version: 66.08
glider: 502
mission: 3
dive: 697
start: 1 20 111 3 40 29
data:
$ID,502
$MISSION,3
$DIVE,697
$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,-32382.355
$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,22
$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,18.5
$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
$GPS1,200111,033350,-7625.278,17316.219,15,1.3,15,127.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-74.1
$GPS2,200111,034002,-7625.279,17316.152,14,1.2,14,127.5
$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,327.2,20876,-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,-116.8,0.0,0.0,0,98,0.00,0.00,-79.95,0.000,2,0.000,0.000,438,2654,3247,0,0,0,0,0,0
$GC,102,-0.70,-116.8,3.0,-1.7,12,127,12.75,2.47,-5.43,0.000,4,0.197,0.067,2821,3762,3442,0,0,0,0,0,0
$GC,379,-0.70,-116.8,45.3,-14.1,60,387,0.00,2.38,0.00,0.000,6,0.000,0.039,2821,2643,3444,0,0,0,0,0,0
$GC,725,-0.70,-116.8,92.8,-13.2,121,732,0.00,2.45,0.00,0.000,4,0.000,0.058,2812,3762,3445,0,0,0,0,0,0
$GC,786,-0.70,-116.8,101.7,-14.8,130,790,0.00,2.30,0.00,0.000,6,0.000,0.039,2812,2654,3445,0,0,0,0,0,0
$GC,1113,-0.70,-116.8,148.3,-14.0,160,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2653,3445,0,0,0,0,0,0
$GC,1434,-0.70,-116.8,193.5,-14.4,190,1438,0.00,2.42,0.00,0.000,4,0.000,0.059,2804,3766,3445,0,0,0,0,0,0
$STATE,1473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1473,begin apogee
$GC,1481,-0.17,0.0,200.1,16.0,193,1674,0.82,0.00,188.02,0.844,4,0.122,0.000,2997,2497,2961,0,0,0,0,0,0
$STATE,1675,end apogee,CONTROL_FINISHED_OK
$STATE,1675,begin climb
$GC,1678,0.70,116.8,209.6,0.0,208,1878,1.08,3.05,191.55,0.789,4,0.070,0.049,3284,1094,2484,0,0,0,0,0,0
$GC,1988,0.71,126.8,192.5,7.9,234,2011,0.00,3.08,16.15,0.747,6,0.000,0.053,3284,2493,2443,0,0,1,0,0,0
$GC,2329,0.71,126.8,162.1,9.5,266,2333,0.00,3.00,0.00,0.000,4,0.000,0.049,3287,1094,2436,0,0,0,0,0,0
$GC,2416,0.71,126.8,154.2,8.7,273,2425,0.00,3.12,0.00,0.000,6,0.000,0.052,3287,2511,2435,0,0,0,0,0,0
$GC,2744,0.71,126.8,124.4,9.2,304,2748,0.00,2.70,0.00,0.000,4,0.000,0.057,3287,3764,2434,0,0,0,0,0,0
$GC,2898,0.71,126.8,107.1,11.0,317,2906,0.00,2.62,0.00,0.000,6,0.000,0.040,3287,2533,2433,0,0,0,0,0,0
$GC,3237,0.71,126.8,75.9,9.4,371,3244,0.00,2.70,0.00,0.000,4,0.000,0.057,3287,3768,2432,0,0,0,0,0,0
$GC,3354,0.71,126.8,63.3,10.9,391,3361,0.00,2.55,0.00,0.000,6,0.000,0.040,3287,2551,2431,0,0,0,0,0,0
$GC,3698,0.71,126.8,31.5,8.5,452,3706,0.00,2.67,0.00,0.000,4,0.000,0.058,3287,3758,2431,0,0,0,0,0,0
$GC,3802,0.71,126.8,20.9,10.6,470,3811,0.00,2.55,0.00,0.000,6,0.000,0.040,3287,2559,2430,0,0,0,0,0,0
$FREEZE,8.78,0.468,-1.892,0,1,0
$FREEZE,8.29,0.469,-1.891,0,1,0
$FREEZE,7.51,0.464,-1.891,0,1,0
$FREEZE,7.14,0.467,-1.891,0,1,0
$FREEZE,6.57,0.482,-1.890,0,1,0
$FREEZE,6.12,0.485,-1.890,0,1,0
$FREEZE,5.52,0.495,-1.889,0,1,0
$FREEZE,5.06,0.504,-1.889,0,1,0
$FREEZE,4.64,0.526,-1.889,0,1,0
$FREEZE,4.04,0.527,-1.888,0,1,0
$FREEZE,3.52,0.509,-1.888,0,1,0
$FREEZE,3.04,0.540,-1.887,0,1,0
$FREEZE,2.38,0.528,-1.887,0,1,0
$STATE,4011,end climb,SURFACE_DEPTH_REACHED
$STATE,4011,begin surface coast
$FREEZE,1.87,0.541,-1.886,0,1,0
$FREEZE,1.26,0.504,-1.887,0,1,0
$FREEZE,1.16,0.434,-1.891,0,1,0
$FREEZE,1.25,0.359,-1.890,0,1,0
$FREEZE,1.13,0.454,-1.002,0,1,0
$FREEZE,1.21,0.502,-1.554,0,1,0
$FINISH,1.2,1.022841
$STATE,4049,end surface coast,CONTROL_FINISHED_OK
$STATE,4049,begin surface
$SM_CCo,4069,109.70,0.086,0,0,1736,300.24
$SM_GC,2.14,0.00,0.00,109.70,0.000,0.000,0.086,427,2659,1736,-8.25,0.25,300.24
$IRIDIUM_FIX,-7536.68,17326.48,200111,020246
$TT8_MAMPS,0.027713
$HUMID,52.83
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.3
$24V_AH,18.9,99.385
$10V_AH,9.6,68.449
$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,24.350,43.000,395.725,109.700,0.000,31.236,37.408,175.983,0.250,0.000,15.858,1250.925,1018.971,488.737,1612.453,190.208,0.000,1046.006,0.000,846.522,0.000,4.343,0.000
$DEVICE_MAMPS,197.370,67.320,843.795,86.445,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,358.611,779.099,991.565,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37003,512
$CAP_FILE_SIZE,58011,0
$CFSIZE,260165632,215040000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.121,214.8,1
$GPS,200111,045102,-7625.537,17316.855,12,1.4,12,127.5