version: 66.08
glider: 502
mission: 3
dive: 691
start: 1 19 111 17 32 27
data:
$ID,502
$MISSION,3
$DIVE,691
$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,-32197.174
$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,17
$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
$GPS1,190111,172250,-7625.719,17312.982,9,1.8,9,127.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-74.0
$GPS2,190111,173201,-7625.696,17313.025,16,1.5,32,127.6
$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,351.9,21817,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.70,-116.8,0.0,0.0,0,103,0.00,0.00,-85.38,0.000,2,0.000,0.000,434,2656,3375,0,0,0,0,0,0
$GC,107,-0.70,-116.8,3.4,-1.8,13,130,12.48,2.40,-1.55,0.000,4,0.195,0.063,2822,3762,3439,0,0,0,0,0,0
$GC,372,-0.70,-116.8,46.5,-14.9,60,380,0.00,2.35,0.00,0.000,6,0.000,0.040,2823,2646,3442,0,0,0,0,0,0
$GC,707,-0.70,-116.8,91.5,-13.8,121,714,0.00,2.45,0.00,0.000,4,0.000,0.058,2814,3765,3443,0,0,0,0,0,0
$GC,766,-0.70,-116.8,100.0,-14.4,131,770,0.00,2.28,0.00,0.000,6,0.000,0.039,2814,2661,3443,0,0,0,0,0,0
$GC,1093,-0.70,-116.8,146.4,-13.9,161,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2660,3443,0,0,0,0,0,0
$GC,1413,-0.70,-116.8,190.2,-13.3,191,1417,0.00,2.38,0.00,0.000,4,0.000,0.059,2805,3759,3443,0,0,0,0,0,0
$GC,1477,-0.70,-116.8,199.7,-13.9,196,1481,0.00,2.08,0.00,0.000,3,0.000,0.040,2805,2749,3443,0,0,0,0,0,0
$STATE,1482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1482,begin apogee
$GC,1489,-0.17,0.0,200.9,14.1,196,1683,0.82,0.00,185.35,0.851,4,0.122,0.000,3000,2496,2961,0,0,0,0,0,0
$STATE,1684,end apogee,CONTROL_FINISHED_OK
$STATE,1684,begin climb
$GC,1687,0.70,116.8,208.3,0.0,212,1892,1.05,3.00,189.57,0.805,4,0.068,0.048,3284,1096,2484,0,0,0,0,0,0
$GC,1977,0.70,116.8,190.1,8.8,235,1986,0.00,3.05,0.00,0.000,6,0.000,0.052,3284,2502,2478,0,0,1,0,0,0
$GC,2303,0.70,116.8,160.5,9.2,266,2308,0.00,3.00,0.00,0.000,4,0.000,0.049,3287,1094,2473,0,0,0,0,0,0
$GC,2413,0.70,116.8,150.8,8.5,275,2422,0.00,3.05,0.00,0.000,6,0.000,0.053,3287,2512,2471,0,0,1,0,0,0
$GC,2739,0.70,116.8,121.8,9.1,306,2744,0.00,2.67,0.00,0.000,4,0.000,0.058,3287,3762,2470,0,0,0,0,0,0
$GC,2884,0.70,116.8,106.3,11.1,318,2892,0.00,2.60,0.00,0.000,6,0.000,0.040,3294,2532,2468,0,0,0,0,0,0
$GC,3220,0.70,116.8,75.3,9.3,373,3228,0.00,2.67,0.00,0.000,4,0.000,0.057,3294,3761,2468,0,0,0,0,0,0
$GC,3315,0.70,116.8,64.3,11.8,390,3323,0.00,2.60,0.00,0.000,6,0.000,0.041,3300,2535,2468,0,0,0,0,0,0
$GC,3648,0.70,116.8,29.9,10.0,451,3656,0.00,2.67,0.00,0.000,4,0.000,0.057,3300,3768,2467,0,0,0,0,0,0
$GC,3763,0.70,116.8,16.6,11.5,471,3771,0.00,2.55,0.00,0.000,6,0.000,0.040,3309,2534,2466,0,0,0,0,0,0
$FREEZE,8.99,0.336,-1.893,0,1,0
$FREEZE,8.49,0.345,-1.893,0,1,0
$FREEZE,7.83,0.366,-1.892,0,1,0
$FREEZE,7.36,0.372,-1.892,0,1,0
$FREEZE,6.67,0.376,-1.892,0,1,0
$FREEZE,6.24,0.387,-1.891,0,1,0
$FREEZE,5.59,0.390,-1.891,0,1,0
$FREEZE,5.15,0.399,-1.891,0,1,0
$FREEZE,4.52,0.402,-1.890,0,1,0
$FREEZE,3.96,0.411,-1.890,0,1,0
$FREEZE,3.11,0.409,-1.889,0,1,0
$FREEZE,2.58,0.414,-1.889,0,1,0
$STATE,3902,end climb,SURFACE_DEPTH_REACHED
$STATE,3902,begin surface coast
$FREEZE,1.89,0.433,-1.888,0,1,0
$FREEZE,1.45,0.428,-1.888,0,1,0
$FREEZE,1.12,0.372,-1.375,0,1,0
$FREEZE,1.21,0.391,-0.075,0,1,0
$FREEZE,1.17,0.238,-0.033,0,1,0
$FINISH,1.2,1.000326
$STATE,3932,end surface coast,CONTROL_FINISHED_OK
$STATE,3932,begin surface
$SM_CCo,3952,114.12,0.085,0,0,1737,300.24
$SM_GC,2.16,0.00,0.00,114.12,0.000,0.000,0.085,432,2652,1737,-8.23,0.06,300.24
$IRIDIUM_FIX,-7536.68,17316.34,190111,171745
$TT8_MAMPS,0.027713
$HUMID,52.79
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,18.3
$24V_AH,19.0,98.674
$10V_AH,9.5,67.966
$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,24.050,42.575,374.925,114.125,0.000,56.063,116.011,171.478,0.750,0.000,32.842,1219.160,1023.712,491.089,1700.079,193.453,0.000,1041.390,0.000,828.155,0.000,2.624,0.000
$DEVICE_MAMPS,195.075,66.555,851.445,84.915,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,349.736,761.448,971.020,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,255268
$DATA_FILE_SIZE,33671,500
$CAP_FILE_SIZE,58240,0
$CFSIZE,260165632,215277568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.093,  0.4,1
$GPS,190111,184102,-7625.637,17314.277,7,1.7,7,127.6