version: 66.08
glider: 502
mission: 3
dive: 21
start: 11 23 110 13 11 12
data:
$ID,502
$MISSION,3
$DIVE,21
$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,-10330.087
$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,19
$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,1.02
$_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,-219.0,0.0,0.0,0,172,0.00,0.00,-154.68,0.000,2,0.000,0.000,434,1969,3410,0,0,0,0,0,0
$GC,175,-0.88,-219.0,3.2,-2.5,24,203,9.48,2.40,-11.32,0.000,4,0.226,0.083,2846,3389,3856,0,0,0,0,0,0
$GC,309,-0.92,-219.0,24.8,-12.3,47,316,0.00,2.33,0.00,0.000,6,0.000,0.054,2846,1961,3858,0,0,0,0,0,0
$GC,447,-0.97,-219.0,41.5,-11.6,72,455,0.00,2.42,0.00,0.000,4,0.000,0.073,2841,3385,3858,0,0,0,0,0,0
$GC,592,-1.01,-219.0,59.3,-11.8,98,600,0.00,2.33,0.00,0.000,6,0.000,0.054,2842,1973,3859,0,0,0,0,0,0
$GC,734,-1.06,-219.0,76.5,-12.7,123,742,0.10,2.40,0.00,0.000,4,0.106,0.073,2778,3395,3859,0,0,0,0,0,0
$GC,879,-0.97,-219.0,102.8,-19.4,148,883,0.20,2.28,0.00,0.000,6,0.160,0.051,2835,1975,3858,0,0,0,0,0,0
$GC,1016,-1.00,-219.0,121.5,-12.5,160,1020,0.00,2.35,0.00,0.000,4,0.000,0.071,2826,3395,3859,0,0,0,0,0,0
$GC,1143,-1.00,-219.0,138.9,-13.3,171,1147,0.00,2.28,0.00,0.000,6,0.000,0.051,2826,1968,3859,0,0,0,0,0,0
$GC,1278,-1.00,-219.0,157.7,-14.1,183,1282,0.00,2.35,0.00,0.000,4,0.000,0.071,2816,3389,3859,0,0,0,0,0,0
$GC,1417,-1.00,-219.0,178.5,-14.7,195,1427,0.00,2.30,0.00,0.000,6,0.000,0.054,2816,1981,3858,0,0,0,0,0,0
$GC,1555,-1.00,-219.0,197.6,-14.1,208,1559,0.00,2.33,0.00,0.000,4,0.000,0.072,2806,3389,3858,0,0,0,0,0,0
$GC,1704,-0.98,-219.0,221.0,-15.9,221,1708,0.00,2.28,0.00,0.000,6,0.000,0.055,2806,1970,3859,0,0,0,0,0,0
$GC,1838,-0.98,-219.0,240.1,-13.4,233,1842,0.00,2.35,0.00,0.000,4,0.000,0.073,2798,3391,3858,0,0,0,0,0,0
$GC,1978,-0.94,-219.0,261.3,-15.9,245,1982,0.15,2.28,0.00,0.000,6,0.164,0.056,2840,1973,3859,0,0,0,0,0,0
$GC,2176,-1.00,-219.0,285.3,-11.4,263,2180,0.00,2.35,0.00,0.000,4,0.000,0.073,2841,3391,3859,0,0,0,0,0,0
$STATE,2305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2305,begin apogee
$GC,2311,-0.17,0.0,300.5,11.0,274,2508,0.73,0.00,190.25,1.001,6,0.116,0.000,3085,1972,2961,0,0,0,0,0,0
$STATE,2508,end apogee,CONTROL_FINISHED_OK
$STATE,2509,begin climb
$GC,2510,0.88,219.0,309.8,0.0,292,2718,1.00,2.60,197.88,0.941,4,0.050,0.060,3443,560,2066,0,0,0,0,0,0
$GC,2824,0.64,219.0,257.6,24.1,320,2832,0.28,2.47,0.00,0.000,6,0.171,0.056,3359,1971,2056,0,0,0,0,0,0
$GC,3024,0.46,219.0,218.7,19.2,339,3029,0.22,2.42,0.00,0.000,4,0.166,0.063,3298,3401,2053,0,0,0,0,0,0
$GC,3272,0.34,219.0,175.5,16.1,361,3282,0.15,2.38,0.00,0.000,6,0.161,0.054,3263,1978,2052,0,0,0,0,0,0
$GC,3410,0.38,255.4,159.0,11.8,374,3448,0.00,2.45,31.67,0.887,4,0.000,0.065,3263,3391,1918,0,0,0,0,0,0
$GC,3616,0.35,255.4,130.8,13.8,392,3626,0.00,2.38,0.00,0.000,6,0.000,0.054,3272,1976,1912,0,0,0,0,0,0
$GC,3752,0.38,274.9,114.2,12.5,405,3778,0.00,2.42,17.48,0.854,4,0.000,0.067,3272,3395,1840,0,0,0,0,0,0
$GC,3905,0.34,274.9,92.6,14.5,423,3912,0.00,2.35,0.00,0.000,6,0.000,0.054,3283,1973,1835,0,0,0,0,0,0
$GC,4043,0.34,274.9,73.9,13.5,448,4051,0.00,2.42,0.00,0.000,4,0.000,0.067,3283,3387,1833,0,0,0,0,0,0
$GC,4172,0.29,274.9,54.3,16.1,471,4179,0.17,2.33,0.00,0.000,6,0.164,0.056,3239,1968,1833,0,0,0,0,0,0
$GC,4311,0.48,368.6,39.6,9.5,496,4399,0.17,2.60,81.18,0.827,4,0.073,0.067,3317,3391,1457,0,0,0,0,0,0
$FREEZE,8.64,-1.632,-1.908,2,21,0
$FREEZE,7.47,-1.640,-1.907,2,21,0
$FREEZE,6.39,-1.639,-1.907,2,21,0
$FREEZE,5.17,-1.643,-1.906,2,21,0
$FREEZE,4.00,-1.636,-1.905,2,21,0
$FREEZE,2.86,-1.632,-1.904,2,21,0
$STATE,4518,end climb,SURFACE_DEPTH_REACHED
$STATE,4518,begin surface coast
$FREEZE,1.40,-1.637,-1.903,2,21,0
$FREEZE,0.74,-1.688,-1.761,2,21,0
$FREEZE,0.74,-1.674,-1.762,2,21,0
$FINISH,0.7,1.025881
$STATE,4538,end surface coast,CONTROL_FINISHED_OK
$STATE,4538,begin surface
$SM_CCo,4554,154.48,0.728,3,0,419,623.30
$SM_GC,1.12,0.00,0.00,154.48,0.000,0.000,0.728,433,1967,419,-8.48,-0.23,623.30
$IRIDIUM_FIX,-7639.69,16504.76,221110,090951
$TT8_MAMPS,0.027713
$HUMID,51.37
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,18.7
$24V_AH,22.1,14.570
$10V_AH,10.0,8.142
$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,20.675,66.600,518.450,154.475,0.000,98.772,17.076,0.000,1.250,0.000,181.590,1215.796,1392.481,741.212,1786.069,125.456,0.000,1408.762,0.000,1010.753,0.000,6.060,0.000
$DEVICE_MAMPS,226.440,82.620,1000.620,728.280,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,369.750,745.610,880.835,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276200
$DATA_FILE_SIZE,37235,533
$CAP_FILE_SIZE,77554,0
$CFSIZE,260165632,252440576
$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