version: 66.08
glider: 502
mission: 5
dive: 23
start: 7 1 111 14 29 56
data:
$ID,502
$MISSION,5
$DIVE,23
$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,-33613.434
$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,49
$R_STBD_OVSHOOT,33
$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
$GPS1,010711,142106,4743.232,-12224.335,13,1.1,29,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-59.9
$GPS2,010711,142855,4743.266,-12224.349,11,1.0,16,18.2
$SPEED_LIMITS,0.139,0.210
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.089,-0.190
$KALMAN_X,1599.2,-382.2,572.6,-2056.4,419.2
$KALMAN_Y,-7940.1,-2162.5,117.0,9173.3,898.6
$MHEAD_RNG_PITCHd_Wd,181.3,1190,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.64,-107.1,0.0,0.0,0,94,0.00,0.00,-68.90,0.000,6,0.000,0.000,407,2301,3960,0,0,0,0,0,0
$GC,97,-0.64,-107.1,3.1,-2.8,10,107,4.95,0.00,0.00,0.000,6,0.210,0.000,1757,2301,3961,0,0,0,0,0,0
$GC,190,-0.64,-107.1,20.8,-13.6,26,198,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,2301,3961,0,0,0,0,0,0
$GC,280,-0.64,-107.1,31.2,-11.5,42,289,0.00,2.20,0.00,0.000,4,0.000,0.041,1757,893,3961,0,0,0,0,0,0
$GC,314,-0.64,-107.1,34.9,-11.3,47,322,0.00,2.22,0.00,0.000,6,0.000,0.040,1749,2302,3961,0,0,0,0,0,0
$GC,403,-0.64,-107.1,43.5,-9.0,63,409,0.00,2.20,0.00,0.000,4,0.000,0.050,1738,3714,3961,0,0,0,0,0,0
$GC,450,-0.64,-107.1,48.3,-9.5,72,459,0.00,2.17,0.00,0.000,6,0.000,0.031,1738,2295,3960,0,0,0,0,0,0
$GC,608,-0.64,-107.1,62.8,-9.4,103,614,0.00,0.00,0.00,0.000,6,0.000,0.000,1738,2294,3961,0,0,0,0,0,0
$GC,764,-0.64,-107.1,79.5,-11.2,134,773,0.00,2.15,0.00,0.000,4,0.000,0.041,1738,904,3961,0,0,0,0,0,0
$GC,800,-0.64,-107.1,83.6,-10.7,140,808,0.08,2.17,0.00,0.000,6,0.129,0.041,1760,2288,3961,0,0,0,0,0,0
$GC,958,-0.64,-107.1,97.3,-8.0,171,965,0.00,2.12,0.00,0.000,4,0.000,0.041,1760,902,3961,0,0,0,0,0,0
$GC,1028,-0.64,-107.1,102.9,-7.8,184,1037,0.00,2.15,0.00,0.000,6,0.000,0.040,1753,2279,3961,0,0,0,0,0,0
$GC,1191,-0.64,-107.1,116.5,-9.5,215,1197,0.00,2.22,0.00,0.000,4,0.000,0.050,1743,3712,3960,0,0,0,0,0,0
$GC,1353,-0.64,-107.1,131.2,-8.3,247,1360,0.00,2.10,0.00,0.000,6,0.000,0.032,1743,2297,3960,0,0,0,0,0,0
$GC,1510,-0.64,-107.1,144.2,-8.7,278,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,1743,2297,3961,0,0,0,0,0,0
$GC,1670,-0.64,-107.1,158.4,-9.1,309,1677,0.00,2.22,0.00,0.000,4,0.000,0.048,1733,3715,3960,0,0,0,0,0,0
$GC,1727,-0.64,-107.1,164.4,-9.6,320,1737,0.08,2.12,0.00,0.000,6,0.116,0.032,1762,2309,3960,0,0,0,0,0,0
$STATE,1887,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1887,begin apogee
$GC,1892,-0.15,0.0,176.4,6.6,351,2014,0.45,0.00,113.80,0.731,4,0.107,0.000,1922,2307,3539,0,0,0,0,0,0
$STATE,2017,end apogee,CONTROL_FINISHED_OK
$STATE,2017,begin climb
$GC,2019,0.64,107.1,177.5,0.0,369,2150,0.73,2.33,121.12,0.694,4,0.068,0.048,2182,3709,3103,0,0,0,0,0,0
$GC,2377,0.64,107.1,126.3,15.6,434,2386,0.00,2.20,0.00,0.000,6,0.000,0.034,2192,2317,3099,0,0,0,0,0,0
$GC,2534,0.64,107.1,105.8,13.4,465,2541,0.00,2.22,0.00,0.000,4,0.000,0.047,2193,3709,3099,0,0,0,0,0,0
$GC,2773,0.64,107.1,69.4,15.5,513,2780,0.00,2.17,0.00,0.000,6,0.000,0.034,2201,2280,3098,0,0,0,0,0,0
$GC,2929,0.64,107.1,47.8,13.1,544,2937,0.00,2.28,0.00,0.000,4,0.000,0.047,2201,3703,3099,0,0,0,0,0,0
$GC,2991,0.64,107.1,38.1,16.8,555,3000,0.08,2.15,0.00,0.000,6,0.148,0.034,2186,2315,3098,0,0,0,0,0,0
$GC,3083,0.64,107.1,27.6,10.4,571,3092,0.00,2.22,0.00,0.000,4,0.000,0.044,2194,893,3098,0,0,0,0,0,0
$GC,3186,0.64,107.1,17.9,8.8,589,3194,0.00,2.20,0.00,0.000,6,0.000,0.041,2194,2294,3098,0,0,0,0,0,0
$GC,3279,0.64,107.1,9.6,8.6,605,3287,0.00,2.22,0.00,0.000,4,0.000,0.048,2194,3705,3098,0,0,0,0,0,0
$GC,3312,0.64,107.1,6.7,8.5,610,3322,0.00,2.22,0.00,0.000,6,0.000,0.034,2203,2264,3098,0,0,0,0,0,0
$STATE,3354,end climb,SURFACE_DEPTH_REACHED
$STATE,3354,begin surface coast
$FINISH,0.5,1.015049
$STATE,3398,end surface coast,CONTROL_FINISHED_OK
$STATE,3398,begin surface
$SM_CCo,3413,79.30,0.073,0,0,2316,300.24
$SM_GC,1.42,0.00,0.00,79.30,0.000,0.000,0.073,409,2263,2316,-4.89,-1.05,300.24
$IRIDIUM_FIX,4729.30,-12222.38,010711,131316
$TT8_MAMPS,0.027713
$HUMID,39.05
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,19.20
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,115.3,71.1
$24V_AH,24.3,1.700
$10V_AH,10.4,1.657
$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,10.850,48.300,234.925,79.300,0.000,30.763,29.567,263.344,3.250,0.000,17.214,1486.274,104.688,399.621,1767.710,215.211,33.298,968.060,0.000,903.339,0.000,10.342,0.000
$DEVICE_MAMPS,210.375,49.725,730.575,73.440,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,424.286,573.903,1058.347,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323432
$DATA_FILE_SIZE,43761,625
$CAP_FILE_SIZE,68858,0
$CFSIZE,260165632,213856256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.168, 16.3,1
$GPS,010711,152901,4743.330,-12224.340,8,1.7,13,18.2