version: 66.13
glider: 202
mission: 2
dive: 21
start: 3 19 117 12 55 9
data:
$ID,202
$MISSION,2
$DIVE,21
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,240
$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,60
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$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,250
$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,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,8
$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,2600
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,76
$R_STBD_OVSHOOT,46
$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
$GPS1,190317,125050,2911.7925,-7559.2388,13,1.4,40,-9.1,0.7,47.7,8,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-58.4
$GPS2,190317,125451,2911.8127,-7559.1353,12,1.8,16,-9.1,1.1,83.5,7,5.3
$SPEED_LIMITS,0.231,0.359
$TGT_NAME,WS
$TGT_LATLONG,2906.500,-7615.500
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,287.8,28248,-17.2,-13.333,-20.35,2785
$D_GRID,4992
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.76,-243.3,182,2604,1178,1250,0.0,0.0,0,86,0.00,0.00,-71.57,0.000,16386,0.000,0.000,182,2603,3350,3407,3293,0,0,0,0,0,0,26.82,28.83,26.82
$GC,88,-0.76,-243.3,184,2604,3411,3294,3.2,-7.4,12,114,9.77,2.17,-11.05,0.000,18980,0.225,1.235,2769,1200,3963,4040,3887,0,0,0,0,0,0,26.37,25.65,26.58
$GC,223,-0.76,-243.3,2769,1203,4040,3888,27.4,-15.3,38,231,0.00,2.08,0.00,0.000,1030,0.000,0.030,2762,2601,3963,4040,3887,0,0,0,0,0,0,26.68,26.62,26.70
$GC,410,-0.76,-243.3,2762,2602,4045,3888,53.4,-16.3,73,413,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2601,3964,4041,3887,0,0,0,0,0,0,26.99,26.99,26.99
$GC,710,-0.76,-243.3,2761,2602,4042,3888,97.1,-16.2,103,717,0.00,1.83,0.00,0.000,260,0.000,0.046,2752,3830,3963,4040,3887,0,0,0,0,0,0,27.10,26.79,27.08
$GC,760,-0.76,-243.3,2751,3830,4041,3888,105.1,-15.4,113,768,0.00,1.77,0.00,0.000,1030,0.000,0.025,2757,2584,3964,4040,3888,0,0,0,0,0,0,26.90,26.87,26.91
$GC,1072,-0.76,-243.3,2751,2582,4042,3889,155.3,-14.0,145,1080,0.00,1.85,0.00,0.000,260,0.000,0.044,2745,3821,3963,4039,3887,0,0,0,0,0,0,27.16,26.86,27.16
$GC,1113,-0.76,-243.3,2745,3822,4040,3888,161.3,-14.4,153,1121,0.00,1.75,0.00,0.000,1030,0.000,0.025,2745,2598,3964,4041,3887,0,0,0,0,0,0,26.96,26.94,26.97
$GC,1445,-0.76,-243.3,2745,2598,4040,3888,208.6,-12.7,183,1449,0.10,0.00,0.00,0.000,2086,0.136,0.000,2780,2597,3963,4040,3887,0,0,0,0,0,0,26.86,26.98,26.97
$STATE,1714,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1714,begin apogee
$GC,1717,-0.20,0.0,2779,2725,4048,3888,240.2,-11.7,192,1868,0.50,0.00,144.90,1.018,10246,0.098,0.000,2961,2724,3155,3178,3133,0,0,0,0,0,0,26.86,25.32,24.70
$STATE,1870,end apogee,CONTROL_FINISHED_OK
$STATE,1870,begin climb
