version: 66.08
glider: 502
mission: 3
dive: 1
start: 11 22 110 9 50 15
data:
$ID,502
$MISSION,3
$DIVE,1
$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,613.29712
$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,-6306.668
$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,33
$R_STBD_OVSHOOT,45
$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,49
$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
$GPS1,221110,094514,-7732.071,16504.512,11,1.9,11,144.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-66.0
$GPS2,221110,094856,-7732.058,16504.516,14,1.9,14,144.7
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.88,-219.0,0.0,0.0,0,186,0.00,0.00,-167.88,0.000,2,0.000,0.000,457,1992,3699,0,0,0,0,0,0
$GC,188,-0.88,-219.0,3.4,-5.3,26,210,9.55,2.25,-3.58,0.000,4,0.230,0.069,2850,3365,3857,0,0,0,0,0,0
$GC,412,-0.95,-219.0,38.4,-11.4,66,420,0.00,2.20,0.00,0.000,6,0.000,0.041,2850,1979,3860,0,0,0,0,0,0
$GC,553,-1.03,-219.0,53.5,-10.7,91,560,0.10,2.28,0.00,0.000,4,0.106,0.058,2790,3368,3860,0,0,0,0,0,0
$GC,698,-1.01,-219.0,75.6,-15.6,117,706,0.12,2.17,0.00,0.000,6,0.158,0.041,2824,1977,3859,0,0,0,0,0,0
$GC,839,-1.06,-219.0,93.5,-12.5,142,847,0.00,2.30,0.00,0.000,4,0.000,0.059,2818,3357,3860,0,0,0,0,0,0
$GC,975,-1.10,-219.0,112.1,-13.5,158,979,0.00,2.15,0.00,0.000,6,0.000,0.041,2818,1975,3859,0,0,0,0,0,0
$GC,1110,-1.14,-219.0,130.0,-13.1,170,1115,0.10,2.28,0.00,0.000,4,0.100,0.093,2758,3366,3860,0,0,0,0,0,0
$GC,1260,-1.07,-219.0,157.3,-19.2,183,1265,0.15,2.17,0.00,0.000,6,0.152,0.043,2800,1969,3859,0,0,0,0,0,0
$GC,1396,-1.09,-219.0,177.6,-14.2,195,1400,0.00,2.25,0.00,0.000,4,0.000,0.060,2798,3363,3859,0,0,0,0,0,0
$GC,1534,-1.09,-219.0,198.6,-15.8,207,1538,0.00,2.17,0.00,0.000,6,0.000,0.043,2798,1969,3859,0,0,0,0,0,0
$GC,1670,-1.09,-219.0,217.9,-14.3,219,1674,0.00,2.28,0.00,0.000,4,0.000,0.062,2798,3373,3859,0,0,0,0,0,0
$GC,1810,-1.09,-219.0,238.7,-14.5,231,1820,0.00,2.22,0.00,0.000,6,0.000,0.041,2797,1967,3859,0,0,0,0,0,0
$GC,1944,-1.09,-219.0,256.6,-13.5,244,1948,0.00,2.28,0.00,0.000,4,0.000,0.061,2797,3367,3859,0,0,0,0,0,0
$GC,2082,-1.09,-219.0,276.7,-14.0,256,2090,0.00,2.17,0.00,0.000,6,0.000,0.038,2797,1979,3859,0,0,0,0,0,0
$STATE,2248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2248,begin apogee
$GC,2251,-0.17,0.0,301.0,14.6,272,2446,0.88,0.00,184.70,0.969,6,0.119,0.000,3090,1977,2961,0,0,0,0,0,0
$STATE,2447,end apogee,CONTROL_FINISHED_OK
$STATE,2447,begin climb
$GC,2448,0.88,219.0,313.1,0.0,290,2648,0.95,2.42,191.62,0.905,4,0.051,0.052,3433,3363,2066,0,0,0,0,0,0
$GC,2898,0.55,219.0,225.6,27.0,330,2907,0.43,2.28,0.00,0.000,6,0.184,0.044,3327,1969,2054,0,0,0,0,0,0
$GC,3035,0.45,219.0,202.8,15.6,343,3040,0.12,2.30,0.00,0.000,4,0.177,0.060,3296,3367,2051,0,0,0,0,0,0
$GC,3283,0.36,219.0,164.3,14.8,365,3293,0.10,2.25,0.00,0.000,6,0.155,0.046,3270,1983,2050,0,0,0,0,0,0
$GC,3419,0.43,276.4,149.2,11.0,378,3472,0.00,2.38,48.05,0.857,4,0.000,0.062,3269,3368,1833,0,0,0,0,0,0
$GC,3654,0.43,276.4,118.9,13.5,399,3658,0.00,2.25,0.00,0.000,6,0.000,0.048,3272,1975,1825,0,0,0,0,0,0
$GC,3791,0.53,322.7,102.8,11.4,411,3836,0.12,2.40,38.47,0.828,4,0.090,0.062,3328,3364,1646,0,0,0,0,0,0
$GC,4007,0.47,322.7,64.8,17.4,447,4014,0.12,2.28,0.00,0.000,6,0.167,0.049,3303,1968,1638,0,0,0,0,0,0
$GC,4147,0.47,322.7,45.8,14.0,472,4155,0.00,2.35,0.00,0.000,4,0.000,0.063,3304,3364,1636,0,0,0,0,0,0
$GC,4269,0.47,322.7,27.1,14.0,494,4277,0.00,2.28,0.00,0.000,6,0.000,0.050,3312,1980,1635,0,0,0,0,0,0
$FREEZE,8.47,-1.910,-1.907,2,1,0
$STATE,4403,end climb,FINISH_DEPTH_REACHED
$STATE,4403,begin subsurface finish
$FINISH1,8.5,1.027879,-19
$GC,4408,-0.02,-18.6,8.5,-13.1,518,4462,0.52,2.33,-46.30,0.000,4,0.130,0.078,3145,3364,3040,0,0,0,0,0,0
$FINISH2,5.1
$STATE,4463,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4463,begin surface
$IRIDIUM_FIX,-7639.69,16442.95,221110,090925
$TT8_MAMPS,0.028462
$HUMID,60.86
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,14.30
$XPDR_PINGS,55
$ALTIM_TOP_PING,19.9,19.0
$24V_AH,22.9,11.509
$10V_AH,10.2,6.624
$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,13.275,56.675,462.850,0.000,0.000,0.000,0.000,0.000,14.500,0.000,15.019,1193.905,1245.480,552.135,1488.295,106.225,0.000,1216.029,0.000,1007.046,0.000,6.066,0.000
$DEVICE_MAMPS,230.265,93.330,969.255,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,365.062,738.429,867.102,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276296
$DATA_FILE_SIZE,33737,526
$CAP_FILE_SIZE,100563,1
$CFSIZE,260165632,253317120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221110,094856,-7732.058,16504.516,14,1.9,14,144.7