version: 66.11
glider: 202
mission: 1
dive: 12
start: 7 17 113 21 29 46
data:
$ID,202
$MISSION,1
$DIVE,12
$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,60
$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,70
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$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,-1010.9107
$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,340
$C_ROLL_CLIMB,340
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,30
$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,4
$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,0
$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
$GPS1,180713,043211,4744.042,-12223.159,2,0.8,2,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-69.0
$GPS2,180713,043725,4744.017,-12223.187,5,0.8,5,16.3
$SPEED_LIMITS,0.084,0.181
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.068,0.167
$KALMAN_X,-942.6,-16.4,-61.2,2878.6,-161.2
$KALMAN_Y,-4292.9,86.1,178.5,5422.4,-439.9
$MHEAD_RNG_PITCHd_Wd,5.8,517,-26.1,-10.000
$D_GRID,128
$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,-1.42,-68.4,0.0,0.0,0,57,0.00,0.00,-40.35,0.000,2,0.000,0.000,200,355,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-1.42,-68.4,3.2,-6.8,7,78,8.98,0.00,-7.60,0.000,6,0.244,0.000,2458,356,3320,0,0,0,0,0,0,26.46,28.83,27.01
$GC,139,-1.42,-68.4,15.7,-16.2,22,145,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,355,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,206,-1.42,-68.4,26.3,-16.0,35,212,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,355,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,273,-1.42,-68.4,37.4,-16.6,48,279,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,355,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,340,-1.42,-68.4,47.9,-15.8,61,346,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,355,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,467,-1.42,-68.4,67.3,-16.2,86,473,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,355,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,594,-1.42,-68.4,87.2,-14.0,111,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,356,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,721,-1.42,-68.4,105.1,-13.9,136,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,355,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,848,-1.42,-68.4,123.4,-13.8,161,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,355,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,975,-1.42,-68.4,123.5,-0.2,186,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,355,3320,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,992,end dive,NO_VERTICAL_VELOCITY
$STATE,992,begin apogee
$GC,995,-0.26,0.0,123.5,0.0,189,1073,1.20,0.00,73.72,0.392,6,0.158,0.000,2833,356,3036,0,0,0,0,0,0,26.82,28.83,26.01
$STATE,1074,end apogee,CONTROL_FINISHED_OK
$STATE,1074,begin climb
$GC,1075,1.42,68.4,123.5,0.0,203,1132,1.58,0.00,50.03,0.410,6,0.106,0.000,3382,355,2753,0,0,0,0,0,0,26.31,28.83,25.67
$GC,1254,1.43,75.5,114.1,9.3,237,1260,0.00,0.00,1.58,0.193,6,0.000,0.000,3383,355,2734,0,0,0,0,0,0,28.83,28.83,26.17
$GC,1382,1.44,79.9,100.6,9.6,262,1394,0.00,0.00,8.98,0.416,6,0.000,0.000,3383,355,2707,0,0,0,0,0,0,28.83,28.83,26.05
$GC,1515,1.44,79.9,86.2,12.4,288,1521,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,356,2703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1643,1.46,101.0,74.0,7.9,313,1661,0.00,0.00,15.88,0.404,6,0.000,0.000,3382,356,2625,0,0,0,0,0,0,28.83,28.83,26.14
$GC,1782,1.46,101.0,60.3,10.3,340,1788,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,356,2615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1909,1.46,101.0,46.6,11.0,365,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,355,2614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2037,1.47,104.6,33.0,9.6,390,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,355,2614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2104,1.49,123.2,27.2,8.2,403,2122,0.00,0.00,15.62,0.376,6,0.000,0.000,3383,355,2533,0,0,0,0,0,0,28.83,28.83,26.29
$GC,2183,1.49,123.2,19.4,10.4,418,2189,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,356,2523,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2250,1.49,123.2,12.1,10.9,431,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,355,2523,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2318,1.50,131.0,5.3,9.2,444,2324,0.00,0.00,1.55,0.196,6,0.000,0.000,3383,355,2503,0,0,0,0,0,0,28.83,28.83,26.63
$GC,2386,1.61,218.9,2.7,1.4,457,2421,0.15,0.00,31.90,0.140,6,0.091,0.000,3453,355,2142,0,0,0,0,0,0,26.83,28.83,26.58
$STATE,2425,end climb,SURFACE_DEPTH_REACHED
$STATE,2426,begin surface coast
$FINISH,0.7,1.020327
$STATE,2483,end surface coast,CONTROL_FINISHED_OK
$STATE,2483,begin surface
$SM_CCo,2497,30.75,0.142,0,0,1813,300.00
$SM_GC,2.50,8.80,0.00,30.75,0.060,0.000,0.142,195,355,1813,-8.47,0.42,300.00,0,0,0,0,0,0,26.74,28.83,26.52
$IRIDIUM_FIX,4726.11,-12225.08,180713,040449
$TT8_MAMPS,0.029211,0.029211
$HUMID,52.87
$INTERNAL_PRESSURE,8.84016
$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,25.7,0.664
$10V_AH,10.5,1.461
$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,20.700,0.000,199.250,30.750,0.000,0.000,0.000,0.000,0.000,0.000,8.364,1037.925,527.546,298.474,698.378,21.927,33.242,695.294,0.000,688.466,0.000,0.546,0.000
$DEVICE_MAMPS,244.035,0.000,416.160,142.290,0.000,0.000,0.000,0.000,420.000,0.000,26.960,19.210,2.190,19.210,45.420,62.650,70.890,13.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,316.335,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323488
$DATA_FILE_SIZE,16769,475
$CAP_FILE_SIZE,57973,0
$CFSIZE,1024393216,1021657088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180713,052103,4743.899,-12223.190,8,0.9,8,16.3