version: 66.11
glider: 202
mission: 1
dive: 6
start: 7 17 113 14 31 54
data:
$ID,202
$MISSION,1
$DIVE,6
$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,-772.65436
$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,33
$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
$GPS1,170713,213501,4743.785,-12224.632,36,1.2,36,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-67.2
$GPS2,170713,213932,4743.818,-12224.568,4,0.9,4,16.3
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.092,0.127
$KALMAN_X,-223.4,-358.2,-103.8,823.0,115.3
$KALMAN_Y,-1545.2,-822.1,-99.6,3492.5,-400.5
$MHEAD_RNG_PITCHd_Wd,307.7,326,-23.7,-8.000
$D_GRID,174
$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,-1.29,-57.4,0.0,0.0,0,57,0.00,0.00,-40.30,0.000,2,0.000,0.000,195,2334,2984,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-1.31,-74.0,3.1,-6.4,7,84,8.93,2.20,-8.93,0.000,4,0.233,0.055,2501,912,3340,0,0,0,0,0,0,26.38,26.65,26.98
$GC,310,-1.31,-74.0,38.5,-14.3,56,317,0.00,2.15,0.00,0.000,6,0.000,0.038,2493,2310,3340,0,0,0,0,0,0,28.83,26.80,28.83
$GC,378,-1.31,-74.0,47.5,-13.0,69,385,0.00,2.12,0.00,0.000,4,0.000,0.042,2493,910,3340,0,0,0,0,0,0,28.83,26.82,28.83
$GC,611,-1.31,-74.0,78.6,-13.9,115,617,0.00,2.12,0.00,0.000,6,0.000,0.038,2485,2310,3340,0,0,0,0,0,0,28.83,26.91,28.83
$GC,739,-1.31,-74.0,95.7,-14.2,140,746,0.00,2.12,0.00,0.000,4,0.000,0.041,2485,905,3340,0,0,0,0,0,0,28.83,26.94,28.83
$GC,977,-1.31,-74.0,127.7,-14.2,186,983,0.00,2.15,0.00,0.000,6,0.000,0.038,2475,2312,3340,0,0,0,0,0,0,28.83,26.99,28.83
$GC,1105,-1.31,-74.0,143.2,-11.0,211,1111,0.00,2.12,0.00,0.000,4,0.000,0.041,2476,908,3340,0,0,0,0,0,0,28.83,27.01,28.83
$GC,1143,-1.31,-74.0,147.4,-10.7,218,1150,0.12,2.12,0.00,0.000,6,0.207,0.041,2502,2309,3340,0,0,0,0,0,0,26.80,27.01,28.83
$GC,1271,-1.31,-74.0,161.9,-10.8,243,1278,0.00,2.15,0.00,0.000,4,0.000,0.041,2503,905,3340,0,0,0,0,0,0,28.83,27.03,28.83
$GC,1324,-1.31,-74.0,168.1,-12.2,253,1331,0.00,2.15,0.00,0.000,6,0.000,0.041,2495,2319,3340,0,0,0,0,0,0,28.83,27.03,28.83
$STATE,1381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1381,begin apogee
$GC,1384,-0.26,0.0,174.1,-9.6,264,1473,1.08,0.00,75.40,0.467,6,0.153,0.000,2831,2318,3047,0,0,0,0,1,0,26.84,28.83,25.48
$STATE,1474,end apogee,CONTROL_FINISHED_OK
$STATE,1474,begin climb
$GC,1475,1.31,74.0,177.0,0.0,280,1542,1.48,0.00,60.62,0.455,6,0.099,0.000,3336,2318,2729,0,0,0,0,0,0,26.25,28.83,25.52
