version: 66.08
glider: 502
mission: 3
dive: 20
start: 11 23 110 11 40 10
data:
$ID,502
$MISSION,3
$DIVE,20
$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,-9964.9121
$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,1.07
$_SM_ANGLEo,-12.0
$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,-154.48,0.000,2,0.000,0.000,430,1962,3525,0,0,0,0,0,0
$GC,175,-0.88,-219.0,3.6,-4.8,24,196,9.52,0.00,-7.72,0.000,6,0.227,0.000,2860,1962,3857,0,0,0,0,0,0
$GC,328,-0.95,-219.0,28.6,-10.6,51,335,0.00,2.40,0.00,0.000,4,0.000,0.072,2854,3389,3860,0,0,0,0,0,0
$GC,495,-1.02,-219.0,47.8,-11.9,81,503,0.10,2.30,0.00,0.000,6,0.106,0.054,2801,1972,3860,0,0,0,0,0,0
$GC,635,-0.99,-219.0,69.0,-15.6,106,643,0.00,2.40,0.00,0.000,4,0.000,0.073,2792,3383,3860,0,0,0,0,0,0
$GC,765,-0.93,-219.0,91.3,-16.8,129,772,0.17,2.30,0.00,0.000,6,0.162,0.054,2841,1966,3860,0,0,0,0,0,0
$GC,903,-0.98,-219.0,109.7,-12.2,147,907,0.00,2.35,0.00,0.000,4,0.000,0.072,2832,3386,3860,0,0,0,0,0,0
$GC,1022,-1.01,-219.0,126.1,-13.1,157,1030,0.00,2.30,0.00,0.000,6,0.000,0.054,2832,1981,3861,0,0,0,0,0,0
$GC,1159,-1.04,-219.0,143.3,-13.0,170,1163,0.00,2.33,0.00,0.000,4,0.000,0.072,2825,3387,3861,0,0,0,0,0,0
$GC,1287,-1.04,-219.0,161.3,-13.5,181,1297,0.00,2.30,0.00,0.000,6,0.000,0.054,2825,1980,3860,0,0,0,0,0,0
$GC,1425,-1.04,-219.0,178.9,-13.4,194,1429,0.00,2.33,0.00,0.000,4,0.000,0.071,2814,3390,3861,0,0,0,0,0,0
$GC,1565,-1.04,-219.0,199.2,-13.7,206,1574,0.00,2.33,0.00,0.000,6,0.000,0.055,2814,1972,3860,0,0,0,0,0,0
$GC,1700,-1.04,-219.0,217.7,-13.6,219,1704,0.00,2.33,0.00,0.000,4,0.000,0.071,2804,3386,3860,0,0,0,0,0,0
$GC,1817,-1.02,-219.0,235.3,-15.5,229,1821,0.00,2.28,0.00,0.000,6,0.000,0.055,2804,1967,3861,0,0,0,0,0,0
$GC,1950,-1.02,-219.0,255.9,-15.1,241,1954,0.00,2.35,0.00,0.000,4,0.000,0.073,2798,3387,3860,0,0,0,0,0,0
$GC,2083,-0.98,-219.0,277.3,-16.3,252,2091,0.08,2.30,0.00,0.000,6,0.150,0.054,2824,1982,3860,0,0,0,0,0,0
$STATE,2261,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2261,begin apogee
$GC,2264,-0.17,0.0,300.4,12.8,269,2460,0.80,0.00,190.25,0.998,6,0.122,0.000,3091,1979,2961,0,0,0,0,0,0
$STATE,2461,end apogee,CONTROL_FINISHED_OK
$STATE,2461,begin climb
$GC,2462,0.88,219.0,310.1,0.0,287,2670,0.98,2.60,197.98,0.928,4,0.049,0.059,3440,563,2066,0,0,0,0,0,0
$GC,2798,0.65,219.0,254.1,23.4,317,2807,0.28,2.47,0.00,0.000,6,0.170,0.057,3364,1975,2055,0,0,0,0,0,0
