version: 66.08
glider: 502
mission: 3
dive: 28
start: 11 24 110 0 9 39
data:
$ID,502
$MISSION,3
$DIVE,28
$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,-11797.036
$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,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$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
$GPS1,231110,235907,-7721.944,16527.678,39,0.8,39,143.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-68.4
$GPS2,241110,000913,-7721.967,16527.697,15,0.8,15,143.5
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,SOUND1
$TGT_LATLONG,-7728.000,16520.000
$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,52.0,11594,-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,-219.0,0.0,0.0,0,181,0.00,0.00,-162.55,0.000,2,0.000,0.000,437,1973,3515,0,0,0,0,0,0
$GC,183,-0.88,-219.0,3.6,-5.1,25,211,9.43,3.05,-7.97,0.000,4,0.225,0.082,2797,3715,3858,0,0,0,0,0,0
$GC,455,-0.81,-219.0,58.7,-16.9,74,463,0.10,2.35,0.00,0.000,6,0.148,0.050,2830,2286,3860,0,0,0,0,0,0
$GC,596,-0.81,-219.0,79.1,-14.5,99,602,0.00,2.40,0.00,0.000,4,0.000,0.073,2821,3712,3859,0,0,0,0,0,0
$GC,733,-0.81,-219.0,99.9,-14.7,124,741,0.00,2.30,0.00,0.000,6,0.000,0.050,2821,2298,3860,0,0,0,0,0,0
$GC,867,-0.81,-219.0,119.1,-14.2,137,871,0.00,2.35,0.00,0.000,4,0.000,0.072,2811,3712,3860,0,0,0,0,0,0
$GC,941,-0.79,-219.0,130.9,-15.5,143,951,0.08,2.30,0.00,0.000,6,0.146,0.050,2837,2295,3860,0,0,0,0,0,0
$GC,1079,-0.79,-219.0,148.4,-12.8,156,1083,0.00,2.35,0.00,0.000,4,0.000,0.073,2827,3712,3860,0,0,0,0,0,0
$GC,1164,-0.81,-219.0,160.7,-13.6,163,1173,0.00,2.30,0.00,0.000,6,0.000,0.050,2827,2293,3859,0,0,0,0,0,0
$GC,1301,-0.81,-219.0,178.5,-13.5,176,1305,0.00,2.38,0.00,0.000,4,0.000,0.072,2817,3712,3859,0,0,0,0,0,0
$GC,1396,-0.81,-219.0,193.0,-13.7,184,1406,0.00,2.28,0.00,0.000,6,0.000,0.050,2817,2305,3860,0,0,0,0,0,0
$GC,1533,-0.79,-219.0,212.7,-14.9,197,1537,0.00,2.35,0.00,0.000,4,0.000,0.073,2806,3712,3860,0,0,0,0,0,0
$GC,1629,-0.77,-219.0,228.3,-15.9,205,1639,0.12,2.28,0.00,0.000,6,0.139,0.050,2848,2300,3859,0,0,0,0,0,0
$GC,1765,-0.82,-219.0,244.1,-11.1,218,1769,0.00,2.35,0.00,0.000,4,0.000,0.073,2842,3712,3860,0,0,0,0,0,0
$GC,1860,-0.88,-219.0,255.4,-11.9,226,1864,0.00,2.25,0.00,0.000,6,0.000,0.050,2842,2292,3860,0,0,0,0,0,0
$GC,2063,-0.92,-219.0,280.0,-11.9,245,2068,0.10,2.38,0.00,0.000,4,0.106,0.073,2776,3714,3860,0,0,0,0,0,0
$STATE,2181,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2181,begin apogee
$GC,2187,-0.17,0.0,300.8,17.9,255,2383,0.82,0.00,190.62,0.997,6,0.138,0.000,3039,2295,2961,0,0,0,0,0,0
$STATE,2384,end apogee,CONTROL_FINISHED_OK
$STATE,2384,begin climb
$GC,2385,0.88,219.0,312.4,0.0,273,2589,1.00,0.00,198.93,0.925,6,0.061,0.000,3378,2295,2068,0,0,0,0,0,0
$GC,2778,0.63,219.0,247.6,22.9,310,2783,0.25,2.45,0.00,0.000,4,0.181,0.062,3309,3720,2055,0,0,0,0,0,0
$GC,2918,0.46,219.0,218.7,18.8,322,2928,0.22,2.38,0.00,0.000,6,0.157,0.048,3254,2297,2053,0,0,0,0,0,0
