version: 66.08
glider: 502
mission: 3
dive: 9
start: 11 22 110 19 31 32
data:
$ID,502
$MISSION,3
$DIVE,9
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$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,3
$SURFACE_URGENCY_FORCE,5
$T_DIVE,75
$T_MISSION,100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-1
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.025
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51763
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,10
$TGT_DEFAULT_LAT,-7715
$TGT_DEFAULT_LON,16530
$TGT_AUTO_DEFAULT,0
$SM_CC,613.29712
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-6306.668
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3944
$C_PITCH,3147
$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,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,1975
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,420
$VBD_MAX,3960
$C_VBD,2961
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$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,49
$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
$GPS1,221110,094856,-7732.058,16504.516,14,1.9,14,144.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.06
$_SM_ANGLEo,16.6
$GPS2,221110,094856,-7732.058,16504.516,14,1.9,14,144.7
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,SOUND
$TGT_LATLONG,-7715.000,16530.000
$TGT_RADIUS,2000.000
$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,233.5,33265,-18.2,-13.333
$D_GRID,553
$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,14,-0.88,-219.0,0.0,0.0,0,25,0.00,0.00,-8.70,0.000,2,0.000,0.000,3141,3387,3289,0,0,0,0,0,0
$GC,27,-0.88,-219.0,4.7,-0.0,1,55,0.82,4.70,-18.05,0.000,4,0.120,0.060,2872,556,3856,0,0,0,0,0,0
$GC,113,-1.11,-219.0,11.4,-8.4,15,120,0.22,2.38,0.00,0.000,6,0.073,0.060,2774,1984,3858,0,0,0,0,0,0
$GC,252,-1.08,-219.0,32.1,-15.3,40,260,0.00,2.38,0.00,0.000,4,0.000,0.071,2764,3379,3858,0,0,0,0,0,0
$GC,462,-1.01,-219.0,71.2,-19.6,78,471,0.17,2.33,0.00,0.000,6,0.145,0.052,2819,1970,3858,0,0,0,0,0,0
$GC,604,-1.05,-219.0,90.3,-12.8,103,611,0.00,2.38,0.00,0.000,4,0.000,0.072,2810,3386,3858,0,0,0,0,0,0
$GC,739,-1.05,-219.0,110.1,-14.3,122,749,0.00,2.33,0.00,0.000,6,0.000,0.052,2810,1970,3858,0,0,0,0,0,0
$GC,877,-1.07,-219.0,128.6,-13.6,135,881,0.00,2.38,0.00,0.000,4,0.000,0.072,2799,3394,3858,0,0,0,0,0,0
$GC,1005,-1.07,-219.0,148.7,-15.1,146,1015,0.00,2.33,0.00,0.000,6,0.000,0.050,2799,1973,3858,0,0,0,0,0,0
$GC,1143,-1.07,-219.0,168.3,-14.1,159,1147,0.00,2.35,0.00,0.000,4,0.000,0.072,2798,3386,3858,0,0,0,0,0,0
$GC,1280,-1.07,-219.0,189.0,-15.1,171,1284,0.00,2.28,0.00,0.000,6,0.000,0.052,2798,1968,3858,0,0,0,0,0,0
$GC,1416,-1.07,-219.0,208.2,-13.9,183,1420,0.00,2.38,0.00,0.000,4,0.000,0.073,2798,3392,3859,0,0,0,0,0,0
$GC,1567,-1.07,-219.0,232.2,-14.8,196,1576,0.00,2.33,0.00,0.000,6,0.000,0.051,2798,1973,3858,0,0,0,0,0,0