$GC,2999,0.47,219.0,214.6,19.8,336,3004,0.22,2.40,0.00,0.000,4,0.166,0.063,3304,3393,2052,0,0,0,0,0,0
$GC,3248,0.33,219.0,169.9,17.2,358,3258,0.17,2.38,0.00,0.000,6,0.155,0.053,3261,1969,2051,0,0,0,0,0,0
$GC,3385,0.38,258.0,153.8,11.7,371,3424,0.00,2.53,33.50,0.884,4,0.000,0.067,3261,3388,1908,0,0,0,0,0,0
$GC,3623,0.37,265.2,122.7,13.0,392,3637,0.00,2.33,7.20,0.767,6,0.000,0.055,3261,1976,1878,0,0,0,0,0,0
$GC,3765,0.45,302.2,106.2,11.8,405,3806,0.00,2.53,34.10,0.858,4,0.000,0.067,3261,3388,1726,0,0,0,0,0,0
$GC,3948,0.46,315.6,82.5,12.8,433,3970,0.10,2.38,11.68,0.802,6,0.102,0.056,3309,1966,1673,0,0,0,0,0,0
$GC,4100,0.43,315.6,59.1,15.6,460,4108,0.00,2.47,0.00,0.000,4,0.000,0.067,3309,3393,1668,0,0,0,0,0,0
$GC,4240,0.35,315.6,33.7,18.8,485,4247,0.20,2.35,0.00,0.000,6,0.162,0.055,3265,1965,1666,0,0,0,0,0,0
$GC,4379,0.46,359.6,16.0,11.5,510,4426,0.00,2.53,38.88,0.817,4,0.000,0.067,3265,3390,1494,0,0,0,0,0,0
$FREEZE,8.47,-1.645,-1.908,2,20,2
$FREEZE,7.82,-1.671,-1.908,2,20,2
$FREEZE,7.05,-1.631,-1.907,2,20,2
$FREEZE,6.36,-1.630,-1.906,2,20,2
$FREEZE,5.70,-1.640,-1.906,2,20,2
$FREEZE,4.95,-1.636,-1.906,2,20,2
$FREEZE,4.17,-1.635,-1.905,2,20,2
$FREEZE,3.49,-1.639,-1.904,2,20,2
$FREEZE,2.77,-1.644,-1.904,2,20,2
$STATE,4487,end climb,SURFACE_DEPTH_REACHED
$STATE,4488,begin surface coast
$FREEZE,2.20,-1.636,-1.903,2,20,2
$FREEZE,1.38,-1.632,-1.903,2,20,2
$FREEZE,0.78,-1.641,-1.867,2,20,2
$FREEZE,0.69,-1.642,-1.872,2,20,2
$FINISH,0.7,1.027451
$STATE,4513,end surface coast,CONTROL_FINISHED_OK
$STATE,4513,begin surface
$SM_CCo,4530,159.45,0.736,3,0,420,623.30
$SM_GC,1.02,0.00,0.00,159.45,0.000,0.000,0.736,434,1969,420,-8.48,-0.14,623.30
$IRIDIUM_FIX,-7639.69,16504.76,221110,090951
$TT8_MAMPS,0.027713
$HUMID,51.57
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,13.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,19.1
$24V_AH,22.2,14.398
$10V_AH,10.0,8.057
$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,20.450,61.950,513.575,159.450,0.000,99.247,17.818,0.000,1.250,0.000,181.569,1221.627,1370.677,743.067,1781.354,125.483,0.000,1405.006,0.000,1002.671,0.000,6.058,0.000
$DEVICE_MAMPS,227.205,72.675,997.560,735.930,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,369.156,746.918,889.290,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37168,532
$CAP_FILE_SIZE,77366,0
$CFSIZE,260165632,252485632
$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