version: 66.13
glider: 202
mission: 1
dive: 4
start: 2 14 117 19 36 34
data:
$ID,202
$MISSION,1
$DIVE,4
$N_DIVES,4
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,170
$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,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,150
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51492
$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,688.61438
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,0.029999999
$PITCH_ADJ_DBAND,1
$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,33
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3348
$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,-61.312798
$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,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,0.0
$GPS1,140217,193303,4744.6650,-12224.6807,15,1.5,31,18.2,0.3,25.3,8,5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-67.9
$GPS2,140217,193616,4744.6899,-12224.6602,13,1.0,13,18.2,0.0,0.0,8,8.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,157.4,3236,-14.9,-10.000,-18.72,2959
$D_GRID,181
$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,-0.65,-195.5,191,2503,520,550,0.0,0.0,0,115,0.00,0.00,-100.38,0.000,16386,0.000,0.000,190,2503,3244,3322,3167,0,0,0,0,0,0,26.57,28.83,26.57
$GC,117,-0.65,-195.5,189,2504,3323,3168,3.3,-5.4,17,156,10.75,2.20,-19.35,0.000,18724,0.254,1.313,2793,3808,3961,4046,3877,0,0,0,0,0,0,25.98,25.10,26.26
$GC,309,-0.51,-195.5,2795,3806,4047,3879,20.7,-10.8,54,319,0.20,2.00,0.00,0.000,3206,0.148,0.036,2856,2482,3962,4047,3878,0,0,0,0,0,0,26.14,26.34,26.32
$GC,498,-0.54,-195.5,2855,2483,4049,3879,35.1,-7.8,91,506,0.00,2.12,0.00,0.000,420,0.000,0.061,2848,3808,3962,4047,3878,0,0,0,0,0,0,26.72,26.35,26.72
$GC,549,-0.54,-195.5,2848,3809,4049,3879,39.7,-9.2,101,558,0.00,2.00,0.00,0.000,1062,0.000,0.035,2847,2503,3962,4047,3878,0,0,0,0,0,0,26.51,26.48,26.53
$GC,736,-0.59,-195.5,2849,2504,4047,3878,55.9,-7.7,131,744,0.00,2.10,0.00,0.000,420,0.000,0.060,2840,3817,3960,4047,3873,0,0,0,0,0,0,26.82,26.44,26.82
$GC,802,-0.59,-195.5,2840,3817,4049,3879,61.6,-10.8,144,810,0.00,2.00,0.00,0.000,1030,0.000,0.036,2841,2504,3962,4047,3878,0,0,0,0,0,0,26.60,26.57,26.62
$GC,1108,-0.63,-195.5,2841,2505,4047,3879,84.7,-7.0,175,1114,0.00,2.08,0.00,0.000,420,0.000,0.060,2832,3811,3962,4046,3878,0,0,0,0,0,0,26.91,26.53,26.92
$GC,1258,-0.63,-195.5,2833,3812,4045,3878,97.9,-9.7,205,1265,0.00,1.95,0.00,0.000,1062,0.000,0.035,2832,2492,3962,4047,3878,0,0,0,0,0,0,26.73,26.67,26.74
$GC,1568,-0.63,-195.5,2832,2493,4049,3879,123.9,-7.5,237,1575,0.00,2.12,0.00,0.000,292,0.000,0.061,2823,3804,3962,4047,3878,0,0,0,0,0,0,26.99,26.61,26.98
$GC,1684,-0.63,-195.5,2824,3805,4047,3879,134.7,-9.4,260,1692,0.00,1.98,0.00,0.000,1062,0.000,0.036,2823,2503,3962,4047,3878,0,0,0,0,0,0,26.77,26.74,26.79
