version: 66.08
glider: 502
mission: 3
dive: 698
start: 1 20 111 4 58 3
data:
$ID,502
$MISSION,3
$DIVE,698
$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,-32383.613
$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,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,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
$GPS1,200111,045102,-7625.537,17316.855,12,1.4,12,127.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-74.2
$GPS2,200111,045736,-7625.554,17316.803,17,1.1,33,127.5
$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,313.8,20411,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.70,-116.8,0.0,0.0,0,103,0.00,0.00,-85.15,0.000,2,0.000,0.000,427,2659,3364,0,0,0,0,0,0
$GC,108,-0.70,-116.8,3.2,-1.9,11,133,12.93,2.45,-1.88,0.000,4,0.199,0.063,2821,3760,3442,0,0,0,0,0,0
$GC,375,-0.70,-116.8,47.0,-14.8,59,383,0.00,2.35,0.00,0.000,6,0.000,0.037,2821,2648,3444,0,0,0,0,0,0
$GC,704,-0.70,-116.8,92.1,-13.2,120,712,0.00,2.47,0.00,0.000,4,0.000,0.058,2812,3751,3446,0,0,0,0,0,0
$GC,801,-0.70,-116.8,105.8,-14.2,137,811,0.00,2.33,0.00,0.000,6,0.000,0.040,2812,2662,3446,0,0,0,0,0,0
$GC,1133,-0.70,-116.8,150.8,-13.6,198,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2662,3446,0,0,0,0,0,0
$GC,1462,-0.70,-116.8,196.2,-13.8,259,1470,0.00,2.45,0.00,0.000,4,0.000,0.059,2804,3754,3446,0,0,0,0,0,0
$STATE,1488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1488,begin apogee
$GC,1496,-0.17,0.0,200.4,14.3,263,1694,0.85,0.00,188.95,0.842,4,0.124,0.000,3000,2491,2961,0,0,0,0,0,0
$STATE,1695,end apogee,CONTROL_FINISHED_OK
$STATE,1695,begin climb
$GC,1697,0.70,116.8,209.4,0.0,289,1903,1.08,3.05,191.90,0.782,4,0.068,0.048,3287,1088,2484,0,0,0,0,0,0
$GC,2009,0.71,122.5,191.3,8.1,335,2025,0.00,3.10,8.65,0.689,6,0.000,0.051,3286,2494,2461,0,0,1,0,0,0
$GC,2350,0.71,122.5,159.5,9.1,397,2359,0.00,3.03,0.00,0.000,4,0.000,0.050,3287,1092,2455,0,0,0,0,0,0
$GC,2452,0.71,122.5,150.2,8.7,415,2460,0.00,3.10,0.00,0.000,6,0.000,0.052,3287,2517,2454,0,0,1,0,0,0
$GC,2782,0.71,122.5,119.5,9.5,476,2790,0.00,2.75,0.00,0.000,4,0.000,0.058,3287,3765,2452,0,0,0,0,0,0
$GC,2934,0.71,122.5,103.0,11.3,503,2942,0.00,2.62,0.00,0.000,6,0.000,0.036,3295,2527,2451,0,0,0,0,0,0
$GC,3265,0.71,122.5,70.3,9.8,564,3273,0.00,2.75,0.00,0.000,4,0.000,0.057,3295,3757,2451,0,0,0,0,0,0
$GC,3382,0.71,122.5,56.9,11.8,585,3391,0.00,2.58,0.00,0.000,6,0.000,0.037,3303,2547,2450,0,0,0,0,0,0
$GC,3715,0.71,122.5,25.2,9.7,646,3723,0.00,2.70,0.00,0.000,4,0.000,0.057,3303,3759,2450,0,0,0,0,0,0
$GC,3841,0.71,122.5,11.2,11.8,668,3849,0.00,2.55,0.00,0.000,6,0.000,0.038,3311,2559,2449,0,0,0,0,0,0
$FREEZE,8.98,0.384,-1.892,0,1,0
$FREEZE,8.33,0.389,-1.891,0,1,0
$FREEZE,7.74,0.396,-1.891,0,1,0
$FREEZE,7.03,0.405,-1.890,0,1,0
$FREEZE,6.51,0.405,-1.890,0,1,0
$FREEZE,5.78,0.410,-1.889,0,1,0
$FREEZE,5.29,0.413,-1.889,0,1,0
$FREEZE,4.72,0.415,-1.889,0,1,0
$FREEZE,4.00,0.418,-1.888,0,1,0
$FREEZE,3.33,0.417,-1.888,0,1,0
$FREEZE,2.72,0.418,-1.887,0,1,0
$STATE,3919,end climb,SURFACE_DEPTH_REACHED
$STATE,3919,begin surface coast
$FREEZE,2.17,0.420,-1.887,0,1,0
$FREEZE,1.31,0.419,-1.886,0,1,0
$FREEZE,1.14,0.353,-1.071,0,1,0
$FREEZE,1.20,0.309,-1.445,0,1,0
$FREEZE,1.10,0.373,-1.880,0,1,0
$FREEZE,1.26,0.368,-1.862,0,1,0
$FINISH,1.3,1.027221
$STATE,3962,end surface coast,CONTROL_FINISHED_OK
$STATE,3962,begin surface
$SM_CCo,3983,118.47,0.679,1,0,1737,300.24
$SM_GC,1.94,0.00,0.00,118.47,0.000,0.000,0.679,437,2655,1737,-8.21,0.14,300.24
$IRIDIUM_FIX,-7536.68,17325.43,200111,030344
$TT8_MAMPS,0.027713
$HUMID,53.07
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,18.7
$24V_AH,18.9,99.510
$10V_AH,9.6,68.566
$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,24.725,43.200,389.500,118.475,0.000,23.638,36.675,188.946,0.750,0.000,34.100,1593.448,14.546,504.433,2181.002,216.801,0.000,1161.972,0.000,988.645,0.000,2.622,0.000
$DEVICE_MAMPS,198.900,68.085,841.500,679.320,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,480.364,1043.738,1921.026,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,255276
$DATA_FILE_SIZE,47168,686
$CAP_FILE_SIZE,62959,0
$CFSIZE,260165632,214986752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.121,197.9,1
$GPS,200111,060736,-7625.788,17317.682,10,1.7,26,127.5