version: 66.08
glider: 502
mission: 3
dive: 655
start: 1 17 111 18 25 17
data:
$ID,502
$MISSION,3
$DIVE,655
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$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,80
$T_MISSION,90
$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,-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,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-32151.781
$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,17
$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
$GPS1,170111,181902,-7621.770,17216.555,15,1.3,15,128.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-68.2
$GPS2,170111,182450,-7621.725,17216.562,16,1.3,16,128.8
$SPEED_LIMITS,0.144,0.221
$TGT_NAME,PICKUP
$TGT_LATLONG,-7630.000,17400.000
$TGT_RADIUS,5000.000
$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,25.1,47273,-16.7,-8.333
$D_GRID,576
$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,-116.8,0.0,0.0,0,103,0.00,0.00,-84.50,0.000,2,0.000,0.000,421,2658,2924,0,0,0,0,0,0
$GC,107,-0.70,-116.8,3.0,-2.0,12,144,12.57,0.00,-20.12,0.000,6,0.207,0.000,2828,2658,3440,0,0,0,0,0,0
$GC,470,-0.70,-116.8,45.4,-12.3,77,478,0.00,2.38,0.00,0.000,4,0.000,0.060,2821,3767,3443,0,0,0,0,0,0
$GC,590,-0.70,-116.8,62.0,-13.7,98,598,0.00,2.33,0.00,0.000,6,0.000,0.040,2821,2646,3443,0,0,0,0,0,0
$GC,926,-0.70,-116.8,107.5,-13.0,154,930,0.00,2.40,0.00,0.000,4,0.000,0.060,2812,3766,3443,0,0,0,0,0,0
$GC,969,-0.70,-116.8,114.2,-14.5,157,978,0.00,2.30,0.00,0.000,6,0.000,0.040,2812,2656,3444,0,0,0,0,0,0
$GC,1296,-0.70,-116.8,159.0,-13.9,188,1301,0.00,2.38,0.00,0.000,4,0.000,0.060,2804,3767,3444,0,0,0,0,0,0
$GC,1351,-0.70,-116.8,167.4,-15.2,192,1360,0.10,2.30,0.00,0.000,6,0.130,0.041,2828,2661,3444,0,0,0,0,0,0
$STATE,1626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1626,begin apogee
$GC,1632,-0.17,0.0,200.1,11.9,218,1820,0.70,0.00,182.75,0.833,4,0.117,0.000,3000,2490,2961,0,0,0,0,0,0
$STATE,1821,end apogee,CONTROL_FINISHED_OK
$STATE,1821,begin climb
$GC,1824,0.70,116.8,206.7,0.0,233,2029,1.05,2.97,189.35,0.771,4,0.070,0.048,3284,1096,2482,0,0,0,0,0,0
$GC,2134,0.70,116.8,185.3,9.7,258,2139,0.00,3.03,0.00,0.000,6,0.000,0.053,3284,2502,2475,0,0,1,0,0,0
$GC,2461,0.70,116.8,152.1,10.2,288,2466,0.00,2.97,0.00,0.000,4,0.000,0.050,3287,1097,2469,0,0,0,0,0,0
$GC,2591,0.70,116.8,138.6,9.2,299,2596,0.00,3.03,0.00,0.000,6,0.000,0.052,3287,2511,2468,0,0,0,0,0,0
$GC,2918,0.70,116.8,104.8,9.7,329,2922,0.00,2.65,0.00,0.000,4,0.000,0.058,3287,3764,2466,0,0,0,0,0,0
$GC,3082,0.70,116.8,87.1,10.9,354,3090,0.00,2.58,0.00,0.000,6,0.000,0.041,3287,2528,2465,0,0,0,0,0,0
$GC,3419,0.70,116.8,56.3,9.1,415,3426,0.00,2.65,0.00,0.000,4,0.000,0.058,3287,3768,2465,0,0,0,0,0,0
$GC,3534,0.70,116.8,44.4,10.4,436,3542,0.00,2.55,0.00,0.000,6,0.000,0.039,3294,2538,2464,0,0,0,0,0,0
$GC,3866,0.70,116.8,16.4,9.0,497,3874,0.00,2.62,0.00,0.000,4,0.000,0.057,3294,3770,2463,0,0,0,0,0,0
$FREEZE,8.80,-0.251,-1.896,0,1,0
$FREEZE,8.42,-0.253,-1.896,0,1,0
$FREEZE,7.79,-0.255,-1.896,0,1,0
$FREEZE,7.14,-0.254,-1.895,0,1,0
$FREEZE,6.55,-0.254,-1.895,0,1,0
$FREEZE,5.87,-0.252,-1.894,0,1,0
$FREEZE,5.13,-0.252,-1.894,0,1,0
$FREEZE,4.59,-0.252,-1.893,0,1,0
$FREEZE,3.72,-0.249,-1.892,0,1,0
$FREEZE,2.79,-0.252,-1.892,0,1,0
$STATE,3993,end climb,SURFACE_DEPTH_REACHED
$STATE,3993,begin surface coast
$FREEZE,2.02,-0.256,-1.891,0,1,0
$FINISH,2.0,1.027657
$STATE,4000,end surface coast,CONTROL_FINISHED_OK
$STATE,4000,begin surface
$SM_CCo,4021,108.80,0.088,0,0,1736,300.24
$SM_GC,2.18,0.00,0.00,108.80,0.000,0.000,0.088,433,2643,1736,-8.22,-0.20,300.24
$IRIDIUM_FIX,-7536.68,17223.12,170111,171754
$TT8_MAMPS,0.028462
$HUMID,53.15
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,18.5
$24V_AH,19.1,94.786
$10V_AH,9.7,65.182
$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,23.875,41.775,372.100,108.800,0.000,31.341,38.917,153.882,0.500,0.000,17.204,1259.343,954.298,492.771,1593.547,191.235,0.000,1050.609,0.000,852.729,0.000,2.622,0.000
$DEVICE_MAMPS,206.550,59.670,833.085,87.975,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,364.295,792.602,985.140,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,255324
$DATA_FILE_SIZE,37086,520
$CAP_FILE_SIZE,57473,0
$CFSIZE,260165632,216682496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.212,  4.7,1
$GPS,170111,193502,-7621.522,17217.244,14,1.6,14,128.8