version: 66.11
glider: 202
mission: 1
dive: 5
start: 7 17 113 13 22 5
data:
$ID,202
$MISSION,1
$DIVE,5
$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,-722.61353
$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,44
$R_STBD_OVSHOOT,38
$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,110
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,170713,202446,4743.743,-12224.901,36,1.2,48,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-66.0
$GPS2,170713,202943,4743.787,-12224.835,6,1.2,6,16.3
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.031,0.138
$KALMAN_X,-373.1,-331.2,-153.0,666.6,-92.2
$KALMAN_Y,-1033.2,-721.0,-173.0,2894.6,-400.4
$MHEAD_RNG_PITCHd_Wd,356.3,214,-26.3,-8.000
$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,-1.41,-47.2,0.0,0.0,0,57,0.00,0.00,-40.25,0.000,2,0.000,0.000,197,2322,2993,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-1.42,-58.6,3.2,-6.7,7,84,8.77,2.22,-6.68,0.000,4,0.233,0.057,2465,913,3279,0,0,0,0,0,0,26.43,26.68,27.00
$GC,309,-1.42,-58.6,39.0,-11.2,56,316,0.00,2.12,0.00,0.000,6,0.000,0.039,2458,2309,3279,0,0,0,0,0,0,28.83,26.84,28.83
$GC,378,-1.42,-58.6,46.7,-12.0,69,384,0.00,2.15,0.00,0.000,4,0.000,0.041,2458,902,3279,0,0,0,0,0,0,28.83,26.85,28.83
$GC,610,-1.42,-58.6,76.6,-12.1,115,617,0.00,2.15,0.00,0.000,6,0.000,0.038,2448,2321,3279,0,0,0,0,0,0,28.83,26.93,28.83
$GC,738,-1.42,-58.6,92.2,-12.4,140,745,0.00,2.15,0.00,0.000,4,0.000,0.041,2448,907,3280,0,0,0,0,0,0,28.83,26.96,28.83
$GC,806,-1.42,-58.6,100.7,-12.3,153,813,0.00,2.15,0.00,0.000,6,0.000,0.041,2439,2313,3280,0,0,0,0,0,0,28.83,26.98,28.83
$GC,937,-1.42,-58.6,116.7,-13.3,178,944,0.00,2.17,0.00,0.000,4,0.000,0.054,2428,3720,3279,0,0,0,0,0,0,28.83,26.96,28.83
$GC,1169,-1.42,-58.6,151.4,-15.5,224,1177,0.15,2.12,0.00,0.000,6,0.186,0.035,2466,2298,3279,0,0,0,0,0,0,26.84,27.08,28.83
$GC,1298,-1.42,-58.6,168.6,-12.2,249,1305,0.00,2.20,0.00,0.000,4,0.000,0.053,2456,3716,3280,0,0,0,0,0,0,28.83,27.01,28.83
$GC,1336,-1.42,-58.6,173.3,-12.4,256,1342,0.00,2.10,0.00,0.000,6,0.000,0.036,2456,2304,3279,0,0,0,0,0,0,28.83,27.10,28.83
$STATE,1358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1358,begin apogee
$GC,1361,-0.26,0.0,176.2,-12.7,260,1412,1.20,0.00,46.45,0.467,6,0.155,0.000,2832,2304,3035,0,0,0,0,0,0,26.85,28.83,26.10
$STATE,1413,end apogee,CONTROL_FINISHED_OK
$STATE,1413,begin climb
$GC,1414,1.42,58.6,178.5,0.0,269,1466,1.55,2.38,43.33,0.458,4,0.099,0.050,3383,3742,2791,0,0,0,0,0,0,26.50,26.21,25.79
$GC,1518,1.42,58.6,171.0,10.1,288,1524,0.00,2.15,0.00,0.000,6,0.000,0.033,3386,2329,2787,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1645,1.42,58.6,158.0,10.0,313,1652,0.00,2.15,0.00,0.000,4,0.000,0.043,3386,928,2787,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1878,1.42,58.6,134.2,8.9,359,1885,0.00,2.17,0.00,0.000,6,0.000,0.036,3387,2343,2786,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2006,1.42,58.6,121.8,10.5,384,2013,0.00,2.17,0.00,0.000,4,0.000,0.041,3386,925,2787,0,0,0,0,0,0,28.83,26.82,28.83
