version: 66.08
glider: 502
mission: 3
dive: 10
start: 11 22 110 20 43 43
data:
$ID,502
$MISSION,3
$DIVE,10
$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,20
$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,3.22
$_SM_ANGLEo,16.5
$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,15,-0.88,-219.0,0.0,0.0,0,26,0.00,0.00,-9.27,0.000,2,0.000,0.000,3142,3387,3309,0,0,0,0,0,0
$GC,28,-0.88,-219.0,4.8,-0.0,1,56,0.82,4.72,-17.23,0.000,4,0.120,0.061,2873,559,3857,0,0,0,0,0,0
$GC,84,-1.11,-219.0,9.2,-7.5,10,93,0.20,2.38,0.00,0.000,6,0.054,0.061,2776,1969,3858,0,0,0,0,0,0
$GC,225,-1.08,-219.0,29.9,-16.5,35,232,0.00,2.40,0.00,0.000,4,0.000,0.071,2765,3396,3858,0,0,0,0,0,0
$GC,458,-1.02,-219.0,72.8,-19.3,77,465,0.17,2.33,0.00,0.000,6,0.161,0.053,2813,1969,3859,0,0,0,0,0,0
$GC,598,-1.05,-219.0,92.7,-13.8,102,606,0.00,2.42,0.00,0.000,4,0.000,0.073,2804,3389,3859,0,0,0,0,0,0
$GC,733,-1.05,-219.0,112.7,-14.9,119,737,0.00,2.28,0.00,0.000,6,0.000,0.051,2804,1978,3859,0,0,0,0,0,0
$GC,869,-1.05,-219.0,131.7,-13.7,131,873,0.00,2.35,0.00,0.000,4,0.000,0.072,2799,3388,3859,0,0,0,0,0,0
$GC,1008,-1.05,-219.0,153.6,-16.1,143,1018,0.00,2.33,0.00,0.000,6,0.000,0.052,2798,1972,3859,0,0,0,0,0,0
$GC,1144,-1.05,-219.0,172.9,-14.2,156,1148,0.00,2.35,0.00,0.000,4,0.000,0.072,2798,3387,3858,0,0,0,0,0,0
$GC,1303,-1.05,-219.0,197.1,-15.7,170,1307,0.00,2.28,0.00,0.000,6,0.000,0.052,2798,1969,3859,0,0,0,0,0,0
$GC,1438,-1.05,-219.0,216.6,-14.1,182,1442,0.00,2.38,0.00,0.000,4,0.000,0.073,2797,3394,3858,0,0,0,0,0,0
$GC,1564,-1.05,-219.0,234.9,-14.2,193,1568,0.00,2.28,0.00,0.000,6,0.000,0.051,2798,1974,3859,0,0,0,0,0,0
$GC,1697,-1.05,-219.0,254.0,-13.7,205,1701,0.00,2.35,0.00,0.000,4,0.000,0.072,2798,3389,3859,0,0,0,0,0,0
$GC,1826,-1.05,-219.0,273.0,-14.6,216,1830,0.00,2.28,0.00,0.000,6,0.000,0.052,2798,1970,3859,0,0,0,0,0,0
$STATE,2025,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2025,begin apogee
$GC,2028,-0.17,0.0,300.1,13.4,234,2224,0.88,0.00,189.60,0.992,6,0.126,0.000,3084,1967,2961,0,0,0,0,0,0
$STATE,2225,end apogee,CONTROL_FINISHED_OK
$STATE,2225,begin climb
$GC,2227,0.88,219.0,309.6,0.0,252,2435,1.00,2.62,197.90,0.923,4,0.055,0.060,3428,3388,2067,0,0,0,0,0,0
$GC,2683,0.54,219.0,216.2,27.4,293,2692,0.40,2.40,0.00,0.000,6,0.178,0.051,3330,1981,2058,0,0,0,0,0,0
$GC,2820,0.43,219.0,192.7,15.8,306,2825,0.15,2.38,0.00,0.000,4,0.168,0.065,3291,3390,2055,0,0,0,0,0,0
$GC,3003,0.33,219.0,164.2,14.6,322,3013,0.12,2.35,0.00,0.000,6,0.152,0.051,3262,1979,2054,0,0,0,0,0,0
$GC,3139,0.41,283.3,149.4,10.7,335,3202,0.00,2.50,56.70,0.868,4,0.000,0.064,3262,3392,1804,0,0,0,0,0,0
$GC,3369,0.45,309.0,121.6,12.3,355,3403,0.00,2.40,22.35,0.833,6,0.000,0.052,3262,1975,1700,0,0,0,0,0,0
$GC,3531,0.56,356.2,104.3,11.4,370,3583,0.20,2.50,42.53,0.835,4,0.070,0.063,3342,3389,1507,0,0,0,0,0,0
$GC,3762,0.49,356.2,59.3,19.7,408,3771,0.12,2.40,0.00,0.000,6,0.146,0.053,3314,1980,1502,0,0,0,0,0,0
$GC,3903,0.49,356.2,38.3,14.6,433,3910,0.00,2.40,0.00,0.000,4,0.000,0.064,3313,3397,1499,0,0,0,0,0,0
$GC,4026,0.49,356.2,17.0,16.8,455,4033,0.00,2.35,0.00,0.000,6,0.000,0.053,3317,1975,1498,0,0,0,0,0,0
$FREEZE,8.20,-1.878,-1.907,2,10,2
$FREEZE,7.34,-1.876,-1.906,2,10,2
$FREEZE,6.62,-1.877,-1.906,2,10,2
$FREEZE,5.72,-1.878,-1.905,2,10,2
$FREEZE,4.87,-1.876,-1.904,2,10,2
$FREEZE,3.96,-1.878,-1.904,2,10,2
$FREEZE,3.14,-1.885,-1.903,2,10,2
$FREEZE,2.29,-1.887,-1.903,2,10,2
$STATE,4122,end climb,SURFACE_DEPTH_REACHED
$STATE,4122,begin surface coast
$FREEZE,1.39,-1.857,-1.902,2,10,2
$FREEZE,0.83,-1.858,-1.823,2,10,2
$FREEZE,0.76,-1.839,-1.822,2,10,2
$FINISH,0.8,1.026751
$STATE,4142,end surface coast,CONTROL_FINISHED_OK
$STATE,4142,begin surface
$SM_CCo,4155,197.68,0.715,9,0,460,613.49
$SM_GC,1.20,0.00,0.00,197.68,0.000,0.000,0.715,429,1971,460,-8.50,-0.14,613.49
$IRIDIUM_FIX,-7639.69,16442.95,221110,090925
$TT8_MAMPS,0.028462
$HUMID,52.52
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,18.9
$24V_AH,22.2,12.714
$10V_AH,10.0,7.222
$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,12.000,59.400,509.075,197.675,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1133.293,1196.733,703.621,1356.053,63.617,0.000,1291.188,0.000,927.378,0.000,6.057,0.000
$DEVICE_MAMPS,178.245,72.675,992.205,715.275,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,331.782,662.161,805.605,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30328,475
$CAP_FILE_SIZE,65414,0
$CFSIZE,260165632,252846080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,0
$GPS,221110,094856,-7732.058,16504.516,181,99.0,181,144.7