version: 66.08
glider: 502
mission: 3
dive: 22
start: 11 23 110 14 42 36
data:
$ID,502
$MISSION,3
$DIVE,22
$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,-10696.285
$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,16
$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,1.07
$_SM_ANGLEo,-14.5
$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,-154.85,0.000,2,0.000,0.000,434,1967,3478,0,0,0,0,0,0
$GC,175,-0.88,-219.0,3.5,-3.6,24,203,9.52,2.38,-9.12,0.000,4,0.228,0.078,2859,566,3858,0,0,0,0,0,0
$GC,222,-0.80,-219.0,15.0,-18.3,31,230,0.12,2.38,0.00,0.000,6,0.148,0.063,2893,1990,3859,0,0,0,0,0,0
$GC,361,-0.94,-219.0,27.2,-8.0,56,370,0.15,2.38,0.00,0.000,4,0.082,0.072,2816,3381,3860,0,0,0,0,0,0
$GC,548,-0.94,-219.0,54.2,-14.9,90,556,0.00,2.33,0.00,0.000,6,0.000,0.054,2816,1968,3860,0,0,0,0,0,0
$GC,687,-0.94,-219.0,74.1,-14.3,115,694,0.00,2.38,0.00,0.000,4,0.000,0.072,2806,3390,3860,0,0,0,0,0,0
$GC,814,-0.91,-219.0,94.2,-15.6,138,823,0.12,2.33,0.00,0.000,6,0.141,0.054,2847,1977,3860,0,0,0,0,0,0
$GC,960,-0.97,-219.0,111.2,-11.3,155,964,0.00,2.35,0.00,0.000,4,0.000,0.072,2842,3393,3860,0,0,0,0,0,0
$GC,1099,-1.01,-219.0,127.7,-12.3,167,1103,0.00,2.28,0.00,0.000,6,0.000,0.054,2842,1972,3861,0,0,0,0,0,0
$GC,1235,-1.06,-219.0,143.5,-11.7,179,1239,0.10,2.38,0.00,0.000,4,0.106,0.072,2777,3396,3860,0,0,0,0,0,0
$GC,1374,-0.97,-219.0,168.4,-19.1,191,1385,0.15,2.33,0.00,0.000,6,0.145,0.054,2827,1974,3860,0,0,0,0,0,0
$GC,1512,-0.99,-219.0,186.8,-13.5,204,1516,0.00,2.33,0.00,0.000,4,0.000,0.071,2817,3387,3861,0,0,0,0,0,0
$GC,1652,-0.99,-219.0,207.0,-13.6,216,1662,0.00,2.30,0.00,0.000,6,0.000,0.054,2817,1980,3861,0,0,0,0,0,0
$GC,1788,-0.99,-219.0,225.3,-13.8,229,1792,0.00,2.33,0.00,0.000,4,0.000,0.072,2808,3390,3861,0,0,0,0,0,0
$GC,1905,-0.99,-219.0,242.9,-15.3,239,1909,0.00,2.28,0.00,0.000,6,0.000,0.054,2808,1971,3860,0,0,0,0,0,0
$GC,2040,-0.99,-219.0,262.3,-14.1,251,2044,0.00,2.35,0.00,0.000,4,0.000,0.072,2798,3395,3861,0,0,0,0,0,0
$GC,2169,-0.96,-219.0,282.5,-15.1,262,2174,0.12,2.28,0.00,0.000,6,0.168,0.054,2832,1973,3861,0,0,0,0,0,0
$STATE,2314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2314,begin apogee
$GC,2318,-0.17,0.0,300.6,12.0,275,2514,0.75,0.00,190.48,0.998,6,0.118,0.000,3086,1970,2961,0,0,0,0,0,0
$STATE,2515,end apogee,CONTROL_FINISHED_OK
$STATE,2515,begin climb
$GC,2517,0.88,219.0,310.5,0.0,293,2724,1.00,2.65,197.95,0.932,4,0.050,0.061,3443,563,2066,0,0,0,0,0,0
