version: 66.13
glider: 202
mission: 2
dive: 6
start: 3 17 117 18 11 43
data:
$ID,202
$MISSION,2
$DIVE,6
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,20
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,200
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,5400
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51899
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00142438
$HD_B,0.015886899
$HD_C,1.20255e-12
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,208
$PITCH_MAX,3892
$C_PITCH,3020
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,-6.8056469e+38
$PITCH_GAIN,25
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,303
$ROLL_MAX,3831
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3154
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-61.796719
$PRESSURE_SLOPE,0.0001168043
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,0
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.5
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,51
$LOGGERDEVICE2,85
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004404821
$SEABIRD_T_H,0.00064488029
$SEABIRD_T_I,2.8507879e-05
$SEABIRD_T_J,3.3644449e-06
$SEABIRD_C_G,-9.8029137
$SEABIRD_C_H,1.1050078
$SEABIRD_C_I,-0.0015785076
$SEABIRD_C_J,0.00020331096
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,7.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,0.0
$GPS1,170317,180634,2908.0732,-7609.8276,36,0.9,36,-9.0,0.0,0.0,9,6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-65.9
$GPS2,170317,181123,2908.0813,-7609.7153,12,1.2,12,-9.0,0.0,0.0,7,9.5
$SPEED_LIMITS,-0.057,-0.057
$TGT_NAME,WS
$TGT_LATLONG,2906.500,-7615.500
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,216.6,9808,-555.7,-12.500,65.57,82011
$D_GRID,4988
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-22.29,-194.6,182,2505,1016,1174,0.0,0.0,0,93,0.00,0.00,-78.03,0.000,16386,0.000,0.000,182,2501,3411,3471,3352,0,0,0,0,0,0,26.88,28.83,26.88
$GC,94,-22.29,-194.6,182,2502,3473,3350,3.6,-6.9,12,114,0.08,2.15,-11.15,0.000,18724,0.282,1.262,193,3800,3950,3989,3911,0,0,0,0,0,0,26.39,25.58,26.59
$GC,322,-22.29,-194.6,192,3801,3991,3913,177.5,-79.7,56,329,0.00,1.95,0.00,0.000,3078,0.000,0.029,193,2465,3950,3989,3912,0,0,0,0,0,0,26.77,26.75,26.79
$GC,653,-22.29,-194.6,194,2463,3989,3913,429.1,-74.2,70,665,0.00,2.08,0.00,0.000,2308,0.000,0.044,183,3810,3950,3989,3912,0,0,0,0,0,0,27.13,26.77,27.13
$GC,883,-22.29,-194.6,184,3811,3989,3912,598.2,-72.6,115,891,0.08,1.88,0.00,0.000,3078,0.269,0.028,199,2481,3950,3989,3912,0,0,0,0,0,0,26.63,26.92,26.86
$STATE,1109,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1109,begin apogee
$GC,1111,-0.20,0.0,200,2481,3990,3912,759.3,-70.8,125,1279,10.48,0.00,153.40,1.375,10246,0.231,0.000,2945,2476,3154,3179,3130,0,0,0,0,0,0,26.60,25.10,24.32
$STATE,1281,end apogee,CONTROL_FINISHED_OK
$STATE,1281,begin loiter
$GC,1559,0.62,2729.0,2944,2480,3183,3131,790.0,-3.4,140,2095,0.77,0.00,530.60,1.372,10278,0.066,0.000,3237,2479,500,491,510,0,0,0,0,0,0,26.44,25.03,24.27
$GC,2369,0.62,2729.0,3238,2480,486,510,697.5,15.2,167,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2479,498,486,510,0,0,0,0,0,0,26.70,26.70,26.70
$GC,2670,0.62,2729.0,3236,2480,488,510,653.5,14.7,177,2673,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2484,496,484,509,0,0,0,0,0,0,26.94,26.94,26.94
