version: 66.08
glider: 502
mission: 3
dive: 23
start: 11 23 110 16 14 29
data:
$ID,502
$MISSION,3
$DIVE,23
$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,1
$SURFACE_URGENCY_TRY,2
$SURFACE_URGENCY_FORCE,2
$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,0.0049999999
$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,-10697.548
$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,21
$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
$GPS1,231110,160356,-7724.414,16521.789,50,2.6,69,143.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-66.5
$GPS2,231110,161403,-7724.413,16521.787,14,1.8,15,143.8
$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,227.1,17753,-18.2,-13.333
$D_GRID,590
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.88,-219.0,0.0,0.0,0,180,0.00,0.00,-162.43,0.000,2,0.000,0.000,427,1962,3515,0,0,0,0,0,0
$GC,182,-0.88,-219.0,3.7,-5.1,25,203,9.75,0.00,-7.93,0.000,6,0.227,0.000,2855,1961,3856,0,0,0,0,0,0
$GC,334,-0.94,-219.0,29.0,-11.7,52,342,0.00,2.45,0.00,0.000,4,0.000,0.071,2846,3383,3860,0,0,0,0,0,0
$GC,468,-0.99,-219.0,45.4,-12.2,76,476,0.00,2.35,0.00,0.000,6,0.000,0.054,2846,1970,3861,0,0,0,0,0,0
$GC,609,-1.04,-219.0,62.2,-12.5,101,616,0.00,2.40,0.00,0.000,4,0.000,0.073,2842,3391,3861,0,0,0,0,0,0
$GC,765,-1.08,-219.0,81.7,-12.0,129,773,0.12,2.30,0.00,0.000,6,0.093,0.054,2783,1973,3861,0,0,0,0,0,0
$GC,910,-1.02,-219.0,106.0,-17.2,152,915,0.12,2.38,0.00,0.000,4,0.172,0.071,2806,3386,3861,0,0,0,0,0,0
$GC,1072,-0.99,-219.0,132.6,-15.9,166,1081,0.00,2.33,0.00,0.000,6,0.000,0.054,2806,1973,3861,0,0,0,0,0,0
$GC,1209,-0.99,-219.0,152.2,-14.2,179,1213,0.00,2.35,0.00,0.000,4,0.000,0.072,2799,3389,3861,0,0,0,0,0,0
$GC,1370,-0.94,-219.0,179.0,-17.5,193,1380,0.12,2.30,0.00,0.000,6,0.145,0.055,2839,1983,3861,0,0,0,0,0,0
$GC,1507,-0.98,-219.0,196.1,-12.5,206,1511,0.00,2.33,0.00,0.000,4,0.000,0.071,2830,3393,3861,0,0,0,0,0,0
$GC,1669,-1.01,-219.0,218.7,-12.8,220,1678,0.00,2.33,0.00,0.000,6,0.000,0.051,2830,1961,3861,0,0,0,0,0,0
$GC,1807,-1.05,-219.0,235.5,-12.8,233,1811,0.00,2.35,0.00,0.000,4,0.000,0.071,2820,3387,3861,0,0,0,0,0,0
$GC,1958,-1.05,-219.0,256.7,-13.6,246,1966,0.00,2.30,0.00,0.000,6,0.000,0.054,2820,1980,3861,0,0,0,0,0,0
$GC,2156,-1.05,-219.0,282.5,-13.1,265,2161,0.00,2.35,0.00,0.000,4,0.000,0.071,2810,3389,3861,0,0,0,0,0,0
$STATE,2279,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2279,begin apogee
$GC,2285,-0.17,0.0,300.2,14.6,275,2486,0.85,0.00,190.70,0.999,6,0.124,0.000,3090,1969,2960,0,0,0,0,0,0
$STATE,2486,end apogee,CONTROL_FINISHED_OK
$STATE,2487,begin climb
$GC,2488,0.88,219.0,309.3,0.0,294,2696,0.98,2.58,197.85,0.934,4,0.050,0.060,3441,568,2066,0,0,0,0,0,0
