version: 66.08
glider: 502
mission: 3
dive: 677
start: 1 18 111 22 55 52
data:
$ID,502
$MISSION,3
$DIVE,677
$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,-32179.561
$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,19
$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
$GPS1,180111,224531,-7622.699,17248.006,8,1.0,13,128.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-73.2
$GPS2,180111,225526,-7622.716,17248.164,11,1.2,11,128.1
$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,2.4,33861,-16.7,-8.333
$D_GRID,575
$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,-116.8,0.0,0.0,0,97,0.00,0.00,-77.90,0.000,2,0.000,0.000,428,2655,3213,0,0,0,0,0,0
$GC,100,-0.70,-116.8,3.0,-1.7,12,124,12.15,2.42,-6.72,0.000,4,0.194,0.069,2822,3759,3441,0,0,0,0,0,0
$GC,177,-0.70,-116.8,15.0,-15.3,24,185,0.00,2.30,0.00,0.000,6,0.000,0.040,2822,2653,3442,0,0,0,0,0,0
$GC,524,-0.70,-116.8,64.8,-14.4,85,531,0.00,2.38,0.00,0.000,4,0.000,0.060,2813,3759,3444,0,0,0,0,0,0
$GC,564,-0.70,-116.8,70.6,-14.6,91,570,0.00,2.25,0.00,0.000,6,0.000,0.040,2813,2661,3444,0,0,0,0,0,0
$GC,901,-0.70,-116.8,117.4,-13.5,140,905,0.00,2.35,0.00,0.000,4,0.000,0.060,2805,3764,3445,0,0,0,0,0,0
$GC,986,-0.70,-116.8,130.0,-14.8,147,991,0.15,2.20,0.00,0.000,6,0.137,0.039,2836,2680,3445,0,0,0,0,0,0
$GC,1313,-0.70,-116.8,169.5,-12.1,177,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2678,3445,0,0,0,0,0,0
$STATE,1565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1565,begin apogee
$GC,1571,-0.17,0.0,200.6,11.9,201,1761,0.68,0.00,183.05,0.849,4,0.115,0.000,3003,2494,2961,0,0,0,0,0,0
$STATE,1762,end apogee,CONTROL_FINISHED_OK
$STATE,1762,begin climb
$GC,1765,0.70,116.8,208.6,0.0,216,1962,1.05,3.00,188.32,0.789,4,0.068,0.048,3289,1092,2484,0,0,0,0,0,0
$GC,2051,0.70,116.8,191.9,9.2,239,2060,0.00,3.05,0.00,0.000,6,0.000,0.052,3288,2489,2476,0,0,0,0,0,0
$GC,2379,0.70,116.8,161.3,9.6,270,2383,0.00,2.92,0.00,0.000,4,0.000,0.048,3297,1098,2471,0,0,0,0,0,0
$GC,2466,0.70,116.8,152.6,9.7,277,2474,0.00,3.08,0.00,0.000,6,0.000,0.052,3298,2514,2470,0,0,0,0,0,0
$GC,2793,0.70,116.8,119.3,10.0,308,2798,0.00,2.65,0.00,0.000,4,0.000,0.057,3298,3764,2469,0,0,0,0,0,0
$GC,2903,0.70,116.8,106.1,11.8,317,2911,0.00,2.58,0.00,0.000,6,0.000,0.041,3300,2536,2467,0,0,0,0,0,0
$GC,3242,0.70,116.8,71.8,9.6,373,3249,0.00,2.65,0.00,0.000,4,0.000,0.057,3300,3765,2466,0,0,0,0,0,0
$GC,3359,0.70,116.8,58.2,11.7,393,3366,0.00,2.53,0.00,0.000,6,0.000,0.039,3308,2538,2465,0,0,0,0,0,0
$GC,3705,0.70,116.8,23.3,9.7,454,3714,0.00,2.65,0.00,0.000,4,0.000,0.057,3308,3762,2464,0,0,0,0,0,0
$GC,3798,0.70,116.8,13.2,11.5,469,3805,0.00,2.47,0.00,0.000,6,0.000,0.040,3315,2552,2464,0,0,0,0,0,0
$FREEZE,8.53,0.567,-1.892,0,1,0
$FREEZE,7.97,0.589,-1.891,0,1,0
$FREEZE,7.42,0.606,-1.891,0,1,0
$FREEZE,6.89,0.619,-1.891,0,1,0
$FREEZE,6.26,0.648,-1.890,0,1,0
$FREEZE,5.72,0.671,-1.889,0,1,0
$FREEZE,5.11,0.717,-1.888,0,1,0
$FREEZE,4.61,0.709,-1.888,0,1,0
$FREEZE,3.93,0.693,-1.888,0,1,0
$FREEZE,3.46,0.706,-1.887,0,1,0
$FREEZE,2.93,0.964,-1.885,0,1,0
$STATE,3898,end climb,SURFACE_DEPTH_REACHED
$STATE,3899,begin surface coast
$FREEZE,2.07,1.030,-1.884,0,1,0
$FREEZE,1.33,1.012,-1.886,0,1,0
$FREEZE,1.36,1.020,-1.886,0,1,0
$FREEZE,1.24,1.052,-0.177,0,1,0
$FREEZE,1.29,0.936,-1.742,0,1,0
$FREEZE,1.21,1.025,-1.473,0,1,0
$FINISH,1.2,1.021648
$STATE,3936,end surface coast,CONTROL_FINISHED_OK
$STATE,3936,begin surface
$SM_CCo,3956,112.57,0.087,0,0,1737,300.24
$SM_GC,2.19,0.00,0.00,112.57,0.000,0.000,0.087,435,2661,1737,-8.22,0.31,300.24
$IRIDIUM_FIX,-7536.68,17250.24,180111,222225
$TT8_MAMPS,0.027713
$HUMID,52.87
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,18.8
$24V_AH,19.2,97.148
$10V_AH,9.6,66.870
$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,23.675,42.075,371.375,112.575,0.000,59.464,76.140,242.241,1.000,0.000,11.950,1206.519,1085.313,479.301,1694.055,208.084,0.000,1016.214,0.000,810.519,0.000,2.624,0.000
$DEVICE_MAMPS,194.310,68.850,849.150,87.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,344.096,749.433,960.337,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33622,492
$CAP_FILE_SIZE,59995,0
$CFSIZE,260165632,215842816
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055, 84.9,1
$GPS,190111,000500,-7622.920,17249.953,39,1.2,39,128.0