version: 66.08
glider: 502
mission: 3
dive: 18
start: 11 23 110 8 41 24
data:
$ID,502
$MISSION,3
$DIVE,18
$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,-9233.6045
$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,25
$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,1.00
$_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,-219.0,0.0,0.0,0,180,0.00,0.00,-161.85,0.000,2,0.000,0.000,432,1970,3561,0,0,0,0,0,0
$GC,182,-0.88,-219.0,3.6,-4.8,25,204,9.55,2.45,-6.62,0.000,4,0.227,0.083,2850,3386,3857,0,0,0,0,0,0
$GC,266,-0.93,-219.0,22.7,-12.3,39,273,0.00,2.30,0.00,0.000,6,0.000,0.054,2850,1977,3860,0,0,0,0,0,0
$GC,404,-0.99,-219.0,39.0,-11.6,64,412,0.00,2.40,0.00,0.000,4,0.000,0.073,2841,3380,3860,0,0,0,0,0,0
$GC,535,-1.04,-219.0,54.8,-12.3,87,542,0.00,2.28,0.00,0.000,6,0.000,0.050,2842,1971,3860,0,0,0,0,0,0
$GC,673,-1.08,-219.0,71.7,-12.1,112,682,0.12,2.42,0.00,0.000,4,0.091,0.071,2771,3387,3861,0,0,0,0,0,0
$GC,807,-0.99,-219.0,96.1,-18.9,136,816,0.17,2.33,0.00,0.000,6,0.146,0.054,2826,1977,3860,0,0,0,0,0,0
$GC,952,-1.01,-219.0,115.9,-13.1,151,956,0.00,2.38,0.00,0.000,4,0.000,0.073,2818,3392,3861,0,0,0,0,0,0
$GC,1089,-1.01,-219.0,135.2,-13.6,163,1093,0.00,2.28,0.00,0.000,6,0.000,0.054,2818,1975,3861,0,0,0,0,0,0
$GC,1223,-1.01,-219.0,153.5,-13.5,175,1228,0.00,2.35,0.00,0.000,4,0.000,0.073,2808,3391,3860,0,0,0,0,0,0
$GC,1350,-1.01,-219.0,172.2,-14.8,186,1354,0.00,2.28,0.00,0.000,6,0.000,0.054,2808,1974,3860,0,0,0,0,0,0
$GC,1486,-1.01,-219.0,192.1,-14.9,198,1491,0.00,2.35,0.00,0.000,4,0.000,0.073,2799,3391,3860,0,0,0,0,0,0
$GC,1614,-0.98,-219.0,212.5,-15.6,209,1619,0.12,2.28,0.00,0.000,6,0.173,0.055,2832,1974,3861,0,0,0,0,0,0
$GC,1750,-1.02,-219.0,229.9,-12.2,221,1754,0.00,2.35,0.00,0.000,4,0.000,0.073,2826,3393,3860,0,0,0,0,0,0
$GC,1877,-1.04,-219.0,246.6,-13.4,232,1881,0.00,2.28,0.00,0.000,6,0.000,0.054,2826,1972,3860,0,0,0,0,0,0
$GC,2010,-1.07,-219.0,264.0,-12.5,244,2015,0.00,2.35,0.00,0.000,4,0.000,0.073,2816,3391,3860,0,0,0,0,0,0
$GC,2128,-1.07,-219.0,280.5,-13.9,254,2132,0.00,2.28,0.00,0.000,6,0.000,0.055,2816,1973,3860,0,0,0,0,0,0
$STATE,2282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2282,begin apogee
$GC,2286,-0.17,0.0,301.1,13.8,268,2482,0.82,0.00,190.10,0.988,6,0.126,0.000,3087,1970,2961,0,0,0,0,0,0
$STATE,2482,end apogee,CONTROL_FINISHED_OK
$STATE,2483,begin climb
$GC,2484,0.88,219.0,310.8,0.0,286,2692,1.00,2.62,197.45,0.927,4,0.051,0.060,3431,3393,2067,0,0,0,0,0,0
