version: 66.08
glider: 502
mission: 3
dive: 24
start: 11 23 110 17 45 1
data:
$ID,502
$MISSION,3
$DIVE,24
$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,-11063.829
$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
$GPS1,231110,161403,-7724.413,16521.787,181,99.0,181,143.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-12.7
$GPS2,231110,161403,-7724.413,16521.787,181,99.0,181,143.8
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.88,-219.0,0.0,0.0,0,173,0.00,0.00,-155.12,0.000,2,0.000,0.000,429,1976,3456,0,0,0,0,0,0
$GC,176,-0.88,-219.0,3.5,-4.0,24,198,9.50,0.00,-9.82,0.000,6,0.226,0.000,2858,1976,3857,0,0,0,0,0,0
$GC,330,-0.95,-219.0,27.1,-12.0,51,336,0.00,2.40,0.00,0.000,4,0.000,0.070,2849,3395,3860,0,0,0,0,0,0
$GC,486,-1.01,-219.0,45.8,-11.8,79,493,0.00,2.30,0.00,0.000,6,0.000,0.050,2849,1966,3861,0,0,0,0,0,0
$GC,623,-1.06,-219.0,61.8,-11.2,104,632,0.12,2.42,0.00,0.000,4,0.093,0.071,2777,3385,3861,0,0,0,0,0,0
$GC,768,-0.96,-219.0,88.5,-18.9,130,777,0.17,2.30,0.00,0.000,6,0.145,0.055,2832,1986,3861,0,0,0,0,0,0
$GC,916,-0.99,-219.0,108.4,-12.7,150,920,0.00,2.35,0.00,0.000,4,0.000,0.072,2823,3390,3861,0,0,0,0,0,0
$GC,1065,-0.99,-219.0,129.5,-13.3,163,1069,0.00,2.28,0.00,0.000,6,0.000,0.055,2823,1972,3861,0,0,0,0,0,0
$GC,1199,-0.99,-219.0,148.0,-13.6,175,1203,0.00,2.35,0.00,0.000,4,0.000,0.071,2812,3393,3861,0,0,0,0,0,0
$GC,1328,-0.99,-219.0,167.7,-15.8,186,1338,0.00,2.33,0.00,0.000,6,0.000,0.054,2812,1969,3861,0,0,0,0,0,0
$GC,1464,-0.99,-219.0,187.2,-14.3,199,1468,0.00,2.38,0.00,0.000,4,0.000,0.073,2801,3391,3861,0,0,0,0,0,0
$GC,1594,-0.96,-219.0,208.2,-15.4,210,1603,0.10,2.33,0.00,0.000,6,0.145,0.056,2835,1969,3861,0,0,0,0,0,0
$GC,1731,-1.00,-219.0,225.4,-12.3,223,1735,0.00,2.40,0.00,0.000,4,0.000,0.073,2832,3392,3861,0,0,0,0,0,0
$GC,1872,-1.03,-219.0,244.1,-12.5,235,1881,0.00,2.30,0.00,0.000,6,0.000,0.054,2832,1980,3861,0,0,0,0,0,0
$GC,2006,-1.07,-219.0,260.6,-12.5,248,2010,0.00,2.33,0.00,0.000,4,0.000,0.072,2822,3390,3861,0,0,0,0,0,0
$GC,2149,-1.07,-219.0,279.7,-13.8,260,2153,0.00,2.28,0.00,0.000,6,0.000,0.054,2822,1967,3861,0,0,0,0,0,0
$STATE,2304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2305,begin apogee
$GC,2308,-0.17,0.0,300.6,13.2,274,2505,0.80,0.00,190.60,1.000,6,0.121,0.000,3088,1963,2961,0,0,0,0,0,0
$STATE,2506,end apogee,CONTROL_FINISHED_OK
$STATE,2506,begin climb
$GC,2507,0.88,219.0,310.4,0.0,292,2715,0.98,2.58,197.77,0.925,4,0.050,0.060,3439,565,2065,0,0,0,0,0,0
$GC,2862,0.63,219.0,249.4,23.7,324,2867,0.32,2.40,0.00,0.000,6,0.177,0.056,3356,1976,2054,0,0,0,0,0,0