$GC,2864,0.64,219.0,251.3,23.4,324,2872,0.28,2.45,0.00,0.000,6,0.168,0.055,3358,1970,2054,0,0,0,0,0,0
$GC,3064,0.47,219.0,213.0,19.6,343,3069,0.20,2.40,0.00,0.000,4,0.170,0.063,3305,3391,2052,0,0,0,0,0,0
$GC,3313,0.34,219.0,169.1,17.4,365,3323,0.17,2.35,0.00,0.000,6,0.153,0.053,3261,1975,2051,0,0,0,0,0,0
$GC,3449,0.40,262.8,152.9,11.5,378,3499,0.00,2.53,37.95,0.887,4,0.000,0.067,3261,3389,1886,0,0,0,0,0,0
$GC,3687,0.38,266.9,121.6,13.2,399,3691,0.00,2.33,0.00,0.000,6,0.000,0.053,3270,1971,1881,0,0,0,0,0,0
$GC,3823,0.41,293.7,104.8,12.2,411,3861,0.00,2.50,27.55,0.861,4,0.000,0.067,3270,3385,1761,0,0,0,0,0,0
$GC,3986,0.41,293.7,81.8,14.1,436,3995,0.00,2.38,0.00,0.000,6,0.000,0.055,3280,1979,1755,0,0,0,0,0,0
$GC,4126,0.41,293.7,63.0,13.7,461,4133,0.00,2.38,0.00,0.000,4,0.000,0.067,3280,3393,1752,0,0,0,0,0,0
$GC,4264,0.39,293.7,42.6,14.7,486,4272,0.00,2.38,0.00,0.000,6,0.000,0.056,3288,1966,1751,0,0,0,0,0,0
$GC,4404,0.39,293.7,23.1,14.2,511,4411,0.00,2.38,0.00,0.000,4,0.000,0.067,3288,3393,1749,0,0,0,0,0,0
$FREEZE,8.63,-1.697,-1.908,2,22,1
$FREEZE,7.62,-1.695,-1.908,2,22,1
$FREEZE,6.90,-1.690,-1.907,2,22,1
$FREEZE,5.84,-1.658,-1.906,2,22,1
$FREEZE,4.99,-1.659,-1.905,2,22,1
$FREEZE,4.05,-1.661,-1.904,2,22,1
$FREEZE,3.26,-1.664,-1.904,2,22,1
$GC,4530,0.34,293.7,3.3,15.7,533,4537,0.15,2.33,0.00,0.000,6,0.168,0.055,3258,1965,1749,0,0,0,0,0,0
$FREEZE,0.85,-1.661,-1.304,2,22,1
$STATE,4544,end climb,SURFACE_DEPTH_REACHED
$STATE,4545,begin surface coast
$FREEZE,0.72,-2.498,-0.900,2,22,1
$FREEZE,0.69,-2.044,-0.886,2,22,1
$FREEZE,0.75,-1.920,-0.882,2,22,1
$FINISH,0.8,1.012987
$STATE,4564,end surface coast,CONTROL_FINISHED_OK
$STATE,4564,begin surface
$SM_CCo,4578,182.88,0.754,2,0,419,623.30
$SM_GC,1.45,0.00,0.00,182.88,0.000,0.000,0.754,427,1961,419,-8.51,-0.40,623.30
$IRIDIUM_FIX,-7639.69,16504.76,221110,090951
$TT8_MAMPS,0.028462
$HUMID,51.57
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.3,18.2
$24V_AH,22.2,14.734
$10V_AH,10.0,8.227
$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,20.350,66.350,453.925,182.875,0.000,98.948,17.730,0.000,1.250,0.000,181.599,1246.924,1403.640,730.654,1794.031,134.054,0.000,1392.457,0.000,1015.269,0.000,6.056,0.000
$DEVICE_MAMPS,227.970,78.030,997.560,754.290,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,374.271,754.698,892.003,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37043,538
$CAP_FILE_SIZE,78645,0
$CFSIZE,260165632,252391424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,231110,160356,-7724.414,16521.789,50,2.6,69,143.8