version: 66.08
glider: 502
mission: 3
dive: 6
start: 11 22 110 15 54 48
data:
$ID,502
$MISSION,3
$DIVE,6
$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,23
$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,4.03
$_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,15,-0.88,-219.0,0.0,0.0,0,26,0.00,0.00,-9.27,0.000,2,0.000,0.000,3146,3387,3343,0,0,0,0,0,0
$GC,28,-0.88,-219.0,6.0,-0.0,1,56,0.82,4.75,-14.77,0.000,4,0.114,0.062,2871,561,3857,0,0,0,0,0,0
$GC,124,-1.07,-219.0,14.0,-8.6,17,131,0.20,2.35,0.00,0.000,6,0.075,0.060,2784,1977,3859,0,0,0,0,0,0
$GC,264,-1.07,-219.0,33.4,-14.0,42,272,0.00,2.38,0.00,0.000,4,0.000,0.070,2773,3378,3859,0,0,0,0,0,0
$GC,491,-1.01,-219.0,75.2,-22.5,83,499,0.17,2.28,0.00,0.000,6,0.158,0.051,2822,1976,3859,0,0,0,0,0,0
$GC,630,-1.06,-219.0,96.1,-12.8,108,638,0.00,2.40,0.00,0.000,4,0.000,0.070,2813,3389,3859,0,0,0,0,0,0
$GC,776,-1.09,-219.0,116.1,-14.1,124,781,0.00,2.28,0.00,0.000,6,0.000,0.051,2813,1975,3859,0,0,0,0,0,0
$GC,913,-1.14,-219.0,134.5,-13.6,136,917,0.00,2.35,0.00,0.000,4,0.000,0.070,2803,3389,3859,0,0,0,0,0,0
$GC,1039,-1.14,-219.0,153.3,-14.2,147,1043,0.00,2.28,0.00,0.000,6,0.000,0.052,2803,1975,3859,0,0,0,0,0,0
$GC,1174,-1.16,-219.0,172.3,-13.6,159,1178,0.00,2.35,0.00,0.000,4,0.000,0.070,2798,3389,3859,0,0,0,0,0,0
$GC,1300,-1.16,-219.0,190.9,-13.7,170,1304,0.00,2.28,0.00,0.000,6,0.000,0.052,2798,1972,3859,0,0,0,0,0,0
$GC,1436,-1.16,-219.0,209.6,-13.8,182,1440,0.00,2.35,0.00,0.000,4,0.000,0.071,2798,3386,3859,0,0,0,0,0,0
$GC,1575,-1.16,-219.0,229.9,-13.9,194,1584,0.00,2.30,0.00,0.000,6,0.000,0.051,2798,1981,3859,0,0,0,0,0,0
$GC,1711,-1.18,-219.0,247.4,-12.9,207,1715,0.00,2.33,0.00,0.000,4,0.000,0.070,2798,3386,3859,0,0,0,0,0,0
$GC,1851,-1.18,-219.0,266.7,-14.3,219,1855,0.00,2.28,0.00,0.000,6,0.000,0.051,2798,1969,3859,0,0,0,0,0,0
$GC,2049,-1.21,-219.0,292.3,-12.9,237,2054,0.12,2.38,0.00,0.000,4,0.096,0.073,2735,3386,3859,0,0,0,0,0,0
$STATE,2093,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2093,begin apogee
$GC,2099,-0.17,0.0,300.4,19.4,240,2294,1.12,0.00,189.00,0.991,6,0.141,0.000,3086,1969,2961,0,0,0,0,0,0
$STATE,2295,end apogee,CONTROL_FINISHED_OK
$STATE,2295,begin climb
$GC,2296,0.88,219.0,311.4,0.0,258,2504,0.98,2.60,197.55,0.926,4,0.052,0.059,3426,3388,2067,0,0,0,0,0,0
$GC,2753,0.55,219.0,220.2,27.7,299,2762,0.40,2.40,0.00,0.000,6,0.174,0.050,3327,1978,2056,0,0,0,0,0,0
$GC,2890,0.45,219.0,195.8,16.7,312,2894,0.12,2.38,0.00,0.000,4,0.174,0.064,3295,3387,2054,0,0,0,0,0,0
$GC,3070,0.35,219.0,166.1,15.8,328,3075,0.15,2.33,0.00,0.000,6,0.172,0.051,3266,1966,2053,0,0,0,0,0,0
$GC,3206,0.40,256.9,149.2,11.8,340,3246,0.00,2.53,33.00,0.871,4,0.000,0.065,3266,3385,1912,0,0,0,0,0,0
$GC,3402,0.40,256.9,121.7,13.7,357,3412,0.00,2.38,0.00,0.000,6,0.000,0.052,3273,1979,1907,0,0,0,0,0,0
$GC,3540,0.40,256.9,104.4,13.6,370,3544,0.00,2.35,0.00,0.000,4,0.000,0.064,3273,3387,1904,0,0,0,0,0,0
$GC,3678,0.37,256.9,83.4,15.7,391,3685,0.00,2.33,0.00,0.000,6,0.000,0.052,3283,1969,1904,0,0,0,0,0,0
$GC,3815,0.37,256.9,64.2,13.4,416,3823,0.00,2.40,0.00,0.000,4,0.000,0.065,3283,3386,1903,0,0,0,0,0,0
$GC,3937,0.33,256.9,45.1,15.5,438,3947,0.10,2.35,0.00,0.000,6,0.149,0.054,3256,1971,1903,0,0,0,0,0,0
$GC,4080,0.40,279.4,27.5,12.4,463,4107,0.00,2.40,19.92,0.825,4,0.000,0.065,3256,3388,1821,0,0,0,0,0,0
$FREEZE,8.74,-1.907,-1.907,2,6,0
$STATE,4218,end climb,FINISH_DEPTH_REACHED
$STATE,4218,begin subsurface finish
$FINISH1,8.7,1.027877,-18
$GC,4225,-0.02,-18.5,8.7,-12.6,487,4272,0.35,2.45,-41.08,0.000,4,0.131,0.080,3146,3387,3039,0,0,0,0,0,0
$FINISH2,5.0
$STATE,4273,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4273,begin surface
$IRIDIUM_FIX,-7639.69,16442.95,221110,090925
$TT8_MAMPS,0.028462
$HUMID,57.71
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,19.2
$24V_AH,22.3,12.146
$10V_AH,10.0,6.956
$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,4.550,70.875,439.475,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1175.743,1250.340,440.388,1395.597,61.809,0.000,1036.417,0.000,957.843,0.000,6.060,0.000
$DEVICE_MAMPS,173.655,79.560,990.675,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,345.199,688.990,825.162,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33813,494
$CAP_FILE_SIZE,66023,0
$CFSIZE,260165632,253005824
$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