version: 66.11
glider: 202
mission: 1
dive: 2
start: 7 17 113 9 49 47
data:
$ID,202
$MISSION,1
$DIVE,2
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,20
$T_BOOST,3
$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,70
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-569.64014
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3892
$C_PITCH,2925
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19.5
$PITCH_TIMEOUT,17
$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,2310
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$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,3039
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.508095
$PRESSURE_SLOPE,0.0001168043
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.5
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$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,0.0043948898
$SEABIRD_T_H,0.000640176
$SEABIRD_T_I,2.7039805e-05
$SEABIRD_T_J,3.3535807e-06
$SEABIRD_C_G,-9.7607336
$SEABIRD_C_H,1.1271561
$SEABIRD_C_I,-0.0014806761
$SEABIRD_C_J,0.00019408599
$GPS1,170713,164554,4743.221,-12224.804,3,0.9,4,16.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-56.1
$GPS2,170713,165727,4743.257,-12224.752,5,0.9,5,16.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.005,0.260
$KALMAN_X,-14.2,-14.2,-14.2,-43.3,-45.6
$KALMAN_Y,-60.2,-60.2,-60.2,172.1,-193.2
$MHEAD_RNG_PITCHd_Wd,344.8,1192,-17.5,-10.000
$D_GRID,176
$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,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.08,-146.6,0.0,0.0,0,123,0.00,0.00,-105.30,0.000,2,0.000,0.000,193,2314,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-1.08,-146.6,3.0,-3.7,19,144,8.95,2.25,-3.85,0.000,4,0.225,0.058,2575,886,3639,0,0,0,0,0,0,26.70,26.97,27.29
$GC,371,-1.08,-146.6,40.1,-14.8,67,377,0.00,2.15,0.00,0.000,6,0.000,0.039,2569,2308,3639,0,0,0,0,0,0,28.83,27.05,28.83
$GC,499,-1.08,-146.6,58.8,-13.7,92,505,0.00,2.15,0.00,0.000,4,0.000,0.042,2569,885,3638,0,0,0,0,0,0,28.83,27.07,28.83
$GC,732,-1.08,-146.6,89.0,-13.4,138,738,0.00,2.15,0.00,0.000,6,0.000,0.039,2562,2314,3638,0,0,0,0,0,0,28.83,27.12,28.83
$GC,864,-1.08,-146.6,105.8,-11.8,163,871,0.00,2.15,0.00,0.000,4,0.000,0.043,2562,895,3638,0,0,0,0,0,0,28.83,27.12,28.83
$GC,944,-1.08,-146.6,116.6,-13.3,178,950,0.00,2.15,0.00,0.000,6,0.000,0.040,2556,2314,3638,0,0,0,0,0,0,28.83,27.13,28.83
$GC,1080,-1.08,-146.6,136.2,-15.1,203,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2314,3638,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1180,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1181,begin apogee
$GC,1183,-0.26,0.0,150.7,-12.9,223,1349,0.85,0.00,158.10,0.402,6,0.137,0.000,2834,2313,3036,0,0,0,0,0,0,26.95,28.83,25.79
$STATE,1350,end apogee,CONTROL_FINISHED_OK
$STATE,1350,begin climb
$GC,1352,1.08,146.6,155.4,0.0,253,1468,1.25,0.00,107.68,0.419,6,0.091,0.000,3268,2314,2433,0,0,0,0,0,0,26.16,28.83,25.60
$GC,1589,1.08,146.6,133.5,12.9,298,1596,0.00,2.25,0.00,0.000,4,0.000,0.052,3269,3742,2429,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1642,1.08,146.6,126.5,13.5,308,1649,0.00,2.17,0.00,0.000,6,0.000,0.036,3268,2305,2429,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1771,1.08,146.6,111.0,11.6,333,1776,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2305,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1898,1.08,146.6,96.0,12.4,358,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2305,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2025,1.08,146.6,80.6,12.3,383,2031,0.00,2.10,0.00,0.000,4,0.000,0.044,3270,922,2428,0,0,0,0,0,0,28.83,26.93,28.83
$GC,2108,1.08,146.6,70.7,12.7,399,2115,0.00,2.15,0.00,0.000,6,0.000,0.037,3270,2340,2428,0,0,0,0,0,0,28.83,26.97,28.83
$GC,2236,1.08,146.6,54.5,12.7,424,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,2340,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2364,1.08,151.3,42.2,9.8,449,2371,0.00,2.15,0.00,0.000,4,0.000,0.043,3270,923,2428,0,0,0,0,0,0,28.83,27.03,28.83
$GC,2442,1.08,151.3,34.0,10.3,464,2449,0.00,2.12,0.00,0.000,6,0.000,0.037,3270,2339,2427,0,0,0,0,0,0,28.83,27.05,28.83
$GC,2510,1.08,151.3,26.3,12.0,477,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,2339,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2577,1.08,151.3,18.7,11.8,490,2583,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,2339,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2644,1.08,151.3,11.7,10.2,503,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,2339,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2711,1.08,151.3,4.7,10.5,516,2718,0.00,2.15,0.00,0.000,4,0.000,0.043,3270,920,2427,0,0,0,0,0,0,28.83,27.09,28.83
$STATE,2793,end climb,SURFACE_DEPTH_REACHED
$STATE,2793,begin surface coast
$FINISH,0.7,1.020399
$STATE,2835,end surface coast,CONTROL_FINISHED_OK
$STATE,2835,begin surface
$SM_CCo,2851,54.20,0.144,0,0,1812,300.00
$SM_GC,1.20,8.05,2.15,54.20,0.052,0.037,0.144,197,2316,1812,-8.45,-1.13,300.00,0,0,0,0,0,0,27.09,27.12,26.77
$IRIDIUM_FIX,4726.11,-12227.78,170713,161655
$TT8_MAMPS,0.028462,0.028462
$HUMID,56.10
$INTERNAL_PRESSURE,8.91829
$TCM_TEMP,18.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.3,8.5
$24V_AH,25.6,0.211
$10V_AH,10.6,1.083
$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,19.100,30.250,265.775,54.200,0.000,0.000,0.000,0.000,3.250,0.000,9.540,1134.405,580.115,429.500,804.559,23.788,30.072,887.356,0.000,779.742,0.000,26.315,0.000
$DEVICE_MAMPS,224.910,58.140,419.220,143.820,0.000,0.000,0.000,0.000,420.000,0.000,26.960,19.210,2.190,19.210,45.420,62.650,70.890,13.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,357.639,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323460
$DATA_FILE_SIZE,16779,540
$CAP_FILE_SIZE,61397,0
$CFSIZE,1024393216,1022312448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170713,174759,4743.328,-12225.180,37,0.9,38,16.3