$GC,1871,0.76,243.3,2961,2725,3180,3134,245.9,0.0,197,2068,0.88,1.70,179.70,1.013,10500,0.057,0.042,3284,3808,2164,2160,2168,0,0,0,0,0,0,25.59,25.27,24.65
$GC,2132,0.76,252.0,3283,3804,2159,2168,231.2,13.0,240,2145,0.00,1.62,8.30,0.890,9254,0.000,0.024,3285,2700,2126,2121,2131,0,0,0,0,0,0,26.07,26.03,25.19
$GC,2449,0.76,252.0,3283,2701,2123,2131,190.4,13.9,259,2455,0.00,1.73,0.00,0.000,260,0.000,0.044,3284,3807,2125,2121,2130,0,0,0,0,0,0,26.82,26.53,26.83
$GC,2554,0.77,255.0,3284,3808,2121,2131,175.0,13.2,280,2563,0.00,1.58,3.62,0.735,9254,0.000,0.024,3285,2706,2113,2106,2120,0,0,0,0,0,0,26.71,26.69,25.89
$GC,2859,0.77,280.3,3285,2703,2108,2121,136.6,12.4,311,2877,0.00,1.70,11.00,0.832,8484,0.000,0.042,3285,3812,2009,2007,2012,0,0,0,0,0,0,27.02,26.41,25.88
$GC,2941,0.77,280.3,3284,3812,2008,2013,125.7,13.6,327,2948,0.00,1.58,0.00,0.000,1030,0.000,0.025,3285,2687,2009,2007,2012,0,0,0,0,0,0,26.71,26.67,26.72
$GC,3252,0.78,288.7,3286,2688,2004,2013,88.1,13.0,359,3264,0.00,1.75,3.30,0.555,8484,0.000,0.043,3281,3805,1976,1973,1979,0,0,0,0,0,0,27.05,26.72,26.17
$GC,3338,0.78,288.7,3285,3806,1972,1979,75.3,14.2,376,3346,0.00,1.58,0.00,0.000,1030,0.000,0.024,3285,2695,1975,1972,1978,0,0,0,0,0,0,26.86,26.83,26.87
$GC,3643,0.78,293.0,3285,2695,1972,1979,34.1,13.2,418,3652,0.00,1.65,1.65,0.279,8484,0.000,0.041,3285,3805,1958,1954,1962,0,0,0,0,0,0,27.13,26.82,26.66
$GC,3696,0.78,293.0,3284,3806,1956,1963,26.4,14.6,428,3704,0.00,1.58,0.00,0.000,1030,0.000,0.024,3285,2694,1958,1954,1962,0,0,0,0,0,0,26.94,26.91,26.94
$GC,3883,0.78,293.0,3284,2695,1954,1963,2.6,14.0,465,3891,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,2695,1957,1952,1962,0,0,0,0,0,0,27.17,27.17,27.16
$STATE,3893,end climb,SURFACE_DEPTH_REACHED
$STATE,3893,begin surface coast
$FINISH,0.1,1.011798
$STATE,3904,end surface coast,CONTROL_FINISHED_OK
$STATE,3904,begin surface
$SM_CCo,3925,58.67,0.122,0,0,1314,450.13
$SM_GC,0.79,7.62,0.00,58.67,0.023,0.000,0.122,195,2695,1314,-8.75,2.69,450.13,0,0,0,0,0,0,26.91,27.17,26.64
$IRIDIUM_FIX,2900.53,-7559.62,190317,122511
$TT8_MAMPS,0.050932,0.301847
$HUMID,33.54
$INTERNAL_PRESSURE,9.68004
$TCM_TEMP,24.00
$XPDR_PINGS,0
$SC_FREEKB,7884224
$PM_FREEKB,61540480
$24V_AH,24.65,3.634
$10V_AH,10.44,2.676
$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,18.875,28.050,352.475,58.675,0.000,0.000,0.000,161.550,0.000,0.000,17.482,0.000,2545.246,488.699,1167.793,37.865,0.000,1090.023,0.000,679.557,0.000,0.552,0.000
$DEVICE_MAMPS,224.910,1235.475,1018.215,122.400,0.000,0.000,0.000,92.565,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3883.000,3896.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.025,11.667,0.000,0.000
$MEM,152944
$DATA_FILE_SIZE,16781,469
$CAP_FILE_SIZE,55410,0
$CFSIZE,1024409600,1017184256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.468,88.52,1
$GPS,190317,140211,2911.927,-7558.744,11,1.2,11,-9.1,0.0,0.0,7,9.5