version: 66.08
glider: 502
mission: 3
dive: 648
start: 1 17 111 10 56 36
data:
$ID,502
$MISSION,3
$DIVE,648
$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,-32142.787
$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,21
$R_STBD_OVSHOOT,20
$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
$GPS1,170111,105036,-7622.701,17222.787,40,1.4,45,128.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-64.8
$GPS2,170111,105608,-7622.672,17222.771,15,0.9,15,128.7
$SPEED_LIMITS,0.144,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,-7622.672,17136.918
$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,130.2,20000,-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,-116.8,0.0,0.0,0,109,0.00,0.00,-90.65,0.000,2,0.000,0.000,410,2662,3054,0,0,0,0,0,0
$GC,113,-0.70,-116.8,3.1,-2.6,13,149,12.73,3.03,-12.32,0.000,4,0.207,0.054,2829,1232,3441,0,0,0,0,0,0
$GC,252,-0.70,-116.8,20.4,-12.3,36,261,0.00,3.05,0.00,0.000,6,0.000,0.055,2826,2642,3443,0,0,0,0,0,0
$GC,601,-0.70,-116.8,69.0,-13.9,97,608,0.00,2.38,0.00,0.000,4,0.000,0.059,2818,3766,3444,0,0,0,0,0,0
$GC,700,-0.70,-116.8,83.4,-13.6,114,708,0.00,2.30,0.00,0.000,6,0.000,0.039,2818,2652,3443,0,0,0,0,0,0
$GC,1039,-0.70,-116.8,129.8,-13.7,156,1043,0.00,2.38,0.00,0.000,4,0.000,0.059,2809,3763,3443,0,0,0,0,0,0
$GC,1125,-0.70,-116.8,142.1,-14.1,163,1129,0.00,2.25,0.00,0.000,6,0.000,0.039,2809,2656,3443,0,0,0,0,0,0
$STATE,1184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1184,begin apogee
$GC,1190,-0.17,0.0,150.9,14.0,168,1381,0.80,0.00,182.07,0.799,4,0.121,0.000,3002,2497,2960,0,0,0,0,0,0
$STATE,1382,end apogee,CONTROL_FINISHED_OK
$STATE,1382,begin climb
$GC,1384,0.70,116.8,158.3,0.0,183,1589,1.05,3.00,189.07,0.746,4,0.070,0.048,3286,1088,2483,0,0,0,0,0,0
$GC,1673,0.70,116.8,142.1,8.9,206,1682,0.00,3.08,0.00,0.000,6,0.000,0.050,3286,2496,2476,0,0,0,0,0,0
$GC,2001,0.70,116.8,113.9,8.7,237,2006,0.00,2.95,0.00,0.000,4,0.000,0.048,3287,1091,2470,0,0,0,0,0,0
$GC,2120,0.71,124.5,104.2,8.0,247,2137,0.00,3.03,8.98,0.699,6,0.000,0.050,3287,2515,2453,0,0,0,0,0,0
$GC,2473,0.71,124.5,74.1,8.5,305,2480,0.00,2.65,0.00,0.000,4,0.000,0.057,3287,3764,2450,0,0,0,0,0,0
$GC,2683,0.71,124.5,52.5,10.7,342,2692,0.00,2.53,0.00,0.000,6,0.000,0.039,3295,2543,2448,0,0,0,0,0,0
$GC,3034,0.71,124.5,18.5,10.1,403,3041,0.00,2.60,0.00,0.000,4,0.000,0.057,3295,3766,2447,0,0,0,0,0,0
$FREEZE,8.54,0.030,-1.894,0,1,0
$FREEZE,7.97,0.030,-1.894,0,1,0
$FREEZE,7.43,0.030,-1.893,0,1,0
$FREEZE,7.11,0.027,-1.893,0,1,0
$FREEZE,6.41,0.027,-1.893,0,1,0
$FREEZE,6.00,0.027,-1.892,0,1,0
$FREEZE,5.34,0.028,-1.892,0,1,0
$GC,3157,0.71,124.5,5.3,9.3,424,3166,0.00,2.53,0.00,0.000,6,0.000,0.037,3300,2537,2446,0,0,0,0,0,0
$FREEZE,3.42,0.024,-1.890,0,1,0
$FREEZE,2.82,0.028,-1.890,0,1,0
$STATE,3178,end climb,SURFACE_DEPTH_REACHED
$STATE,3178,begin surface coast
$FREEZE,2.01,0.025,-1.889,0,1,0
$FREEZE,1.36,0.021,-1.889,0,1,0
$FREEZE,1.14,-0.014,-0.946,0,1,0
$FREEZE,1.27,-0.023,-1.890,0,1,0
$FREEZE,1.22,-0.017,-1.017,0,1,0
$FINISH,1.2,1.015016
$STATE,3208,end surface coast,CONTROL_FINISHED_OK
$STATE,3208,begin surface
$SM_CCo,3229,164.85,0.086,0,0,1329,400.08
$SM_GC,1.96,0.00,0.00,164.85,0.000,0.000,0.086,422,2669,1329,-8.24,0.54,400.08
$IRIDIUM_FIX,-7536.68,17223.12,170111,090953
$TT8_MAMPS,0.028462
$HUMID,52.08
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,14.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,19.0
$24V_AH,19.1,94.080
$10V_AH,9.7,64.715
$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,24.225,38.300,380.125,164.850,0.000,29.629,35.966,146.259,0.500,0.000,16.544,1043.064,631.963,554.620,1343.733,166.070,0.000,1054.122,0.000,715.648,0.000,4.264,0.000
$DEVICE_MAMPS,207.315,61.200,798.660,86.445,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,300.857,657.915,768.537,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30454,432
$CAP_FILE_SIZE,51874,0
$CFSIZE,260165632,216956928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071,  5.5,1
$GPS,170111,115402,-7622.592,17221.783,13,1.6,13,128.8