version: 66.08
glider: 502
mission: 3
dive: 19
start: 11 23 110 10 10 55
data:
$ID,502
$MISSION,3
$DIVE,19
$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,-9599.7598
$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,22
$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,0.97
$_SM_ANGLEo,-12.8
$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,-219.0,0.0,0.0,0,166,0.00,0.00,-149.02,0.000,2,0.000,0.000,428,1970,3313,0,0,0,0,0,0
$GC,169,-0.88,-219.0,3.1,-3.2,23,197,9.52,0.00,-14.27,0.000,6,0.226,0.000,2855,1969,3856,0,0,0,0,0,0
$GC,330,-0.94,-219.0,24.4,-11.2,51,337,0.00,2.38,0.00,0.000,4,0.000,0.072,2846,3385,3859,0,0,0,0,0,0
$GC,457,-1.00,-219.0,39.9,-12.2,74,465,0.00,2.33,0.00,0.000,6,0.000,0.054,2846,1975,3859,0,0,0,0,0,0
$GC,598,-1.04,-219.0,56.5,-11.7,99,604,0.00,2.38,0.00,0.000,4,0.000,0.073,2842,3393,3859,0,0,0,0,0,0
$GC,721,-1.09,-219.0,72.0,-12.0,121,729,0.12,2.30,0.00,0.000,6,0.093,0.054,2783,1972,3859,0,0,0,0,0,0
$GC,861,-1.02,-219.0,95.7,-16.9,146,870,0.12,2.40,0.00,0.000,4,0.173,0.072,2806,3378,3859,0,0,0,0,0,0
$GC,978,-0.99,-219.0,115.4,-16.5,158,987,0.00,2.30,0.00,0.000,6,0.000,0.054,2806,1973,3859,0,0,0,0,0,0
$GC,1115,-0.99,-219.0,136.2,-15.1,171,1119,0.00,2.35,0.00,0.000,4,0.000,0.071,2798,3390,3859,0,0,0,0,0,0
$GC,1222,-0.94,-219.0,154.6,-16.4,180,1231,0.12,2.33,0.00,0.000,6,0.145,0.055,2839,1974,3859,0,0,0,0,0,0
$GC,1359,-0.99,-219.0,171.3,-11.9,193,1364,0.00,2.35,0.00,0.000,4,0.000,0.071,2830,3393,3859,0,0,0,0,0,0
$GC,1489,-1.02,-219.0,189.2,-13.6,204,1498,0.00,2.33,0.00,0.000,6,0.000,0.054,2830,1970,3860,0,0,0,0,0,0
$GC,1627,-1.05,-219.0,206.4,-12.8,217,1631,0.00,2.35,0.00,0.000,4,0.000,0.072,2821,3392,3859,0,0,0,0,0,0
$GC,1754,-1.05,-219.0,224.5,-14.5,228,1758,0.00,2.28,0.00,0.000,6,0.000,0.054,2821,1972,3859,0,0,0,0,0,0
$GC,1888,-1.05,-219.0,243.3,-13.9,240,1892,0.00,2.35,0.00,0.000,4,0.000,0.072,2810,3393,3859,0,0,0,0,0,0
$GC,2016,-1.05,-219.0,262.8,-15.2,251,2020,0.00,2.28,0.00,0.000,6,0.000,0.054,2810,1973,3859,0,0,0,0,0,0
$GC,2213,-1.05,-219.0,290.8,-13.6,269,2217,0.00,2.33,0.00,0.000,4,0.000,0.072,2799,3386,3859,0,0,0,0,0,0
$STATE,2274,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2274,begin apogee
$GC,2280,-0.17,0.0,300.1,15.8,274,2477,0.88,0.00,190.12,0.995,6,0.129,0.000,3085,1970,2961,0,0,0,0,0,0
$STATE,2477,end apogee,CONTROL_FINISHED_OK
$STATE,2478,begin climb
