version: 66.11
glider: 202
mission: 1
dive: 9
start: 7 17 113 18 0 34
data:
$ID,202
$MISSION,1
$DIVE,9
$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,-866.7973
$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,47
$R_STBD_OVSHOOT,32
$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
$GPS1,180713,010335,4744.364,-12224.355,37,1.4,38,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-67.9
$GPS2,180713,010812,4744.416,-12224.318,5,1.4,5,16.3
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.215,-0.109
$KALMAN_X,-552.7,-122.3,416.7,720.5,-54.4
$KALMAN_Y,-1812.4,-864.7,87.8,4714.4,131.3
$MHEAD_RNG_PITCHd_Wd,100.6,1094,-14.0,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.90,-146.6,0.0,0.0,0,50,0.00,0.00,-34.28,0.000,2,0.000,0.000,198,2327,2807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,52,-0.90,-146.6,3.1,-6.5,6,89,9.52,2.28,-20.80,0.000,4,0.237,0.068,2620,3718,3638,0,0,0,0,0,0,26.39,26.63,26.98
$GC,94,-0.90,-146.6,7.1,-8.8,13,101,0.00,2.12,0.00,0.000,6,0.000,0.037,2620,2317,3638,0,0,0,0,0,0,28.83,26.70,28.83
$GC,162,-0.90,-146.6,18.0,-16.0,26,169,0.00,2.22,0.00,0.000,4,0.000,0.056,2611,3721,3638,0,0,0,0,0,0,28.83,26.67,28.83
$GC,395,-0.90,-146.6,46.9,-11.6,72,402,0.00,2.15,0.00,0.000,6,0.000,0.035,2611,2302,3637,0,0,0,0,0,0,28.83,26.86,28.83
$GC,523,-0.90,-146.6,60.9,-9.4,97,530,0.00,2.22,0.00,0.000,4,0.000,0.054,2602,3719,3637,0,0,0,0,0,0,28.83,26.83,28.83
$GC,586,-0.90,-146.6,68.2,-12.2,109,593,0.12,2.12,0.00,0.000,6,0.175,0.036,2633,2302,3638,0,0,0,0,0,0,26.73,26.91,28.83
$GC,715,-0.90,-146.6,82.5,-11.2,134,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2302,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,842,-0.90,-146.6,95.4,-10.3,159,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2301,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,969,-0.90,-146.6,107.5,-9.0,184,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2302,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1101,-0.90,-146.6,120.6,-9.9,209,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2302,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1228,-0.90,-146.6,133.5,-9.6,234,1235,0.00,2.20,0.00,0.000,4,0.000,0.054,2625,3713,3637,0,0,0,0,0,0,28.83,26.98,28.83
$GC,1256,-0.90,-146.6,136.1,-9.8,239,1263,0.00,2.10,0.00,0.000,6,0.000,0.037,2625,2306,3638,0,0,0,0,0,0,28.83,27.05,28.83
$GC,1384,-0.90,-146.6,148.5,-9.2,264,1391,0.00,2.10,0.00,0.000,4,0.000,0.042,2625,909,3638,0,0,0,0,0,0,28.83,27.03,28.83
$GC,1442,-0.90,-146.6,154.2,-9.9,275,1448,0.00,2.12,0.00,0.000,6,0.000,0.041,2619,2310,3637,0,0,0,0,0,0,28.83,27.03,28.83
$GC,1569,-0.90,-146.6,166.8,-9.1,300,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2310,3638,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1650,begin apogee
$GC,1653,-0.26,0.0,175.3,-10.7,316,1775,0.68,0.00,108.97,0.911,6,0.139,0.000,2837,2310,3043,0,0,0,0,1,0,26.90,28.83,24.70
$STATE,1776,end apogee,CONTROL_FINISHED_OK
$STATE,1776,begin climb
$GC,1777,0.90,146.6,179.2,0.0,338,1899,1.12,0.00,113.95,0.419,6,0.096,0.000,3212,2310,2432,0,0,0,0,0,0,25.46,28.83,25.22
