version: 66.08
glider: 502
mission: 3
dive: 183
start: 12 9 110 9 5 53
data:
$ID,502
$MISSION,3
$DIVE,183
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,750
$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,2
$SURFACE_URGENCY_TRY,2
$SURFACE_URGENCY_FORCE,2
$T_DIVE,250
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-1
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.025
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51763
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,-7715
$TGT_DEFAULT_LON,16530
$TGT_AUTO_DEFAULT,0
$SM_CC,623.29712
$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,-28272.207
$T_RSLEEP,2
$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,32
$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,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$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
$GPS1,081210,231402,-7651.353,16531.492,301,99.0,301,141.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.33
$_SM_ANGLEo,-14.6
$GPS2,081210,231402,-7651.353,16531.492,301,99.0,301,141.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NORTH
$TGT_LATLONG,-7640.000,16530.000
$TGT_RADIUS,2000.000
$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,216.6,21035,-17.5,-10.000
$D_GRID,578
$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,15,-0.76,-146.0,0.0,0.0,0,26,0.00,0.00,-9.68,0.000,2,0.000,0.000,418,2625,660,0,0,0,0,0,0
$GC,29,-0.76,-146.0,3.3,-0.0,1,167,7.05,1.98,-124.93,0.000,4,0.105,0.083,2809,3773,3558,0,0,0,0,0,0
$STATE,359,end dive,NO_VERTICAL_VELOCITY
$STATE,360,begin apogee
$FREEZE,4.63,-1.550,-1.897,2,5,0
$FREEZE,4.50,-1.551,-1.897,2,5,0
$FREEZE,4.53,-1.551,-1.897,2,5,0
$FREEZE,4.58,-1.554,-1.897,2,5,0
$FREEZE,4.60,-1.555,-1.897,2,5,0
$FREEZE,4.52,-1.559,-1.897,2,5,0
$FREEZE,4.54,-1.556,-1.897,2,5,0
$FREEZE,4.46,-1.556,-1.897,2,5,0
$FREEZE,4.47,-1.555,-1.897,2,5,0
$GC,366,-0.17,0.0,4.6,0.0,57,449,0.65,0.00,75.80,0.812,6,0.170,0.000,3001,2486,2960,0,0,0,0,0,0
$STATE,450,end apogee,CONTROL_FINISHED_OK
$STATE,451,begin climb
$FREEZE,4.43,-1.554,-1.897,2,5,0
$FREEZE,4.15,-1.555,-1.897,2,5,0
$FREEZE,3.87,-1.558,-1.897,2,5,0
$FREEZE,3.67,-1.558,-1.897,2,5,0
$FREEZE,3.33,-1.561,-1.897,2,5,0
$FREEZE,3.03,-1.561,-1.896,2,5,0
$FREEZE,2.96,-1.559,-1.896,2,5,0
$GC,452,0.76,146.0,4.4,0.0,67,511,0.90,0.00,55.53,0.747,2,0.096,0.000,3302,2486,2531,0,0,0,0,0,0
$STATE,512,end climb,SURFACE_DEPTH_REACHED
$STATE,512,begin surface coast
$FREEZE,2.81,-1.562,-1.896,2,5,0
$FREEZE,2.95,-1.561,-1.896,2,5,0
$FREEZE,2.88,-1.558,-1.896,2,5,0
$FREEZE,2.81,-1.555,-1.896,2,5,0
$FREEZE,2.88,-1.567,-1.896,2,5,0
$FREEZE,2.77,-1.581,-1.897,2,5,0
$FREEZE,2.77,-1.586,-1.897,2,5,0
$FREEZE,2.74,-1.582,-1.897,2,5,0
$FREEZE,2.76,-1.574,-1.897,2,5,0
$FREEZE,2.80,-1.562,-1.896,2,5,0
$FREEZE,2.76,-1.553,-1.895,2,5,0
$FREEZE,2.79,-1.555,-1.895,2,5,0
$FREEZE,2.77,-1.553,-1.895,2,5,0
$FREEZE,2.71,-1.552,-1.895,2,5,0
$FREEZE,2.75,-1.550,-1.894,2,5,0
$FREEZE,2.68,-1.552,-1.894,2,5,0
$FREEZE,2.75,-1.550,-1.894,2,5,0
$FREEZE,2.67,-1.552,-1.894,2,5,0
$FREEZE,2.76,-1.556,-1.895,2,5,0
$FREEZE,2.75,-1.558,-1.895,2,5,0
$FINISH,2.7,1.027757
$STATE,630,end surface coast,CONTROL_FINISHED_OK
$STATE,630,begin surface
$IRIDIUM_FIX,-7603.11,16541.80,081210,232337
$TT8_MAMPS,0.027713
$HUMID,51.14
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,13.90
$XPDR_PINGS,4
$ALTIM_TOP_PING,4.6,16.2
$24V_AH,23.2,39.515
$10V_AH,9.9,23.786
$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,8.600,4.025,131.325,0.000,0.000,98.668,17.754,0.000,1.250,0.000,301.509,239.701,259.196,198.762,632.447,132.302,0.000,357.473,0.000,150.972,0.000,2.614,0.000
$DEVICE_MAMPS,169.830,82.620,812.430,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,62.643,143.007,131.965,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276284
$DATA_FILE_SIZE,7055,94
$CAP_FILE_SIZE,20748,0
$CFSIZE,260165632,242515968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081210,231402,-7651.353,16531.492,301,99.0,301,141.7