version: 66.08
glider: 502
mission: 3
dive: 700
start: 1 20 111 7 34 29
data:
$ID,502
$MISSION,3
$DIVE,700
$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,-32386.229
$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,21
$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
$GPS1,200111,072726,-7626.019,17318.623,10,1.4,10,127.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-73.0
$GPS2,200111,073402,-7626.039,17318.617,14,1.9,14,127.5
$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,312.8,19337,-16.7,-8.333
$D_GRID,570
$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,-116.8,0.0,0.0,0,99,0.00,0.00,-80.30,0.000,2,0.000,0.000,442,2659,3246,0,0,0,0,0,0
$GC,103,-0.70,-116.8,3.0,-1.7,11,129,12.82,3.08,-5.35,0.000,4,0.197,0.054,2829,1242,3440,0,0,0,0,0,0
$GC,372,-0.70,-116.8,39.3,-12.5,59,381,0.00,3.10,0.00,0.000,6,0.000,0.054,2820,2639,3443,0,0,1,0,0,0
$GC,702,-0.70,-116.8,84.3,-13.9,120,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2639,3444,0,0,0,0,0,0
$GC,1031,-0.70,-116.8,130.0,-13.6,181,1040,0.00,2.47,0.00,0.000,4,0.000,0.060,2811,3757,3444,0,0,0,0,0,0
$GC,1091,-0.70,-116.8,138.5,-14.3,191,1100,0.00,2.35,0.00,0.000,6,0.000,0.040,2811,2660,3444,0,0,0,0,0,0
$GC,1423,-0.70,-116.8,182.4,-12.4,252,1431,0.00,2.47,0.00,0.000,4,0.000,0.060,2803,3760,3444,0,0,0,0,0,0
$GC,1445,-0.70,-116.8,185.6,-12.9,255,1454,0.12,2.38,0.00,0.000,6,0.125,0.041,2832,2652,3444,0,0,0,0,0,0
$STATE,1575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1575,begin apogee
$GC,1582,-0.17,0.0,200.5,11.2,278,1778,0.70,0.00,188.32,0.842,4,0.115,0.000,2998,2500,2961,0,0,0,0,0,0
$STATE,1779,end apogee,CONTROL_FINISHED_OK
$STATE,1779,begin climb
$GC,1781,0.70,116.8,207.3,0.0,304,1986,1.08,3.08,193.38,0.786,4,0.069,0.047,3284,1093,2483,0,0,0,0,0,0
$GC,2099,0.70,116.8,187.4,8.5,351,2107,0.00,3.10,0.00,0.000,6,0.000,0.052,3284,2501,2476,0,0,1,0,0,0
$GC,2428,0.70,116.8,158.6,8.3,412,2436,0.00,3.08,0.00,0.000,4,0.000,0.049,3287,1088,2471,0,0,0,0,0,0
$GC,2531,0.72,130.1,150.8,7.7,430,2562,0.00,3.15,18.88,0.773,6,0.000,0.051,3287,2517,2431,0,0,1,0,0,0
$GC,2888,0.73,137.8,121.9,8.0,494,2911,0.00,2.80,14.40,0.762,4,0.000,0.057,3287,3755,2398,0,0,0,0,0,0
$GC,3098,0.73,137.8,100.5,10.7,531,3106,0.00,2.65,0.00,0.000,6,0.000,0.039,3294,2528,2396,0,0,0,0,0,0
$GC,3426,0.73,137.8,70.6,9.0,592,3434,0.00,2.78,0.00,0.000,4,0.000,0.057,3294,3755,2395,0,0,0,0,0,0
$GC,3518,0.73,137.8,60.9,10.9,608,3526,0.00,2.62,0.00,0.000,6,0.000,0.040,3300,2547,2394,0,0,0,0,0,0
$GC,3849,0.73,137.8,27.6,10.1,669,3858,0.00,2.75,0.00,0.000,4,0.000,0.057,3300,3763,2393,0,0,0,0,0,0
$GC,3914,0.73,137.8,20.2,11.6,680,3926,0.00,2.65,0.00,0.000,6,0.000,0.040,3307,2539,2393,0,0,0,0,0,0
$FREEZE,8.63,0.200,-1.893,0,1,0
$FREEZE,8.08,0.226,-1.892,0,1,0
$FREEZE,7.50,0.232,-1.892,0,1,0
$FREEZE,6.81,0.242,-1.891,0,1,0
$FREEZE,5.94,0.227,-1.891,0,1,0
$FREEZE,5.26,0.241,-1.890,0,1,0
$FREEZE,4.62,0.243,-1.890,0,1,0
$FREEZE,3.96,0.248,-1.889,0,1,0
$FREEZE,3.30,0.246,-1.889,0,1,0
$FREEZE,2.67,0.246,-1.888,0,1,0
$STATE,4083,end climb,SURFACE_DEPTH_REACHED
$STATE,4083,begin surface coast
$FREEZE,2.07,0.254,-1.888,0,1,0
$FREEZE,1.29,0.257,-1.887,0,1,0
$FREEZE,1.17,0.212,-1.874,0,1,0
$FREEZE,1.06,0.124,-1.832,0,1,0
$FREEZE,1.14,0.216,-1.114,0,1,0
$FINISH,1.1,1.016449
$STATE,4116,end surface coast,CONTROL_FINISHED_OK
$STATE,4116,begin surface
$SM_CCo,4137,105.97,0.087,0,0,1737,300.24
$SM_GC,2.11,0.00,0.00,105.97,0.000,0.000,0.087,427,2655,1737,-8.25,0.14,300.24
$IRIDIUM_FIX,-7536.68,17325.43,200111,060618
$TT8_MAMPS,0.027713
$HUMID,52.24
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.3,17.8
$24V_AH,18.8,99.731
$10V_AH,9.6,68.806
$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,24.675,45.075,414.975,105.975,0.000,28.535,36.059,200.291,0.750,0.000,15.647,1651.401,15.066,504.029,2252.002,222.650,0.000,1189.867,0.000,1027.493,0.000,2.614,0.000
$DEVICE_MAMPS,196.605,61.200,841.500,87.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,498.956,1085.270,1994.843,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,255220
$DATA_FILE_SIZE,47032,713
$CAP_FILE_SIZE,65709,0
$CFSIZE,260165632,214892544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.106,193.1,1
$GPS,200111,084630,-7626.139,17319.652,37,1.6,37,127.5