version: 66.08
glider: 502
mission: 3
dive: 645
start: 1 17 111 7 44 56
data:
$ID,502
$MISSION,3
$DIVE,645
$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,-32139.01
$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,31
$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,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
$GPS1,170111,073906,-7622.847,17225.242,11,1.2,27,128.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-66.0
$GPS2,170111,073906,-7622.847,17225.242,11,1.2,27,128.7
$SPEED_LIMITS,0.144,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,-7622.847,17139.379
$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,149.0,20000,-16.7,-8.333
$D_GRID,575
$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,16,-0.70,-116.8,0.0,0.0,0,150,0.00,0.00,-130.45,0.000,2,0.000,0.000,415,2487,3216,0,0,0,0,0,0
$GC,153,-0.70,-116.8,3.0,-2.0,19,183,12.38,2.62,-6.47,0.000,4,0.199,0.058,2828,1248,3441,0,0,0,0,0,0
$GC,391,-0.70,-116.8,35.0,-12.7,60,400,0.00,3.03,0.00,0.000,6,0.000,0.054,2819,2650,3444,0,0,0,0,0,0
$GC,739,-0.70,-116.8,81.1,-13.7,121,746,0.00,2.35,0.00,0.000,4,0.000,0.057,2811,3766,3444,0,0,0,0,0,0
$GC,822,-0.70,-116.8,93.5,-14.2,135,830,0.00,2.25,0.00,0.000,6,0.000,0.038,2811,2657,3443,0,0,0,0,0,0
$GC,1159,-0.70,-116.8,139.9,-13.3,170,1163,0.00,2.35,0.00,0.000,4,0.000,0.058,2802,3765,3444,0,0,0,0,0,0
$GC,1212,-0.70,-116.8,147.7,-14.8,174,1217,0.15,2.22,0.00,0.000,6,0.138,0.039,2833,2663,3444,0,0,0,0,0,0
$STATE,1228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1228,begin apogee
$GC,1235,-0.17,0.0,150.5,15.1,175,1426,0.68,0.00,183.38,0.796,4,0.116,0.000,3000,2490,2961,0,0,0,0,0,0
$STATE,1427,end apogee,CONTROL_FINISHED_OK
$STATE,1427,begin climb
$GC,1429,0.70,116.8,158.7,0.0,190,1635,1.05,2.97,190.50,0.742,4,0.070,0.047,3284,1095,2483,0,0,0,0,0,0
$GC,1719,0.71,128.4,143.4,7.8,213,1743,0.00,3.05,18.60,0.720,6,0.000,0.051,3284,2498,2437,0,0,0,0,0,0
$GC,2067,0.71,128.4,113.7,8.7,245,2072,0.00,2.95,0.00,0.000,4,0.000,0.048,3287,1095,2428,0,0,0,0,0,0
$GC,2166,0.72,131.5,105.0,8.2,253,2174,0.00,3.05,0.00,0.000,6,0.000,0.051,3287,2524,2426,0,0,0,0,0,0
$GC,2507,0.72,131.5,75.1,8.8,309,2514,0.00,2.60,0.00,0.000,4,0.000,0.056,3287,3763,2424,0,0,0,0,0,0
$GC,2638,0.72,131.5,60.8,10.8,332,2647,0.00,2.55,0.00,0.000,6,0.000,0.039,3295,2524,2423,0,0,0,0,0,0
$GC,2987,0.72,131.5,27.6,9.5,393,2994,0.00,2.62,0.00,0.000,4,0.000,0.057,3295,3763,2422,0,0,0,0,0,0
$GC,3085,0.72,131.5,16.7,11.1,410,3095,0.00,2.53,0.00,0.000,6,0.000,0.040,3300,2539,2421,0,0,0,0,0,0
$FREEZE,8.60,0.229,-1.894,0,1,0
$FREEZE,8.00,0.237,-1.893,0,1,0
$FREEZE,7.45,0.236,-1.893,0,1,0
$FREEZE,6.74,0.230,-1.892,0,1,0
$FREEZE,6.16,0.242,-1.892,0,1,0
$FREEZE,5.63,0.242,-1.891,0,1,0
$FREEZE,5.17,0.241,-1.891,0,1,0
$FREEZE,4.47,0.242,-1.891,0,1,0
$FREEZE,4.03,0.242,-1.890,0,1,0
$FREEZE,3.22,0.234,-1.890,0,1,0
$FREEZE,2.75,0.231,-1.889,0,1,0
$STATE,3223,end climb,SURFACE_DEPTH_REACHED
$STATE,3223,begin surface coast
$FREEZE,1.89,0.235,-1.889,0,1,0
$FREEZE,1.34,0.218,-1.889,0,1,0
$FREEZE,1.20,0.209,-1.855,0,1,0
$FREEZE,1.14,0.189,-0.995,0,1,0
$FREEZE,1.15,0.155,-1.118,0,1,0
$FREEZE,1.20,0.157,-0.981,0,1,0
$FINISH,1.2,1.014485
$STATE,3260,end surface coast,CONTROL_FINISHED_OK
$STATE,3260,begin surface
$SM_CCo,3280,156.52,0.085,0,0,1329,400.08
$SM_GC,2.06,0.00,0.00,156.52,0.000,0.000,0.085,419,2663,1329,-8.26,0.37,400.08
$IRIDIUM_FIX,-7536.68,17221.91,170111,070735
$TT8_MAMPS,0.028462
$HUMID,51.49
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,14.30
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.8,18.3
$24V_AH,19.1,93.784
$10V_AH,9.6,64.521
$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,23.750,37.750,392.475,156.525,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1045.429,648.386,572.691,1131.120,100.281,0.000,1087.346,0.000,720.357,0.000,2.623,0.000
$DEVICE_MAMPS,198.900,68.850,796.365,84.915,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,305.170,668.816,779.941,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,255500
$DATA_FILE_SIZE,30311,439
$CAP_FILE_SIZE,66279,0
$CFSIZE,260165632,217055232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.047,116.1,1
$GPS,170111,084307,-7622.842,17224.398,14,1.9,14,128.7