version: 66.08
glider: 502
mission: 3
dive: 3
start: 11 22 110 12 18 18
data:
$ID,502
$MISSION,3
$DIVE,3
$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,21
$R_STBD_OVSHOOT,22
$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,4.11
$_SM_ANGLEo,17.3
$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,14,-0.88,-219.0,0.0,0.0,0,25,0.00,0.00,-8.77,0.000,2,0.000,0.000,3145,3386,3323,0,0,0,0,0,0
$GC,27,-0.88,-219.0,5.8,-0.0,1,55,0.82,4.68,-15.62,0.000,4,0.116,0.054,2873,559,3857,0,0,0,0,0,0
$GC,94,-1.09,-219.0,11.4,-9.0,12,102,0.17,2.35,0.00,0.000,6,0.051,0.056,2782,1969,3858,0,0,0,0,0,0
$GC,235,-1.09,-219.0,33.2,-16.8,37,242,0.00,2.35,0.00,0.000,4,0.000,0.066,2772,3387,3858,0,0,0,0,0,0
$GC,449,-1.05,-219.0,72.2,-17.5,76,458,0.10,2.30,0.00,0.000,6,0.138,0.047,2805,1976,3859,0,0,0,0,0,0
$GC,591,-1.08,-219.0,91.4,-13.6,101,598,0.00,2.35,0.00,0.000,4,0.000,0.067,2799,3392,3859,0,0,0,0,0,0
$GC,726,-1.08,-219.0,112.3,-15.4,118,736,0.00,2.30,0.00,0.000,6,0.000,0.047,2798,1976,3859,0,0,0,0,0,0
$GC,863,-1.10,-219.0,131.0,-13.7,131,867,0.00,2.35,0.00,0.000,4,0.000,0.067,2798,3391,3859,0,0,0,0,0,0
$GC,1012,-1.10,-219.0,153.1,-15.1,144,1017,0.00,2.25,0.00,0.000,6,0.000,0.048,2798,1980,3859,0,0,0,0,0,0
$GC,1147,-1.12,-219.0,172.8,-14.7,156,1151,0.00,2.33,0.00,0.000,4,0.000,0.067,2795,3388,3859,0,0,0,0,0,0
$GC,1285,-1.12,-219.0,194.2,-15.4,168,1289,0.00,2.28,0.00,0.000,6,0.000,0.050,2795,1965,3859,0,0,0,0,0,0
$GC,1419,-1.14,-219.0,214.5,-14.7,180,1424,0.00,2.35,0.00,0.000,4,0.000,0.067,2785,3389,3859,0,0,0,0,0,0
$GC,1546,-1.14,-219.0,234.8,-15.9,191,1550,0.00,2.28,0.00,0.000,6,0.000,0.050,2785,1964,3859,0,0,0,0,0,0
$GC,1679,-1.14,-219.0,255.1,-14.3,203,1683,0.00,2.35,0.00,0.000,4,0.000,0.068,2776,3389,3859,0,0,0,0,0,0
$GC,1809,-1.11,-219.0,275.6,-16.1,214,1813,0.00,2.28,0.00,0.000,6,0.000,0.050,2777,1965,3859,0,0,0,0,0,0
$STATE,1974,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1974,begin apogee
$GC,1977,-0.17,0.0,301.2,15.3,229,2174,0.95,0.00,187.80,0.986,6,0.125,0.000,3086,1962,2960,0,0,0,0,0,0
$STATE,2174,end apogee,CONTROL_FINISHED_OK
$STATE,2175,begin climb
$GC,2176,0.88,219.0,310.4,0.0,247,2383,0.98,2.50,195.48,0.920,4,0.051,0.057,3440,567,2066,0,0,0,0,0,0
$GC,2522,0.65,219.0,254.6,21.9,278,2531,0.25,2.40,0.00,0.000,6,0.164,0.052,3362,1970,2055,0,0,0,0,0,0
$GC,2724,0.50,219.0,218.3,18.4,297,2729,0.17,2.38,0.00,0.000,4,0.167,0.061,3314,3394,2053,0,0,0,0,0,0
$GC,2972,0.37,219.0,174.9,17.3,319,2982,0.15,2.35,0.00,0.000,6,0.152,0.048,3275,1969,2053,0,0,0,0,0,0
$GC,3108,0.42,259.4,158.8,11.7,332,3148,0.00,2.47,34.78,0.877,4,0.000,0.062,3275,3380,1902,0,0,0,0,0,0
$GC,3320,0.41,277.8,130.4,12.6,351,3346,0.00,2.30,17.35,0.842,6,0.000,0.050,3283,1975,1826,0,0,0,0,0,0
$GC,3473,0.41,279.9,111.3,13.2,365,3477,0.00,2.42,0.00,0.000,4,0.000,0.063,3283,3393,1822,0,0,0,0,0,0
$GC,3616,0.38,279.9,91.5,15.5,383,3622,0.00,2.33,0.00,0.000,6,0.000,0.051,3288,1974,1820,0,0,0,0,0,0
$GC,3753,0.38,279.9,71.5,14.2,408,3761,0.00,2.40,0.00,0.000,4,0.000,0.063,3288,3381,1819,0,0,0,0,0,0
$GC,3886,0.34,279.9,52.8,17.3,432,3895,0.10,2.33,0.00,0.000,6,0.151,0.053,3257,1978,1818,0,0,0,0,0,0
$GC,4028,0.51,375.6,38.4,9.4,457,4121,0.15,2.53,83.07,0.816,4,0.083,0.062,3321,3388,1428,0,0,0,0,0,0
$FREEZE,7.95,-1.902,-1.907,2,3,0
$STATE,4204,end climb,FINISH_DEPTH_REACHED
$STATE,4204,begin subsurface finish
$FINISH1,8.0,1.027880,-19
$GC,4211,-0.02,-18.6,8.0,-18.9,486,4291,0.60,2.47,-68.62,0.000,4,0.132,0.077,3144,3390,3038,0,0,0,0,0,0
$FINISH2,2.1
$STATE,4292,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4292,begin surface
$IRIDIUM_FIX,-7639.69,16442.95,221110,090925
$TT8_MAMPS,0.028462
$HUMID,59.09
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,19.2
$24V_AH,22.5,11.774
$10V_AH,10.0,6.758
$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,4.450,66.075,518.475,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,1134.472,1232.904,512.685,1398.792,64.151,0.000,1136.780,0.000,957.322,0.000,6.059,0.000
$DEVICE_MAMPS,166.770,77.265,986.085,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,346.041,696.789,833.474,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33747,498
$CAP_FILE_SIZE,67091,0
$CFSIZE,260165632,253128704
$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