version: 66.08
glider: 502
mission: 3
dive: 17
start: 11 23 110 7 10 5
data:
$ID,502
$MISSION,3
$DIVE,17
$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,-8868.4541
$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,21
$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,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,-12.4
$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,-219.0,0.0,0.0,0,173,0.00,0.00,-155.55,0.000,2,0.000,0.000,432,1965,3427,0,0,0,0,0,0
$GC,176,-0.88,-219.0,3.2,-2.6,24,203,9.57,0.00,-10.70,0.000,6,0.228,0.000,2858,1964,3858,0,0,0,0,0,0
$GC,334,-0.95,-219.0,26.4,-11.2,52,342,0.00,2.42,0.00,0.000,4,0.000,0.072,2849,3382,3859,0,0,0,0,0,0
$GC,511,-1.01,-219.0,47.3,-12.3,84,519,0.00,2.33,0.00,0.000,6,0.000,0.054,2849,1973,3860,0,0,0,0,0,0
$GC,652,-1.07,-219.0,63.7,-11.2,109,660,0.12,2.40,0.00,0.000,4,0.093,0.072,2777,3393,3860,0,0,0,0,0,0
$GC,808,-0.98,-219.0,91.9,-19.7,137,816,0.20,2.33,0.00,0.000,6,0.161,0.055,2832,1965,3860,0,0,0,0,0,0
$GC,947,-1.01,-219.0,110.9,-12.8,154,951,0.00,2.35,0.00,0.000,4,0.000,0.071,2823,3386,3860,0,0,0,0,0,0
$GC,1087,-1.01,-219.0,130.9,-14.4,166,1096,0.00,2.33,0.00,0.000,6,0.000,0.054,2823,1967,3860,0,0,0,0,0,0
$GC,1223,-1.01,-219.0,148.8,-13.2,179,1227,0.00,2.38,0.00,0.000,4,0.000,0.072,2812,3387,3860,0,0,0,0,0,0
$GC,1362,-1.01,-219.0,169.6,-15.0,191,1371,0.00,2.30,0.00,0.000,6,0.000,0.054,2812,1977,3860,0,0,0,0,0,0
$GC,1498,-1.01,-219.0,189.0,-14.5,204,1502,0.00,2.38,0.00,0.000,4,0.000,0.072,2802,3386,3860,0,0,0,0,0,0
$GC,1646,-0.98,-219.0,212.1,-15.4,217,1651,0.12,2.28,0.00,0.000,6,0.172,0.055,2835,1972,3860,0,0,0,0,0,0
$GC,1783,-1.02,-219.0,229.2,-12.0,229,1787,0.00,2.35,0.00,0.000,4,0.000,0.073,2832,3388,3860,0,0,0,0,0,0
$GC,1922,-1.06,-219.0,247.0,-12.6,241,1927,0.00,2.28,0.00,0.000,6,0.000,0.054,2832,1969,3860,0,0,0,0,0,0
$GC,2056,-1.10,-219.0,263.8,-12.3,253,2061,0.12,2.38,0.00,0.000,4,0.090,0.073,2766,3386,3860,0,0,0,0,0,0
$GC,2208,-1.00,-219.0,291.6,-18.9,266,2213,0.20,2.28,0.00,0.000,6,0.162,0.055,2822,1969,3860,0,0,0,0,0,0
$STATE,2266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2266,begin apogee
$GC,2269,-0.17,0.0,300.2,13.2,271,2466,0.80,0.00,190.57,0.993,6,0.123,0.000,3087,1966,2961,0,0,0,0,0,0
$STATE,2467,end apogee,CONTROL_FINISHED_OK
$STATE,2467,begin climb
$GC,2468,0.88,219.0,309.0,0.0,289,2676,1.00,2.62,198.05,0.929,4,0.053,0.061,3442,567,2066,0,0,0,0,0,0
$GC,2800,0.65,219.0,253.3,22.9,319,2806,0.32,2.42,0.00,0.000,6,0.178,0.056,3361,1980,2055,0,0,0,0,0,0