$GC,2970,0.62,2729.0,3236,2480,484,511,611.6,13.2,187,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2479,496,483,510,0,0,0,0,0,0,27.05,27.05,27.05
$GC,3269,0.62,2729.0,3237,2480,481,510,573.8,12.6,197,3273,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,2479,495,481,510,0,0,0,0,0,0,27.13,27.12,27.12
$GC,3570,0.62,2729.0,3236,2480,481,510,535.3,13.1,207,3573,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2479,494,479,510,0,0,0,0,0,0,27.17,27.17,27.16
$GC,3870,0.62,2729.0,3237,2480,475,510,493.9,14.0,217,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2479,494,479,509,0,0,0,0,0,0,27.20,27.20,27.18
$GC,4169,0.62,2729.0,3236,2480,480,510,451.9,14.1,227,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2479,494,479,509,0,0,0,0,0,0,27.22,27.22,27.22
$GC,4470,0.62,2729.0,3236,2479,480,511,410.2,13.9,237,4473,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2479,494,478,510,0,0,0,0,0,0,27.24,27.24,27.24
$GC,4770,0.62,2729.0,3236,2480,481,511,367.6,14.1,247,4773,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,2479,492,475,510,0,0,0,0,0,0,27.25,27.25,27.25
$GC,5069,0.62,2729.0,3233,2480,481,511,326.1,14.0,257,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2479,494,479,510,0,0,0,0,0,0,27.27,27.27,27.27
$GC,5370,0.62,2729.0,3236,2477,480,510,287.2,12.4,267,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2479,494,479,510,0,0,0,0,0,0,27.27,27.27,27.27
$GC,5670,0.62,2729.0,3235,2480,478,510,251.7,11.4,277,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,2479,494,479,510,0,0,0,0,0,0,27.28,27.28,27.29
$GC,5969,0.62,2729.0,3237,2480,478,510,215.5,13.0,287,5972,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2479,494,479,510,0,0,0,0,0,0,27.29,27.29,27.29
$GC,6269,0.62,2729.0,3237,2480,479,510,178.9,12.0,307,6272,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2479,494,479,510,0,0,0,0,0,0,27.29,27.29,27.29
$GC,6570,0.62,2729.0,3236,2480,480,510,142.9,11.8,337,6573,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2479,494,479,510,0,0,0,0,0,0,27.30,27.30,27.30
$STATE,6659,end loiter,LOITER_COMPLETE
$STATE,6659,begin climb
$GC,6660,22.29,194.6,3236,2479,481,511,132.9,0.0,346,6669,1.62,1.88,0.00,0.000,2564,0.026,0.031,3940,1129,494,479,510,0,0,0,0,0,0,27.06,27.01,27.09
$STATE,6857,end climb,SURFACE_DEPTH_REACHED
$STATE,6857,begin surface coast
$FINISH,0.6,1.012261
$STATE,6862,end surface coast,CONTROL_FINISHED_OK
$STATE,6862,begin surface
$SM_CCo,6947,0.00,0.000,0,0,494,652.50
$SM_GC,1.24,9.38,2.08,0.00,0.031,0.033,0.000,185,2500,494,-8.78,-1.24,652.50,0,0,0,0,0,0,27.01,27.01,27.07
$IRIDIUM_FIX,2858.06,-7612.79,170317,161847
$TT8_MAMPS,0.049434,0.19474
$HUMID,36.13
$INTERNAL_PRESSURE,9.54332
$TCM_TEMP,23.20
$XPDR_PINGS,0
$SC_FREEKB,7900800
$PM_FREEKB,62224576
$24V_AH,24.27,1.490
$10V_AH,10.56,1.287
$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,22.400,12.000,684.000,0.000,0.000,0.000,0.000,201.625,0.000,0.000,13.471,0.000,5329.363,774.760,1106.059,31.676,0.000,1340.860,0.000,562.868,0.000,0.551,0.000
$DEVICE_MAMPS,281.520,1262.250,1375.470,0.000,0.000,0.000,0.000,100.980,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6860.000,6869.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.592,11.981,0.000,0.000
$MEM,152780
$DATA_FILE_SIZE,13434,386
$CAP_FILE_SIZE,50483,0
$CFSIZE,1024409600,1019215872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.318,76.13,1
$GPS,170317,200832,2908.405,-7608.270,9,1.5,36,-9.0,0.4,30.3,10,3.9