version: 66.08
glider: 502
mission: 3
dive: 653
start: 1 17 111 16 17 44
data:
$ID,502
$MISSION,3
$DIVE,653
$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,-32149.17
$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,26
$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
$GPS1,170111,161107,-7622.099,17217.893,38,1.8,38,128.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-71.8
$GPS2,170111,161716,-7622.077,17217.885,11,2.3,30,128.8
$SPEED_LIMITS,0.144,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,-7622.077,17132.064
$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,105.2,20000,-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,-101.55,0.000,2,0.000,0.000,410,2637,3295,0,0,0,0,0,0
$GC,123,-0.70,-116.8,3.1,-1.6,15,146,12.45,2.95,-3.85,0.000,4,0.202,0.055,2828,1245,3444,0,0,0,0,0,0
$GC,257,-0.70,-116.8,25.0,-14.2,38,265,0.00,3.03,0.00,0.000,6,0.000,0.055,2819,2646,3447,0,0,0,0,0,0
$GC,589,-0.70,-116.8,72.4,-14.3,99,596,0.00,2.38,0.00,0.000,4,0.000,0.060,2810,3768,3448,0,0,0,0,0,0
$GC,706,-0.70,-116.8,90.1,-14.9,120,715,0.00,2.30,0.00,0.000,6,0.000,0.041,2810,2659,3448,0,0,0,0,0,0
$GC,1043,-0.70,-116.8,139.4,-14.5,157,1047,0.00,2.38,0.00,0.000,4,0.000,0.060,2802,3769,3448,0,0,0,0,0,0
$GC,1075,-0.70,-116.8,144.8,-15.6,159,1083,0.12,2.30,0.00,0.000,6,0.129,0.041,2832,2663,3448,0,0,0,0,0,0
$STATE,1123,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1123,begin apogee
$GC,1130,-0.17,0.0,151.3,13.4,164,1320,0.68,0.00,182.40,0.802,4,0.116,0.000,2999,2492,2961,0,0,0,0,0,0
$STATE,1320,end apogee,CONTROL_FINISHED_OK
$STATE,1321,begin climb
$GC,1324,0.70,116.8,159.5,0.0,179,1521,1.08,2.97,188.20,0.745,4,0.070,0.047,3288,1095,2484,0,0,0,0,0,0
$GC,1614,0.70,116.8,143.0,8.5,202,1619,0.00,3.03,0.00,0.000,6,0.000,0.051,3288,2501,2476,0,0,0,0,0,0
$GC,1941,0.70,116.8,112.2,9.6,232,1946,0.00,2.95,0.00,0.000,4,0.000,0.049,3298,1098,2470,0,0,0,0,0,0
$GC,2073,0.70,116.8,99.7,9.5,243,2081,0.00,3.03,0.00,0.000,6,0.000,0.051,3298,2520,2469,0,0,1,0,0,0
$GC,2406,0.70,116.8,68.0,10.0,304,2414,0.00,2.67,0.00,0.000,4,0.000,0.057,3298,3765,2467,0,0,0,0,0,0
$GC,2548,0.70,116.8,50.6,12.5,330,2556,0.00,2.55,0.00,0.000,6,0.000,0.038,3307,2533,2466,0,0,0,0,0,0
$GC,2886,0.70,116.8,14.2,9.8,391,2893,0.00,2.62,0.00,0.000,4,0.000,0.057,3307,3766,2466,0,0,0,0,0,0
$FREEZE,8.84,0.043,-1.897,0,1,0
$FREEZE,8.14,0.122,-1.895,0,1,0
$FREEZE,7.52,0.154,-1.894,0,1,0
$FREEZE,6.80,0.170,-1.894,0,1,0
$FREEZE,6.32,0.248,-1.893,0,1,0
$FREEZE,5.63,0.270,-1.893,0,1,0
$FREEZE,5.09,0.283,-1.892,0,1,0
$FREEZE,4.39,0.283,-1.892,0,1,0
$FREEZE,3.90,0.281,-1.892,0,1,0
$FREEZE,3.21,0.282,-1.892,0,1,0
$FREEZE,2.38,0.284,-1.891,0,1,0
$STATE,2992,end climb,SURFACE_DEPTH_REACHED
$STATE,2992,begin surface coast
$FREEZE,1.23,0.281,-1.891,0,1,0
$FREEZE,1.23,0.208,-1.894,0,1,0
$FREEZE,1.27,0.281,-1.890,0,1,0
$FINISH,1.3,1.027616
$STATE,3010,end surface coast,CONTROL_FINISHED_OK
$STATE,3010,begin surface
$SM_CCo,3032,171.60,0.087,0,0,1330,400.08
$SM_GC,2.06,0.00,0.00,171.60,0.000,0.000,0.087,432,2649,1330,-8.21,-0.03,400.08
$IRIDIUM_FIX,-7536.68,17205.07,170111,151511
$TT8_MAMPS,0.028462
$HUMID,52.04
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,18.3
$24V_AH,19.1,94.580
$10V_AH,9.7,65.037
$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,23.875,37.800,370.600,171.600,0.000,22.172,38.309,172.113,0.750,0.000,32.587,993.338,571.150,546.213,1323.884,152.602,0.000,1024.478,0.000,681.419,0.000,2.622,0.000
$DEVICE_MAMPS,201.960,59.670,801.720,87.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,287.138,627.288,734.188,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,27035,412
$CAP_FILE_SIZE,49507,0
$CFSIZE,260165632,216780800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.139, 10.5,1
$GPS,170111,171216,-7621.967,17217.207,8,5.9,27,128.8