version: 66.08
glider: 502
mission: 3
dive: 25
start: 11 23 110 19 16 56
data:
$ID,502
$MISSION,3
$DIVE,25
$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,-11428.618
$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,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,1.07
$_SM_ANGLEo,-13.0
$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,13,begin dive
$GC,15,-0.88,-219.0,0.0,0.0,0,167,0.00,0.00,-149.77,0.000,2,0.000,0.000,430,1959,3343,0,0,0,0,0,0
$GC,170,-0.88,-219.0,3.2,-3.0,23,199,9.38,2.38,-13.43,0.000,4,0.223,0.076,2855,563,3856,0,0,0,0,0,0
$GC,227,-0.98,-219.0,13.3,-10.6,32,235,0.00,2.38,0.00,0.000,6,0.000,0.063,2855,1971,3858,0,0,0,0,0,0
$GC,369,-1.05,-219.0,28.6,-11.1,57,376,0.12,2.38,0.00,0.000,4,0.093,0.072,2785,3384,3859,0,0,0,0,0,0
$GC,578,-0.95,-219.0,65.9,-18.9,95,586,0.20,2.30,0.00,0.000,6,0.157,0.054,2842,1968,3859,0,0,0,0,0,0
$GC,719,-1.00,-219.0,84.1,-12.3,120,727,0.00,2.42,0.00,0.000,4,0.000,0.072,2833,3383,3859,0,0,0,0,0,0
$GC,876,-1.00,-219.0,104.6,-13.1,145,880,0.00,2.28,0.00,0.000,6,0.000,0.054,2833,1966,3859,0,0,0,0,0,0
$GC,1011,-1.02,-219.0,122.1,-12.7,157,1015,0.00,2.35,0.00,0.000,4,0.000,0.072,2824,3386,3859,0,0,0,0,0,0
$GC,1162,-1.02,-219.0,143.6,-14.3,170,1171,0.00,2.30,0.00,0.000,6,0.000,0.054,2823,1976,3859,0,0,0,0,0,0
$GC,1298,-1.02,-219.0,161.8,-13.4,183,1302,0.00,2.33,0.00,0.000,4,0.000,0.071,2813,3384,3859,0,0,0,0,0,0
$GC,1458,-1.00,-219.0,186.1,-15.2,197,1462,0.00,2.28,0.00,0.000,6,0.000,0.054,2813,1963,3859,0,0,0,0,0,0
$GC,1594,-1.00,-219.0,205.5,-13.7,209,1598,0.00,2.38,0.00,0.000,4,0.000,0.071,2802,3387,3859,0,0,0,0,0,0
$GC,1743,-0.96,-219.0,229.2,-16.3,222,1748,0.12,2.28,0.00,0.000,6,0.170,0.055,2835,1965,3859,0,0,0,0,0,0
$GC,1878,-1.00,-219.0,246.8,-12.1,234,1882,0.00,2.35,0.00,0.000,4,0.000,0.072,2832,3389,3859,0,0,0,0,0,0
$GC,2021,-1.04,-219.0,265.0,-12.5,246,2025,0.00,2.28,0.00,0.000,6,0.000,0.055,2832,1965,3859,0,0,0,0,0,0
$GC,2220,-1.07,-219.0,289.7,-12.1,264,2224,0.00,2.38,0.00,0.000,4,0.000,0.072,2826,3389,3859,0,0,0,0,0,0
$STATE,2296,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2296,begin apogee
$GC,2302,-0.17,0.0,300.3,13.5,270,2503,0.77,0.00,190.45,0.995,6,0.119,0.000,3086,1967,2960,0,0,0,0,0,0
$STATE,2504,end apogee,CONTROL_FINISHED_OK
$STATE,2504,begin climb
$GC,2505,0.88,219.0,309.8,0.0,289,2713,0.98,2.62,197.93,0.928,4,0.049,0.060,3438,569,2066,0,0,0,0,0,0
