version: 66.11
glider: 202
mission: 1
dive: 7
start: 7 17 113 15 39 35
data:
$ID,202
$MISSION,1
$DIVE,7
$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,-790.27802
$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,45
$R_STBD_OVSHOOT,31
$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
$GPS1,170713,224217,4743.973,-12224.786,3,1.3,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-67.3
$GPS2,170713,224713,4744.003,-12224.726,4,1.3,4,16.3
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.137,0.022
$KALMAN_X,-147.2,-385.0,48.7,427.4,210.5
$KALMAN_Y,-1801.3,-872.4,-13.9,4052.4,-237.5
$MHEAD_RNG_PITCHd_Wd,262.9,213,-26.9,-8.000
$D_GRID,175
$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,14,-1.44,-45.2,0.0,0.0,0,52,0.00,0.00,-34.95,0.000,2,0.000,0.000,196,2323,2825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,53,-1.45,-58.4,3.1,-6.4,6,84,8.77,2.25,-11.70,0.000,4,0.234,0.055,2451,904,3280,0,0,0,0,0,0,26.37,26.64,26.95
$GC,105,-1.45,-58.4,9.1,-13.8,15,111,0.00,2.20,0.00,0.000,6,0.000,0.040,2443,2317,3279,0,0,0,0,0,0,28.83,26.65,28.83
$GC,172,-1.45,-58.4,19.3,-15.2,28,178,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2317,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,239,-1.45,-58.4,29.2,-13.8,41,246,0.00,2.17,0.00,0.000,4,0.000,0.041,2443,900,3279,0,0,0,0,0,0,28.83,26.74,28.83
$GC,421,-1.45,-58.4,57.2,-14.1,77,428,0.00,2.17,0.00,0.000,6,0.000,0.039,2433,2312,3280,0,0,0,0,0,0,28.83,26.82,28.83
$GC,549,-1.45,-58.4,75.7,-11.8,102,556,0.00,2.15,0.00,0.000,4,0.000,0.041,2433,903,3280,0,0,0,0,0,0,28.83,26.86,28.83
$GC,781,-1.45,-58.4,106.0,-14.0,148,789,0.12,2.17,0.00,0.000,6,0.207,0.038,2452,2324,3279,0,0,0,0,0,0,26.72,26.94,28.83
$GC,910,-1.45,-58.4,123.3,-13.9,173,916,0.00,2.15,0.00,0.000,4,0.000,0.041,2453,909,3279,0,0,0,0,0,0,28.83,26.96,28.83
$GC,1144,-1.45,-58.4,155.0,-13.0,219,1151,0.00,2.15,0.00,0.000,6,0.000,0.038,2444,2318,3279,0,0,0,0,0,0,28.83,27.01,28.83
$GC,1272,-1.45,-58.4,171.1,-12.6,244,1278,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2318,3280,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1304,begin apogee
$GC,1307,-0.26,0.0,175.1,-12.6,250,1358,1.25,0.00,46.08,0.479,6,0.157,0.000,2833,2319,3035,0,0,0,0,0,0,26.83,28.83,26.08
$STATE,1359,end apogee,CONTROL_FINISHED_OK
$STATE,1360,begin climb
$GC,1361,1.45,58.4,177.5,0.0,259,1411,1.58,0.00,43.38,0.459,6,0.101,0.000,3393,2319,2793,0,0,0,0,0,0,26.46,28.83,25.74
$GC,1533,1.45,58.4,164.2,9.7,292,1539,0.00,2.22,0.00,0.000,4,0.000,0.050,3392,3739,2788,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1550,1.45,58.4,162.3,10.1,295,1557,0.00,2.15,0.00,0.000,6,0.000,0.033,3394,2328,2788,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1678,1.45,58.4,147.4,11.2,320,1685,0.00,2.22,0.00,0.000,4,0.000,0.051,3394,3733,2788,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1912,1.45,58.4,124.3,10.3,366,1919,0.00,2.12,0.00,0.000,6,0.000,0.033,3394,2325,2787,0,0,0,0,0,0,28.83,26.80,28.83
$GC,2041,1.45,58.4,112.1,10.1,391,2047,0.00,2.20,0.00,0.000,4,0.000,0.050,3394,3737,2787,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2203,1.45,58.4,94.7,10.0,423,2210,0.00,2.10,0.00,0.000,6,0.000,0.034,3394,2327,2787,0,0,0,0,0,0,28.83,26.91,28.83
$GC,2331,1.45,58.4,84.1,8.5,448,2338,0.00,2.12,0.00,0.000,4,0.000,0.042,3394,922,2787,0,0,0,0,0,0,28.83,26.91,28.83
$GC,2565,1.45,58.4,64.7,8.2,494,2572,0.00,2.12,0.00,0.000,6,0.000,0.037,3394,2326,2787,0,0,0,0,0,0,28.83,26.98,28.83
$GC,2694,1.47,77.2,56.4,5.8,519,2713,0.00,2.22,13.57,0.412,4,0.000,0.041,3394,921,2717,0,0,0,0,0,0,28.83,26.86,26.41
$GC,2939,1.50,94.6,39.3,5.9,567,2957,0.00,2.15,12.88,0.412,6,0.000,0.037,3394,2337,2647,0,0,0,0,0,0,28.83,26.95,26.37
$GC,3019,1.50,99.6,33.9,7.4,582,3026,0.00,2.15,0.00,0.000,4,0.000,0.042,3394,927,2640,0,0,0,0,0,0,28.83,26.85,28.83
$GC,3241,1.52,114.8,13.7,6.2,626,3255,0.00,2.15,6.38,0.175,6,0.000,0.037,3394,2344,2569,0,0,0,0,0,0,28.83,26.92,26.68
$GC,3316,1.54,130.5,8.1,6.1,640,3329,0.00,2.15,6.80,0.164,4,0.000,0.050,3394,3735,2504,0,0,0,0,0,0,28.83,26.86,26.70
$STATE,3550,end climb,NO_VERTICAL_VELOCITY
$STATE,3550,begin surface
$SM_CCo,3552,188.35,0.137,0,0,498,622.82
$SM_GC,1.35,8.60,2.22,0.00,0.054,0.033,0.000,196,2318,496,-8.45,1.41,623.80,0,0,0,0,0,0,26.55,26.58,28.83
$IRIDIUM_FIX,4729.30,-12225.08,170713,212104
$TT8_MAMPS,0.028462,0.028462
$HUMID,55.74
$INTERNAL_PRESSURE,8.7718
$TCM_TEMP,18.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.8,79.8
$24V_AH,25.7,0.419
$10V_AH,10.6,1.280
$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,20.325,47.750,129.075,188.350,0.000,25.802,29.820,173.049,1.250,0.000,8.312,1547.300,909.882,426.216,1243.597,35.134,33.225,951.062,0.000,988.688,0.000,10.403,0.000
$DEVICE_MAMPS,234.090,55.080,478.890,136.935,0.000,11.480,160.000,223.000,420.000,0.000,26.960,19.210,2.190,19.210,45.420,62.650,70.890,13.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,461.143,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323492
$DATA_FILE_SIZE,20096,686
$CAP_FILE_SIZE,66147,0
$CFSIZE,1024393216,1021968384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170713,235257,4743.955,-12224.828,5,0.9,5,16.3