version: 66.08
glider: 502
mission: 3
dive: 690
start: 1 19 111 16 12 46
data:
$ID,502
$MISSION,3
$DIVE,690
$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,-32195.918
$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
$GPS1,190111,160516,-7625.712,17311.686,13,3.5,32,127.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-73.6
$GPS2,190111,161219,-7625.704,17311.662,10,2.0,15,127.7
$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,340.3,22362,-16.7,-8.333
$D_GRID,572
$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,-116.8,0.0,0.0,0,99,0.00,0.00,-81.32,0.000,2,0.000,0.000,428,2655,3279,0,0,0,0,0,0
$GC,103,-0.70,-116.8,3.4,-1.9,12,128,12.52,2.45,-4.25,0.000,4,0.195,0.067,2824,3761,3441,0,0,0,0,0,0
$GC,346,-0.70,-116.8,41.1,-14.2,54,355,0.00,2.35,0.00,0.000,6,0.000,0.040,2823,2646,3444,0,0,0,0,0,0
$GC,694,-0.70,-116.8,86.7,-12.6,115,701,0.00,2.42,0.00,0.000,4,0.000,0.058,2815,3759,3445,0,0,0,0,0,0
$GC,749,-0.70,-116.8,94.4,-14.0,124,757,0.00,2.33,0.00,0.000,6,0.000,0.037,2815,2648,3444,0,0,0,0,0,0
$GC,1080,-0.70,-116.8,138.9,-13.5,158,1084,0.00,2.40,0.00,0.000,4,0.000,0.057,2806,3762,3445,0,0,0,0,0,0
$GC,1111,-0.70,-116.8,143.2,-14.6,160,1116,0.12,2.28,0.00,0.000,6,0.141,0.037,2831,2652,3445,0,0,0,0,0,0
$GC,1438,-0.70,-116.8,182.8,-11.8,190,1442,0.00,2.40,0.00,0.000,4,0.000,0.058,2824,3764,3445,0,0,0,0,0,0
$GC,1479,-0.70,-116.8,188.0,-13.1,193,1483,0.00,2.25,0.00,0.000,6,0.000,0.037,2824,2666,3445,0,0,0,0,0,0
$STATE,1582,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1582,begin apogee
$GC,1589,-0.17,0.0,201.0,12.6,202,1780,0.73,0.00,186.12,0.854,4,0.118,0.000,2999,2493,2961,0,0,0,0,0,0
$STATE,1781,end apogee,CONTROL_FINISHED_OK
$STATE,1781,begin climb
$GC,1785,0.70,116.8,208.0,0.0,217,1984,1.08,3.03,190.05,0.805,4,0.069,0.047,3287,1103,2484,0,0,0,0,0,0
$GC,2087,0.70,116.8,188.8,9.0,242,2092,0.00,3.03,0.00,0.000,6,0.000,0.050,3287,2496,2476,0,0,0,0,0,0
$GC,2414,0.70,116.8,157.5,9.3,272,2419,0.00,2.97,0.00,0.000,4,0.000,0.050,3288,1098,2471,0,0,0,0,0,0
$GC,2524,0.70,116.8,147.1,9.2,281,2532,0.00,3.05,0.00,0.000,6,0.000,0.051,3288,2516,2471,0,0,1,0,0,0
$GC,2853,0.70,116.8,117.3,8.7,312,2857,0.00,2.67,0.00,0.000,4,0.000,0.057,3287,3764,2468,0,0,0,0,0,0
$GC,2996,0.70,116.8,102.2,10.8,324,3000,0.00,2.55,0.00,0.000,6,0.000,0.039,3296,2533,2467,0,0,0,0,0,0
$GC,3339,0.70,116.8,69.2,9.5,383,3347,0.00,2.67,0.00,0.000,4,0.000,0.057,3296,3763,2466,0,0,0,0,0,0
$GC,3448,0.70,116.8,56.8,11.3,402,3457,0.00,2.58,0.00,0.000,6,0.000,0.040,3305,2543,2466,0,0,0,0,0,0
$GC,3797,0.70,116.8,23.4,9.7,463,3804,0.00,2.65,0.00,0.000,4,0.000,0.057,3305,3770,2465,0,0,0,0,0,0
$GC,3907,0.70,116.8,10.7,11.4,482,3916,0.00,2.55,0.00,0.000,6,0.000,0.039,3315,2554,2465,0,0,0,0,0,0
$FREEZE,8.67,0.292,-1.893,0,1,0
$FREEZE,8.07,0.292,-1.893,0,1,0
$FREEZE,7.52,0.292,-1.892,0,1,0
$FREEZE,6.94,0.294,-1.892,0,1,0
$FREEZE,6.29,0.294,-1.892,0,1,0
$FREEZE,5.68,0.295,-1.891,0,1,0
$FREEZE,5.09,0.295,-1.891,0,1,0
$FREEZE,4.56,0.296,-1.890,0,1,0
$FREEZE,3.84,0.295,-1.890,0,1,0
$FREEZE,3.45,0.295,-1.889,0,1,0
$FREEZE,2.77,0.294,-1.889,0,1,0
$STATE,3981,end climb,SURFACE_DEPTH_REACHED
$STATE,3981,begin surface coast
$FREEZE,2.09,0.296,-1.889,0,1,0
$FREEZE,1.43,0.291,-1.888,0,1,0
$FREEZE,1.15,0.276,-0.939,0,1,0
$FREEZE,1.22,0.196,-0.850,0,1,0
$FREEZE,1.18,0.193,-0.101,0,1,0
$FREEZE,1.19,0.082,-1.034,0,1,0
$FINISH,1.2,1.015267
$STATE,4019,end surface coast,CONTROL_FINISHED_OK
$STATE,4019,begin surface
$SM_CCo,4040,114.62,0.086,0,0,1736,300.24
$SM_GC,2.18,0.00,0.00,114.62,0.000,0.000,0.086,435,2656,1736,-8.22,0.17,300.24
$IRIDIUM_FIX,-7536.68,17259.29,190111,141418
$TT8_MAMPS,0.027713
$HUMID,52.67
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.3
$24V_AH,19.1,98.566
$10V_AH,9.6,67.889
$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,24.125,47.175,376.175,114.625,0.000,30.707,54.493,210.171,0.250,0.000,16.760,1234.748,1033.651,486.011,1639.144,193.521,0.000,1035.909,0.000,831.174,0.000,2.622,0.000
$DEVICE_MAMPS,195.075,67.320,853.740,86.445,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,350.039,761.142,971.854,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,255252
$DATA_FILE_SIZE,33752,500
$CAP_FILE_SIZE,59609,0
$CFSIZE,260165632,215314432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.035,352.9,1
$GPS,190111,172250,-7625.719,17312.982,9,1.8,9,127.6