version: 66.08
glider: 502
mission: 3
dive: 667
start: 1 18 111 9 49 10
data:
$ID,502
$MISSION,3
$DIVE,667
$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,-32166.975
$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,23
$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
$GPS1,180111,094236,-7621.332,17230.076,36,0.9,41,128.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-74.2
$GPS2,180111,094843,-7621.319,17230.141,11,1.1,11,128.5
$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,351.0,42045,-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,-116.8,0.0,0.0,0,99,0.00,0.00,-80.85,0.000,2,0.000,0.000,430,2641,3261,0,0,0,0,0,0
$GC,103,-0.70,-116.8,3.2,-1.6,12,128,12.15,2.97,-5.07,0.000,4,0.196,0.058,2829,1242,3447,0,0,0,0,0,0
$GC,380,-0.70,-116.8,41.2,-12.1,60,388,0.00,3.03,0.00,0.000,6,0.000,0.055,2820,2648,3450,0,0,0,0,0,0
$GC,725,-0.70,-116.8,85.2,-12.7,121,732,0.00,2.35,0.00,0.000,4,0.000,0.060,2811,3764,3450,0,0,0,0,0,0
$GC,798,-0.70,-116.8,95.5,-14.3,133,805,0.00,2.25,0.00,0.000,6,0.000,0.040,2811,2661,3450,0,0,0,0,0,0
$GC,1130,-0.70,-116.8,140.5,-13.7,166,1134,0.00,2.35,0.00,0.000,4,0.000,0.060,2802,3767,3450,0,0,0,0,0,0
$GC,1194,-0.70,-116.8,149.9,-15.1,171,1198,0.15,2.22,0.00,0.000,6,0.138,0.041,2833,2672,3450,0,0,0,0,0,0
$GC,1520,-0.70,-116.8,190.2,-12.1,201,1525,0.00,2.33,0.00,0.000,4,0.000,0.060,2827,3763,3450,0,0,0,0,0,0
$GC,1553,-0.70,-116.8,194.1,-12.8,203,1558,0.00,2.20,0.00,0.000,6,0.000,0.041,2826,2681,3450,0,0,0,0,0,0
$STATE,1602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1602,begin apogee
$GC,1608,-0.17,0.0,201.1,12.8,207,1799,0.73,0.00,184.27,0.852,4,0.118,0.000,3003,2495,2961,0,0,0,0,0,0
$STATE,1800,end apogee,CONTROL_FINISHED_OK
$STATE,1800,begin climb
$GC,1803,0.70,116.8,209.4,0.0,222,2001,1.05,3.03,189.30,0.800,4,0.068,0.049,3288,1101,2484,0,0,0,0,0,0
$GC,2093,0.71,123.4,194.0,8.0,246,2108,0.00,3.00,9.73,0.702,6,0.000,0.051,3287,2501,2458,0,0,0,0,0,0
$GC,2426,0.71,123.4,164.3,9.3,277,2431,0.00,2.97,0.00,0.000,4,0.000,0.050,3288,1095,2452,0,0,0,0,0,0
$GC,2525,0.71,123.4,155.0,9.3,285,2533,0.00,3.08,0.00,0.000,6,0.000,0.053,3287,2517,2450,0,0,0,0,0,0
$GC,2852,0.71,123.4,124.7,9.1,316,2857,0.00,2.65,0.00,0.000,4,0.000,0.058,3287,3768,2448,0,0,0,0,0,0
$GC,3016,0.71,123.4,106.5,11.5,330,3025,0.00,2.58,0.00,0.000,6,0.000,0.040,3288,2537,2447,0,0,0,0,0,0
$GC,3357,0.71,123.4,75.0,8.7,385,3364,0.00,2.62,0.00,0.000,4,0.000,0.057,3288,3764,2446,0,0,0,0,0,0
$GC,3473,0.71,123.4,62.1,11.4,405,3480,0.00,2.50,0.00,0.000,6,0.000,0.040,3288,2547,2445,0,0,0,0,0,0
$GC,3819,0.71,123.4,29.9,9.2,466,3828,0.00,2.62,0.00,0.000,4,0.000,0.059,3288,3758,2445,0,0,0,0,0,0
$GC,3972,0.71,123.4,13.9,10.6,492,3980,0.00,2.47,0.00,0.000,6,0.000,0.040,3296,2562,2444,0,0,0,0,0,0
$FREEZE,8.49,-0.070,-1.896,0,1,0
$FREEZE,7.92,-0.050,-1.895,0,1,0
$FREEZE,7.43,-0.041,-1.895,0,1,0
$FREEZE,6.81,-0.029,-1.894,0,1,0
$FREEZE,6.39,-0.022,-1.894,0,1,0
$FREEZE,5.75,-0.006,-1.893,0,1,0
$FREEZE,5.30,0.007,-1.893,0,1,0
$FREEZE,4.62,0.111,-1.891,0,1,0
$FREEZE,4.10,0.226,-1.890,0,1,0
$FREEZE,3.53,0.265,-1.890,0,1,0
$FREEZE,3.08,0.263,-1.890,0,1,0
$FREEZE,2.46,0.274,-1.890,0,1,0
$STATE,4093,end climb,SURFACE_DEPTH_REACHED
$STATE,4093,begin surface coast
$FREEZE,1.60,0.282,-1.890,0,1,0
$FREEZE,1.26,0.272,-1.890,0,1,0
$FREEZE,1.18,0.123,-1.899,0,1,0
$FREEZE,1.20,0.218,-0.115,0,1,0
$FREEZE,1.21,0.165,-1.046,0,1,0
$FREEZE,1.24,0.218,-1.011,0,1,0
$FINISH,1.2,1.014928
$STATE,4130,end surface coast,CONTROL_FINISHED_OK
$STATE,4130,begin surface
$SM_CCo,4150,108.88,0.086,0,0,1737,300.24
$SM_GC,2.17,0.00,0.00,108.88,0.000,0.000,0.086,433,2660,1737,-8.22,0.28,300.24
$IRIDIUM_FIX,-7536.68,17224.32,180111,080815
$TT8_MAMPS,0.028462
$HUMID,52.63
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.0
$24V_AH,19.1,96.065
$10V_AH,9.7,66.101
$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,23.625,47.800,383.300,108.875,0.000,27.776,41.518,177.786,0.250,0.000,11.920,1275.828,1059.094,486.286,1622.005,193.253,0.000,1049.750,0.000,859.878,0.000,2.622,0.000
$DEVICE_MAMPS,195.840,68.850,852.210,86.445,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,362.723,788.519,1001.438,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,255228
$DATA_FILE_SIZE,37042,518
$CAP_FILE_SIZE,60357,0
$CFSIZE,260165632,216231936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.046, 77.7,1
$GPS,180111,110102,-7621.393,17231.918,13,1.4,13,128.4