version: 66.08
glider: 502
mission: 3
dive: 678
start: 1 19 111 0 16 58
data:
$ID,502
$MISSION,3
$DIVE,678
$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,-32180.82
$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,25
$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
$GPS1,190111,000500,-7622.920,17249.953,39,1.2,39,128.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-73.2
$GPS2,190111,001632,-7622.929,17250.086,17,1.9,17,128.0
$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,352.3,32941,-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,-116.8,0.0,0.0,0,100,0.00,0.00,-80.82,0.000,2,0.000,0.000,431,2662,3285,0,0,0,0,0,0
$GC,103,-0.70,-116.8,3.2,-2.1,12,127,12.27,2.42,-4.20,0.000,4,0.198,0.067,2821,3766,3442,0,0,0,0,0,0
$GC,209,-0.70,-116.8,21.1,-14.8,29,216,0.00,2.28,0.00,0.000,6,0.000,0.039,2821,2648,3444,0,0,0,0,0,0
$GC,552,-0.70,-116.8,67.7,-13.4,90,561,0.00,2.40,0.00,0.000,4,0.000,0.059,2812,3753,3444,0,0,0,0,0,0
$GC,621,-0.70,-116.8,77.3,-14.3,101,628,0.00,2.22,0.00,0.000,6,0.000,0.040,2812,2664,3444,0,0,0,0,0,0
$GC,961,-0.70,-116.8,126.3,-14.2,146,966,0.00,2.33,0.00,0.000,4,0.000,0.058,2804,3759,3444,0,0,0,0,0,0
$GC,1049,-0.70,-116.8,140.5,-15.6,153,1058,0.10,2.22,0.00,0.000,6,0.129,0.037,2829,2679,3444,0,0,0,0,0,0
$GC,1376,-0.70,-116.8,182.7,-12.7,184,1381,0.00,2.92,0.00,0.000,4,0.000,0.046,2829,1244,3444,0,0,0,0,0,0
$GC,1396,-0.70,-116.8,185.1,-12.7,185,1401,0.00,3.03,0.00,0.000,6,0.000,0.054,2819,2678,3444,0,0,0,0,0,0
$STATE,1519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1519,begin apogee
$GC,1525,-0.17,0.0,201.0,12.5,196,1715,0.75,0.00,183.15,0.846,4,0.119,0.000,3003,2492,2961,0,0,0,0,0,0
$STATE,1716,end apogee,CONTROL_FINISHED_OK
$STATE,1716,begin climb
$GC,1718,0.70,116.8,207.5,0.0,211,1922,1.05,2.97,187.95,0.786,4,0.069,0.047,3288,1096,2483,0,0,0,0,0,0
$GC,2028,0.70,116.8,187.4,9.0,236,2033,0.00,3.03,0.00,0.000,6,0.000,0.052,3288,2502,2475,0,0,0,0,0,0
$GC,2355,0.70,116.8,155.2,9.6,266,2360,0.00,2.95,0.00,0.000,4,0.000,0.048,3298,1097,2470,0,0,0,0,0,0
$GC,2451,0.70,116.8,145.9,9.4,274,2456,0.00,3.05,0.00,0.000,6,0.000,0.052,3298,2521,2470,0,0,0,0,0,0
$GC,2778,0.70,116.8,114.1,9.3,304,2782,0.00,2.62,0.00,0.000,4,0.000,0.057,3298,3763,2469,0,0,0,0,0,0
$GC,2943,0.70,116.8,95.2,11.4,322,2952,0.00,2.55,0.00,0.000,6,0.000,0.039,3307,2544,2466,0,0,0,0,0,0
$GC,3290,0.70,116.8,60.8,9.1,383,3298,0.00,2.62,0.00,0.000,4,0.000,0.057,3307,3770,2466,0,0,0,0,0,0
$GC,3374,0.70,116.8,51.3,11.9,397,3381,0.00,2.55,0.00,0.000,6,0.000,0.040,3315,2534,2465,0,0,0,0,0,0
$GC,3718,0.70,116.8,15.5,9.9,458,3728,0.00,2.67,0.00,0.000,4,0.000,0.056,3315,3765,2464,0,0,0,0,0,0
$FREEZE,8.87,0.461,-1.892,0,1,0
$FREEZE,8.15,0.503,-1.891,0,1,0
$FREEZE,7.52,0.538,-1.890,0,1,0
$FREEZE,6.81,0.600,-1.889,0,1,0
$FREEZE,6.28,0.619,-1.889,0,1,0
$FREEZE,5.43,0.651,-1.888,0,1,0
$GC,3804,0.70,116.8,5.4,11.5,472,3813,0.10,2.53,0.00,0.000,6,0.129,0.039,3300,2553,2464,0,0,0,0,0,0
$FREEZE,3.45,0.908,-1.885,0,1,0
$FREEZE,2.91,0.955,-1.884,0,1,0
$STATE,3828,end climb,SURFACE_DEPTH_REACHED
$STATE,3828,begin surface coast
$FREEZE,1.96,1.005,-1.884,0,1,0
$FREEZE,1.43,1.017,-1.885,0,1,0
$FREEZE,1.18,1.007,-1.170,0,1,0
$FREEZE,1.17,0.910,-0.859,0,1,0
$FREEZE,1.28,0.779,-1.900,0,1,0
$FINISH,1.3,1.027729
$STATE,3860,end surface coast,CONTROL_FINISHED_OK
$STATE,3860,begin surface
$SM_CCo,3880,110.65,0.085,0,0,1737,300.24
$SM_GC,2.20,0.00,0.00,110.65,0.000,0.000,0.085,437,2661,1737,-8.21,0.31,300.24
$IRIDIUM_FIX,-7536.68,17249.10,190111,000035
$TT8_MAMPS,0.027713
$HUMID,52.91
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,17.7
$24V_AH,19.2,97.257
$10V_AH,9.5,66.947
$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,23.750,48.000,371.100,110.650,0.000,82.969,189.105,168.771,0.500,0.000,18.015,1179.515,1096.701,488.583,1735.134,192.088,0.000,1026.914,0.000,803.239,0.000,2.621,0.000
$DEVICE_MAMPS,198.135,68.850,846.090,84.915,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,335.605,731.856,932.274,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,255272
$DATA_FILE_SIZE,33784,480
$CAP_FILE_SIZE,59543,0
$CFSIZE,260165632,215805952
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.074,120.7,1
$GPS,190111,012420,-7623.188,17251.842,12,1.4,12,128.0