version: 66.11
glider: 202
mission: 1
dive: 3
start: 7 17 113 10 59 3
data:
$ID,202
$MISSION,1
$DIVE,3
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,75
$T_MISSION,80
$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,-640.10797
$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,42
$R_STBD_OVSHOOT,42
$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
$GPS1,170713,180325,4743.406,-12225.106,3,0.9,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-64.6
$GPS2,170713,180642,4743.422,-12225.093,4,0.9,4,16.3
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.112,0.213
$KALMAN_X,-139.3,-171.5,-147.8,-46.1,-242.7
$KALMAN_Y,-200.7,-232.3,-209.2,938.9,-314.5
$MHEAD_RNG_PITCHd_Wd,11.5,957,-14.0,-8.000
$D_GRID,179
$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,-0.90,-146.6,0.0,0.0,0,62,0.00,0.00,-45.53,0.000,2,0.000,0.000,196,2316,3135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.90,-146.6,3.1,-6.1,8,95,9.02,2.20,-11.35,0.000,4,0.220,0.068,2623,3697,3639,0,0,0,0,0,0,26.66,26.89,27.26
$GC,320,-0.90,-146.6,34.1,-10.7,58,327,0.00,2.08,0.00,0.000,6,0.000,0.035,2623,2305,3638,0,0,0,0,0,0,28.83,27.05,28.83
$GC,389,-0.90,-146.6,40.6,-9.6,71,395,0.00,2.17,0.00,0.000,4,0.000,0.053,2615,3705,3638,0,0,0,0,0,0,28.83,26.98,28.83
$GC,596,-0.90,-146.6,63.8,-10.0,112,603,0.00,2.08,0.00,0.000,6,0.000,0.035,2615,2311,3639,0,0,0,0,0,0,28.83,27.10,28.83
$GC,724,-0.90,-146.6,77.6,-11.3,137,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2311,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,854,-0.90,-146.6,90.1,-9.6,162,860,0.00,2.10,0.00,0.000,4,0.000,0.042,2615,911,3638,0,0,0,0,0,0,28.83,27.10,28.83
$GC,913,-0.90,-146.6,96.8,-11.1,173,919,0.00,2.10,0.00,0.000,6,0.000,0.039,2608,2307,3639,0,0,0,0,0,0,28.83,27.10,28.83
$GC,1041,-0.90,-146.6,110.8,-11.3,198,1048,0.00,2.12,0.00,0.000,4,0.000,0.043,2608,901,3638,0,0,0,0,0,0,28.83,27.11,28.83
$GC,1107,-0.90,-146.6,118.9,-14.0,210,1115,0.12,2.15,0.00,0.000,6,0.180,0.039,2632,2320,3638,0,0,0,0,0,0,26.94,27.11,28.83
$GC,1237,-0.90,-146.6,132.1,-6.5,235,1244,0.00,2.12,0.00,0.000,4,0.000,0.042,2632,913,3638,0,0,0,0,0,0,28.83,27.13,28.83
$GC,1286,-0.90,-146.6,135.3,-6.9,244,1292,0.00,2.10,0.00,0.000,6,0.000,0.040,2628,2309,3638,0,0,0,0,0,0,28.83,27.13,28.83
$GC,1414,-0.90,-146.6,149.7,-12.3,269,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2309,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1540,-0.90,-146.6,163.9,-11.0,294,1547,0.00,2.12,0.00,0.000,4,0.000,0.042,2628,900,3638,0,0,0,0,0,0,28.83,27.15,28.83
$GC,1592,-0.90,-146.6,169.7,-11.3,304,1599,0.00,2.12,0.00,0.000,6,0.000,0.038,2621,2311,3638,0,0,0,0,0,0,28.83,27.16,28.83
$STATE,1679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1679,begin apogee
$GC,1682,-0.26,0.0,179.4,-10.6,321,1848,0.65,0.00,158.48,0.421,6,0.129,0.000,2836,2311,3036,0,0,0,0,0,0,26.99,28.83,25.68
$STATE,1849,end apogee,CONTROL_FINISHED_OK
$STATE,1849,begin climb
$GC,1850,0.90,146.6,185.1,0.0,351,1967,1.08,0.00,108.50,0.444,6,0.092,0.000,3207,2311,2433,0,0,0,0,0,0,26.06,28.83,25.44
