version: 66.08
glider: 502
mission: 3
dive: 676
start: 1 18 111 21 34 4
data:
$ID,502
$MISSION,3
$DIVE,676
$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,-32178.305
$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,21
$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
$GPS1,180111,212455,-7622.530,17246.559,41,1.2,41,128.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-74.1
$GPS2,180111,213338,-7622.536,17246.688,13,0.9,13,128.1
$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,9.7,34579,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.70,-116.8,0.0,0.0,0,97,0.00,0.00,-79.72,0.000,2,0.000,0.000,424,2662,3246,0,0,0,0,0,0
$GC,101,-0.70,-116.8,3.1,-1.8,12,126,12.25,2.40,-5.55,0.000,4,0.197,0.070,2821,3759,3441,0,0,0,0,0,0
$GC,379,-0.70,-116.8,44.9,-13.7,60,387,0.00,2.30,0.00,0.000,6,0.000,0.038,2821,2645,3445,0,0,0,0,0,0
$GC,724,-0.70,-116.8,91.6,-13.8,121,731,0.00,2.38,0.00,0.000,4,0.000,0.058,2813,3758,3445,0,0,0,0,0,0
$GC,852,-0.70,-116.8,110.3,-14.7,137,856,0.00,2.22,0.00,0.000,6,0.000,0.039,2813,2661,3446,0,0,0,0,0,0
$GC,1181,-0.70,-116.8,155.2,-13.8,167,1185,0.00,2.35,0.00,0.000,4,0.000,0.060,2804,3760,3446,0,0,0,0,0,0
$GC,1235,-0.70,-116.8,164.2,-14.7,171,1244,0.10,2.28,0.00,0.000,6,0.131,0.041,2828,2667,3446,0,0,0,0,0,0
$STATE,1529,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1529,begin apogee
$GC,1536,-0.17,0.0,200.5,12.5,199,1724,0.70,0.00,183.05,0.853,4,0.116,0.000,3001,2495,2962,0,0,0,0,0,0
$STATE,1725,end apogee,CONTROL_FINISHED_OK
$STATE,1725,begin climb
$GC,1728,0.70,116.8,207.9,0.0,214,1931,1.05,3.00,188.60,0.793,4,0.069,0.048,3286,1095,2483,0,0,0,0,0,0
$GC,2026,0.70,116.8,189.8,8.8,238,2031,0.00,3.03,0.00,0.000,6,0.000,0.052,3286,2498,2476,0,0,0,0,0,0
$GC,2353,0.70,116.8,159.9,8.7,268,2357,0.00,2.97,0.00,0.000,4,0.000,0.050,3287,1092,2470,0,0,0,0,0,0
$GC,2450,0.71,125.7,151.8,7.9,276,2467,0.00,3.03,11.52,0.750,6,0.000,0.053,3287,2512,2449,0,0,1,0,0,0
$GC,2791,0.71,125.7,120.9,9.2,307,2795,0.00,2.67,0.00,0.000,4,0.000,0.058,3287,3761,2444,0,0,0,0,0,0
$GC,2934,0.71,125.7,104.9,10.6,319,2942,0.00,2.58,0.00,0.000,6,0.000,0.041,3287,2542,2443,0,0,0,0,0,0
$GC,3275,0.71,125.7,75.1,8.8,375,3284,0.00,2.65,0.00,0.000,4,0.000,0.057,3287,3763,2442,0,0,0,0,0,0
$GC,3393,0.71,125.7,63.1,10.5,395,3400,0.00,2.53,0.00,0.000,6,0.000,0.040,3288,2538,2441,0,0,0,0,0,0
$GC,3736,0.71,125.7,33.2,8.9,456,3744,0.00,2.65,0.00,0.000,4,0.000,0.057,3288,3754,2440,0,0,0,0,0,0
$GC,3840,0.71,125.7,22.8,10.1,474,3848,0.00,2.50,0.00,0.000,6,0.000,0.041,3287,2558,2440,0,0,0,0,0,0
$FREEZE,8.33,0.499,-1.892,0,1,0
$FREEZE,7.92,0.506,-1.892,0,1,0
$FREEZE,7.38,0.520,-1.891,0,1,0
$FREEZE,6.90,0.535,-1.891,0,1,0
$FREEZE,6.33,0.555,-1.891,0,1,0
$FREEZE,5.91,0.578,-1.890,0,1,0
$FREEZE,5.28,0.618,-1.889,0,1,0
$FREEZE,4.82,0.637,-1.889,0,1,0
$FREEZE,4.27,0.663,-1.888,0,1,0
$FREEZE,3.87,0.689,-1.888,0,1,0
$FREEZE,3.21,0.759,-1.887,0,1,0
$FREEZE,2.78,0.872,-1.885,0,1,0
$STATE,4066,end climb,SURFACE_DEPTH_REACHED
$STATE,4066,begin surface coast
$FREEZE,2.15,1.053,-1.883,0,1,0
$FREEZE,1.69,1.052,-1.885,0,1,0
$FREEZE,1.20,1.069,-1.885,0,1,0
$FREEZE,1.17,1.052,-1.147,0,1,0
$FREEZE,1.22,1.072,-0.277,0,1,0
$FREEZE,1.15,1.086,-0.923,0,1,0
$FINISH,1.1,1.013633
$STATE,4105,end surface coast,CONTROL_FINISHED_OK
$STATE,4105,begin surface
$SM_CCo,4125,108.28,0.088,0,0,1737,300.24
$SM_GC,2.09,0.00,0.00,108.28,0.000,0.000,0.088,433,2655,1737,-8.22,0.14,300.24
$IRIDIUM_FIX,-7536.68,17250.24,180111,212148
$TT8_MAMPS,0.028462
$HUMID,53.26
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,18.6
$24V_AH,19.2,97.039
$10V_AH,9.5,66.794
$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,23.575,42.075,383.175,108.275,0.000,54.266,115.035,166.087,0.500,0.000,14.526,1275.524,1100.737,481.110,1716.760,191.417,0.000,1044.452,0.000,862.458,0.000,2.624,0.000
$DEVICE_MAMPS,197.370,69.615,852.975,87.975,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,363.384,790.460,999.672,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37174,519
$CAP_FILE_SIZE,59480,0
$CFSIZE,260165632,215883776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.078, 56.9,1
$GPS,180111,224531,-7622.699,17248.006,8,1.0,13,128.1