$GC,1705,-1.07,-219.0,251.3,-14.3,209,1710,0.00,2.35,0.00,0.000,4,0.000,0.073,2798,3390,3858,0,0,0,0,0,0
$GC,1838,-1.07,-219.0,271.3,-14.8,220,1846,0.00,2.33,0.00,0.000,6,0.000,0.051,2798,1970,3858,0,0,0,0,0,0
$GC,2037,-1.07,-219.0,298.5,-13.8,239,2041,0.00,2.35,0.00,0.000,4,0.000,0.073,2798,3385,3858,0,0,0,0,0,0
$STATE,2053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2053,begin apogee
$GC,2059,-0.17,0.0,300.7,13.3,240,2255,0.90,0.00,189.12,0.985,6,0.128,0.000,3090,1968,2961,0,0,0,0,0,0
$STATE,2256,end apogee,CONTROL_FINISHED_OK
$STATE,2256,begin climb
$GC,2257,0.88,219.0,310.3,0.0,258,2465,0.98,2.62,198.20,0.924,4,0.053,0.060,3428,3390,2066,0,0,0,0,0,0
$GC,2701,0.55,219.0,222.6,26.7,298,2707,0.43,2.38,0.00,0.000,6,0.184,0.051,3330,1972,2056,0,0,0,0,0,0
$GC,2837,0.44,219.0,198.2,16.3,310,2842,0.15,2.40,0.00,0.000,4,0.169,0.066,3290,3391,2054,0,0,0,0,0,0
$GC,2986,0.36,219.0,174.6,15.6,323,2991,0.12,2.33,0.00,0.000,6,0.178,0.052,3269,1974,2053,0,0,0,0,0,0
$GC,3121,0.40,257.8,158.0,11.7,335,3161,0.00,2.53,34.05,0.874,4,0.000,0.066,3269,3386,1908,0,0,0,0,0,0
$GC,3313,0.41,261.2,132.8,13.2,352,3317,0.00,2.33,0.00,0.000,6,0.000,0.050,3274,1976,1903,0,0,0,0,0,0
$GC,3447,0.45,297.1,116.8,11.9,364,3488,0.00,2.50,35.38,0.856,4,0.000,0.067,3274,3378,1748,0,0,0,0,0,0
$GC,3626,0.45,297.1,92.2,13.9,385,3633,0.00,2.35,0.00,0.000,6,0.000,0.052,3284,1969,1741,0,0,0,0,0,0
$GC,3764,0.55,357.7,75.8,10.8,410,3825,0.12,2.50,53.42,0.832,4,0.090,0.063,3338,3386,1500,0,0,0,0,0,0
$GC,3982,0.50,357.7,37.3,18.0,448,3991,0.12,2.40,0.00,0.000,6,0.144,0.054,3310,1979,1494,0,0,0,0,0,0
$GC,4125,0.50,357.7,16.5,14.2,473,4132,0.00,2.38,0.00,0.000,4,0.000,0.065,3310,3387,1491,0,0,0,0,0,0
$FREEZE,8.73,-1.896,-1.907,2,9,0
$STATE,4172,end climb,FINISH_DEPTH_REACHED
$STATE,4172,begin subsurface finish
$FINISH1,8.7,1.027880,-19
$GC,4179,-0.02,-18.6,8.7,-17.4,481,4247,0.55,2.40,-58.85,0.000,4,0.135,0.080,3142,3387,3039,0,0,0,0,0,0
$FINISH2,3.2
$STATE,4247,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4248,begin surface
$IRIDIUM_FIX,-7639.69,16442.95,221110,090925
$TT8_MAMPS,0.028462
$HUMID,55.11
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,18.8
$24V_AH,22.2,12.542
$10V_AH,10.1,7.156
$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,4.600,71.350,510.175,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1137.570,1211.718,502.562,1381.257,65.409,0.000,1117.984,0.000,946.867,0.000,6.700,0.000
$DEVICE_MAMPS,184.365,79.560,985.320,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,341.705,686.319,822.351,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276272
$DATA_FILE_SIZE,33647,491
$CAP_FILE_SIZE,67223,0
$CFSIZE,260165632,252882944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221110,094856,-7732.058,16504.516,14,1.9,14,144.7