2.38,0.00,0.000,4,0.000,0.060,2818,3757,3444,0,0,0,0,0,0
$GC,541,-0.70,-116.8,64.0,-15.7,89,549,0.00,2.25,0.00,0.000,6,0.000,0.040,2818,2657,3444,0,0,0,0,0,0
$GC,877,-0.70,-116.8,112.5,-14.2,142,881,0.00,2.38,0.00,0.000,4,0.000,0.060,2809,3767,3445,0,0,0,0,0,0
$GC,909,-0.70,-116.8,118.0,-16.2,144,917,0.00,2.30,0.00,0.000,6,0.000,0.041,2809,2659,3444,0,0,0,0,0,0
$GC,1239,-0.70,-116.8,166.3,-14.5,175,1243,0.00,2.35,0.00,0.000,4,0.000,0.060,2801,3762,3444,0,0,0,0,0,0
$GC,1303,-0.70,-116.8,176.6,-16.1,180,1307,0.15,2.22,0.00,0.000,6,0.140,0.040,2831,2665,3444,0,0,0,0,0,0
$STATE,1479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1479,begin apogee
$GC,1486,-0.17,0.0,200.5,12.7,196,1674,0.68,0.00,182.93,0.837,4,0.114,0.000,2999,2493,2961,0,0,0,0,0,0
$STATE,1675,end apogee,CONTROL_FINISHED_OK
$STATE,1675,begin climb
$GC,1678,0.70,116.8,209.5,0.0,211,1882,1.08,3.00,189.32,0.773,4,0.069,0.048,3289,1092,2484,0,0,0,0,0,0
$GC,1976,0.71,126.3,193.8,7.9,235,2003,0.00,3.05,14.65,0.737,6,0.000,0.052,3289,2506,2446,0,0,0,0,0,0
$GC,2323,0.71,126.3,163.9,8.9,267,2328,0.00,2.97,0.00,0.000,4,0.000,0.050,3298,1096,2439,0,0,0,0,0,0
$GC,2467,0.71,126.3,150.4,9.1,279,2475,0.00,3.05,0.00,0.000,6,0.000,0.052,3298,2514,2437,0,0,0,0,0,0
$GC,2793,0.71,126.3,118.5,9.9,310,2798,0.00,2.65,0.00,0.000,4,0.000,0.058,3299,3765,2437,0,0,0,0,0,0
$GC,2959,0.71,126.3,99.4,12.7,324,2967,0.00,2.55,0.00,0.000,6,0.000,0.037,3308,2526,2434,0,0,0,0,0,0
$GC,3294,0.71,126.3,63.6,10.7,385,3301,0.00,2.65,0.00,0.000,4,0.000,0.057,3308,3766,2433,0,0,0,0,0,0
$GC,3377,0.71,126.3,53.1,12.7,400,3385,0.00,2.53,0.00,0.000,6,0.000,0.037,3315,2543,2434,0,0,0,0,0,0
$GC,3711,0.71,126.3,16.3,11.1,461,3718,0.00,2.60,0.00,0.000,4,0.000,0.056,3315,3763,2433,0,0,0,0,0,0
$FREEZE,8.75,-0.230,-1.896,0,1,0
$FREEZE,7.82,-0.231,-1.895,0,1,0
$FREEZE,7.08,-0.228,-1.895,0,1,0
$FREEZE,6.31,-0.227,-1.894,0,1,0
$FREEZE,5.56,-0.227,-1.894,0,1,0
$FREEZE,4.76,-0.230,-1.893,0,1,0
$FREEZE,4.01,-0.228,-1.892,0,1,0
$FREEZE,3.06,-0.226,-1.892,0,1,0
$FREEZE,2.47,-0.230,-1.891,0,1,0
$STATE,3818,end climb,SURFACE_DEPTH_REACHED
$STATE,3818,begin surface coast
$FREEZE,1.26,-0.206,-1.890,0,1,0
$FREEZE,1.29,-0.208,-1.132,0,1,0
$FREEZE,1.18,-0.255,-1.843,0,1,0
$FINISH,1.2,1.026986
$STATE,3836,end surface coast,CONTROL_FINISHED_OK
$STATE,3836,begin surface
$SM_CCo,3857,104.28,0.087,0,0,1737,300.24
$SM_GC,2.04,0.00,0.00,104.28,0.000,0.000,0.087,434,2643,1737,-8.21,-0.20,300.24
$IRIDIUM_FIX,-7536.68,17145.74,170111,181850
$TT8_MAMPS,0.028462
$HUMID,52.87
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,18.7
$24V_AH,19.1,94.889
$10V_AH,9.7,65.256
$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,23.850,47.525,386.900,104.275,0.000,29.400,36.212,170.427,0.750,0.000,45.934,1175.246,930.381,494.530,1576.270,184.004,0.000,1039.819,0.000,814.341,0.000,2.624,0.000
$DEVICE_MAMPS,201.960,60.435,836.910,87.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,337.168,733.574,939.950,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,255240
$DATA_FILE_SIZE,33693,482
$CAP_FILE_SIZE,57334,0
$CFSIZE,260165632,216653824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.252,  1.6,1
$GPS,170111,204911,-7621.236,17217.846,12,2.2,31,128.8