$STATE,1878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1878,begin apogee
$GC,1880,-0.20,0.0,2824,2504,4046,3879,150.5,-7.1,280,1996,0.40,0.00,111.10,1.064,10246,0.125,0.000,2956,2500,3347,3371,3324,0,0,0,0,0,0,26.55,24.84,24.11
$STATE,1998,end apogee,CONTROL_FINISHED_OK
$STATE,1998,begin climb
$GC,1999,0.65,195.5,2956,2504,3378,3325,150.5,0.0,291,2139,0.85,2.28,120.70,1.033,10756,0.096,0.039,3236,1110,2552,2557,2547,0,0,0,0,0,0,25.05,24.73,24.03
$GC,2232,0.65,195.5,3236,1110,2555,2547,126.8,10.7,334,2242,0.00,2.22,0.00,0.000,1030,0.000,0.041,3236,2496,2550,2553,2547,0,0,0,0,0,0,25.72,25.63,25.73
$GC,2537,0.56,195.5,3237,2497,2553,2547,96.7,10.5,365,2545,0.10,2.12,0.00,0.000,4484,0.148,0.059,3202,3830,2549,2553,2546,0,0,0,0,0,0,26.10,26.14,26.22
$GC,2669,0.52,199.0,3203,3831,2551,2547,82.3,9.9,391,2676,0.00,2.05,1.42,0.364,9382,0.000,0.034,3202,2494,2534,2536,2532,0,0,0,0,0,0,26.36,26.33,25.89
$GC,2980,0.52,199.0,3202,2493,2540,2533,49.4,11.6,423,2988,0.00,2.17,0.00,0.000,260,0.000,0.057,3202,3825,2535,2539,2532,0,0,0,0,0,0,26.74,26.41,26.74
$GC,3001,0.52,199.0,3201,3825,2540,2533,46.6,13.2,427,3009,0.00,1.98,0.00,0.000,1030,0.000,0.034,3202,2497,2535,2538,2532,0,0,0,0,0,0,26.55,26.49,26.56
$GC,3188,0.57,223.1,3203,2497,2538,2532,28.5,9.2,464,3208,0.00,2.17,9.73,0.594,8612,0.000,0.058,3202,3825,2435,2442,2429,0,0,0,0,0,0,26.82,26.33,25.79
$GC,3272,0.57,223.1,3202,3826,2442,2430,20.1,10.1,480,3280,0.00,1.98,0.00,0.000,1030,0.000,0.034,3202,2496,2435,2442,2429,0,0,0,0,0,0,26.53,26.46,26.54
$GC,3459,0.66,272.1,3202,2497,2442,2430,3.8,8.3,517,3485,0.00,2.12,18.83,0.158,8612,0.000,0.056,3202,3829,2234,2236,2232,0,0,0,0,0,0,26.79,26.39,26.27
$STATE,3488,end climb,SURFACE_DEPTH_REACHED
$STATE,3488,begin surface coast
$FINISH,0.9,1.006511
$STATE,3503,end surface coast,CONTROL_FINISHED_OK
$STATE,3503,begin surface
$SM_CCo,3526,165.15,0.151,0,0,538,688.80
$SM_GC,1.72,7.90,2.03,165.15,0.041,0.033,0.151,175,2504,538,-8.80,1.92,688.80,0,0,0,0,0,0,26.47,26.48,25.89
$IRIDIUM_FIX,4726.11,-12219.67,140217,193038
$TT8_MAMPS,0.053928,0.300349
$HUMID,34.80
$INTERNAL_PRESSURE,9.08431
$TCM_TEMP,16.80
$XPDR_PINGS,0
$SC_FREEKB,7901568
$PM_FREEKB,62288000
$24V_AH,24.03,0.543
$10V_AH,10.21,0.649
$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,20.200,41.675,261.775,165.150,0.000,0.000,0.000,0.000,0.000,0.000,13.992,0.000,2097.363,547.901,1092.909,18.388,0.000,1028.054,0.000,757.848,0.000,0.543,0.000
$DEVICE_MAMPS,253.980,1312.740,1064.115,150.705,0.000,0.000,0.000,0.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3490.000,3504.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.405,12.380,0.000,0.000
$MEM,193512
$DATA_FILE_SIZE,16794,525
$CAP_FILE_SIZE,72978,0
$CFSIZE,1024409600,1021804544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.198,357.68,1
$GPS,140217,203903,4744.729,-12224.736,8,0.9,30,18.2,0.1,347.6,9,4.6