$GC,2479,0.88,219.0,310.4,0.0,292,2687,1.00,2.62,197.73,0.927,4,0.050,0.060,3432,3389,2067,0,0,0,0,0,0
$GC,2935,0.50,219.0,211.3,29.4,333,2944,0.47,2.42,0.00,0.000,6,0.184,0.054,3315,1968,2055,0,0,0,0,0,0
$GC,3072,0.40,219.0,187.0,15.8,346,3077,0.12,2.40,0.00,0.000,4,0.174,0.066,3283,3391,2054,0,0,0,0,0,0
$GC,3321,0.31,219.0,148.6,15.3,368,3331,0.12,2.35,0.00,0.000,6,0.155,0.054,3254,1982,2052,0,0,0,0,0,0
$GC,3457,0.39,283.5,133.9,10.7,381,3520,0.00,2.47,56.08,0.871,4,0.000,0.066,3254,3389,1804,0,0,0,0,0,0
$GC,3731,0.40,286.9,100.0,13.2,405,3740,0.00,2.38,0.00,0.000,6,0.000,0.054,3261,1982,1793,0,0,0,0,0,0
$GC,3871,0.50,331.1,84.0,11.5,430,3920,0.12,2.45,40.92,0.844,4,0.087,0.064,3318,3387,1608,0,0,0,0,0,0
$GC,4095,0.40,331.1,42.6,19.5,469,4103,0.17,2.35,0.00,0.000,6,0.164,0.054,3283,1974,1601,0,0,0,0,0,0
$GC,4236,0.46,350.8,22.8,12.5,494,4258,0.00,2.50,16.85,0.799,4,0.000,0.067,3283,3391,1530,0,0,0,0,0,0
$FREEZE,8.20,-1.708,-1.908,2,19,1
$FREEZE,7.24,-1.710,-1.907,2,19,1
$FREEZE,6.52,-1.683,-1.906,2,19,1
$FREEZE,5.54,-1.606,-1.905,2,19,1
$FREEZE,4.81,-1.607,-1.904,2,19,1
$FREEZE,3.91,-1.579,-1.904,2,19,1
$FREEZE,3.18,-1.565,-1.903,2,19,1
$GC,4369,0.46,350.8,3.2,14.7,517,4376,0.00,2.38,0.00,0.000,6,0.000,0.056,3287,1966,1525,0,0,0,0,0,0
$FREEZE,1.01,-1.552,-1.901,2,19,1
$STATE,4383,end climb,SURFACE_DEPTH_REACHED
$STATE,4383,begin surface coast
$FREEZE,0.78,-1.641,-1.846,2,19,1
$FREEZE,0.74,-1.574,-1.841,2,19,1
$FREEZE,0.82,-1.561,-1.840,2,19,1
$FREEZE,0.74,-1.568,-1.841,2,19,1
$FINISH,0.7,1.027009
$STATE,4408,end surface coast,CONTROL_FINISHED_OK
$STATE,4408,begin surface
$SM_CCo,4422,165.95,0.736,2,0,419,623.30
$SM_GC,1.13,0.00,0.00,165.95,0.000,0.000,0.736,430,1962,419,-8.50,-0.37,623.30
$IRIDIUM_FIX,-7639.69,16504.76,221110,090951
$TT8_MAMPS,0.028462
$HUMID,51.57
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,18.7,17.8
$24V_AH,22.2,14.227
$10V_AH,10.0,7.973
$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,20.700,61.650,501.700,165.950,0.000,99.005,17.739,0.000,1.250,0.000,181.583,1199.947,1306.692,734.220,1771.243,124.689,0.000,1396.977,0.000,1004.894,0.000,6.057,0.000
$DEVICE_MAMPS,226.440,72.675,994.500,735.930,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,362.794,736.252,869.738,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33723,523
$CAP_FILE_SIZE,76580,0
$CFSIZE,260165632,252534784
$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