version: 66.08
glider: 502
mission: 3
dive: 13
start: 11 23 110 1 6 39
data:
$ID,502
$MISSION,3
$DIVE,13
$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,623.29712
$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,-7404.0176
$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,20
$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,48
$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,-7732.058,16504.516,181,99.0,181,144.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-12.6
$GPS2,221110,094856,-7732.058,16504.516,181,99.0,181,144.7
$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,-219.0,0.0,0.0,0,172,0.00,0.00,-155.15,0.000,2,0.000,0.000,428,1976,3494,0,0,0,0,0,0
$GC,175,-0.88,-219.0,3.6,-4.0,24,197,9.68,0.00,-8.52,0.000,6,0.230,0.000,2859,1974,3857,0,0,0,0,0,0
$GC,330,-0.96,-219.0,27.6,-10.6,51,336,0.00,2.38,0.00,0.000,4,0.000,0.073,2854,3385,3860,0,0,0,0,0,0
$GC,467,-1.04,-219.0,43.9,-12.4,76,476,0.10,2.35,0.00,0.000,6,0.058,0.054,2794,1969,3860,0,0,0,0,0,0
$GC,609,-1.01,-219.0,66.6,-16.7,101,616,0.00,2.40,0.00,0.000,4,0.000,0.073,2785,3393,3860,0,0,0,0,0,0
$GC,754,-0.96,-219.0,92.2,-17.5,127,761,0.17,2.33,0.00,0.000,6,0.161,0.055,2834,1969,3860,0,0,0,0,0,0
$GC,892,-1.00,-219.0,110.7,-12.2,144,896,0.00,2.38,0.00,0.000,4,0.000,0.072,2826,3393,3860,0,0,0,0,0,0
$GC,1032,-1.03,-219.0,130.2,-14.5,156,1041,0.00,2.35,0.00,0.000,6,0.000,0.054,2826,1967,3860,0,0,0,0,0,0
$GC,1169,-1.06,-219.0,147.7,-13.0,169,1173,0.00,2.35,0.00,0.000,4,0.000,0.072,2816,3386,3860,0,0,0,0,0,0
$GC,1320,-1.06,-219.0,169.8,-14.1,182,1329,0.00,2.30,0.00,0.000,6,0.000,0.054,2816,1983,3860,0,0,0,0,0,0
$GC,1457,-1.06,-219.0,188.1,-13.8,195,1461,0.00,2.33,0.00,0.000,4,0.000,0.072,2807,3386,3860,0,0,0,0,0,0
$GC,1595,-1.06,-219.0,208.7,-14.8,207,1599,0.00,2.28,0.00,0.000,6,0.000,0.055,2807,1974,3860,0,0,0,0,0,0
$GC,1731,-1.06,-219.0,227.9,-14.0,219,1735,0.00,2.38,0.00,0.000,4,0.000,0.073,2798,3389,3860,0,0,0,0,0,0
$GC,1858,-1.06,-219.0,247.5,-15.0,230,1862,0.00,2.28,0.00,0.000,6,0.000,0.055,2798,1975,3860,0,0,0,0,0,0
$GC,1992,-1.06,-219.0,267.5,-14.6,242,1996,0.00,2.35,0.00,0.000,4,0.000,0.073,2794,3387,3860,0,0,0,0,0,0
$GC,2122,-1.03,-219.0,287.8,-15.1,253,2127,0.00,2.28,0.00,0.000,6,0.000,0.055,2794,1973,3860,0,0,0,0,0,0
$STATE,2203,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2204,begin apogee
$GC,2207,-0.17,0.0,300.3,15.3,260,2404,0.90,0.00,190.23,0.988,6,0.131,0.000,3085,1971,2961,0,0,0,0,0,0
$STATE,2404,end apogee,CONTROL_FINISHED_OK
$STATE,2404,begin climb
