version: 66.08
glider: 502
mission: 3
dive: 2
start: 11 22 110 11 6 20
data:
$ID,502
$MISSION,3
$DIVE,2
$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,22
$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
$GPS1,221110,094856,-7732.058,16504.516,14,1.9,14,144.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.33
$_SM_ANGLEo,14.7
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.88,-219.0,0.0,0.0,0,26,0.00,0.00,-9.32,0.000,2,0.000,0.000,3145,3365,3364,0,0,0,0,0,0
$GC,28,-0.88,-219.0,6.7,-0.0,1,56,0.82,4.57,-13.45,0.000,4,0.121,0.054,2872,549,3857,0,0,0,0,0,0
$GC,84,-1.15,-219.0,11.7,-9.0,10,93,0.22,2.28,0.00,0.000,6,0.057,0.049,2771,1954,3858,0,0,0,0,0,0
$GC,225,-1.11,-219.0,33.0,-17.5,35,232,0.00,2.35,0.00,0.000,4,0.000,0.063,2762,3385,3858,0,0,0,0,0,0
$GC,457,-1.04,-219.0,77.1,-18.8,77,464,0.17,2.28,0.00,0.000,6,0.150,0.047,2811,1960,3858,0,0,0,0,0,0
$GC,598,-1.09,-219.0,96.8,-13.0,102,606,0.00,2.38,0.00,0.000,4,0.000,0.063,2803,3382,3859,0,0,0,0,0,0
$GC,722,-1.11,-219.0,114.8,-15.0,115,726,0.00,2.22,0.00,0.000,6,0.000,0.046,2803,1976,3859,0,0,0,0,0,0
$GC,858,-1.14,-219.0,133.4,-13.5,127,862,0.00,2.30,0.00,0.000,4,0.000,0.063,2799,3382,3859,0,0,0,0,0,0
$GC,1009,-1.16,-219.0,156.2,-14.8,140,1018,0.00,2.28,0.00,0.000,6,0.000,0.047,2798,1976,3859,0,0,0,0,0,0
$GC,1146,-1.18,-219.0,174.9,-13.9,153,1150,0.00,2.33,0.00,0.000,4,0.000,0.063,2798,3382,3859,0,0,0,0,0,0
$GC,1284,-1.21,-219.0,195.2,-15.2,165,1289,0.12,2.25,0.00,0.000,6,0.092,0.047,2742,1962,3859,0,0,0,0,0,0
$GC,1420,-1.14,-219.0,220.2,-18.8,177,1425,0.12,2.35,0.00,0.000,4,0.168,0.062,2767,3387,3859,0,0,0,0,0,0
$GC,1560,-1.11,-219.0,246.3,-17.9,189,1569,0.00,2.30,0.00,0.000,6,0.000,0.047,2767,1965,3859,0,0,0,0,0,0
$GC,1695,-1.08,-219.0,269.1,-16.9,202,1699,0.12,2.35,0.00,0.000,4,0.163,0.063,2798,3387,3859,0,0,0,0,0,0
$GC,1834,-1.08,-219.0,290.3,-14.4,214,1838,0.00,2.25,0.00,0.000,6,0.000,0.047,2798,1973,3859,0,0,0,0,0,0
$STATE,1909,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1909,begin apogee
$GC,1912,-0.17,0.0,300.8,13.8,221,2109,0.88,0.00,185.75,0.972,6,0.119,0.000,3087,1970,2960,0,0,0,0,0,0
$STATE,2109,end apogee,CONTROL_FINISHED_OK
$STATE,2110,begin climb
$GC,2111,0.88,219.0,310.6,0.0,239,2318,0.98,2.55,193.73,0.913,4,0.052,0.050,3444,557,2065,0,0,0,0,0,0
$GC,2390,0.64,219.0,268.8,23.2,264,2398,0.30,2.42,0.00,0.000,6,0.168,0.047,3361,1971,2056,0,0,0,0,0,0
$GC,2591,0.48,219.0,231.1,19.1,283,2596,0.20,2.38,0.00,0.000,4,0.165,0.057,3307,3394,2054,0,0,0,0,0,0
$GC,2839,0.36,219.0,188.7,15.9,305,2850,0.15,2.33,0.00,0.000,6,0.150,0.046,3270,1977,2053,0,0,0,0,0,0
$GC,2975,0.41,253.6,172.4,11.9,318,3013,0.00,2.42,29.33,0.870,4,0.000,0.058,3270,3384,1926,0,0,0,0,0,0
$GC,3179,0.38,253.6,145.1,14.0,336,3183,0.00,2.30,0.00,0.000,6,0.000,0.048,3274,1969,1921,0,0,0,0,0,0
$GC,3315,0.43,295.2,128.9,11.6,348,3357,0.00,2.42,37.12,0.850,4,0.000,0.057,3273,3390,1756,0,0,0,0,0,0
$GC,3500,0.44,302.6,105.0,13.0,364,3514,0.00,2.33,6.50,0.728,6,0.000,0.049,3279,1968,1727,0,0,0,0,0,0
$GC,3641,0.52,337.7,87.8,11.9,386,3682,0.10,2.47,31.58,0.822,4,0.103,0.059,3326,3384,1582,0,0,0,0,0,0
$GC,3830,0.46,337.7,55.1,19.4,419,3838,0.12,2.30,0.00,0.000,6,0.169,0.047,3297,1976,1576,0,0,0,0,0,0
$GC,3969,0.52,369.0,36.3,12.0,444,4004,0.00,2.40,26.52,0.799,4,0.000,0.058,3297,3389,1456,0,0,0,0,0,0
$GC,4119,0.52,369.0,14.9,16.6,470,4127,0.00,2.35,0.00,0.000,6,0.000,0.048,3300,1979,1451,0,0,0,0,0,0
$FREEZE,8.29,-1.909,-1.907,2,2,0
$STATE,4161,end climb,FINISH_DEPTH_REACHED
$STATE,4162,begin subsurface finish
$FINISH1,8.3,1.027879,-19
$GC,4166,-0.02,-18.6,8.3,-14.7,477,4233,0.47,2.40,-55.88,0.000,4,0.122,0.074,3145,3386,3040,0,0,0,0,0,0
$FINISH2,4.0
$STATE,4234,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4234,begin surface
$IRIDIUM_FIX,-7639.69,16442.95,221110,090925
$TT8_MAMPS,0.027713
$HUMID,60.71
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,18.8
$24V_AH,22.7,11.640
$10V_AH,10.1,6.691
$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,4.800,65.550,510.525,0.000,0.000,0.000,0.000,0.000,1.500,0.000,0.000,1132.729,1199.410,505.472,1383.187,64.292,0.000,1126.604,0.000,949.808,0.000,6.064,0.000
$DEVICE_MAMPS,169.065,74.205,972.315,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,338.459,678.772,816.778,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276272
$DATA_FILE_SIZE,33758,487
$CAP_FILE_SIZE,69993,0
$CFSIZE,260165632,253165568
$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