version: 66.08
glider: 502
mission: 5
dive: 20
start: 7 1 111 11 0 32
data:
$ID,502
$MISSION,5
$DIVE,20
$N_DIVES,701
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$D_FINISH,0
$D_PITCH,1.75
$D_SAFE,400
$D_CALL,3
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,4
$SURFACE_URGENCY_FORCE,8
$T_DIVE,83
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.025
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51763
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$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,10
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-33609.473
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3944
$C_PITCH,1973
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,33
$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,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,35
$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,3540
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$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,-71.804634
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$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,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043360316
$SEABIRD_T_H,0.0006230906
$SEABIRD_T_I,2.3087629e-05
$SEABIRD_T_J,2.4124136e-06
$SEABIRD_C_G,-9.8063631
$SEABIRD_C_H,1.1380011
$SEABIRD_C_I,-0.0011081909
$SEABIRD_C_J,0.00016910781
$GPS1,010711,105044,4743.795,-12223.631,14,1.9,14,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-61.4
$GPS2,010711,105934,4743.723,-12223.659,12,3.8,31,18.2
$SPEED_LIMITS,0.139,0.210
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.192,-0.085
$KALMAN_X,2482.9,-1905.0,-394.4,413.9,1057.2
$KALMAN_Y,-7704.1,-2570.1,-680.7,10988.1,-792.7
$MHEAD_RNG_PITCHd_Wd,213.8,2368,-16.9,-8.032
$D_GRID,200
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.64,-107.1,0.0,0.0,0,97,0.00,0.00,-68.95,0.000,6,0.000,0.000,404,2309,3959,0,0,0,0,0,0
$GC,100,-0.64,-107.1,3.2,-2.8,10,110,4.95,2.25,-0.08,0.000,4,0.209,0.056,1753,3723,3962,0,0,0,0,0,0
$GC,378,-0.64,-107.1,42.1,-11.1,61,385,0.00,2.17,0.00,0.000,6,0.000,0.032,1752,2289,3962,0,0,0,0,0,0
$GC,534,-0.64,-107.1,58.0,-10.3,92,543,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,2287,3962,0,0,0,0,0,0
$GC,692,-0.64,-107.1,71.5,-8.6,123,699,0.00,2.25,0.00,0.000,4,0.000,0.048,1742,3719,3962,0,0,0,0,0,0
$GC,737,-0.64,-107.1,75.8,-9.0,131,743,0.00,2.15,0.00,0.000,6,0.000,0.032,1742,2293,3962,0,0,0,0,0,0
$GC,895,-0.64,-107.1,90.2,-9.3,162,902,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,2293,3962,0,0,0,0,0,0
$GC,1054,-0.64,-107.1,103.5,-8.4,193,1061,0.00,2.22,0.00,0.000,4,0.000,0.048,1732,3712,3962,0,0,0,0,0,0
$GC,1124,-0.64,-107.1,110.3,-9.2,206,1133,0.08,2.15,0.00,0.000,6,0.119,0.032,1760,2297,3962,0,0,0,0,0,0
$GC,1284,-0.64,-107.1,122.7,-7.6,237,1291,0.00,2.10,0.00,0.000,4,0.000,0.041,1760,900,3963,0,0,0,0,0,0
$GC,1381,-0.64,-107.1,130.3,-7.6,256,1390,0.00,2.15,0.00,0.000,6,0.000,0.039,1752,2281,3962,0,0,0,0,0,0
$GC,1539,-0.64,-107.1,142.4,-7.3,287,1546,0.00,2.22,0.00,0.000,4,0.000,0.050,1742,3715,3962,0,0,0,0,0,0
$GC,1654,-0.64,-107.1,152.7,-9.1,310,1662,0.00,2.15,0.00,0.000,6,0.000,0.032,1742,2292,3963,0,0,0,0,0,0
$GC,1814,-0.64,-107.1,164.9,-7.5,341,1820,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,2292,3962,0,0,0,0,0,0
$STATE,1865,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1865,begin apogee
$GC,1870,-0.15,0.0,169.0,7.6,351,1993,0.50,0.00,114.38,0.737,4,0.111,0.000,1917,2290,3540,0,0,0,0,0,0
$STATE,1997,end apogee,CONTROL_FINISHED_OK
$STATE,1997,begin climb
$GC,1999,0.64,107.1,170.9,0.0,369,2137,0.73,2.22,122.45,0.698,4,0.061,0.039,2185,902,3102,0,0,0,0,0,0
$GC,2299,0.64,107.1,140.2,12.7,421,2306,0.00,2.22,0.00,0.000,6,0.000,0.037,2185,2305,3099,0,0,0,0,0,0
$GC,2455,0.64,107.1,118.6,13.7,452,2464,0.00,2.22,0.00,0.000,4,0.000,0.042,2194,909,3098,0,0,0,0,0,0
$GC,2695,0.64,107.1,88.0,12.1,500,2704,0.00,2.20,0.00,0.000,6,0.000,0.038,2194,2302,3098,0,0,0,0,0,0
$GC,2855,0.64,107.1,67.3,14.1,531,2862,0.00,2.17,0.00,0.000,4,0.000,0.049,2193,3706,3098,0,0,0,0,0,0
$GC,2938,0.64,107.1,53.8,16.4,547,2945,0.00,2.10,0.00,0.000,6,0.000,0.034,2202,2335,3096,0,0,0,0,0,0
$GC,3099,0.64,107.1,33.9,11.1,578,3107,0.00,2.25,0.00,0.000,4,0.000,0.043,2212,885,3096,0,0,0,0,0,0
$GC,3229,0.64,107.1,21.3,8.7,601,3238,0.08,2.20,0.00,0.000,6,0.129,0.040,2184,2295,3097,0,0,0,0,0,0
$GC,3321,0.68,135.5,15.2,6.6,617,3360,0.00,2.28,29.83,0.655,4,0.000,0.050,2184,3703,2985,0,0,0,0,0,0
$STATE,3453,end climb,SURFACE_DEPTH_REACHED
$STATE,3453,begin surface coast
$FINISH,0.4,0.999540
$STATE,3494,end surface coast,CONTROL_FINISHED_OK
$STATE,3494,begin surface
$SM_CCo,3511,68.88,0.073,0,0,2315,300.24
$SM_GC,1.26,0.00,0.00,68.88,0.000,0.000,0.073,404,2287,2315,-4.91,-0.37,300.24
$IRIDIUM_FIX,4726.11,-12220.67,010711,090956
$TT8_MAMPS,0.026964
$HUMID,39.28
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,19.20
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,105.1,73.8
$24V_AH,24.3,1.491
$10V_AH,10.4,1.409
$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,10.850,43.900,266.650,68.875,0.000,22.739,38.269,300.809,3.000,0.000,33.483,1522.832,114.620,397.868,1852.066,230.351,33.325,973.437,0.000,934.693,0.000,7.206,0.000
$DEVICE_MAMPS,208.845,55.845,737.460,73.440,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,438.792,595.436,1097.991,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323532
$DATA_FILE_SIZE,47055,646
$CAP_FILE_SIZE,67523,0
$CFSIZE,260165632,213987328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.057,192.9,1
$GPS,010711,120119,4743.514,-12223.997,11,1.6,28,18.2