$GC,3055,0.52,264.7,201.9,11.5,335,3106,0.00,2.55,39.67,0.891,4,0.000,0.067,3254,3715,1880,0,0,0,0,0,0
$GC,3174,0.52,267.2,187.0,13.2,345,3178,0.00,2.35,0.00,0.000,6,0.000,0.049,3261,2298,1875,0,0,0,0,0,0
$GC,3308,0.55,291.2,170.4,12.4,357,3338,0.00,2.47,24.25,0.868,4,0.000,0.067,3262,3713,1772,0,0,0,0,0,0
$GC,3396,0.55,291.2,158.3,14.7,364,3406,0.00,2.38,0.00,0.000,6,0.000,0.048,3271,2301,1767,0,0,0,0,0,0
$GC,3532,0.55,293.1,140.9,13.3,377,3536,0.00,2.40,0.00,0.000,4,0.000,0.067,3271,3713,1764,0,0,0,0,0,0
$GC,3594,0.52,293.1,131.7,14.7,382,3598,0.00,2.30,0.00,0.000,6,0.000,0.049,3281,2294,1763,0,0,0,0,0,0
$GC,3729,0.52,293.1,112.9,14.1,394,3733,0.00,2.40,0.00,0.000,4,0.000,0.067,3281,3716,1761,0,0,0,0,0,0
$GC,3779,0.48,293.1,105.1,15.5,398,3784,0.12,2.30,0.00,0.000,6,0.174,0.052,3256,2297,1761,0,0,0,0,0,0
$GC,3916,0.57,332.9,88.7,11.7,419,3958,0.00,2.53,35.90,0.858,4,0.000,0.069,3256,3710,1603,0,0,0,0,0,0
$GC,4019,0.63,346.9,76.0,12.8,436,4041,0.10,2.38,13.52,0.802,6,0.052,0.052,3316,2302,1544,0,0,0,0,0,0
$GC,4173,0.57,346.9,49.5,18.2,463,4180,0.12,2.40,0.00,0.000,4,0.167,0.067,3286,3716,1538,0,0,0,0,0,0
$GC,4220,0.57,346.9,41.0,16.3,471,4226,0.00,2.35,0.00,0.000,6,0.000,0.054,3288,2293,1538,0,0,0,0,0,0
$GC,4357,0.57,346.9,21.0,14.2,496,4365,0.00,2.42,0.00,0.000,4,0.000,0.070,3288,3710,1537,0,0,0,0,0,0
$GC,4400,0.57,346.9,14.7,15.0,503,4407,0.00,2.30,0.00,0.000,6,0.000,0.053,3298,2298,1536,0,0,0,0,0,0
$FREEZE,8.59,-1.611,-1.908,2,1,0
$FREEZE,7.73,-1.610,-1.907,2,1,0
$FREEZE,6.79,-1.612,-1.906,2,1,0
$FREEZE,5.94,-1.603,-1.906,2,1,0
$FREEZE,5.01,-1.546,-1.904,2,1,0
$FREEZE,4.02,-1.503,-1.903,2,1,0
$FREEZE,3.18,-1.460,-1.902,2,1,0
$FREEZE,2.32,-1.453,-1.901,2,1,0
$STATE,4481,end climb,SURFACE_DEPTH_REACHED
$STATE,4481,begin surface coast
$FREEZE,1.34,-1.419,-1.900,2,1,0
$FREEZE,0.76,-1.395,-0.973,2,1,0
$FINISH,0.8,1.014355
$STATE,4494,end surface coast,FINISH_DEPTH_REACHED
$STATE,4495,begin surface
$SM_CCo,4508,157.60,0.742,2,0,419,623.30
$SM_GC,1.47,0.00,0.00,157.60,0.000,0.000,0.742,423,2295,419,-8.37,-0.14,623.30
$IRIDIUM_FIX,-7630.39,16517.38,231110,222247
$TT8_MAMPS,0.027713
$HUMID,50.66
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,13.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.0,18.2
$24V_AH,22.1,15.897
$10V_AH,10.0,8.732
$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,20.100,76.300,502.900,157.600,0.000,40.991,36.062,433.683,1.250,0.000,15.924,1189.214,1320.796,753.785,1940.357,90.963,0.000,1404.071,0.000,944.344,0.000,6.058,0.000
$DEVICE_MAMPS,224.910,81.855,996.795,742.050,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,359.771,724.594,868.060,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276116
$DATA_FILE_SIZE,33614,519
$CAP_FILE_SIZE,88175,0
$CFSIZE,260165632,252100608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,241110,012825,-7722.582,16527.623,10,1.8,15,143.5