version: 66.08
glider: 502
mission: 3
dive: 651
start: 1 17 111 14 10 17
data:
$ID,502
$MISSION,3
$DIVE,651
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$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,60
$T_MISSION,75
$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,270
$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,400
$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,-32146.652
$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,18
$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
$GPS1,170111,140414,-7622.342,17219.736,9,1.6,9,128.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-71.6
$GPS2,170111,140949,-7622.322,17219.732,9,1.4,14,128.8
$SPEED_LIMITS,0.144,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,-7622.322,17133.898
$TGT_RADIUS,1852.000
$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,113.4,20000,-16.7,-8.333
$D_GRID,576
$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,15,-0.70,-116.8,0.0,0.0,0,101,0.00,0.00,-83.70,0.000,2,0.000,0.000,413,2661,2909,0,0,0,0,0,0
$GC,105,-0.70,-116.8,3.1,-2.0,12,149,12.35,2.97,-22.23,0.000,4,0.199,0.056,2828,1233,3444,0,0,0,0,0,0
$GC,249,-0.70,-116.8,15.8,-12.8,36,257,0.00,3.05,0.00,0.000,6,0.000,0.055,2818,2645,3447,0,0,0,0,0,0
$GC,582,-0.70,-116.8,62.2,-13.2,97,589,0.00,2.38,0.00,0.000,4,0.000,0.059,2810,3767,3447,0,0,0,0,0,0
$GC,712,-0.70,-116.8,80.1,-13.5,120,720,0.00,2.30,0.00,0.000,6,0.000,0.040,2810,2660,3447,0,0,0,0,0,0
$GC,1045,-0.70,-116.8,125.1,-13.4,164,1049,0.00,2.35,0.00,0.000,4,0.000,0.059,2802,3762,3447,0,0,0,0,0,0
$GC,1088,-0.70,-116.8,131.6,-14.8,167,1098,0.12,2.28,0.00,0.000,6,0.127,0.040,2832,2667,3448,0,0,0,0,0,0
$STATE,1242,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1242,begin apogee
$GC,1248,-0.17,0.0,150.4,11.6,182,1439,0.68,0.00,183.32,0.802,4,0.116,0.000,2999,2493,2961,0,0,0,0,0,0
$STATE,1440,end apogee,CONTROL_FINISHED_OK
$STATE,1440,begin climb
$GC,1443,0.70,116.8,158.0,0.0,197,1647,1.08,3.00,188.70,0.745,4,0.070,0.047,3287,1093,2482,0,0,0,0,0,0
$GC,1709,0.71,125.7,143.6,7.9,218,1732,0.00,3.08,13.82,0.697,6,0.000,0.051,3288,2505,2448,0,0,0,0,0,0
$GC,2049,0.71,127.3,113.4,8.3,250,2054,0.00,2.97,0.00,0.000,4,0.000,0.050,3288,1099,2440,0,0,0,0,0,0
$GC,2168,0.73,142.1,104.2,7.6,260,2206,0.00,3.03,26.08,0.760,6,0.000,0.051,3289,2513,2380,0,0,0,0,0,0
$GC,2528,0.73,142.1,73.5,8.9,321,2535,0.00,2.67,0.00,0.000,4,0.000,0.058,3288,3768,2374,0,0,0,0,0,0
$GC,2690,0.73,142.1,56.4,10.8,350,2698,0.00,2.58,0.00,0.000,6,0.000,0.039,3297,2529,2373,0,0,0,0,0,0
$GC,3024,0.73,142.1,25.3,9.3,411,3032,0.00,2.65,0.00,0.000,4,0.000,0.057,3296,3765,2372,0,0,0,0,0,0
$GC,3145,0.73,142.1,11.3,12.0,432,3154,0.00,2.55,0.00,0.000,6,0.000,0.041,3300,2537,2371,0,0,0,0,0,0
$FREEZE,8.91,0.242,-1.896,0,1,0
$FREEZE,8.27,0.245,-1.896,0,1,0
$FREEZE,7.69,0.244,-1.895,0,1,0
$FREEZE,6.97,0.246,-1.895,0,1,0
$FREEZE,6.38,0.244,-1.894,0,1,0
$FREEZE,5.73,0.245,-1.894,0,1,0
$FREEZE,5.19,0.245,-1.893,0,1,0
$FREEZE,4.56,0.248,-1.893,0,1,0
$FREEZE,4.13,0.250,-1.892,0,1,0
$FREEZE,3.58,0.246,-1.892,0,1,0
$FREEZE,2.90,0.247,-1.891,0,1,0
$STATE,3223,end climb,SURFACE_DEPTH_REACHED
$STATE,3223,begin surface coast
$FREEZE,2.12,0.251,-1.891,0,1,0
$FREEZE,1.28,0.240,-1.891,0,1,0
$FREEZE,1.17,0.233,-1.833,0,1,0
$FREEZE,1.23,0.224,-1.488,0,1,0
$FREEZE,1.15,0.180,-1.841,0,1,0
$FINISH,1.1,1.026935
$STATE,3254,end surface coast,CONTROL_FINISHED_OK
$STATE,3254,begin surface
$SM_CCo,3273,156.68,0.086,0,0,1330,400.08
$SM_GC,1.91,0.00,0.00,156.68,0.000,0.000,0.086,433,2655,1330,-8.22,0.14,400.08
$IRIDIUM_FIX,-7536.68,17232.15,170111,131303
$TT8_MAMPS,0.028462
$HUMID,52.28
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,20.0,18.3
$24V_AH,19.1,94.385
$10V_AH,9.7,64.911
$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,23.700,38.450,411.925,156.675,0.000,24.401,39.095,149.798,0.500,0.000,15.655,1080.124,582.992,571.209,1379.432,164.337,0.000,1090.913,0.000,735.736,0.000,2.623,0.000
$DEVICE_MAMPS,198.900,69.615,802.485,86.445,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,313.256,686.098,796.038,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,255476
$DATA_FILE_SIZE,30471,450
$CAP_FILE_SIZE,53118,0
$CFSIZE,260165632,216846336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.116,352.8,1
$GPS,170111,150820,-7622.227,17218.688,13,1.4,13,128.8