version: 66.08
glider: 502
mission: 3
dive: 671
start: 1 18 111 15 5 29
data:
$ID,502
$MISSION,3
$DIVE,671
$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,-32172.016
$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,24
$R_STBD_OVSHOOT,19
$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
$GPS1,180111,145907,-7621.931,17237.070,41,0.8,41,128.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-73.3
$GPS2,180111,150502,-7621.947,17237.195,13,1.3,13,128.3
$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,353.5,38783,-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,-116.8,0.0,0.0,0,100,0.00,0.00,-82.07,0.000,2,0.000,0.000,429,2663,3289,0,0,0,0,0,0
$GC,104,-0.70,-116.8,3.3,-1.8,12,129,12.15,2.33,-3.90,0.000,4,0.196,0.067,2823,3761,3439,0,0,0,0,0,0
$GC,380,-0.70,-116.8,47.4,-14.4,60,388,0.00,2.30,0.00,0.000,6,0.000,0.040,2823,2653,3442,0,0,0,0,0,0
$GC,726,-0.70,-116.8,93.6,-13.4,121,733,0.00,2.38,0.00,0.000,4,0.000,0.060,2815,3763,3442,0,0,0,0,0,0
$GC,833,-0.70,-116.8,109.4,-14.9,134,843,0.00,2.30,0.00,0.000,6,0.000,0.041,2814,2653,3443,0,0,0,0,0,0
$GC,1159,-0.70,-116.8,152.7,-13.2,165,1163,0.00,2.38,0.00,0.000,4,0.000,0.060,2806,3765,3443,0,0,0,0,0,0
$GC,1213,-0.70,-116.8,159.9,-14.0,169,1217,0.12,2.22,0.00,0.000,6,0.142,0.040,2830,2664,3443,0,0,0,0,0,0
$GC,1540,-0.70,-116.8,198.0,-11.7,199,1544,0.00,2.33,0.00,0.000,4,0.000,0.060,2823,3758,3443,0,0,0,0,0,0
$STATE,1556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1556,begin apogee
$GC,1566,-0.17,0.0,200.2,11.3,200,1753,0.73,0.00,182.48,0.850,4,0.120,0.000,2999,2493,2961,0,0,0,0,0,0
$STATE,1754,end apogee,CONTROL_FINISHED_OK
$STATE,1754,begin climb
$GC,1756,0.70,116.8,206.6,0.0,215,1961,1.05,3.00,188.57,0.799,4,0.070,0.048,3284,1092,2483,0,0,0,0,0,0
$GC,2055,0.70,116.8,187.4,8.9,239,2060,0.00,3.00,0.00,0.000,6,0.000,0.052,3284,2495,2476,0,0,1,0,0,0
$GC,2382,0.70,116.8,157.8,9.1,269,2387,0.00,2.95,0.00,0.000,4,0.000,0.050,3287,1094,2471,0,0,0,0,0,0
$GC,2470,0.71,125.1,150.1,7.9,276,2491,0.00,3.08,10.18,0.741,6,0.000,0.053,3286,2517,2451,0,0,0,0,0,0
$GC,2811,0.71,125.1,120.4,8.7,308,2815,0.00,2.65,0.00,0.000,4,0.000,0.058,3287,3766,2448,0,0,0,0,0,0
$GC,2966,0.71,125.1,104.0,10.7,321,2974,0.00,2.55,0.00,0.000,6,0.000,0.036,3295,2532,2447,0,0,0,0,0,0
$GC,3306,0.71,125.1,71.8,9.6,378,3315,0.00,2.67,0.00,0.000,4,0.000,0.057,3294,3760,2445,0,0,0,0,0,0
$GC,3396,0.71,125.1,61.9,11.6,393,3404,0.00,2.50,0.00,0.000,6,0.000,0.041,3303,2545,2445,0,0,0,0,0,0
$GC,3741,0.71,125.1,28.0,10.0,454,3750,0.00,2.65,0.00,0.000,4,0.000,0.057,3303,3763,2444,0,0,0,0,0,0
$GC,3808,0.71,125.1,20.7,11.6,465,3819,0.00,2.50,0.00,0.000,6,0.000,0.040,3311,2542,2444,0,0,0,0,0,0
$FREEZE,8.92,0.412,-1.893,0,1,0
$FREEZE,8.32,0.453,-1.892,0,1,0
$FREEZE,7.66,0.447,-1.892,0,1,0
$FREEZE,7.15,0.502,-1.891,0,1,0
$FREEZE,6.25,0.509,-1.891,0,1,0
$FREEZE,5.72,0.513,-1.891,0,1,0
$FREEZE,5.02,0.517,-1.890,0,1,0
$FREEZE,4.56,0.518,-1.890,0,1,0
$FREEZE,3.86,0.518,-1.890,0,1,0
$FREEZE,3.26,0.519,-1.889,0,1,0
$FREEZE,2.68,0.520,-1.889,0,1,0
$STATE,3979,end climb,SURFACE_DEPTH_REACHED
$STATE,3979,begin surface coast
$FREEZE,2.15,0.522,-1.888,0,1,0
$FREEZE,1.44,0.523,-1.888,0,1,0
$FREEZE,1.13,0.476,-1.890,0,1,0
$FREEZE,1.26,0.480,-1.850,0,1,0
$FREEZE,1.26,0.462,-1.890,0,1,0
$FINISH,1.3,1.027607
$STATE,4012,end surface coast,CONTROL_FINISHED_OK
$STATE,4012,begin surface
$SM_CCo,4032,113.78,0.683,1,0,1737,300.24
$SM_GC,2.03,0.00,0.00,113.78,0.000,0.000,0.683,435,2656,1737,-8.22,0.17,300.24
$IRIDIUM_FIX,-7536.68,17241.19,180111,131348
$TT8_MAMPS,0.028462
$HUMID,53.03
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,14.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,18.5
$24V_AH,19.1,96.515
$10V_AH,9.7,66.411
$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,23.650,46.650,381.225,113.775,0.000,27.750,37.316,168.753,0.750,0.000,13.860,1221.484,1023.297,505.048,1577.431,189.668,0.000,1060.937,0.000,834.795,0.000,2.616,0.000
$DEVICE_MAMPS,195.840,70.380,849.915,683.145,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,349.064,759.375,976.326,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,255260
$DATA_FILE_SIZE,33718,499
$CAP_FILE_SIZE,58806,0
$CFSIZE,260165632,216080384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.073, 78.5,1
$GPS,180111,161532,-7622.091,17238.854,11,1.8,11,128.3