version: 66.08
glider: 502
mission: 3
dive: 27
start: 11 23 110 22 38 28
data:
$ID,502
$MISSION,3
$DIVE,27
$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,1
$SURFACE_URGENCY_TRY,2
$SURFACE_URGENCY_FORCE,2
$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,0.0049999999
$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,0
$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,-11795.776
$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,3100
$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,21
$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
$GPS1,231110,220536,-7722.409,16526.514,29,1.0,29,143.6
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,3
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-66.7
$GPS2,231110,223802,-7722.369,16526.484,15,1.3,15,143.6
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,SOUND
$TGT_LATLONG,-7720.000,16530.000
$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,234.4,4614,-18.2,-13.333
$D_GRID,595
$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,14,-0.88,-219.0,0.0,0.0,0,180,0.00,0.00,-162.48,0.000,2,0.000,0.000,430,1974,3490,0,0,0,0,0,0
$GC,182,-0.88,-219.0,3.5,-4.5,25,211,9.43,2.40,-8.75,0.000,4,0.226,0.076,2810,564,3858,0,0,0,0,0,0
$GC,235,-0.80,-219.0,17.2,-19.3,33,242,0.15,2.38,0.00,0.000,6,0.155,0.062,2843,1976,3859,0,0,0,0,0,0
$GC,376,-0.84,-219.0,34.3,-12.3,58,384,0.00,2.40,0.00,0.000,4,0.000,0.072,2834,3383,3860,0,0,0,0,0,0
$GC,538,-0.84,-219.0,56.4,-14.5,87,545,0.00,2.30,0.00,0.000,6,0.000,0.053,2834,1970,3861,0,0,0,0,0,0
$GC,674,-0.84,-219.0,74.2,-12.9,112,682,0.00,2.40,0.00,0.000,4,0.000,0.072,2824,3379,3861,0,0,0,0,0,0
$GC,804,-0.84,-219.0,92.8,-14.7,135,810,0.00,2.28,0.00,0.000,6,0.000,0.054,2824,1975,3861,0,0,0,0,0,0
$GC,946,-0.84,-219.0,112.4,-13.9,153,950,0.00,2.35,0.00,0.000,4,0.000,0.071,2813,3390,3861,0,0,0,0,0,0
$GC,1095,-0.82,-219.0,135.0,-15.7,166,1099,0.00,2.28,0.00,0.000,6,0.000,0.054,2814,1975,3861,0,0,0,0,0,0
$GC,1230,-0.82,-219.0,155.8,-15.4,178,1234,0.00,2.35,0.00,0.000,4,0.000,0.071,2802,3395,3861,0,0,0,0,0,0
$GC,1347,-0.77,-219.0,174.9,-16.0,188,1352,0.17,2.28,0.00,0.000,6,0.155,0.054,2852,1975,3861,0,0,0,0,0,0
$GC,1483,-0.84,-219.0,191.4,-11.4,200,1487,0.00,2.35,0.00,0.000,4,0.000,0.071,2843,3394,3861,0,0,0,0,0,0
$GC,1614,-0.89,-219.0,207.4,-12.0,211,1622,0.00,2.33,0.00,0.000,6,0.000,0.054,2843,1969,3861,0,0,0,0,0,0
$GC,1751,-0.94,-219.0,223.7,-12.3,224,1755,0.12,2.38,0.00,0.000,4,0.093,0.071,2771,3393,3861,0,0,0,0,0,0
$GC,1880,-0.83,-219.0,248.5,-19.8,235,1889,0.17,2.33,0.00,0.000,6,0.144,0.054,2828,1971,3861,0,0,0,0,0,0
$GC,2014,-0.85,-219.0,267.1,-13.0,248,2018,0.00,2.35,0.00,0.000,4,0.000,0.071,2818,3395,3861,0,0,0,0,0,0
$GC,2143,-0.85,-219.0,285.3,-14.1,259,2148,0.00,2.28,0.00,0.000,6,0.000,0.051,2818,1961,3861,0,0,0,0,0,0
$STATE,2255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2255,begin apogee