$GC,2997,0.45,219.0,223.1,19.1,336,3002,0.22,2.40,0.00,0.000,4,0.166,0.064,3297,3389,2052,0,0,0,0,0,0
$GC,3168,0.32,219.0,193.5,16.7,351,3173,0.20,2.33,0.00,0.000,6,0.171,0.054,3253,1974,2051,0,0,0,0,0,0
$GC,3304,0.39,269.5,177.5,11.3,363,3355,0.00,2.47,44.03,0.890,4,0.000,0.066,3253,3386,1860,0,0,0,0,0,0
$GC,3500,0.39,270.4,152.4,13.3,380,3509,0.00,2.38,0.00,0.000,6,0.000,0.054,3261,1982,1853,0,0,0,0,0,0
$GC,3636,0.46,307.3,136.5,11.8,393,3675,0.10,2.53,33.15,0.868,4,0.099,0.064,3312,3394,1707,0,0,0,0,0,0
$GC,3833,0.36,307.3,100.2,19.2,410,3842,0.17,2.40,0.00,0.000,6,0.151,0.054,3270,1970,1699,0,0,0,0,0,0
$GC,3976,0.41,319.9,81.7,12.8,435,3996,0.00,2.45,11.12,0.807,4,0.000,0.067,3270,3380,1655,0,0,0,0,0,0
$GC,4116,0.41,319.9,61.7,14.6,460,4124,0.00,2.35,0.00,0.000,6,0.000,0.054,3279,1974,1651,0,0,0,0,0,0
$GC,4257,0.46,331.9,43.4,12.8,485,4277,0.00,2.42,11.65,0.803,4,0.000,0.067,3279,3376,1606,0,0,0,0,0,0
$GC,4393,0.46,331.9,23.6,14.9,509,4400,0.00,2.33,0.00,0.000,6,0.000,0.054,3288,1963,1603,0,0,0,0,0,0
$FREEZE,8.86,-1.685,-1.908,2,2,2
$FREEZE,7.90,-1.685,-1.907,2,2,2
$FREEZE,7.11,-1.684,-1.907,2,2,2
$FREEZE,6.13,-1.683,-1.906,2,2,2
$FREEZE,5.35,-1.684,-1.905,2,2,2
$FREEZE,4.49,-1.683,-1.905,2,2,2
$FREEZE,3.75,-1.684,-1.904,2,2,2
$FREEZE,2.88,-1.683,-1.903,2,2,2
$STATE,4534,end climb,SURFACE_DEPTH_REACHED
$STATE,4534,begin surface coast
$FREEZE,2.05,-1.680,-1.902,2,2,2
$FREEZE,1.18,-1.677,-1.902,2,2,2
$FREEZE,0.85,-1.678,-1.721,2,2,2
$FREEZE,0.75,-1.674,-1.722,2,2,2
$FINISH,0.8,1.025317
$STATE,4560,end surface coast,CONTROL_FINISHED_OK
$STATE,4560,begin surface
$SM_CCo,4574,172.70,0.753,2,0,419,623.30
$SM_GC,1.06,0.00,0.00,172.70,0.000,0.000,0.753,430,1958,419,-8.50,-0.48,623.30
$IRIDIUM_FIX,-7639.69,16524.40,231110,161627
$TT8_MAMPS,0.027713
$HUMID,51.53
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,19.3
$24V_AH,22.1,15.101
$10V_AH,10.0,8.393
$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,20.450,61.750,488.325,172.700,0.000,98.958,17.075,0.000,1.250,0.000,181.640,1246.281,1381.918,732.384,1803.277,130.337,0.000,1402.386,0.000,1024.142,0.000,6.060,0.000
$DEVICE_MAMPS,226.440,73.440,999.855,752.760,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,373.966,754.490,886.507,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37018,538
$CAP_FILE_SIZE,78905,0
$CFSIZE,260165632,252301312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,4
$GPS,231110,161403,-7724.413,16521.787,181,99.0,181,143.8