version: 66.08
glider: 502
mission: 5
dive: 21
start: 7 1 111 12 11 5
data:
$ID,502
$MISSION,5
$DIVE,21
$N_DIVES,701
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$D_FINISH,0
$D_PITCH,1.75
$D_SAFE,400
$D_CALL,3
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,4
$SURFACE_URGENCY_FORCE,8
$T_DIVE,83
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.025
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51763
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$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,10
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-33610.73
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3944
$C_PITCH,1973
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,33
$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,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,37
$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,3540
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$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,18.5
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-71.804634
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$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,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043360316
$SEABIRD_T_H,0.0006230906
$SEABIRD_T_I,2.3087629e-05
$SEABIRD_T_J,2.4124136e-06
$SEABIRD_C_G,-9.8063631
$SEABIRD_C_H,1.1380011
$SEABIRD_C_I,-0.0011081909
$SEABIRD_C_J,0.00016910781
$GPS1,010711,120119,4743.514,-12223.997,11,1.6,28,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-61.0
$GPS2,010711,121007,4743.498,-12224.019,11,1.8,16,18.2
$SPEED_LIMITS,0.139,0.210
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.178,-0.111
$KALMAN_X,1783.3,-1107.6,2.5,-529.0,815.0
$KALMAN_Y,-6503.6,-3635.0,-796.0,10546.0,447.0
$MHEAD_RNG_PITCHd_Wd,200.6,1769,-16.9,-8.032
$D_GRID,200
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.64,-107.1,0.0,0.0,0,94,0.00,0.00,-68.97,0.000,6,0.000,0.000,403,2287,3960,0,0,0,0,0,0
$GC,98,-0.64,-107.1,2.9,-2.6,10,109,4.93,2.22,-0.03,0.000,4,0.206,0.057,1760,892,3962,0,0,0,0,0,0
$GC,326,-0.64,-107.1,36.4,-11.0,51,334,0.00,2.22,0.00,0.000,6,0.000,0.039,1752,2300,3962,0,0,0,0,0,0
$GC,413,-0.64,-107.1,46.5,-11.8,67,419,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,2300,3961,0,0,0,0,0,0
$GC,567,-0.64,-107.1,61.9,-8.1,98,576,0.00,2.20,0.00,0.000,4,0.000,0.040,1752,890,3962,0,0,0,0,0,0
$GC,716,-0.64,-107.1,76.4,-9.4,127,723,0.00,2.17,0.00,0.000,6,0.000,0.039,1743,2305,3962,0,0,0,0,0,0
$GC,872,-0.64,-107.1,90.9,-8.9,158,880,0.00,2.20,0.00,0.000,4,0.000,0.050,1733,3699,3962,0,0,0,0,0,0
$GC,945,-0.64,-107.1,97.6,-8.5,172,954,0.08,2.12,0.00,0.000,6,0.116,0.032,1761,2299,3962,0,0,0,0,0,0
$GC,1109,-0.64,-107.1,108.5,-6.6,203,1116,0.00,2.10,0.00,0.000,4,0.000,0.041,1761,902,3962,0,0,0,0,0,0
$GC,1219,-0.64,-107.1,116.5,-7.6,223,1226,0.00,2.15,0.00,0.000,6,0.000,0.039,1752,2304,3962,0,0,0,0,0,0