$GC,2940,0.52,219.0,214.0,29.0,327,2949,0.45,2.40,0.00,0.000,6,0.181,0.051,3320,1980,2055,0,0,0,0,0,0
$GC,3077,0.42,219.0,190.6,15.6,340,3082,0.12,2.38,0.00,0.000,4,0.172,0.066,3287,3391,2054,0,0,0,0,0,0
$GC,3325,0.32,219.0,151.6,15.8,362,3335,0.12,2.35,0.00,0.000,6,0.152,0.053,3258,1975,2053,0,0,0,0,0,0
$GC,3460,0.38,267.3,136.2,11.4,375,3511,0.00,2.45,41.75,0.880,4,0.000,0.065,3258,3384,1871,0,0,0,0,0,0
$GC,3645,0.39,270.7,112.3,13.2,391,3656,0.00,2.38,3.70,0.569,6,0.000,0.055,3261,1981,1857,0,0,0,0,0,0
$GC,3781,0.48,321.9,96.2,11.2,406,3835,0.12,2.50,46.15,0.851,4,0.086,0.065,3319,3392,1648,0,0,0,0,0,0
$GC,3994,0.39,321.9,57.8,19.1,443,4002,0.20,2.38,0.00,0.000,6,0.161,0.054,3275,1971,1640,0,0,0,0,0,0
$GC,4134,0.45,336.9,38.8,12.7,468,4156,0.00,2.47,13.12,0.796,4,0.000,0.067,3275,3387,1587,0,0,0,0,0,0
$GC,4267,0.45,336.9,20.1,14.2,491,4274,0.00,2.35,0.00,0.000,6,0.000,0.055,3284,1973,1583,0,0,0,0,0,0
$FREEZE,8.40,-1.634,-1.908,2,18,0
$FREEZE,7.72,-1.619,-1.907,2,18,0
$FREEZE,6.79,-1.648,-1.907,2,18,0
$FREEZE,6.11,-1.618,-1.906,2,18,0
$FREEZE,5.30,-1.583,-1.904,2,18,0
$FREEZE,4.60,-1.576,-1.905,2,18,0
$FREEZE,3.78,-1.589,-1.904,2,18,0
$FREEZE,3.17,-1.614,-1.904,2,18,0
$FREEZE,2.19,-1.512,-1.902,2,18,0
$STATE,4395,end climb,SURFACE_DEPTH_REACHED
$STATE,4396,begin surface coast
$FREEZE,1.43,-1.496,-1.901,2,18,0
$FREEZE,0.81,-1.534,-1.710,2,18,0
$FREEZE,0.71,-1.550,-1.713,2,18,0
$FREEZE,0.68,-1.514,-1.713,2,18,0
$FINISH,0.7,1.025186
$STATE,4419,end surface coast,CONTROL_FINISHED_OK
$STATE,4419,begin surface
$SM_CCo,4433,167.68,0.747,2,0,419,623.30
$SM_GC,0.94,0.00,0.00,167.68,0.000,0.000,0.747,428,1970,419,-8.50,-0.17,623.30
$IRIDIUM_FIX,-7639.69,16504.76,221110,090951
$TT8_MAMPS,0.028462
$HUMID,52.08
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.3,18.3
$24V_AH,22.2,14.057
$10V_AH,10.0,7.890
$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,20.625,61.600,492.275,167.675,0.000,99.031,17.409,0.000,1.250,0.000,181.570,1191.614,1365.387,724.677,1745.164,121.122,0.000,1374.350,0.000,985.819,0.000,6.053,0.000
$DEVICE_MAMPS,227.205,83.385,988.380,747.405,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,359.521,725.798,858.548,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33770,518
$CAP_FILE_SIZE,76859,0
$CFSIZE,260165632,252579840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,221110,094856,-7732.058,16504.516,181,99.0,181,144.7