version: 66.08
glider: 502
mission: 3
dive: 679
start: 1 19 111 1 31 22
data:
$ID,502
$MISSION,3
$DIVE,679
$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,-32182.078
$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
$GPS1,190111,012420,-7623.188,17251.842,12,1.4,12,128.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-71.6
$GPS2,190111,013055,-7623.205,17251.910,12,1.4,30,128.0
$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,342.7,32015,-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,-116.8,0.0,0.0,0,87,0.00,0.00,-68.75,0.000,2,0.000,0.000,435,2661,3020,0,0,0,0,0,0
$GC,91,-0.70,-116.8,3.0,-2.1,10,128,12.25,2.40,-15.55,0.000,4,0.197,0.069,2823,3759,3441,0,0,0,0,0,0
$GC,211,-0.70,-116.8,16.4,-15.2,29,218,0.00,2.28,0.00,0.000,6,0.000,0.037,2823,2641,3443,0,0,0,0,0,0
$GC,556,-0.70,-116.8,63.1,-13.6,90,564,0.00,2.42,0.00,0.000,4,0.000,0.059,2814,3755,3444,0,0,0,0,0,0
$GC,593,-0.70,-116.8,68.4,-13.9,96,603,0.00,2.28,0.00,0.000,6,0.000,0.039,2814,2658,3444,0,0,0,0,0,0
$GC,939,-0.70,-116.8,116.9,-14.5,147,943,0.00,2.35,0.00,0.000,4,0.000,0.059,2806,3759,3444,0,0,0,0,0,0
$GC,983,-0.70,-116.8,124.0,-15.9,150,992,0.10,2.28,0.00,0.000,6,0.132,0.040,2829,2661,3445,0,0,0,0,0,0
$GC,1310,-0.70,-116.8,166.1,-12.6,181,1314,0.00,2.35,0.00,0.000,4,0.000,0.060,2823,3767,3444,0,0,0,0,0,0
$GC,1352,-0.70,-116.8,171.8,-14.3,184,1356,0.00,2.25,0.00,0.000,6,0.000,0.040,2822,2658,3445,0,0,0,0,0,0
$STATE,1572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1572,begin apogee
$GC,1579,-0.17,0.0,200.7,12.8,204,1768,0.73,0.00,183.25,0.851,4,0.118,0.000,3000,2495,2961,0,0,0,0,0,0
$STATE,1769,end apogee,CONTROL_FINISHED_OK
$STATE,1769,begin climb
$GC,1772,0.70,116.8,208.3,0.0,219,1969,1.05,2.97,187.23,0.799,4,0.070,0.047,3284,1096,2485,0,0,0,0,0,0
$GC,2070,0.70,116.8,190.2,8.8,243,2078,0.00,3.05,0.00,0.000,6,0.000,0.052,3284,2495,2477,0,0,0,0,0,0
$GC,2397,0.70,116.8,161.1,8.9,274,2402,0.00,2.95,0.00,0.000,4,0.000,0.050,3287,1098,2473,0,0,0,0,0,0
$GC,2494,0.72,130.1,153.1,7.7,282,2521,0.00,3.03,19.98,0.786,6,0.000,0.052,3287,2515,2430,0,0,0,0,0,0
$GC,2841,0.72,130.1,119.7,10.2,314,2845,0.00,2.65,0.00,0.000,4,0.000,0.057,3287,3763,2426,0,0,0,0,0,0
$GC,3041,0.72,130.1,95.6,12.2,334,3049,0.00,2.58,0.00,0.000,6,0.000,0.039,3294,2535,2423,0,0,0,0,0,0
$GC,3387,0.72,130.1,62.8,8.4,395,3394,0.00,2.65,0.00,0.000,4,0.000,0.057,3295,3767,2423,0,0,0,0,0,0
$GC,3440,0.72,130.1,57.5,10.0,404,3449,0.00,2.58,0.00,0.000,6,0.000,0.040,3304,2539,2422,0,0,0,0,0,0
$GC,3788,0.72,130.1,26.8,9.0,465,3795,0.00,2.62,0.00,0.000,4,0.000,0.057,3304,3765,2422,0,0,0,0,0,0
$GC,3908,0.72,130.1,13.2,11.4,486,3916,0.00,2.53,0.00,0.000,6,0.000,0.039,3312,2553,2420,0,0,0,0,0,0
$FREEZE,8.58,0.559,-1.891,0,1,0
$FREEZE,7.86,0.573,-1.891,0,1,0
$FREEZE,7.43,0.581,-1.890,0,1,0
$FREEZE,6.83,0.671,-1.889,0,1,0
$FREEZE,6.18,0.670,-1.889,0,1,0
$FREEZE,5.57,0.740,-1.888,0,1,0
$FREEZE,5.06,0.783,-1.888,0,1,0
$FREEZE,4.40,0.801,-1.887,0,1,0
$FREEZE,3.82,0.851,-1.886,0,1,0
$FREEZE,3.15,0.939,-1.886,0,1,0
$FREEZE,2.48,0.925,-1.886,0,1,0
$STATE,4010,end climb,SURFACE_DEPTH_REACHED
$STATE,4011,begin surface coast
$FREEZE,1.45,0.923,-1.885,0,1,0
$FREEZE,1.22,0.927,-0.948,0,1,0
$FREEZE,1.30,0.865,-1.887,0,1,0
$FREEZE,1.22,0.738,-1.560,0,1,0
$FREEZE,1.23,0.901,-0.757,0,1,0
$FINISH,1.2,1.011159
$STATE,4041,end surface coast,CONTROL_FINISHED_OK
$STATE,4042,begin surface
$SM_CCo,4061,105.60,0.087,0,0,1737,300.24
$SM_GC,2.09,0.00,0.00,105.60,0.000,0.000,0.087,436,2661,1737,-8.22,0.31,300.24
$IRIDIUM_FIX,-7536.68,17240.03,190111,000019
$TT8_MAMPS,0.027713
$HUMID,52.71
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,18.2
$24V_AH,19.2,97.364
$10V_AH,9.6,67.024
$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,23.750,46.750,390.450,105.600,0.000,28.231,41.330,165.530,0.750,0.000,30.915,1246.013,1011.276,491.615,1633.003,190.437,0.000,1053.309,0.000,844.956,0.000,4.333,0.000
$DEVICE_MAMPS,196.605,68.850,851.445,87.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,355.290,773.750,980.172,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,255248
$DATA_FILE_SIZE,37088,508
$CAP_FILE_SIZE,59720,0
$CFSIZE,260165632,215764992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.107,142.8,1
$GPS,190111,024207,-7623.489,17253.986,38,1.0,38,128.0