version: 66.08
glider: 502
mission: 3
dive: 15
start: 11 23 110 4 7 14
data:
$ID,502
$MISSION,3
$DIVE,15
$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,-8135.2144
$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,24
$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,0.99
$_SM_ANGLEo,-12.9
$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,15,-0.88,-219.0,0.0,0.0,0,173,0.00,0.00,-155.45,0.000,2,0.000,0.000,430,1970,3534,0,0,0,0,0,0
$GC,176,-0.88,-219.0,3.8,-5.8,24,199,9.60,2.47,-7.32,0.000,4,0.228,0.084,2848,3392,3857,0,0,0,0,0,0
$GC,418,-0.94,-219.0,41.0,-12.4,67,425,0.00,2.33,0.00,0.000,6,0.000,0.054,2848,1966,3860,0,0,0,0,0,0
$GC,556,-1.00,-219.0,57.3,-11.7,92,564,0.00,2.42,0.00,0.000,4,0.000,0.073,2842,3385,3860,0,0,0,0,0,0
$GC,678,-1.05,-219.0,72.4,-12.5,114,686,0.00,2.33,0.00,0.000,6,0.000,0.054,2842,1975,3860,0,0,0,0,0,0
$GC,820,-1.10,-219.0,89.0,-11.5,139,827,0.12,2.38,0.00,0.000,4,0.092,0.072,2772,3386,3860,0,0,0,0,0,0
$GC,944,-1.01,-219.0,111.1,-19.1,156,949,0.17,2.28,0.00,0.000,6,0.166,0.054,2819,1976,3860,0,0,0,0,0,0
$GC,1079,-1.01,-219.0,130.7,-13.7,168,1084,0.00,2.38,0.00,0.000,4,0.000,0.072,2810,3390,3860,0,0,0,0,0,0
$GC,1197,-1.01,-219.0,148.6,-14.6,178,1207,0.00,2.33,0.00,0.000,6,0.000,0.055,2810,1978,3860,0,0,0,0,0,0
$GC,1334,-1.01,-219.0,167.6,-13.9,191,1338,0.00,2.33,0.00,0.000,4,0.000,0.071,2800,3387,3860,0,0,0,0,0,0
$GC,1463,-0.99,-219.0,188.0,-15.4,202,1472,0.00,2.33,0.00,0.000,6,0.000,0.055,2800,1971,3860,0,0,0,0,0,0
$GC,1600,-0.99,-219.0,207.8,-14.6,215,1605,0.10,2.38,0.00,0.000,4,0.188,0.073,2816,3392,3860,0,0,0,0,0,0
$GC,1718,-0.99,-219.0,225.1,-14.0,225,1727,0.00,2.33,0.00,0.000,6,0.000,0.055,2816,1974,3861,0,0,0,0,0,0
$GC,1854,-0.99,-219.0,243.3,-13.1,238,1858,0.00,2.35,0.00,0.000,4,0.000,0.072,2806,3393,3860,0,0,0,0,0,0
$GC,1971,-0.99,-219.0,260.4,-14.1,248,1975,0.00,2.28,0.00,0.000,6,0.000,0.054,2806,1976,3861,0,0,0,0,0,0
$GC,2167,-0.99,-219.0,288.1,-14.3,266,2172,0.00,2.35,0.00,0.000,4,0.000,0.073,2801,3393,3860,0,0,0,0,0,0
$STATE,2252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2252,begin apogee
$GC,2257,-0.17,0.0,300.8,15.9,273,2454,0.88,0.00,190.02,0.994,6,0.128,0.000,3087,1963,2961,0,0,0,0,0,0
$STATE,2455,end apogee,CONTROL_FINISHED_OK
$STATE,2455,begin climb
$GC,2456,0.88,219.0,310.4,0.0,291,2664,1.00,2.62,197.62,0.922,4,0.051,0.061,3442,566,2066,0,0,0,0,0,0
$GC,2810,0.65,219.0,250.4,24.2,323,2815,0.32,2.42,0.00,0.000,6,0.175,0.057,3360,1982,2053,0,0,0,0,0,0
$GC,3009,0.47,219.0,211.2,19.6,341,3014,0.20,2.38,0.00,0.000,4,0.169,0.064,3306,3386,2052,0,0,0,0,0,0
$GC,3258,0.34,219.0,167.3,16.4,363,3268,0.17,2.35,0.00,0.000,6,0.156,0.055,3263,1980,2051,0,0,0,0,0,0
$GC,3395,0.39,257.0,150.6,11.8,376,3434,0.00,2.50,32.50,0.879,4,0.000,0.067,3264,3385,1912,0,0,0,0,0,0
$GC,3589,0.37,263.7,124.8,13.1,393,3603,0.00,2.35,6.75,0.753,6,0.000,0.055,3273,1966,1885,0,0,0,0,0,0
$GC,3730,0.38,276.6,106.7,12.8,406,3749,0.00,2.42,13.23,0.829,4,0.000,0.067,3273,3386,1832,0,0,0,0,0,0
$GC,3875,0.35,276.6,85.8,15.4,427,3881,0.00,2.35,0.00,0.000,6,0.000,0.056,3282,1974,1827,0,0,0,0,0,0
$GC,4012,0.35,276.6,66.7,13.5,452,4020,0.00,2.42,0.00,0.000,4,0.000,0.068,3282,3381,1825,0,0,0,0,0,0
$GC,4124,0.31,276.6,49.7,15.2,472,4132,0.12,2.35,0.00,0.000,6,0.149,0.056,3249,1973,1825,0,0,0,0,0,0
$GC,4265,0.47,348.7,34.3,10.4,497,4338,0.15,2.55,62.60,0.825,4,0.081,0.067,3316,3385,1537,0,0,0,0,0,0
$FREEZE,8.19,-1.618,-1.908,2,15,2
$FREEZE,7.03,-1.598,-1.907,2,15,2
$FREEZE,6.09,-1.585,-1.906,2,15,2
$FREEZE,4.99,-1.580,-1.905,2,15,2
$FREEZE,4.00,-1.558,-1.905,2,15,2
$FREEZE,2.97,-1.454,-1.903,2,15,2
$STATE,4447,end climb,SURFACE_DEPTH_REACHED
$STATE,4447,begin surface coast
$FREEZE,1.92,-1.405,-1.902,2,15,2
$FREEZE,0.83,-1.168,-1.900,2,15,2
$FREEZE,0.68,-1.313,-1.795,2,15,2
$FINISH,0.7,1.026345
$STATE,4466,end surface coast,CONTROL_FINISHED_OK
$STATE,4467,begin surface
$SM_CCo,4484,171.93,0.731,3,0,420,623.30
$SM_GC,1.03,0.00,0.00,171.93,0.000,0.000,0.731,428,1974,420,-8.50,-0.03,623.30
$IRIDIUM_FIX,-7639.69,16504.76,221110,090951
$TT8_MAMPS,0.028462
$HUMID,52.20
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.1,18.1
$24V_AH,22.2,13.557
$10V_AH,10.0,7.637
$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,20.900,66.725,502.725,171.925,0.000,98.879,17.762,0.000,1.250,0.000,181.554,1210.154,1355.331,748.536,1770.722,122.575,0.000,1405.862,0.000,996.584,0.000,6.057,0.000
$DEVICE_MAMPS,227.970,84.150,993.735,731.340,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,368.740,747.217,878.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37104,531
$CAP_FILE_SIZE,76634,0
$CFSIZE,260165632,252710912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,221110,094856,-7732.058,16504.516,181,99.0,181,144.7