version: 66.08
glider: 502
mission: 3
dive: 12
start: 11 22 110 23 37 51
data:
$ID,502
$MISSION,3
$DIVE,12
$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,623.29712
$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,-7036.9395
$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,20
$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,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
$GPS1,221110,094856,-7732.058,16504.516,181,99.0,181,144.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-12.6
$GPS2,221110,094856,-7732.058,16504.516,181,99.0,181,144.7
$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,-219.0,0.0,0.0,0,172,0.00,0.00,-154.68,0.000,2,0.000,0.000,431,1966,3564,0,0,0,0,0,0
$GC,175,-0.88,-219.0,3.9,-5.4,24,198,9.68,2.40,-6.53,0.000,4,0.230,0.076,2858,561,3857,0,0,0,0,0,0
$GC,269,-1.04,-219.0,22.6,-10.3,40,278,0.10,2.40,0.00,0.000,6,0.058,0.063,2795,1972,3859,0,0,0,0,0,0
$GC,410,-1.04,-219.0,43.6,-15.5,65,417,0.00,2.38,0.00,0.000,4,0.000,0.072,2785,3387,3859,0,0,0,0,0,0
$GC,619,-0.99,-219.0,80.3,-17.8,103,627,0.15,2.30,0.00,0.000,6,0.164,0.055,2826,1976,3859,0,0,0,0,0,0
$GC,760,-1.03,-219.0,100.0,-13.1,128,764,0.00,2.35,0.00,0.000,4,0.000,0.073,2817,3389,3859,0,0,0,0,0,0
$GC,889,-1.05,-219.0,118.8,-13.6,139,898,0.00,2.33,0.00,0.000,6,0.000,0.056,2817,1979,3859,0,0,0,0,0,0
$GC,1026,-1.07,-219.0,136.8,-13.1,152,1030,0.00,2.35,0.00,0.000,4,0.000,0.072,2808,3393,3859,0,0,0,0,0,0
$GC,1166,-1.07,-219.0,158.0,-14.1,164,1175,0.00,2.35,0.00,0.000,6,0.000,0.055,2808,1968,3860,0,0,0,0,0,0
$GC,1302,-1.07,-219.0,177.4,-14.6,177,1306,0.00,2.38,0.00,0.000,4,0.000,0.073,2798,3396,3860,0,0,0,0,0,0
$GC,1428,-1.07,-219.0,197.8,-16.0,188,1432,0.00,2.30,0.00,0.000,6,0.000,0.055,2798,1971,3860,0,0,0,0,0,0
$GC,1562,-1.07,-219.0,218.8,-15.2,200,1566,0.00,2.35,0.00,0.000,4,0.000,0.073,2793,3387,3859,0,0,0,0,0,0
$GC,1680,-1.05,-219.0,238.1,-15.8,210,1688,0.00,2.30,0.00,0.000,6,0.000,0.052,2793,1980,3859,0,0,0,0,0,0
$GC,1813,-1.05,-219.0,258.3,-15.0,223,1817,0.00,2.35,0.00,0.000,4,0.000,0.073,2785,3396,3860,0,0,0,0,0,0
$GC,1936,-1.02,-219.0,278.4,-16.0,233,1944,0.08,2.35,0.00,0.000,6,0.152,0.055,2819,1967,3860,0,0,0,0,0,0
$STATE,2112,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2112,begin apogee
$GC,2115,-0.17,0.0,300.9,12.4,250,2311,0.80,0.00,190.12,0.993,6,0.122,0.000,3085,1965,2961,0,0,0,0,0,0
$STATE,2312,end apogee,CONTROL_FINISHED_OK
$STATE,2312,begin climb
$GC,2313,0.88,219.0,310.2,0.0,268,2521,1.00,2.65,198.15,0.932,4,0.051,0.062,3442,557,2066,0,0,0,0,0,0
$GC,2657,0.66,219.0,253.2,23.1,299,2662,0.32,2.45,0.00,0.000,6,0.175,0.056,3360,1978,2054,0,0,0,0,0,0
$GC,2857,0.49,219.0,214.6,19.0,317,2862,0.20,2.40,0.00,0.000,4,0.169,0.063,3306,3393,2052,0,0,0,0,0,0
$GC,3106,0.36,219.0,170.8,17.7,339,3116,0.15,2.35,0.00,0.000,6,0.156,0.050,3271,1973,2050,0,0,0,0,0,0
$GC,3241,0.41,255.9,154.3,11.8,352,3280,0.00,2.53,31.98,0.877,4,0.000,0.066,3271,3390,1916,0,0,0,0,0,0
$GC,3437,0.38,255.9,127.5,13.9,369,3446,0.00,2.38,0.00,0.000,6,0.000,0.052,3280,1978,1910,0,0,0,0,0,0
$GC,3574,0.39,269.7,110.3,12.8,382,3592,0.00,2.40,12.82,0.830,4,0.000,0.065,3280,3387,1859,0,0,0,0,0,0
$GC,3734,0.35,269.7,87.4,14.6,404,3742,0.00,2.38,0.00,0.000,6,0.000,0.056,3288,1976,1856,0,0,0,0,0,0
$GC,3875,0.36,272.4,68.9,13.2,429,3881,0.00,2.40,0.00,0.000,4,0.000,0.068,3288,3388,1854,0,0,0,0,0,0
$GC,4031,0.30,272.4,45.9,15.4,457,4039,0.17,2.33,0.00,0.000,6,0.166,0.054,3251,1968,1853,0,0,0,0,0,0
$GC,4170,0.46,349.5,30.7,10.2,482,4252,0.12,2.58,69.10,0.820,4,0.090,0.067,3310,3386,1534,0,0,0,0,0,0
$FREEZE,8.53,-1.815,-1.908,2,12,0
$FREEZE,7.39,-1.799,-1.907,2,12,0
$FREEZE,6.52,-1.800,-1.906,2,12,0
$FREEZE,5.46,-1.794,-1.905,2,12,0
$FREEZE,4.68,-1.798,-1.904,2,12,0
$FREEZE,3.56,-1.772,-1.904,2,12,0
$FREEZE,2.50,-1.752,-1.903,2,12,0
$STATE,4348,end climb,SURFACE_DEPTH_REACHED
$STATE,4348,begin surface coast
$FREEZE,1.49,-1.718,-1.902,2,12,0
$FREEZE,0.76,-1.687,-1.716,2,12,0
$FREEZE,0.75,-1.682,-1.717,2,12,0
$FINISH,0.8,1.025238
$STATE,4366,end surface coast,CONTROL_FINISHED_OK
$STATE,4366,begin surface
$SM_CCo,4383,173.10,0.728,3,0,420,623.30
$SM_GC,1.13,0.00,0.00,173.10,0.000,0.000,0.728,428,1975,420,-8.50,0.00,623.30
$IRIDIUM_FIX,-7639.69,16504.76,221110,090951
$TT8_MAMPS,0.028462
$HUMID,52.48
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,18.9
$24V_AH,22.2,13.054
$10V_AH,10.0,7.386
$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,20.850,62.125,502.175,173.100,0.000,98.941,17.781,0.000,1.250,0.000,181.542,1169.432,1340.440,747.590,1735.365,113.403,0.000,1393.259,0.000,975.604,0.000,6.053,0.000
$DEVICE_MAMPS,230.265,76.500,992.970,727.515,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,356.451,719.738,850.244,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276248
$DATA_FILE_SIZE,33621,514
$CAP_FILE_SIZE,74949,0
$CFSIZE,260165632,252846080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,221110,094856,-7732.058,16504.516,181,99.0,181,144.7