version: 66.08
glider: 502
mission: 3
dive: 16
start: 11 23 110 5 37 46
data:
$ID,502
$MISSION,3
$DIVE,16
$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,-8502.3213
$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,1.00
$_SM_ANGLEo,-13.5
$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,-219.0,0.0,0.0,0,172,0.00,0.00,-154.77,0.000,2,0.000,0.000,428,1974,3564,0,0,0,0,0,0
$GC,175,-0.88,-219.0,4.0,-6.2,24,196,9.60,0.00,-6.57,0.000,6,0.228,0.000,2859,1974,3858,0,0,0,0,0,0
$GC,329,-0.96,-219.0,29.6,-11.1,51,336,0.00,2.38,0.00,0.000,4,0.000,0.071,2850,3385,3860,0,0,0,0,0,0
$GC,506,-1.01,-219.0,50.6,-12.4,83,513,0.00,2.30,0.00,0.000,6,0.000,0.054,2851,1972,3861,0,0,0,0,0,0
$GC,644,-1.08,-219.0,66.7,-11.5,108,653,0.15,2.42,0.00,0.000,4,0.083,0.073,2771,3385,3861,0,0,0,0,0,0
$GC,785,-0.98,-219.0,92.6,-19.6,133,793,0.20,2.30,0.00,0.000,6,0.164,0.054,2826,1969,3861,0,0,0,0,0,0
$GC,930,-1.00,-219.0,113.5,-13.4,150,934,0.00,2.35,0.00,0.000,4,0.000,0.072,2819,3386,3861,0,0,0,0,0,0
$GC,1080,-1.00,-219.0,135.8,-14.2,163,1089,0.00,2.33,0.00,0.000,6,0.000,0.054,2819,1972,3861,0,0,0,0,0,0
$GC,1217,-1.00,-219.0,154.3,-13.5,176,1221,0.00,2.35,0.00,0.000,4,0.000,0.072,2808,3388,3861,0,0,0,0,0,0
$GC,1354,-1.00,-219.0,175.4,-15.3,188,1358,0.00,2.28,0.00,0.000,6,0.000,0.054,2808,1975,3861,0,0,0,0,0,0
$GC,1490,-1.00,-219.0,195.5,-14.5,200,1494,0.00,2.35,0.00,0.000,4,0.000,0.073,2798,3390,3861,0,0,0,0,0,0
$GC,1629,-0.97,-219.0,217.9,-15.9,212,1634,0.12,2.28,0.00,0.000,6,0.172,0.055,2831,1976,3861,0,0,0,0,0,0
$GC,1766,-1.00,-219.0,236.0,-13.0,224,1770,0.00,2.35,0.00,0.000,4,0.000,0.073,2822,3392,3861,0,0,0,0,0,0
$GC,1905,-1.00,-219.0,255.2,-13.8,236,1909,0.00,2.28,0.00,0.000,6,0.000,0.054,2822,1975,3861,0,0,0,0,0,0
$GC,2103,-1.02,-219.0,281.4,-13.2,254,2107,0.00,2.35,0.00,0.000,4,0.000,0.073,2812,3392,3861,0,0,0,0,0,0
$STATE,2235,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2236,begin apogee
$GC,2241,-0.17,0.0,300.4,14.6,265,2442,0.82,0.00,190.02,0.991,6,0.123,0.000,3084,1961,2960,0,0,0,0,0,0
$STATE,2442,end apogee,CONTROL_FINISHED_OK
$STATE,2443,begin climb
$GC,2444,0.88,219.0,310.7,0.0,284,2652,1.00,2.58,197.05,0.921,4,0.049,0.061,3443,561,2067,0,0,0,0,0,0
$GC,2764,0.65,219.0,259.8,23.2,313,2770,0.32,2.42,0.00,0.000,6,0.175,0.056,3361,1976,2056,0,0,0,0,0,0
$GC,2963,0.47,219.0,222.1,18.7,331,2968,0.22,2.40,0.00,0.000,4,0.165,0.063,3300,3391,2055,0,0,0,0,0,0
