version: 66.08
glider: 502
mission: 3
dive: 670
start: 1 18 111 13 47 32
data:
$ID,502
$MISSION,3
$DIVE,670
$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,-32170.752
$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,24
$R_STBD_OVSHOOT,18
$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
$GPS1,180111,133656,-7621.762,17235.109,10,1.6,10,128.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-74.4
$GPS2,180111,134706,-7621.792,17235.271,14,2.0,30,128.4
$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,347.8,39660,-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,-116.8,0.0,0.0,0,101,0.00,0.00,-83.20,0.000,2,0.000,0.000,424,2657,3319,0,0,0,0,0,0
$GC,105,-0.70,-116.8,3.2,-1.8,12,129,12.25,2.33,-3.15,0.000,4,0.198,0.066,2823,3761,3440,0,0,0,0,0,0
$GC,381,-0.70,-116.8,46.6,-14.0,60,389,0.00,2.30,0.00,0.000,6,0.000,0.040,2823,2651,3442,0,0,0,0,0,0
$GC,727,-0.70,-116.8,91.8,-13.0,121,734,0.00,2.38,0.00,0.000,4,0.000,0.060,2814,3759,3443,0,0,1,0,0,0
$GC,801,-0.70,-116.8,102.4,-14.3,132,809,0.00,2.28,0.00,0.000,6,0.000,0.040,2814,2661,3443,0,0,0,0,0,0
$GC,1132,-0.70,-116.8,145.9,-13.6,163,1136,0.00,2.35,0.00,0.000,4,0.000,0.059,2805,3766,3444,0,0,0,0,0,0
$GC,1184,-0.70,-116.8,153.7,-14.4,167,1189,0.12,2.22,0.00,0.000,6,0.142,0.039,2832,2669,3444,0,0,0,0,0,0
$GC,1511,-0.70,-116.8,193.2,-11.8,197,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2668,3443,0,0,0,0,0,0
$STATE,1572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1572,begin apogee
$GC,1579,-0.17,0.0,200.5,11.6,203,1768,0.68,0.00,182.15,0.849,4,0.116,0.000,2999,2495,2961,0,0,0,0,0,0
$STATE,1768,end apogee,CONTROL_FINISHED_OK
$STATE,1768,begin climb
$GC,1771,0.70,116.8,207.6,0.0,218,1976,1.05,3.00,189.20,0.798,4,0.070,0.047,3284,1092,2483,0,0,0,0,0,0
$GC,2083,0.70,116.8,187.6,8.7,243,2091,0.00,3.08,0.00,0.000,6,0.000,0.053,3284,2495,2475,0,0,0,0,0,0
$GC,2410,0.70,116.8,157.2,9.3,274,2415,0.00,2.95,0.00,0.000,4,0.000,0.049,3287,1098,2470,0,0,0,0,0,0
$GC,2497,0.70,116.8,149.0,9.0,281,2506,0.00,3.08,0.00,0.000,6,0.000,0.053,3287,2510,2470,0,0,0,0,0,0
$GC,2825,0.70,116.8,118.4,9.3,312,2829,0.00,2.65,0.00,0.000,4,0.000,0.058,3287,3764,2469,0,0,0,0,0,0
$GC,2979,0.70,116.8,101.3,11.1,325,2987,0.00,2.55,0.00,0.000,6,0.000,0.037,3287,2539,2466,0,0,0,0,0,0
$GC,3321,0.70,116.8,71.2,9.0,385,3328,0.00,2.62,0.00,0.000,4,0.000,0.057,3287,3764,2466,0,0,0,0,0,0
$GC,3472,0.70,116.8,54.6,11.7,411,3479,0.00,2.50,0.00,0.000,6,0.000,0.037,3287,2541,2465,0,0,0,0,0,0
$GC,3821,0.70,116.8,22.7,8.8,472,3829,0.00,2.62,0.00,0.000,4,0.000,0.057,3287,3757,2464,0,0,0,0,0,0
$GC,3867,0.70,116.8,18.2,10.2,479,3873,0.00,2.47,0.00,0.000,6,0.000,0.040,3287,2554,2464,0,0,0,0,0,0
$FREEZE,8.91,0.410,-1.891,0,1,0
$FREEZE,8.35,0.441,-1.891,0,1,0
$FREEZE,7.89,0.457,-1.891,0,1,0
$FREEZE,7.24,0.459,-1.891,0,1,0
$FREEZE,6.88,0.459,-1.891,0,1,0
$FREEZE,6.38,0.460,-1.891,0,1,0
$FREEZE,5.91,0.460,-1.891,0,1,0
$FREEZE,5.15,0.462,-1.891,0,1,0
$FREEZE,4.70,0.462,-1.890,0,1,0
$FREEZE,4.07,0.462,-1.890,0,1,0
$FREEZE,3.56,0.463,-1.890,0,1,0
$FREEZE,3.01,0.465,-1.889,0,1,0
$FREEZE,2.42,0.468,-1.889,0,1,0
$STATE,4043,end climb,SURFACE_DEPTH_REACHED
$STATE,4043,begin surface coast
$FREEZE,1.79,0.468,-1.888,0,1,0
$FREEZE,1.35,0.467,-1.888,0,1,0
$FREEZE,1.23,0.386,-0.983,0,1,0
$FREEZE,1.17,0.345,-0.919,0,1,0
$FREEZE,1.19,0.407,-1.583,0,1,0
$FREEZE,1.28,0.379,-0.246,0,1,0
$FINISH,1.3,1.003499
$STATE,4080,end surface coast,CONTROL_FINISHED_OK
$STATE,4081,begin surface
$SM_CCo,4100,112.62,0.087,0,0,1737,300.24
$SM_GC,2.07,0.00,0.00,112.62,0.000,0.000,0.087,434,2662,1737,-8.22,0.34,300.24
$IRIDIUM_FIX,-7536.68,17242.35,180111,131343
$TT8_MAMPS,0.028462
$HUMID,52.44
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,18.8
$24V_AH,19.2,96.392
$10V_AH,9.5,66.334
$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,23.625,41.950,371.350,112.625,0.000,54.965,80.279,258.294,0.750,0.000,31.008,1266.714,1084.437,485.890,1777.685,218.448,0.000,1043.396,0.000,850.427,0.000,2.623,0.000
$DEVICE_MAMPS,198.135,68.850,849.150,87.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,360.435,784.155,996.190,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,255284
$DATA_FILE_SIZE,37129,515
$CAP_FILE_SIZE,61624,0
$CFSIZE,260165632,216113152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.072, 83.4,1
$GPS,180111,145907,-7621.931,17237.070,41,0.8,41,128.3