$GC,2832,0.63,219.0,249.6,22.9,325,2837,0.32,2.42,0.00,0.000,6,0.177,0.056,3358,1979,2054,0,0,0,0,0,0
$GC,2967,0.45,219.0,223.0,19.8,337,2972,0.22,2.40,0.00,0.000,4,0.168,0.064,3297,3389,2053,0,0,0,0,0,0
$GC,3149,0.33,219.0,192.4,17.1,353,3154,0.20,2.33,0.00,0.000,6,0.170,0.054,3254,1976,2052,0,0,0,0,0,0
$GC,3285,0.40,273.7,176.4,11.1,365,3338,0.00,2.53,47.70,0.891,4,0.000,0.068,3254,3380,1845,0,0,0,0,0,0
$GC,3498,0.40,277.1,149.3,13.2,384,3502,0.00,2.33,0.00,0.000,6,0.000,0.050,3261,1969,1836,0,0,0,0,0,0
$GC,3635,0.48,311.9,133.1,11.9,396,3674,0.12,2.55,33.25,0.865,4,0.086,0.066,3319,3391,1688,0,0,0,0,0,0
$GC,3824,0.37,311.9,98.0,20.2,413,3831,0.22,2.38,0.00,0.000,6,0.161,0.054,3268,1968,1680,0,0,0,0,0,0
$GC,3963,0.44,326.9,79.1,12.7,438,3985,0.00,2.47,13.40,0.815,4,0.000,0.067,3267,3391,1627,0,0,0,0,0,0
$GC,4090,0.44,326.9,62.1,14.4,460,4098,0.00,2.38,0.00,0.000,6,0.000,0.054,3276,1974,1622,0,0,0,0,0,0
$GC,4230,0.50,345.9,44.3,12.6,485,4259,0.10,2.45,17.75,0.819,4,0.100,0.067,3325,3381,1548,0,0,0,0,0,0
$GC,4385,0.41,345.9,14.3,20.4,512,4393,0.17,2.35,0.00,0.000,6,0.145,0.055,3282,1979,1544,0,0,0,0,0,0
$FREEZE,8.56,-1.713,-1.908,2,1,0
$FREEZE,7.63,-1.703,-1.907,2,1,0
$FREEZE,6.76,-1.701,-1.907,2,1,0
$FREEZE,6.00,-1.703,-1.906,2,1,0
$FREEZE,5.17,-1.700,-1.906,2,1,0
$FREEZE,4.35,-1.697,-1.905,2,1,0
$FREEZE,3.67,-1.700,-1.904,2,1,0
$FREEZE,2.88,-1.699,-1.904,2,1,0
$STATE,4456,end climb,SURFACE_DEPTH_REACHED
$STATE,4457,begin surface coast
$FREEZE,2.08,-1.698,-1.903,2,1,0
$FREEZE,1.30,-1.699,-1.903,2,1,0
$FREEZE,0.84,-1.725,-1.812,2,1,0
$FREEZE,0.79,-1.721,-1.815,2,1,0
$FINISH,0.8,1.026640
$STATE,4481,end surface coast,CONTROL_FINISHED_OK
$STATE,4481,begin surface
$SM_CCo,4494,167.95,0.741,2,0,419,623.30
$SM_GC,1.11,0.00,0.00,167.95,0.000,0.000,0.741,429,1975,419,-8.50,0.00,623.30
$IRIDIUM_FIX,-7639.69,16504.76,221110,090951
$TT8_MAMPS,0.028462
$HUMID,51.57
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,19.1
$24V_AH,22.1,14.931
$10V_AH,10.0,8.308
$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,21.075,61.975,500.650,167.950,0.000,27.247,36.688,435.285,1.250,0.000,16.870,1221.387,1213.058,740.654,2008.818,111.113,0.000,1410.854,0.000,1018.326,0.000,6.059,0.000
$DEVICE_MAMPS,227.205,73.440,999.090,740.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,366.542,740.828,875.316,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276280
$DATA_FILE_SIZE,33770,528
$CAP_FILE_SIZE,82071,0
$CFSIZE,260165632,252350464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,231110,161403,-7724.413,16521.787,181,99.0,181,143.8