$GC,3200,0.35,219.0,182.9,15.9,352,3205,0.17,2.33,0.00,0.000,6,0.171,0.054,3265,1971,2053,0,0,0,0,0,0
$GC,3334,0.40,259.4,166.7,11.7,364,3375,0.00,2.53,35.08,0.884,4,0.000,0.067,3265,3389,1903,0,0,0,0,0,0
$GC,3515,0.40,259.4,142.8,13.9,380,3525,0.00,2.38,0.00,0.000,6,0.000,0.054,3274,1980,1897,0,0,0,0,0,0
$GC,3652,0.43,284.0,126.3,12.3,393,3680,0.00,2.47,22.30,0.859,4,0.000,0.066,3274,3384,1803,0,0,0,0,0,0
$GC,3796,0.43,284.0,106.8,13.9,406,3800,0.00,2.35,0.00,0.000,6,0.000,0.055,3284,1967,1798,0,0,0,0,0,0
$GC,3932,0.43,284.0,88.6,13.8,425,3939,0.00,2.40,0.00,0.000,4,0.000,0.067,3284,3389,1795,0,0,0,0,0,0
$GC,4037,0.40,284.0,72.7,14.7,444,4045,0.00,2.38,0.00,0.000,6,0.000,0.056,3288,1970,1794,0,0,0,0,0,0
$GC,4178,0.40,284.0,53.5,13.7,469,4184,0.00,2.38,0.00,0.000,4,0.000,0.068,3288,3389,1793,0,0,0,0,0,0
$GC,4290,0.36,284.0,36.3,16.2,489,4298,0.12,2.33,0.00,0.000,6,0.175,0.055,3266,1966,1793,0,0,0,0,0,0
$GC,4431,0.45,324.7,19.0,11.7,514,4472,0.00,2.53,35.25,0.828,4,0.000,0.067,3266,3388,1636,0,0,0,0,0,0
$FREEZE,8.44,-1.688,-1.908,2,16,1
$FREEZE,7.74,-1.685,-1.907,2,16,1
$FREEZE,6.91,-1.678,-1.907,2,16,1
$FREEZE,6.12,-1.671,-1.906,2,16,1
$FREEZE,5.41,-1.665,-1.906,2,16,1
$FREEZE,4.64,-1.665,-1.905,2,16,1
$FREEZE,3.85,-1.639,-1.904,2,16,1
$FREEZE,3.20,-1.517,-1.904,2,16,1
$FREEZE,2.27,-1.418,-1.902,2,16,1
$STATE,4561,end climb,SURFACE_DEPTH_REACHED
$STATE,4561,begin surface coast
$FREEZE,1.55,-1.346,-1.901,2,16,1
$FREEZE,0.90,-1.311,-1.899,2,16,1
$FREEZE,0.68,-1.543,-1.760,2,16,1
$FREEZE,0.66,-1.640,-1.766,2,16,1
$FINISH,0.7,1.025945
$STATE,4585,end surface coast,CONTROL_FINISHED_OK
$STATE,4585,begin surface
$SM_CCo,4602,170.55,0.737,2,0,420,623.30
$SM_GC,1.02,0.00,0.00,170.55,0.000,0.000,0.737,432,1964,420,-8.49,-0.31,623.30
$IRIDIUM_FIX,-7639.69,16504.76,221110,090951
$TT8_MAMPS,0.027713
$HUMID,51.81
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,19.1
$24V_AH,22.2,13.723
$10V_AH,9.9,7.722
$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,20.575,66.525,479.700,170.550,0.000,98.968,17.765,0.000,1.250,0.000,182.557,1252.880,1418.327,720.391,1804.837,126.267,0.000,1382.702,0.000,1026.231,0.000,6.421,0.000
$DEVICE_MAMPS,227.970,73.440,991.440,737.460,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,375.688,756.025,892.127,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37062,540
$CAP_FILE_SIZE,78186,0
$CFSIZE,260165632,252661760
$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