$GC,1664,1.31,74.0,157.5,12.5,316,1670,0.00,2.25,0.00,0.000,4,0.000,0.050,3336,3736,2723,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1772,1.31,74.0,144.7,11.1,337,1778,0.00,2.15,0.00,0.000,6,0.000,0.034,3338,2329,2723,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1899,1.31,74.0,131.1,9.7,362,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2327,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2026,1.31,74.0,119.2,9.8,387,2033,0.00,2.22,0.00,0.000,4,0.000,0.050,3338,3747,2723,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2165,1.31,74.0,103.2,10.7,414,2171,0.00,2.15,0.00,0.000,6,0.000,0.033,3338,2322,2723,0,0,0,0,0,0,28.83,26.83,28.83
$GC,2293,1.31,74.0,91.5,8.8,439,2299,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2322,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2420,1.31,74.0,81.5,9.5,464,2426,0.00,2.22,0.00,0.000,4,0.000,0.052,3338,3743,2722,0,0,0,0,0,0,28.83,26.86,28.83
$GC,2472,1.31,74.0,76.5,9.0,474,2479,0.00,2.10,0.00,0.000,6,0.000,0.034,3338,2332,2722,0,0,0,0,0,0,28.83,26.94,28.83
$GC,2601,1.33,87.6,67.0,6.7,499,2619,0.00,2.17,10.18,0.415,4,0.000,0.042,3340,936,2673,0,0,0,0,0,0,28.83,26.84,26.39
$GC,2845,1.33,87.6,47.1,10.1,547,2852,0.00,2.12,0.00,0.000,6,0.000,0.037,3340,2343,2670,0,0,0,0,0,0,28.83,26.94,28.83
$GC,2973,1.33,87.6,36.0,9.0,572,2980,0.00,2.17,0.00,0.000,4,0.000,0.042,3340,921,2670,0,0,0,0,0,0,28.83,26.96,28.83
$GC,3207,1.34,102.0,17.7,6.6,618,3220,0.00,2.12,4.28,0.186,6,0.000,0.037,3340,2338,2626,0,0,0,0,0,0,28.83,27.00,26.76
$GC,3281,1.37,121.3,12.9,6.2,632,3294,0.00,2.22,8.35,0.173,4,0.000,0.042,3340,927,2543,0,0,0,0,0,0,28.83,26.96,26.75
$GC,3522,1.48,215.8,3.5,-0.8,679,3563,0.17,2.10,34.22,0.145,6,0.086,0.037,3414,2321,2154,0,0,0,0,0,0,27.01,27.03,26.74
$STATE,3583,end climb,SURFACE_DEPTH_REACHED
$STATE,3583,begin surface coast
$FINISH,0.6,1.001791
$STATE,3625,end surface coast,CONTROL_FINISHED_OK
$STATE,3625,begin surface
$SM_CCo,3638,31.02,0.145,0,0,1814,300.00
$SM_GC,2.80,8.52,0.00,31.02,0.053,0.000,0.145,197,2321,1814,-8.46,0.31,300.00,0,0,0,0,0,0,26.93,28.83,26.65
$IRIDIUM_FIX,4726.11,-12227.78,170713,202046
$TT8_MAMPS,0.029211,0.029211
$HUMID,57.48
$INTERNAL_PRESSURE,8.86946
$TCM_TEMP,18.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.8,74.8
$24V_AH,25.5,0.383
$10V_AH,10.6,1.243
$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,20.300,47.450,193.050,31.025,0.000,23.128,33.070,147.283,1.000,0.000,8.335,1543.563,818.755,325.492,1236.653,35.871,33.230,872.101,0.000,1006.356,0.000,10.146,0.000
$DEVICE_MAMPS,232.560,55.080,466.650,145.350,0.000,11.480,160.000,223.000,420.000,0.000,26.960,19.210,2.190,19.210,45.420,62.650,70.890,13.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,467.914,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323444
$DATA_FILE_SIZE,23383,698
$CAP_FILE_SIZE,66601,0
$CFSIZE,1024393216,1022033920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,170713,224217,4743.973,-12224.786,3,1.3,3,16.3