version: 66.08
glider: 502
mission: 3
dive: 681
start: 1 19 111 4 11 33
data:
$ID,502
$MISSION,3
$DIVE,681
$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,-32184.592
$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,25
$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
$GPS1,190111,035834,-7623.756,17256.139,15,2.2,34,127.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-72.5
$GPS2,190111,041107,-7623.769,17256.230,13,1.1,13,127.9
$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,329.5,29888,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.70,-116.8,0.0,0.0,0,98,0.00,0.00,-78.25,0.000,2,0.000,0.000,425,2656,3230,0,0,0,0,0,0
$GC,101,-0.70,-116.8,3.1,-1.7,12,126,12.38,2.45,-6.07,0.000,4,0.195,0.067,2820,3765,3439,0,0,0,0,0,0
$GC,312,-0.70,-116.8,34.6,-14.3,48,320,0.00,2.33,0.00,0.000,6,0.000,0.037,2821,2649,3444,0,0,0,0,0,0
$GC,658,-0.70,-116.8,80.6,-13.8,109,665,0.00,2.40,0.00,0.000,4,0.000,0.058,2812,3760,3445,0,0,0,0,0,0
$GC,723,-0.70,-116.8,90.1,-14.8,120,731,0.00,2.28,0.00,0.000,6,0.000,0.037,2812,2664,3445,0,0,0,0,0,0
$GC,1060,-0.70,-116.8,135.4,-12.6,157,1064,0.00,2.35,0.00,0.000,4,0.000,0.058,2803,3766,3445,0,0,0,0,0,0
$GC,1113,-0.70,-116.8,142.5,-13.9,161,1118,0.15,2.22,0.00,0.000,6,0.137,0.037,2834,2668,3445,0,0,0,0,0,0
$GC,1440,-0.70,-116.8,179.9,-11.5,191,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2667,3445,0,0,0,0,0,0
$STATE,1618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1618,begin apogee
$GC,1625,-0.17,0.0,200.8,11.5,208,1814,0.68,0.00,183.48,0.849,4,0.115,0.000,3001,2492,2962,0,0,0,0,0,0
$STATE,1815,end apogee,CONTROL_FINISHED_OK
$STATE,1815,begin climb
$GC,1817,0.70,116.8,208.1,0.0,223,2014,1.05,2.97,188.05,0.795,4,0.069,0.047,3285,1098,2485,0,0,0,0,0,0
$GC,2132,0.71,123.5,189.0,8.0,248,2153,0.00,3.05,9.43,0.709,6,0.000,0.052,3285,2495,2458,0,0,0,0,0,0
$GC,2473,0.71,123.5,158.5,9.4,280,2477,0.00,2.95,0.00,0.000,4,0.000,0.049,3287,1101,2452,0,0,0,0,0,0
$GC,2547,0.71,123.5,151.3,9.7,286,2552,0.00,3.03,0.00,0.000,6,0.000,0.052,3287,2519,2451,0,0,1,0,0,0
$GC,2876,0.71,123.5,120.4,9.1,316,2880,0.00,2.65,0.00,0.000,4,0.000,0.058,3287,3767,2449,0,0,0,0,0,0
$GC,3031,0.71,123.5,103.0,11.7,329,3039,0.00,2.58,0.00,0.000,6,0.000,0.039,3294,2544,2448,0,0,0,0,0,0
$GC,3373,0.71,123.5,71.3,8.6,387,3380,0.00,2.65,0.00,0.000,4,0.000,0.057,3294,3770,2447,0,0,0,0,0,0
$GC,3467,0.71,123.5,61.6,10.2,403,3474,0.00,2.55,0.00,0.000,6,0.000,0.040,3300,2542,2446,0,0,0,0,0,0
$GC,3813,0.71,123.5,26.6,9.8,464,3822,0.00,2.67,0.00,0.000,4,0.000,0.058,3300,3762,2446,0,0,0,0,0,0
$GC,3896,0.71,123.5,17.1,11.8,478,3905,0.00,2.53,0.00,0.000,6,0.000,0.040,3307,2557,2445,0,0,0,0,0,0
$FREEZE,8.88,0.480,-1.892,0,1,0
$FREEZE,8.24,0.505,-1.892,0,1,0
$FREEZE,7.72,0.668,-1.888,0,1,0
$FREEZE,7.07,0.755,-1.889,0,1,0
$FREEZE,6.77,0.787,-1.889,0,1,0
$FREEZE,6.02,0.826,-1.888,0,1,0
$FREEZE,5.50,0.850,-1.888,0,1,0
$FREEZE,4.90,0.897,-1.888,0,1,0
$FREEZE,4.41,0.897,-1.888,0,1,0
$FREEZE,3.88,0.898,-1.888,0,1,0
$FREEZE,3.14,0.896,-1.888,0,1,0
$FREEZE,2.47,0.889,-1.888,0,1,0
$STATE,4038,end climb,SURFACE_DEPTH_REACHED
$STATE,4038,begin surface coast
$FREEZE,2.04,0.889,-1.888,0,1,0
$FREEZE,1.31,0.888,-1.887,0,1,0
$FREEZE,1.20,0.744,-1.872,0,1,0
$FREEZE,1.27,0.770,-1.894,0,1,0
$FREEZE,1.21,0.810,-1.516,0,1,0
$FREEZE,1.16,0.753,-1.895,0,1,0
$FINISH,1.2,1.027666
$STATE,4075,end surface coast,CONTROL_FINISHED_OK
$STATE,4075,begin surface
$SM_CCo,4095,110.30,0.088,0,0,1737,300.24
$SM_GC,2.11,0.00,0.00,110.30,0.000,0.000,0.088,435,2653,1737,-8.22,0.08,300.24
$IRIDIUM_FIX,-7536.68,17259.29,190111,040412
$TT8_MAMPS,0.028462
$HUMID,53.15
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,18.3
$24V_AH,19.2,97.588
$10V_AH,9.6,67.180
$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,23.925,42.200,380.950,110.300,0.000,84.280,152.691,258.190,0.500,0.000,13.843,1247.849,1186.089,481.148,1841.242,212.014,0.000,1034.630,0.000,837.945,0.000,2.623,0.000
$DEVICE_MAMPS,195.075,71.910,849.150,87.975,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,355.687,773.295,991.176,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33738,508
$CAP_FILE_SIZE,62406,0
$CFSIZE,260165632,215683072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.122,147.3,1
$GPS,190111,052252,-7624.059,17258.375,13,2.1,32,127.9