version: 66.08
glider: 502
mission: 3
dive: 4
start: 11 22 110 13 31 14
data:
$ID,502
$MISSION,3
$DIVE,4
$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,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,2.31
$_SM_ANGLEo,16.0
$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,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,-8.70,0.000,2,0.000,0.000,3144,3390,3268,0,0,0,0,0,0
$GC,27,-0.88,-219.0,3.8,-0.0,1,61,0.85,4.75,-20.60,0.000,4,0.117,0.060,2868,558,3856,0,0,0,0,0,0
$GC,84,-1.03,-219.0,7.8,-8.1,10,92,0.12,2.40,0.00,0.000,6,0.056,0.058,2800,1976,3857,0,0,0,0,0,0
$GC,225,-1.03,-219.0,26.2,-14.0,35,231,0.00,2.38,0.00,0.000,4,0.000,0.069,2798,3389,3857,0,0,0,0,0,0
$GC,447,-1.03,-219.0,60.5,-18.1,76,455,0.00,2.35,0.00,0.000,6,0.000,0.051,2798,1967,3858,0,0,0,0,0,0
$GC,588,-1.03,-219.0,82.3,-15.4,101,594,0.00,2.40,0.00,0.000,4,0.000,0.070,2798,3393,3857,0,0,0,0,0,0
$GC,731,-1.03,-219.0,106.0,-15.3,124,735,0.00,2.30,0.00,0.000,6,0.000,0.050,2798,1969,3858,0,0,0,0,0,0
$GC,866,-1.03,-219.0,125.3,-13.8,136,870,0.00,2.38,0.00,0.000,4,0.000,0.070,2798,3395,3858,0,0,0,0,0,0
$GC,992,-1.03,-219.0,144.1,-15.0,147,996,0.00,2.30,0.00,0.000,6,0.000,0.050,2798,1965,3858,0,0,0,0,0,0
$GC,1128,-1.03,-219.0,162.9,-14.2,159,1132,0.00,2.38,0.00,0.000,4,0.000,0.070,2798,3394,3858,0,0,0,0,0,0
$GC,1267,-1.03,-219.0,183.7,-15.0,171,1277,0.00,2.30,0.00,0.000,6,0.000,0.050,2798,1983,3858,0,0,0,0,0,0
$GC,1403,-1.03,-219.0,202.9,-14.2,184,1407,0.00,2.33,0.00,0.000,4,0.000,0.069,2788,3389,3858,0,0,0,0,0,0
$GC,1540,-1.03,-219.0,224.1,-15.8,196,1545,0.00,2.28,0.00,0.000,6,0.000,0.051,2788,1972,3858,0,0,0,0,0,0
$GC,1676,-1.03,-219.0,243.9,-14.8,208,1680,0.00,2.35,0.00,0.000,4,0.000,0.070,2785,3388,3858,0,0,0,0,0,0
$GC,1831,-1.03,-219.0,268.9,-15.4,221,1839,0.00,2.30,0.00,0.000,6,0.000,0.050,2786,1978,3858,0,0,0,0,0,0
$GC,2029,-1.03,-219.0,298.2,-15.0,240,2034,0.00,2.35,0.00,0.000,4,0.000,0.070,2776,3392,3858,0,0,0,0,0,0
$STATE,2048,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2048,begin apogee
$GC,2053,-0.17,0.0,300.8,15.5,241,2250,0.98,0.00,187.93,0.994,6,0.129,0.000,3090,1961,2960,0,0,0,0,0,0
$STATE,2251,end apogee,CONTROL_FINISHED_OK
$STATE,2251,begin climb
$GC,2252,0.88,219.0,312.5,0.0,259,2459,0.98,2.60,196.02,0.928,4,0.050,0.060,3432,3388,2068,0,0,0,0,0,0
$GC,2708,0.54,219.0,222.2,26.9,300,2718,0.43,2.40,0.00,0.000,6,0.177,0.050,3327,1968,2057,0,0,0,0,0,0
$GC,2843,0.44,219.0,198.7,16.1,313,2848,0.12,2.40,0.00,0.000,4,0.174,0.063,3295,3397,2054,0,0,0,0,0,0
$GC,3026,0.35,219.0,169.4,15.8,329,3036,0.12,2.35,0.00,0.000,6,0.153,0.051,3265,1984,2053,0,0,0,0,0,0
$GC,3163,0.40,263.2,153.1,11.5,342,3213,0.00,2.50,38.33,0.868,4,0.000,0.064,3265,3389,1887,0,0,0,0,0,0
$GC,3358,0.40,263.2,126.7,13.6,359,3368,0.00,2.38,0.00,0.000,6,0.000,0.050,3272,1976,1881,0,0,0,0,0,0
$GC,3495,0.45,281.7,110.3,12.6,372,3521,0.00,2.45,16.73,0.834,4,0.000,0.063,3272,3386,1812,0,0,0,0,0,0
$GC,3652,0.46,288.0,88.6,13.1,393,3667,0.00,2.35,6.32,0.726,6,0.000,0.051,3280,1963,1787,0,0,0,0,0,0
$GC,3800,0.55,342.1,71.1,11.1,419,3854,0.12,2.58,48.62,0.825,4,0.091,0.063,3336,3394,1566,0,0,0,0,0,0
$GC,4030,0.49,342.1,30.1,19.9,459,4037,0.15,2.35,0.00,0.000,6,0.164,0.050,3308,1975,1557,0,0,0,0,0,0
$FREEZE,8.58,-1.896,-1.907,2,4,0
$GC,4167,0.50,351.2,9.2,13.0,484,4180,0.00,2.33,7.47,0.727,3,0.000,0.063,3307,3319,1528,0,0,0,0,0,0
$STATE,4181,end climb,FINISH_DEPTH_REACHED
$STATE,4181,begin subsurface finish
$FINISH1,8.6,1.027878,-19
$GC,4188,-0.02,-18.5,8.6,-12.8,485,4255,0.55,2.47,-60.08,0.000,4,0.134,0.079,3142,3390,3039,0,0,0,0,0,0
$FINISH2,2.9
$STATE,4256,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4256,begin surface
$IRIDIUM_FIX,-7639.69,16442.95,221110,090925
$TT8_MAMPS,0.027713
$HUMID,58.74
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,13.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,19.4
$24V_AH,22.4,11.905
$10V_AH,10.0,6.825
$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,4.425,71.300,501.425,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1137.952,1208.419,510.342,1391.627,59.284,0.000,1128.220,0.000,951.758,0.000,6.061,0.000
$DEVICE_MAMPS,177.480,78.795,993.735,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,344.266,690.870,825.129,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33664,495
$CAP_FILE_SIZE,67060,0
$CFSIZE,260165632,253087744
$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