version: 66.08
glider: 502
mission: 3
dive: 680
start: 1 19 111 2 48 29
data:
$ID,502
$MISSION,3
$DIVE,680
$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,-32183.334
$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,23
$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
$GPS1,190111,024207,-7623.489,17253.986,38,1.0,38,128.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-73.2
$GPS2,190111,024802,-7623.493,17254.027,11,1.8,11,128.0
$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,330.8,30964,-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,-116.8,0.0,0.0,0,98,0.00,0.00,-80.03,0.000,2,0.000,0.000,431,2662,3254,0,0,0,0,0,0
$GC,102,-0.70,-116.8,3.1,-2.0,12,127,12.30,2.42,-5.22,0.000,4,0.196,0.067,2821,3760,3440,0,0,0,0,0,0
$GC,345,-0.70,-116.8,40.6,-14.3,54,354,0.00,2.30,0.00,0.000,6,0.000,0.037,2821,2651,3443,0,0,0,0,0,0
$GC,694,-0.70,-116.8,86.6,-13.3,115,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2650,3444,0,0,0,0,0,0
$GC,1032,-0.70,-116.8,130.9,-13.1,155,1036,0.00,2.38,0.00,0.000,4,0.000,0.058,2813,3759,3445,0,0,0,0,0,0
$GC,1106,-0.70,-116.8,141.6,-14.5,161,1110,0.00,2.25,0.00,0.000,6,0.000,0.040,2813,2651,3445,0,0,0,0,0,0
$GC,1433,-0.70,-116.8,185.0,-13.2,191,1438,0.00,2.38,0.00,0.000,4,0.000,0.059,2804,3760,3445,0,0,1,0,0,0
$GC,1486,-0.70,-116.8,192.4,-14.4,195,1491,0.15,2.22,0.00,0.000,6,0.139,0.039,2835,2661,3445,0,0,0,0,0,0
$STATE,1545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1545,begin apogee
$GC,1552,-0.17,0.0,200.2,12.0,200,1741,0.68,0.00,183.27,0.851,4,0.115,0.000,3002,2495,2961,0,0,0,0,0,0
$STATE,1742,end apogee,CONTROL_FINISHED_OK
$STATE,1742,begin climb
$GC,1745,0.70,116.8,207.3,0.0,215,1949,1.05,2.97,188.15,0.796,4,0.069,0.047,3286,1095,2482,0,0,0,0,0,0
$GC,2055,0.71,122.0,189.8,8.1,240,2069,0.00,3.03,7.10,0.664,6,0.000,0.051,3286,2500,2463,0,0,0,0,0,0
$GC,2388,0.71,122.1,161.3,8.3,271,2393,0.00,2.97,0.00,0.000,4,0.000,0.050,3288,1096,2458,0,0,1,0,0,0
$GC,2465,0.72,135.2,155.0,7.7,277,2499,0.00,3.08,22.65,0.787,6,0.000,0.053,3287,2521,2408,0,0,0,0,0,0
$GC,2819,0.72,135.2,123.5,9.5,310,2824,0.00,2.65,0.00,0.000,4,0.000,0.057,3288,3763,2403,0,0,0,0,0,0
$GC,2962,0.72,135.2,107.6,11.7,322,2967,0.00,2.53,0.00,0.000,6,0.000,0.040,3296,2543,2402,0,0,0,0,0,0
$GC,3300,0.72,135.2,74.6,9.3,376,3309,0.00,2.67,0.00,0.000,4,0.000,0.057,3296,3763,2401,0,0,0,0,0,0
$GC,3357,0.72,135.2,68.7,10.7,385,3364,0.00,2.55,0.00,0.000,6,0.000,0.040,3305,2533,2400,0,0,0,0,0,0
$GC,3699,0.72,135.2,34.0,9.7,446,3708,0.00,2.67,0.00,0.000,4,0.000,0.057,3306,3766,2399,0,0,0,0,0,0
$GC,3819,0.72,135.2,20.0,12.5,466,3828,0.00,2.50,0.00,0.000,6,0.000,0.037,3313,2557,2399,0,0,0,0,0,0
$FREEZE,8.59,0.701,-1.891,0,1,0
$FREEZE,8.00,0.890,-1.888,0,1,0
$FREEZE,7.45,0.846,-1.889,0,1,0
$FREEZE,6.75,0.902,-1.889,0,1,0
$FREEZE,6.08,0.925,-1.889,0,1,0
$FREEZE,5.39,0.946,-1.888,0,1,0
$FREEZE,4.82,0.959,-1.888,0,1,0
$FREEZE,4.18,0.956,-1.888,0,1,0
$FREEZE,3.51,0.967,-1.887,0,1,0
$FREEZE,2.66,0.989,-1.887,0,1,0
$STATE,3972,end climb,SURFACE_DEPTH_REACHED
$STATE,3972,begin surface coast
$FREEZE,2.16,1.006,-1.886,0,1,0
$FREEZE,1.44,1.013,-1.886,0,1,0
$FREEZE,1.26,1.012,-1.886,0,1,0
$FREEZE,1.20,0.968,-1.006,0,1,0
$FREEZE,1.13,0.890,-1.861,0,1,0
$FINISH,1.1,1.027177
$STATE,4004,end surface coast,CONTROL_FINISHED_OK
$STATE,4004,begin surface
$SM_CCo,4025,104.43,0.088,0,0,1737,300.24
$SM_GC,2.04,0.00,0.00,104.43,0.000,0.000,0.088,432,2655,1737,-8.23,0.11,300.24
$IRIDIUM_FIX,-7536.68,17221.91,190111,010114
$TT8_MAMPS,0.027713
$HUMID,52.87
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,14.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,20.0,19.3
$24V_AH,19.2,97.472
$10V_AH,9.6,67.100
$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,23.800,42.100,401.175,104.425,0.000,29.642,38.822,165.334,0.750,0.000,12.293,1217.438,1027.049,495.731,1564.414,190.264,0.000,1052.609,0.000,832.754,0.000,4.379,0.000
$DEVICE_MAMPS,195.840,67.320,851.445,87.975,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,347.702,756.314,971.552,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33724,497
$CAP_FILE_SIZE,58893,0
$CFSIZE,260165632,215724032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.116,142.8,1
$GPS,190111,035834,-7623.756,17256.139,15,2.2,34,127.9