$GC,2088,0.90,146.6,168.4,9.2,396,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2310,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2215,0.90,146.6,156.2,10.3,421,2221,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2311,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2342,0.90,146.6,144.5,8.4,446,2349,0.00,2.15,0.00,0.000,4,0.000,0.044,3208,923,2428,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2505,0.90,146.6,128.6,10.6,478,2512,0.00,2.15,0.00,0.000,6,0.000,0.037,3208,2344,2428,0,0,0,0,0,0,28.83,26.86,28.83
$GC,2633,0.90,146.6,116.1,10.9,503,2640,0.00,2.17,0.00,0.000,4,0.000,0.043,3208,929,2427,0,0,0,0,0,0,28.83,26.90,28.83
$GC,2816,0.90,146.6,97.3,8.4,539,2823,0.00,2.10,0.00,0.000,6,0.000,0.036,3208,2329,2428,0,0,0,0,0,0,28.83,26.97,28.83
$GC,2944,0.90,146.6,85.7,9.9,564,2950,0.00,2.17,0.00,0.000,4,0.000,0.053,3208,3741,2428,0,0,0,0,0,0,28.83,26.95,28.83
$GC,3017,0.90,146.6,78.1,10.7,578,3023,0.00,2.10,0.00,0.000,6,0.000,0.034,3208,2328,2428,0,0,0,0,0,0,28.83,27.04,28.83
$GC,3144,0.90,146.6,66.2,8.1,603,3151,0.00,2.12,0.00,0.000,4,0.000,0.044,3208,924,2427,0,0,0,0,0,0,28.83,27.03,28.83
$GC,3187,0.90,146.6,62.3,8.7,611,3194,0.00,2.12,0.00,0.000,6,0.000,0.038,3208,2333,2428,0,0,0,0,0,0,28.83,27.05,28.83
$GC,3316,0.93,173.2,53.1,7.0,636,3345,0.00,2.22,19.85,0.397,4,0.000,0.053,3208,3731,2322,0,0,0,0,0,0,28.83,26.84,26.45
$GC,3396,0.93,173.2,46.4,9.3,651,3403,0.00,2.10,0.00,0.000,6,0.000,0.034,3208,2330,2319,0,0,0,0,0,0,28.83,26.95,28.83
$GC,3525,0.95,191.5,36.5,7.3,676,3543,0.00,2.20,13.27,0.403,4,0.000,0.043,3208,930,2250,0,0,0,0,0,0,28.83,26.84,26.41
$GC,3594,0.95,191.5,29.9,10.1,689,3601,0.00,2.12,0.00,0.000,6,0.000,0.038,3208,2330,2246,0,0,0,0,0,0,28.83,26.89,28.83
$GC,3662,0.95,191.5,23.4,9.0,702,3669,0.00,2.17,0.00,0.000,4,0.000,0.054,3208,3733,2245,0,0,0,0,0,0,28.83,26.87,28.83
$GC,3720,0.95,191.5,16.9,12.0,713,3727,0.00,2.10,0.00,0.000,6,0.000,0.035,3208,2328,2245,0,0,0,0,0,0,28.83,26.96,28.83
$GC,3789,0.95,191.5,10.4,8.4,726,3795,0.00,2.12,0.00,0.000,4,0.000,0.044,3208,924,2245,0,0,0,0,0,0,28.83,26.95,28.83
$GC,3947,1.10,309.5,2.7,3.6,757,3967,0.20,2.12,13.85,0.146,2,0.082,0.037,3294,2337,2083,0,0,0,0,0,0,26.99,26.99,28.83
$STATE,3968,end climb,SURFACE_DEPTH_REACHED
$STATE,3968,begin surface coast
$FINISH,0.7,1.020415
$STATE,3984,end surface coast,CONTROL_FINISHED_OK
$STATE,3984,begin surface
$SM_CCo,3997,24.73,0.148,0,0,1815,300.00
$SM_GC,3.77,8.25,0.00,24.73,0.057,0.000,0.148,199,2337,1815,-8.45,0.76,300.00,0,0,0,0,0,0,26.94,28.83,26.69
$IRIDIUM_FIX,4726.11,-12225.08,170713,171721
$TT8_MAMPS,0.029211,0.029211
$HUMID,57.91
$INTERNAL_PRESSURE,8.89876
$TCM_TEMP,18.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.4,13.3
$24V_AH,25.4,0.268
$10V_AH,10.6,1.129
$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,19.325,59.750,313.950,24.725,0.000,0.000,0.000,0.000,2.500,0.000,8.333,1633.685,859.978,439.805,1122.390,32.404,31.302,1060.422,0.000,1095.598,0.000,20.628,0.000
$DEVICE_MAMPS,219.555,68.085,444.465,147.645,0.000,0.000,0.000,0.000,420.000,0.000,26.960,19.210,2.190,19.210,45.420,62.650,70.890,13.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,508.790,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323452
$DATA_FILE_SIZE,23364,763
$CAP_FILE_SIZE,84701,0
$CFSIZE,1024393216,1022214144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170713,191520,4743.449,-12224.937,5,1.8,6,16.3