version: 66.08
glider: 502
mission: 3
dive: 652
start: 1 17 111 15 14 24
data:
$ID,502
$MISSION,3
$DIVE,652
$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,-32147.912
$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,15
$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
$GPS1,170111,150820,-7622.227,17218.688,13,1.4,13,128.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-72.2
$GPS2,170111,151356,-7622.210,17218.664,12,1.4,12,128.8
$SPEED_LIMITS,0.144,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,-7622.210,17132.836
$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,109.9,20000,-16.7,-8.333
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.70,-116.8,0.0,0.0,0,119,0.00,0.00,-101.53,0.000,2,0.000,0.000,418,2659,3286,0,0,0,0,0,0
$GC,123,-0.70,-116.8,3.3,-2.2,14,148,12.40,3.03,-4.10,0.000,4,0.200,0.057,2829,1240,3447,0,0,0,0,0,0
$GC,273,-0.70,-116.8,26.5,-13.5,39,280,0.00,3.00,0.00,0.000,6,0.000,0.054,2820,2650,3450,0,0,0,0,0,0
$GC,617,-0.70,-116.8,75.4,-13.7,100,626,0.00,2.38,0.00,0.000,4,0.000,0.058,2812,3760,3450,0,0,0,0,0,0
$GC,697,-0.70,-116.8,86.8,-14.2,113,704,0.00,2.28,0.00,0.000,6,0.000,0.040,2812,2641,3449,0,0,0,0,0,0
$GC,1029,-0.70,-116.8,131.4,-12.9,152,1033,0.00,2.40,0.00,0.000,4,0.000,0.059,2803,3765,3450,0,0,0,0,0,0
$GC,1094,-0.70,-116.8,140.7,-13.1,157,1103,0.10,2.28,0.00,0.000,6,0.129,0.040,2827,2666,3450,0,0,0,0,0,0
$STATE,1175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1175,begin apogee
$GC,1182,-0.17,0.0,150.1,11.2,165,1372,0.70,0.00,184.43,0.798,4,0.116,0.000,3000,2494,2961,0,0,0,0,0,0
$STATE,1373,end apogee,CONTROL_FINISHED_OK
$STATE,1373,begin climb
$GC,1376,0.70,116.8,155.8,0.0,180,1575,1.05,3.03,187.88,0.741,4,0.070,0.047,3284,1098,2484,0,0,0,0,0,0
$GC,1658,0.70,116.8,137.3,9.3,203,1663,0.00,3.03,0.00,0.000,6,0.000,0.051,3284,2501,2476,0,0,0,0,0,0
$GC,1987,0.70,116.8,105.8,9.3,233,1991,0.00,2.95,0.00,0.000,4,0.000,0.049,3287,1098,2471,0,0,0,0,0,0
$GC,2120,0.70,116.8,93.9,8.6,250,2128,0.00,3.05,0.00,0.000,6,0.000,0.051,3287,2525,2469,0,0,0,0,0,0
$GC,2465,0.70,116.8,62.8,8.9,311,2472,0.00,2.62,0.00,0.000,4,0.000,0.057,3287,3763,2467,0,0,0,0,0,0
$GC,2653,0.70,116.8,42.7,10.3,344,2661,0.00,2.55,0.00,0.000,6,0.000,0.039,3287,2536,2466,0,0,0,0,0,0
$GC,3004,0.70,120.5,13.4,8.2,405,3011,0.00,2.62,0.00,0.000,4,0.000,0.057,3287,3765,2464,0,0,0,0,0,0
$FREEZE,8.81,0.288,-1.896,0,1,0
$FREEZE,8.23,0.286,-1.896,0,1,0
$FREEZE,7.54,0.288,-1.895,0,1,0
$FREEZE,6.99,0.289,-1.895,0,1,0
$FREEZE,6.40,0.289,-1.894,0,1,0
$FREEZE,5.78,0.289,-1.894,0,1,0
$FREEZE,5.23,0.288,-1.894,0,1,0
$FREEZE,4.47,0.286,-1.893,0,1,0
$FREEZE,3.97,0.289,-1.893,0,1,0
$FREEZE,3.29,0.290,-1.892,0,1,0
$FREEZE,2.60,0.291,-1.891,0,1,0
$STATE,3112,end climb,SURFACE_DEPTH_REACHED
$STATE,3112,begin surface coast
$FREEZE,1.64,0.291,-1.891,0,1,0
$FREEZE,1.25,0.281,-1.891,0,1,0
$FREEZE,1.09,0.198,-0.996,0,1,0
$FINISH,1.1,1.014716
$STATE,3131,end surface coast,CONTROL_FINISHED_OK
$STATE,3131,begin surface
$SM_CCo,3153,170.93,0.086,0,0,1330,400.08
$SM_GC,2.15,0.00,0.00,170.93,0.000,0.000,0.086,424,2636,1330,-8.23,-0.40,400.08
$IRIDIUM_FIX,-7536.68,17221.91,170111,141456
$TT8_MAMPS,0.028462
$HUMID,52.08
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,19.1
$24V_AH,19.2,94.482
$10V_AH,9.7,64.974
$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,23.700,37.850,372.300,170.925,0.000,32.944,35.488,148.978,0.750,0.000,13.632,1028.655,624.434,549.439,1311.961,158.650,0.000,1030.971,0.000,694.800,0.000,2.624,0.000
$DEVICE_MAMPS,200.430,58.905,797.895,85.680,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,296.966,648.007,748.536,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30402,426
$CAP_FILE_SIZE,50008,0
$CFSIZE,260165632,216809472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.130,  0.1,1
$GPS,170111,161107,-7622.099,17217.893,38,1.8,38,128.8