$GC,2020,0.90,146.6,161.8,10.3,384,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2310,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2147,0.90,146.6,150.0,9.3,409,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2310,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2274,0.90,146.6,138.9,8.7,434,2281,0.00,2.17,0.00,0.000,4,0.000,0.044,3212,924,2427,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2342,0.90,146.6,133.0,8.8,447,2348,0.00,2.17,0.00,0.000,6,0.000,0.040,3212,2334,2427,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2469,0.90,146.6,121.3,9.5,472,2476,0.00,2.22,0.00,0.000,4,0.000,0.054,3212,3742,2427,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2517,0.90,146.6,116.2,11.0,481,2524,0.00,2.15,0.00,0.000,6,0.000,0.036,3213,2331,2427,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2645,0.90,146.6,103.3,10.4,506,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2330,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2772,0.90,146.6,89.3,11.9,531,2779,0.00,2.20,0.00,0.000,4,0.000,0.053,3213,3736,2427,0,0,0,0,0,0,28.83,26.80,28.83
$GC,2890,0.90,146.6,75.5,11.9,554,2896,0.00,2.10,0.00,0.000,6,0.000,0.034,3213,2330,2427,0,0,0,0,0,0,28.83,26.90,28.83
$GC,3017,0.90,146.6,63.6,8.9,579,3024,0.00,2.12,0.00,0.000,4,0.000,0.043,3214,925,2427,0,0,0,0,0,0,28.83,26.91,28.83
$GC,3085,0.90,146.6,57.3,9.5,592,3092,0.00,2.15,0.00,0.000,6,0.000,0.038,3214,2343,2427,0,0,0,0,0,0,28.83,26.94,28.83
$GC,3213,0.92,165.4,47.1,7.3,617,3231,0.00,0.00,14.48,0.374,6,0.000,0.000,3213,2343,2358,0,0,0,0,0,0,28.83,28.83,26.46
$GC,3353,0.92,167.1,36.1,7.9,644,3360,0.00,2.15,0.00,0.000,4,0.000,0.053,3213,3733,2350,0,0,0,0,0,0,28.83,26.85,28.83
$GC,3401,0.92,167.1,31.7,9.3,653,3408,0.00,2.10,0.00,0.000,6,0.000,0.034,3214,2326,2350,0,0,0,0,0,0,28.83,26.93,28.83
$GC,3469,0.92,167.1,25.5,9.5,666,3475,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2326,2349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3536,0.92,167.1,19.5,8.9,679,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2326,2349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3603,0.92,167.1,13.4,8.8,692,3608,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2325,2349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3670,1.00,229.3,9.4,5.7,705,3699,0.10,0.00,22.27,0.156,6,0.119,0.000,3262,2326,2104,0,0,0,0,0,0,26.98,28.83,26.73
$GC,3760,1.01,235.4,2.4,7.8,722,3767,0.00,0.00,3.17,0.164,6,0.000,0.000,3262,2325,2074,0,0,0,0,0,0,28.83,28.83,26.75
$STATE,3771,end climb,SURFACE_DEPTH_REACHED
$STATE,3772,begin surface coast
$FINISH,0.7,1.004388
$STATE,3798,end surface coast,CONTROL_FINISHED_OK
$STATE,3799,begin surface
$SM_CCo,3812,24.30,0.146,0,0,1814,300.00
$SM_GC,2.81,8.15,0.00,24.30,0.056,0.000,0.146,201,2326,1814,-8.44,0.42,300.00,0,0,0,0,0,0,26.90,28.83,26.67
$IRIDIUM_FIX,4726.11,-12223.37,170713,232305
$TT8_MAMPS,0.028462,0.028462
$HUMID,56.14
$INTERNAL_PRESSURE,8.84993
$TCM_TEMP,18.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.4,75.8
$24V_AH,24.7,0.518
$10V_AH,10.6,1.358
$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,19.700,43.200,262.850,24.300,0.000,25.473,31.819,152.403,1.000,0.000,8.255,1579.272,821.638,404.613,1289.331,38.650,33.205,1002.383,0.000,1048.901,0.000,10.151,0.000
$DEVICE_MAMPS,237.150,68.085,911.115,146.115,0.000,11.480,160.000,223.000,420.000,0.000,26.960,19.210,2.190,19.210,45.420,62.650,70.890,13.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,486.792,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23441,729
$CAP_FILE_SIZE,73519,0
$CFSIZE,1024393216,1021837312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,180713,021344,4743.999,-12223.871,3,1.8,3,16.3