$GC,2239,1.42,58.6,100.6,9.2,430,2246,0.00,2.12,0.00,0.000,6,0.000,0.037,3387,2334,2786,0,0,0,0,0,0,28.83,26.90,28.83
$GC,2367,1.42,58.6,88.8,8.9,455,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,2334,2786,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2494,1.42,58.6,78.3,9.1,480,2501,0.00,2.15,0.00,0.000,4,0.000,0.051,3387,3733,2786,0,0,0,0,0,0,28.83,26.94,28.83
$GC,2537,1.42,58.6,74.8,8.0,488,2544,0.00,2.10,0.00,0.000,6,0.000,0.034,3387,2322,2786,0,0,0,0,0,0,28.83,27.01,28.83
$GC,2665,1.43,69.1,64.9,6.8,513,2672,0.00,0.00,2.72,0.372,6,0.000,0.000,3387,2322,2760,0,0,0,0,0,0,28.83,28.83,26.21
$GC,2794,1.46,91.4,56.7,5.5,538,2823,0.00,2.12,22.65,0.413,4,0.000,0.040,3387,922,2655,0,0,0,0,0,0,28.83,26.79,26.35
$GC,2844,1.46,91.6,53.1,8.0,547,2851,0.00,2.12,0.00,0.000,6,0.000,0.037,3388,2314,2652,0,0,0,0,0,0,28.83,26.82,28.83
$GC,2973,1.46,91.6,39.5,9.9,572,2979,0.00,2.12,0.00,0.000,4,0.000,0.042,3388,926,2651,0,0,0,0,0,0,28.83,26.88,28.83
$GC,3206,1.46,91.6,18.2,9.2,618,3212,0.00,2.15,0.00,0.000,6,0.000,0.036,3388,2349,2651,0,0,0,0,0,0,28.83,26.94,28.83
$GC,3274,1.46,91.6,12.4,8.2,631,3280,0.00,2.17,0.00,0.000,4,0.000,0.042,3389,926,2651,0,0,0,0,0,0,28.83,26.96,28.83
$GC,3302,1.48,105.2,10.5,6.5,636,3314,0.00,2.12,3.83,0.175,6,0.000,0.038,3388,2329,2610,0,0,0,0,0,0,28.83,26.96,26.76
$GC,3376,1.49,111.0,6.9,7.3,650,3384,0.00,2.22,3.25,0.172,4,0.000,0.042,3388,920,2584,0,0,0,0,0,0,28.83,26.96,26.77
$GC,3612,1.58,186.9,4.7,-0.6,696,3647,0.12,2.12,27.98,0.150,6,0.106,0.038,3441,2331,2274,0,0,0,0,0,0,26.98,27.01,26.74
$STATE,3703,end climb,SURFACE_DEPTH_REACHED
$STATE,3703,begin surface coast
$FINISH,0.6,1.008598
$STATE,3734,end surface coast,CONTROL_FINISHED_OK
$STATE,3734,begin surface
$SM_CCo,3748,41.72,0.145,0,0,1814,300.00
$SM_GC,1.04,8.73,0.00,41.72,0.061,0.000,0.145,196,2332,1814,-8.47,0.59,300.00,0,0,0,0,0,0,26.92,28.83,26.65
$IRIDIUM_FIX,4726.11,-12229.50,170713,191933
$TT8_MAMPS,0.028462,0.028462
$HUMID,58.19
$INTERNAL_PRESSURE,8.87923
$TCM_TEMP,18.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.6,79.0
$24V_AH,25.8,0.349
$10V_AH,10.6,1.205
$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,20.525,56.125,150.200,41.725,0.000,23.757,31.163,164.189,0.750,0.000,9.473,1612.245,855.890,308.927,1291.529,37.436,33.202,865.517,0.000,1034.846,0.000,7.426,0.000
$DEVICE_MAMPS,232.560,56.610,467.415,144.585,0.000,11.480,160.000,223.000,420.000,0.000,26.960,19.210,2.190,19.210,45.420,62.650,70.890,13.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,482.960,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323428
$DATA_FILE_SIZE,23383,719
$CAP_FILE_SIZE,70245,0
$CFSIZE,1024393216,1022099456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170713,213501,4743.785,-12224.632,36,1.2,36,16.3