$GC,1374,-0.64,-107.1,129.8,-8.5,254,1383,0.00,2.20,0.00,0.000,4,0.000,0.050,1743,3706,3962,0,0,0,0,0,0
$GC,1445,-0.64,-107.1,136.4,-9.9,267,1452,0.00,2.10,0.00,0.000,6,0.000,0.032,1744,2305,3962,0,0,0,0,0,0
$GC,1599,-0.64,-107.1,149.5,-7.5,298,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,2303,3962,0,0,0,0,0,0
$GC,1758,-0.64,-107.1,162.0,-9.2,329,1765,0.00,2.20,0.00,0.000,4,0.000,0.049,1733,3712,3961,0,0,0,0,0,0
$STATE,1873,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1873,begin apogee
$GC,1880,-0.15,0.0,174.0,10.1,352,2003,0.52,0.00,114.25,0.734,4,0.112,0.000,1914,2294,3540,0,0,0,0,0,0
$STATE,2006,end apogee,CONTROL_FINISHED_OK
$STATE,2006,begin climb
$GC,2009,0.64,107.1,176.7,0.0,370,2141,0.70,0.00,122.35,0.693,6,0.061,0.000,2182,2294,3102,0,0,0,0,0,0
$GC,2291,0.64,107.1,146.5,12.9,419,2298,0.00,2.28,0.00,0.000,4,0.000,0.047,2182,3704,3099,0,0,0,0,0,0
$GC,2386,0.64,107.1,131.2,15.2,438,2395,0.00,2.17,0.00,0.000,6,0.000,0.034,2193,2327,3098,0,0,0,0,0,0
$GC,2545,0.64,107.1,109.5,13.6,469,2552,0.00,2.25,0.00,0.000,4,0.000,0.043,2194,886,3098,0,0,0,0,0,0
$GC,2593,0.64,107.1,102.9,13.3,478,2602,0.00,2.22,0.00,0.000,6,0.000,0.039,2194,2293,3097,0,0,0,0,0,0
$GC,2751,0.64,107.1,82.0,13.4,509,2758,0.00,2.25,0.00,0.000,4,0.000,0.049,2194,3707,3098,0,0,0,0,0,0
$GC,2838,0.64,107.1,68.9,14.8,526,2848,0.00,2.17,0.00,0.000,6,0.000,0.034,2203,2307,3097,0,0,0,0,0,0
$GC,2996,0.64,107.1,48.6,13.4,557,3003,0.00,2.17,0.00,0.000,4,0.000,0.044,2213,895,3097,0,0,0,0,0,0
$GC,3101,0.64,107.1,34.3,14.4,577,3110,0.08,2.17,0.00,0.000,6,0.135,0.039,2186,2283,3097,0,0,0,0,0,0
$GC,3196,0.64,107.1,22.4,13.0,593,3204,0.00,2.25,0.00,0.000,4,0.000,0.050,2186,3705,3097,0,0,0,0,0,0
$GC,3341,0.64,107.1,6.7,10.4,619,3350,0.00,2.17,0.00,0.000,6,0.000,0.034,2194,2295,3097,0,0,0,0,0,0
$STATE,3388,end climb,SURFACE_DEPTH_REACHED
$STATE,3388,begin surface coast
$FINISH,0.4,1.000193
$STATE,3439,end surface coast,CONTROL_FINISHED_OK
$STATE,3442,begin surface
$SM_CCo,3456,80.45,0.073,0,0,2316,300.24
$SM_GC,1.44,0.00,0.00,80.45,0.000,0.000,0.073,406,2293,2316,-4.90,-0.20,300.24
$IRIDIUM_FIX,4729.30,-12222.38,010711,101053
$TT8_MAMPS,0.027713
$HUMID,40.03
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,19.20
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,115.3,68.2
$24V_AH,24.3,1.564
$10V_AH,10.4,1.492
$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,10.825,48.175,236.600,80.450,0.000,30.406,29.536,322.868,4.750,0.000,17.606,1511.601,104.160,396.578,1826.736,233.375,33.316,961.639,0.000,918.338,0.000,15.547,0.000
$DEVICE_MAMPS,205.785,56.610,733.635,73.440,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,432.169,577.472,1064.299,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323532
$DATA_FILE_SIZE,43763,636
$CAP_FILE_SIZE,68779,0
$CFSIZE,260165632,213946368
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.025,  7.0,1
$GPS,010711,131106,4743.239,-12224.297,16,2.0,26,18.2