$GC,2406,0.88,219.0,310.0,0.0,278,2614,1.00,2.58,197.80,0.929,4,0.054,0.060,3440,566,2068,0,0,0,0,0,0
$GC,2739,0.65,219.0,256.8,23.4,308,2744,0.32,2.42,0.00,0.000,6,0.181,0.057,3358,1976,2056,0,0,0,0,0,0
$GC,2939,0.49,219.0,219.0,19.0,326,2944,0.20,2.40,0.00,0.000,4,0.170,0.063,3305,3391,2053,0,0,0,0,0,0
$GC,3186,0.36,219.0,176.5,16.3,348,3191,0.17,2.33,0.00,0.000,6,0.175,0.054,3269,1969,2052,0,0,0,0,0,0
$GC,3322,0.40,248.9,159.3,12.1,360,3359,0.00,2.53,25.60,0.879,4,0.000,0.068,3269,3390,1946,0,0,0,0,0,0
$GC,3494,0.35,248.9,135.1,14.4,375,3504,0.00,2.38,0.00,0.000,6,0.000,0.054,3278,1983,1941,0,0,0,0,0,0
$GC,3632,0.37,269.0,118.1,12.5,388,3658,0.00,2.42,19.05,0.855,4,0.000,0.067,3277,3394,1863,0,0,0,0,0,0
$GC,3805,0.33,269.0,92.7,14.9,408,3814,0.10,2.40,0.00,0.000,6,0.155,0.054,3257,1968,1858,0,0,0,0,0,0
$GC,3947,0.43,313.6,76.4,11.5,433,3993,0.00,2.50,39.30,0.846,4,0.000,0.067,3256,3387,1683,0,0,0,0,0,0
$GC,4135,0.48,326.5,52.9,12.8,466,4157,0.08,2.40,11.77,0.788,6,0.060,0.055,3308,1975,1629,0,0,0,0,0,0
$GC,4289,0.48,326.5,29.7,15.2,493,4296,0.00,2.40,0.00,0.000,4,0.000,0.067,3308,3385,1625,0,0,0,0,0,0
$FREEZE,8.74,-1.608,-1.909,2,13,1
$FREEZE,7.68,-1.585,-1.907,2,13,1
$FREEZE,6.83,-1.573,-1.907,2,13,1
$GC,4423,0.42,326.5,6.8,17.5,517,4431,0.12,2.35,0.00,0.000,6,0.171,0.055,3286,1965,1624,0,0,0,0,0,0
$FREEZE,4.02,-1.514,-1.905,2,13,1
$FREEZE,3.07,-1.497,-1.904,2,13,1
$FREEZE,2.43,-1.437,-1.903,2,13,1
$STATE,4449,end climb,SURFACE_DEPTH_REACHED
$STATE,4449,begin surface coast
$FREEZE,1.44,-1.336,-1.902,2,13,1
$FREEZE,0.84,-1.161,-1.892,2,13,1
$FREEZE,0.68,-1.482,-1.912,2,13,1
$FINISH,0.7,1.028021
$STATE,4467,end surface coast,CONTROL_FINISHED_OK
$STATE,4467,begin surface
$SM_CCo,4481,183.77,0.744,2,0,420,623.30
$SM_GC,1.09,0.00,0.00,183.77,0.000,0.000,0.744,434,1960,420,-8.48,-0.42,623.30
$IRIDIUM_FIX,-7639.69,16504.76,221110,090951
$TT8_MAMPS,0.027713
$HUMID,52.48
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.1,18.2
$24V_AH,22.2,13.224
$10V_AH,10.0,7.470
$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,20.675,61.800,483.750,183.775,0.000,99.088,17.770,0.000,1.250,0.000,182.542,1210.566,1372.268,739.290,1765.661,123.049,0.000,1394.981,0.000,998.155,0.000,6.057,0.000
$DEVICE_MAMPS,229.500,73.440,988.380,744.345,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,363.907,736.233,872.718,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276248
$DATA_FILE_SIZE,37015,524
$CAP_FILE_SIZE,77358,0
$CFSIZE,260165632,252801024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,221110,094856,-7732.058,16504.516,181,99.0,181,144.7