$GC,2258,-0.17,0.0,300.7,13.5,269,2455,0.68,0.00,190.82,0.996,6,0.125,0.000,3039,1958,2961,0,0,0,0,0,0
$STATE,2456,end apogee,CONTROL_FINISHED_OK
$STATE,2456,begin climb
$GC,2457,0.88,219.0,311.3,0.0,287,2665,1.00,2.60,198.77,0.936,4,0.063,0.060,3387,569,2066,0,0,0,0,0,0
$GC,2688,0.68,219.0,284.9,20.4,308,2694,0.25,2.50,0.00,0.000,6,0.166,0.054,3326,1982,2060,0,0,0,0,0,0
$GC,2887,0.55,219.0,249.9,17.0,326,2892,0.17,2.40,0.00,0.000,4,0.170,0.065,3281,3389,2054,0,0,0,0,0,0
$GC,3137,0.46,219.0,210.6,15.6,348,3147,0.12,2.35,0.00,0.000,6,0.158,0.054,3250,1981,2051,0,0,0,0,0,0
$GC,3272,0.53,276.6,195.5,11.0,361,3334,0.00,2.55,50.20,0.902,4,0.000,0.066,3250,3391,1830,0,0,0,0,0,0
$GC,3502,0.54,287.1,167.2,12.9,381,3517,0.00,2.38,9.40,0.812,6,0.000,0.054,3259,1979,1790,0,0,0,0,0,0
$GC,3647,0.65,341.2,151.1,11.1,394,3702,0.15,2.50,48.33,0.875,4,0.077,0.063,3327,3390,1570,0,0,0,0,0,0
$GC,3870,0.55,341.2,108.2,19.7,413,3880,0.17,2.40,0.00,0.000,6,0.146,0.054,3284,1974,1560,0,0,0,0,0,0
$GC,4008,0.58,341.2,88.3,14.2,433,4014,0.00,2.40,0.00,0.000,4,0.000,0.066,3285,3396,1558,0,0,0,0,0,0
$GC,4119,0.58,341.2,70.9,15.4,453,4126,0.00,2.35,0.00,0.000,6,0.000,0.054,3293,1968,1557,0,0,0,0,0,0
$GC,4256,0.58,341.2,50.8,14.0,478,4264,0.00,2.40,0.00,0.000,4,0.000,0.066,3294,3389,1556,0,0,0,0,0,0
$GC,4367,0.56,341.2,33.4,15.4,498,4375,0.00,2.35,0.00,0.000,6,0.000,0.055,3300,1970,1556,0,0,0,0,0,0
$GC,4507,0.56,341.2,12.8,13.8,523,4513,0.00,2.35,0.00,0.000,4,0.000,0.067,3300,3388,1554,0,0,0,0,0,0
$FREEZE,8.93,-1.446,-1.907,2,5,0
$FREEZE,7.94,-1.445,-1.906,2,5,0
$FREEZE,7.04,-1.439,-1.905,2,5,0
$FREEZE,6.05,-1.443,-1.904,2,5,0
$FREEZE,5.17,-1.446,-1.904,2,5,0
$FREEZE,3.87,-1.444,-1.903,2,5,0
$FREEZE,2.70,-1.435,-1.902,2,5,0
$STATE,4566,end climb,SURFACE_DEPTH_REACHED
$STATE,4566,begin surface coast
$FREEZE,1.46,-1.419,-1.900,2,5,0
$FREEZE,0.74,-1.420,-0.977,2,5,0
$FINISH,0.7,1.014419
$STATE,4579,end surface coast,FINISH_DEPTH_REACHED
$STATE,4580,begin surface
$SM_CCo,4596,158.75,0.753,2,0,419,623.30
$SM_GC,1.45,0.00,0.00,158.75,0.000,0.000,0.753,436,1972,419,-8.33,-0.08,623.30
$IRIDIUM_FIX,-7639.69,16502.85,231110,222259
$TT8_MAMPS,0.028462
$HUMID,51.06
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,18.9
$24V_AH,22.1,15.701
$10V_AH,10.0,8.653
$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,20.175,71.275,497.525,158.750,0.000,88.241,155.619,1409.427,1.500,0.000,16.726,1240.251,1406.791,737.211,3187.583,156.587,0.000,1416.947,0.000,1020.071,0.000,6.060,0.000
$DEVICE_MAMPS,225.675,75.735,996.030,752.760,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,371.527,746.240,882.235,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276236
$DATA_FILE_SIZE,37060,535
$CAP_FILE_SIZE,108328,0
$CFSIZE,260165632,252112896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,231110,235907,-7721.944,16527.678,39,0.8,39,143.5