version: 66.08
glider: 502
mission: 3
dive: 692
start: 1 19 111 18 47 30
data:
$ID,502
$MISSION,3
$DIVE,692
$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,-32198.43
$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,15
$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
$GPS1,190111,184102,-7625.637,17314.277,7,1.7,7,127.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-73.9
$GPS2,190111,184702,-7625.611,17314.303,14,1.9,14,127.6
$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,7.8,21363,-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,-116.8,0.0,0.0,0,101,0.00,0.00,-83.03,0.000,2,0.000,0.000,430,2652,3319,0,0,0,0,0,0
$GC,105,-0.70,-116.8,3.4,-1.8,12,129,12.48,2.42,-3.15,0.000,4,0.194,0.064,2823,3770,3441,0,0,0,0,0,0
$GC,377,-0.70,-116.8,47.4,-15.2,59,385,0.00,2.33,0.00,0.000,6,0.000,0.040,2823,2649,3443,0,0,0,0,0,0
$GC,719,-0.70,-116.8,94.5,-13.8,120,727,0.00,2.47,0.00,0.000,4,0.000,0.060,2815,3761,3444,0,0,0,0,0,0
$GC,806,-0.70,-116.8,107.3,-14.4,130,814,0.00,2.33,0.00,0.000,6,0.000,0.039,2815,2660,3444,0,0,0,0,0,0
$GC,1134,-0.70,-116.8,151.8,-13.6,161,1138,0.00,2.38,0.00,0.000,4,0.000,0.059,2806,3761,3444,0,0,0,0,0,0
$GC,1167,-0.70,-116.8,157.3,-15.5,163,1176,0.10,2.30,0.00,0.000,6,0.127,0.040,2830,2671,3444,0,0,0,0,0,0
$GC,1495,-0.70,-116.8,196.5,-11.9,194,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2671,3444,0,0,0,0,0,0
$STATE,1522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1522,begin apogee
$GC,1529,-0.17,0.0,200.2,11.8,197,1719,0.70,0.00,185.20,0.850,4,0.116,0.000,3000,2488,2961,0,0,0,0,0,0
$STATE,1720,end apogee,CONTROL_FINISHED_OK
$STATE,1720,begin climb
$GC,1723,0.70,116.8,207.3,0.0,212,1928,1.08,3.00,190.30,0.802,4,0.068,0.047,3288,1091,2484,0,0,0,0,0,0
$GC,2022,0.70,116.8,189.1,8.6,236,2027,0.00,3.03,0.00,0.000,6,0.000,0.052,3288,2499,2477,0,0,1,0,0,0
$GC,2349,0.70,116.8,159.7,8.6,266,2354,0.00,2.97,0.00,0.000,4,0.000,0.048,3299,1095,2472,0,0,0,0,0,0
$GC,2456,0.70,116.8,150.3,9.1,275,2461,0.00,3.05,0.00,0.000,6,0.000,0.052,3299,2518,2471,0,0,1,0,0,0
$GC,2783,0.70,116.8,120.7,9.1,305,2788,0.00,2.65,0.00,0.000,4,0.000,0.057,3299,3761,2469,0,0,0,0,0,0
$GC,2948,0.70,116.8,102.5,10.4,319,2957,0.00,2.58,0.00,0.000,6,0.000,0.039,3307,2540,2467,0,0,0,0,0,0
$GC,3287,0.70,116.8,71.0,9.5,378,3296,0.00,2.67,0.00,0.000,4,0.000,0.057,3307,3757,2467,0,0,0,0,0,0
$GC,3403,0.70,116.8,57.9,11.5,398,3412,0.00,2.58,0.00,0.000,6,0.000,0.040,3315,2537,2467,0,0,0,0,0,0
$GC,3753,0.70,116.8,23.2,9.9,459,3760,0.00,2.65,0.00,0.000,4,0.000,0.056,3315,3762,2467,0,0,0,0,0,0
$GC,3869,0.70,116.8,9.3,11.9,479,3877,0.15,2.53,0.00,0.000,6,0.138,0.038,3294,2545,2465,0,0,0,0,0,0
$FREEZE,7.24,0.546,-1.892,0,1,0
$FREEZE,6.61,0.544,-1.892,0,1,0
$FREEZE,6.14,0.544,-1.891,0,1,0
$FREEZE,5.55,0.545,-1.891,0,1,0
$FREEZE,5.11,0.545,-1.891,0,1,0
$FREEZE,4.56,0.546,-1.890,0,1,0
$FREEZE,4.09,0.545,-1.890,0,1,0
$FREEZE,3.43,0.548,-1.889,0,1,0
$FREEZE,2.95,0.549,-1.889,0,1,0
$STATE,3930,end climb,SURFACE_DEPTH_REACHED
$STATE,3930,begin surface coast
$FREEZE,2.35,0.554,-1.889,0,1,0
$FREEZE,1.82,0.558,-1.888,0,1,0
$FREEZE,1.22,0.574,-1.887,0,1,0
$FREEZE,1.17,0.559,-1.096,0,1,0
$FREEZE,1.12,0.570,-0.950,0,1,0
$FREEZE,1.23,0.391,-0.891,0,1,0
$FINISH,1.2,1.013162
$STATE,3971,end surface coast,CONTROL_FINISHED_OK
$STATE,3971,begin surface
$SM_CCo,3991,114.47,0.086,0,0,1737,300.24
$SM_GC,2.04,0.00,0.00,114.47,0.000,0.000,0.086,431,2659,1737,-8.23,0.25,300.24
$IRIDIUM_FIX,-7545.40,17315.27,190111,171729
$TT8_MAMPS,0.028462
$HUMID,52.71
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.1
$24V_AH,19.0,98.778
$10V_AH,9.6,68.042
$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,24.175,42.525,375.500,114.475,0.000,27.968,36.845,171.663,0.250,0.000,15.771,1209.085,1012.463,496.954,1565.371,193.824,0.000,1042.992,0.000,824.808,0.000,2.622,0.000
$DEVICE_MAMPS,194.310,69.615,849.915,86.445,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,346.279,753.017,968.559,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,255224
$DATA_FILE_SIZE,33676,495
$CAP_FILE_SIZE,57811,0
$CFSIZE,260165632,215240704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.137,  7.5,1
$GPS,190111,195650,-7625.539,17315.352,13,1.5,13,127.6