$GC,2853,0.64,219.0,250.0,22.5,320,2861,0.32,2.45,0.00,0.000,6,0.175,0.055,3355,1979,2054,0,0,0,0,0,0
$GC,3052,0.46,219.0,211.5,18.9,339,3057,0.20,2.38,0.00,0.000,4,0.169,0.064,3301,3387,2052,0,0,0,0,0,0
$GC,3299,0.33,219.0,169.7,16.7,361,3304,0.20,2.30,0.00,0.000,6,0.170,0.054,3258,1976,2051,0,0,0,0,0,0
$GC,3434,0.40,278.1,153.8,10.9,373,3497,0.00,2.53,51.12,0.884,4,0.000,0.067,3258,3385,1825,0,0,0,0,0,0
$GC,3642,0.40,278.1,127.1,13.4,391,3653,0.00,2.40,0.00,0.000,6,0.000,0.055,3266,1970,1818,0,0,0,0,0,0
$GC,3780,0.47,314.7,111.0,11.8,404,3819,0.10,2.53,31.83,0.855,4,0.099,0.067,3316,3387,1677,0,0,0,0,0,0
$GC,3978,0.38,314.7,74.5,19.3,433,3986,0.20,2.35,0.00,0.000,6,0.160,0.055,3274,1975,1669,0,0,0,0,0,0
$GC,4118,0.44,336.1,55.6,12.5,458,4146,0.00,2.47,19.15,0.820,4,0.000,0.068,3273,3405,1588,0,0,0,0,0,0
$GC,4262,0.44,336.1,36.2,13.6,483,4269,0.00,2.38,0.00,0.000,6,0.000,0.055,3283,1974,1584,0,0,0,0,0,0
$GC,4399,0.48,336.1,18.1,13.5,508,4407,0.00,2.40,0.00,0.000,4,0.000,0.068,3283,3385,1581,0,0,0,0,0,0
$FREEZE,8.61,-1.638,-1.907,2,3,0
$FREEZE,7.68,-1.627,-1.907,2,3,0
$FREEZE,6.77,-1.604,-1.906,2,3,0
$FREEZE,5.86,-1.582,-1.905,2,3,0
$FREEZE,5.03,-1.558,-1.904,2,3,0
$FREEZE,4.26,-1.501,-1.903,2,3,0
$FREEZE,3.42,-1.475,-1.902,2,3,0
$FREEZE,2.56,-1.445,-1.901,2,3,0
$STATE,4503,end climb,SURFACE_DEPTH_REACHED
$STATE,4503,begin surface coast
$FREEZE,1.59,-1.431,-1.900,2,3,0
$FREEZE,0.83,-1.442,-1.752,2,3,0
$FREEZE,0.75,-1.531,-1.761,2,3,0
$FREEZE,0.73,-1.541,-1.763,2,3,0
$FINISH,0.7,1.025902
$STATE,4526,end surface coast,CONTROL_FINISHED_OK
$STATE,4527,begin surface
$SM_CCo,4543,171.23,0.756,1,0,420,623.30
$SM_GC,1.10,0.00,0.00,171.23,0.000,0.000,0.756,428,1966,420,-8.50,-0.23,623.30
$IRIDIUM_FIX,-7639.69,16524.40,231110,161627
$TT8_MAMPS,0.028462
$HUMID,51.26
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.3,18.6
$24V_AH,22.1,15.270
$10V_AH,10.0,8.477
$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,20.350,66.525,490.475,171.225,0.000,98.743,17.674,0.000,1.250,0.000,181.148,1226.547,1393.992,728.494,1783.416,123.780,0.000,1387.382,0.000,1009.303,0.000,6.058,0.000
$DEVICE_MAMPS,222.615,76.500,994.500,755.820,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,368.433,742.645,875.774,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36957,530
$CAP_FILE_SIZE,78144,0
$CFSIZE,260165632,252256256
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,231110,161403,-7724.413,16521.787,181,99.0,181,143.8