$GC,2999,0.47,219.0,214.1,19.5,337,3004,0.22,2.40,0.00,0.000,4,0.168,0.064,3300,3394,2053,0,0,0,0,0,0
$GC,3224,0.35,219.0,175.7,17.3,357,3229,0.17,2.33,0.00,0.000,6,0.172,0.054,3265,1976,2051,0,0,0,0,0,0
$GC,3359,0.40,259.5,158.6,11.7,369,3400,0.00,2.50,35.00,0.883,4,0.000,0.067,3264,3382,1903,0,0,0,0,0,0
$GC,3540,0.38,259.5,134.3,13.6,385,3551,0.00,2.38,0.00,0.000,6,0.000,0.055,3273,1982,1896,0,0,0,0,0,0
$GC,3677,0.39,274.1,117.5,12.7,398,3702,0.00,2.40,13.62,0.840,4,0.000,0.065,3273,3387,1841,0,0,0,0,0,0
$GC,3813,0.37,274.1,98.6,14.2,410,3821,0.00,2.38,0.00,0.000,6,0.000,0.054,3282,1970,1838,0,0,0,0,0,0
$GC,3955,0.38,284.1,79.9,12.9,435,3970,0.00,2.47,9.60,0.801,4,0.000,0.068,3282,3388,1801,0,0,0,0,0,0
$GC,4081,0.34,284.1,61.1,15.3,457,4088,0.00,2.35,0.00,0.000,6,0.000,0.055,3287,1966,1799,0,0,0,0,0,0
$GC,4218,0.34,284.1,41.6,13.5,482,4227,0.00,2.42,0.00,0.000,4,0.000,0.068,3287,3380,1797,0,0,0,0,0,0
$GC,4337,0.29,284.1,23.4,15.8,503,4345,0.20,2.30,0.00,0.000,6,0.159,0.054,3241,1973,1797,0,0,0,0,0,0
$FREEZE,8.78,-1.698,-1.908,2,17,0
$FREEZE,8.13,-1.699,-1.908,2,17,0
$FREEZE,7.06,-1.691,-1.907,2,17,0
$FREEZE,5.96,-1.658,-1.906,2,17,0
$FREEZE,4.51,-1.604,-1.904,2,17,0
$FREEZE,3.24,-1.428,-1.902,2,17,0
$FREEZE,1.88,-1.417,-1.901,2,17,0
$GC,4476,0.48,371.8,8.8,9.7,528,4528,0.17,0.00,49.25,0.819,2,0.074,0.000,3319,1971,1573,0,0,0,0,0,0
$STATE,4529,end climb,SURFACE_DEPTH_REACHED
$STATE,4529,begin surface coast
$FREEZE,0.76,-1.423,-1.867,2,17,0
$FREEZE,0.71,-1.423,-1.867,2,17,0
$FREEZE,0.70,-1.418,-1.866,2,17,0
$FINISH,0.7,1.027370
$STATE,4548,end surface coast,CONTROL_FINISHED_OK
$STATE,4549,begin surface
$SM_CCo,4563,154.20,0.731,1,0,420,623.30
$SM_GC,0.98,0.00,0.00,154.20,0.000,0.000,0.731,432,1969,420,-8.49,-0.17,623.30
$IRIDIUM_FIX,-7639.69,16504.76,221110,090951
$TT8_MAMPS,0.028462
$HUMID,52.12
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.4,18.8
$24V_AH,22.2,13.889
$10V_AH,10.0,7.807
$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,21.350,61.725,496.100,154.200,0.000,98.790,17.431,0.000,1.250,0.000,181.570,1232.541,1370.462,718.118,1814.979,120.402,0.000,1387.435,0.000,1020.737,0.000,6.057,0.000
$DEVICE_MAMPS,227.970,73.440,992.970,730.575,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,373.213,758.101,903.158,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37139,537
$CAP_FILE_SIZE,79551,0
$CFSIZE,260165632,252616704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,221110,094856,-7732.058,16504.516,181,99.0,181,144.7