version: 66.08
glider: 502
mission: 3
dive: 699
start: 1 20 111 6 17 34
data:
$ID,502
$MISSION,3
$DIVE,699
$N_DIVES,700
$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,-32384.871
$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,16
$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
$GPS1,200111,060736,-7625.788,17317.682,10,1.7,26,127.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-73.3
$GPS2,200111,061708,-7625.810,17317.678,11,1.6,11,127.5
$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,312.3,19875,-16.7,-8.333
$D_GRID,571
$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,16,-0.70,-116.8,0.0,0.0,0,99,0.00,0.00,-80.68,0.000,2,0.000,0.000,436,2655,3260,0,0,0,0,0,0
$GC,102,-0.70,-116.8,3.0,-1.9,11,128,12.82,2.45,-5.05,0.000,4,0.196,0.064,2822,3767,3439,0,0,0,0,0,0
$GC,372,-0.70,-116.8,42.9,-13.9,59,380,0.00,2.40,0.00,0.000,6,0.000,0.039,2823,2647,3442,0,0,0,0,0,0
$GC,702,-0.70,-116.8,87.8,-14.0,120,710,0.00,2.50,0.00,0.000,4,0.000,0.059,2814,3760,3443,0,0,0,0,0,0
$GC,778,-0.70,-116.8,98.9,-14.8,133,787,0.00,2.35,0.00,0.000,6,0.000,0.040,2814,2663,3443,0,0,0,0,0,0
$GC,1111,-0.70,-116.8,146.0,-13.8,194,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2661,3443,0,0,0,0,0,0
$GC,1439,-0.70,-116.8,191.2,-13.3,255,1448,0.00,2.45,0.00,0.000,4,0.000,0.059,2806,3757,3443,0,0,0,0,0,0
$GC,1478,-0.70,-116.8,196.9,-14.4,261,1488,0.10,2.35,0.00,0.000,6,0.125,0.039,2829,2656,3443,0,0,0,0,0,0
$STATE,1499,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1499,begin apogee
$GC,1506,-0.17,0.0,200.1,14.2,264,1704,0.73,0.00,187.50,0.834,4,0.116,0.000,3003,2492,2962,0,0,0,0,0,0
$STATE,1705,end apogee,CONTROL_FINISHED_OK
$STATE,1705,begin climb
$GC,1707,0.70,116.8,207.3,0.0,290,1912,1.08,3.08,191.65,0.776,4,0.067,0.048,3289,1083,2485,0,0,0,0,0,0
$GC,2007,0.70,117.7,189.3,8.3,334,2016,0.00,3.15,0.00,0.000,6,0.000,0.050,3289,2499,2478,0,0,0,0,0,0
$GC,2341,0.70,117.7,158.7,8.9,395,2349,0.00,3.05,0.00,0.000,4,0.000,0.048,3298,1092,2473,0,0,0,0,0,0
$GC,2452,0.70,117.7,148.4,9.2,415,2461,0.00,3.15,0.00,0.000,6,0.000,0.053,3298,2515,2472,0,0,1,0,0,0
$GC,2783,0.70,117.7,117.4,9.6,476,2791,0.00,2.75,0.00,0.000,4,0.000,0.057,3298,3758,2470,0,0,0,0,0,0
$GC,2960,0.70,117.7,98.1,10.8,508,2968,0.00,2.62,0.00,0.000,6,0.000,0.040,3300,2538,2469,0,0,0,0,0,0
$GC,3290,0.70,117.7,67.9,8.9,569,3299,0.00,2.72,0.00,0.000,4,0.000,0.057,3300,3759,2468,0,0,0,0,0,0
$GC,3403,0.70,117.7,56.0,10.9,589,3412,0.00,2.62,0.00,0.000,6,0.000,0.040,3300,2536,2468,0,0,0,0,0,0
$GC,3738,0.70,117.7,26.2,8.8,650,3746,0.00,2.72,0.00,0.000,4,0.000,0.057,3300,3760,2467,0,0,0,0,0,0
$GC,3895,0.70,117.7,9.6,11.0,678,3903,0.00,2.58,0.00,0.000,6,0.000,0.040,3307,2554,2467,0,0,0,0,0,0
$FREEZE,7.82,0.256,-1.892,0,1,0
$FREEZE,7.27,0.267,-1.891,0,1,0
$FREEZE,6.63,0.273,-1.890,0,1,0
$FREEZE,5.99,0.270,-1.890,0,1,0
$FREEZE,5.47,0.283,-1.890,0,1,0
$FREEZE,4.83,0.281,-1.889,0,1,0
$FREEZE,4.18,0.282,-1.889,0,1,0
$FREEZE,3.64,0.281,-1.889,0,1,0
$FREEZE,2.95,0.285,-1.888,0,1,0
$STATE,3962,end climb,SURFACE_DEPTH_REACHED
$STATE,3962,begin surface coast
$FREEZE,2.17,0.285,-1.887,0,1,0
$FREEZE,1.70,0.284,-1.887,0,1,0
$FREEZE,1.14,0.276,-1.887,0,1,0
$FREEZE,1.16,0.192,-1.184,0,1,0
$FREEZE,1.16,0.219,-0.689,0,1,0
$FREEZE,1.16,0.227,-0.998,0,1,0
$FINISH,1.2,1.014748
$STATE,4004,end surface coast,CONTROL_FINISHED_OK
$STATE,4005,begin surface
$SM_CCo,4025,117.45,0.086,0,0,1738,300.24
$SM_GC,2.09,0.00,0.00,117.45,0.000,0.000,0.086,442,2659,1738,-8.20,0.25,300.24
$IRIDIUM_FIX,-7536.68,17307.25,200111,060634
$TT8_MAMPS,0.029211
$HUMID,52.48
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,18.9
$24V_AH,18.9,99.619
$10V_AH,9.5,68.685
$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,24.600,43.500,379.150,117.450,0.000,55.981,114.297,210.622,1.000,0.000,12.296,1614.348,74.810,493.138,2316.265,220.353,0.000,1156.484,0.000,1000.271,0.000,2.624,0.000
$DEVICE_MAMPS,195.840,67.320,833.850,85.680,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,485.971,1055.906,1942.254,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47249,694
$CAP_FILE_SIZE,64782,0
$CFSIZE,260165632,214941696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.118,195.2,1
$GPS,200111,072726,-7626.019,17318.623,10,1.4,10,127.5