version: 66.11
glider: 202
mission: 1
dive: 16
start: 7 18 113 0 52 8
data:
$ID,202
$MISSION,1
$DIVE,16
$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,100
$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,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,-1094.5851
$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,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
$GPS1,180713,075522,4743.128,-12225.000,3,1.6,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-65.8
$GPS2,180713,075952,4743.143,-12224.979,5,1.6,5,16.3
$SPEED_LIMITS,0.139,0.202
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.075,-0.117
$KALMAN_X,-1028.1,180.5,-280.4,767.2,127.0
$KALMAN_Y,-6450.4,402.1,-490.7,6322.4,-693.9
$MHEAD_RNG_PITCHd_Wd,131.1,850,-27.6,-8.000
$D_GRID,178
$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,-1.47,-45.2,0.0,0.0,0,68,0.00,0.00,-51.55,0.000,2,0.000,0.000,202,2323,2959,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-1.49,-64.6,3.2,-5.7,9,95,9.00,2.20,-8.25,0.000,4,0.247,0.055,2440,903,3303,0,0,0,0,0,0,26.36,26.60,26.90
$GC,321,-1.49,-64.6,46.0,-14.7,58,328,0.00,2.15,0.00,0.000,6,0.000,0.038,2431,2312,3303,0,0,0,0,0,0,28.83,26.77,28.83
$GC,449,-1.49,-64.6,66.0,-15.6,83,456,0.00,2.15,0.00,0.000,4,0.000,0.042,2431,908,3303,0,0,0,0,0,0,28.83,26.82,28.83
$GC,683,-1.49,-64.6,100.6,-13.6,129,690,0.00,2.12,0.00,0.000,6,0.000,0.039,2421,2312,3303,0,0,0,0,0,0,28.83,26.90,28.83
$GC,811,-1.49,-64.6,120.7,-16.2,154,818,0.00,2.15,0.00,0.000,4,0.000,0.042,2421,902,3303,0,0,0,0,0,0,28.83,26.92,28.83
$GC,1046,-1.49,-64.6,153.7,-14.2,200,1053,0.12,2.12,0.00,0.000,6,0.218,0.037,2439,2312,3303,0,0,0,0,0,0,26.79,26.98,28.83
$GC,1174,-1.49,-64.6,171.3,-13.9,225,1181,0.00,2.15,0.00,0.000,4,0.000,0.041,2440,899,3302,0,0,0,0,0,0,28.83,26.99,28.83
$STATE,1226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1226,begin apogee
$GC,1232,-0.26,0.0,178.5,-13.3,235,1293,1.33,0.00,47.78,0.775,6,0.173,0.000,2830,2333,3048,0,0,0,0,1,0,26.82,28.83,25.44
$STATE,1294,end apogee,CONTROL_FINISHED_OK
$STATE,1294,begin climb
$GC,1296,1.49,64.6,182.0,0.0,246,1359,1.65,2.33,54.60,0.442,4,0.100,0.050,3404,3737,2767,0,0,0,0,0,0,26.15,25.89,25.51
$GC,1586,1.49,64.6,156.3,11.4,302,1593,0.00,2.15,0.00,0.000,6,0.000,0.033,3405,2328,2762,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1715,1.49,64.6,142.4,9.7,327,1721,0.00,2.25,0.00,0.000,4,0.000,0.050,3405,3749,2762,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1812,1.49,64.6,131.2,10.6,346,1819,0.00,2.15,0.00,0.000,6,0.000,0.034,3407,2324,2761,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1941,1.49,64.6,120.0,8.9,371,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,2324,2761,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2068,1.49,64.6,106.0,12.1,396,2074,0.00,2.22,0.00,0.000,4,0.000,0.050,3407,3740,2762,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2146,1.49,64.6,96.7,11.1,411,2152,0.00,2.12,0.00,0.000,6,0.000,0.034,3406,2323,2762,0,0,0,0,0,0,28.83,26.84,28.83
$GC,2273,1.49,64.6,84.5,8.2,436,2280,0.00,2.12,0.00,0.000,4,0.000,0.042,3407,925,2762,0,0,0,0,0,0,28.83,26.86,28.83
$GC,2331,1.49,64.6,79.6,8.7,447,2338,0.00,2.17,0.00,0.000,6,0.000,0.039,3407,2350,2762,0,0,0,0,0,0,28.83,26.86,28.83
$GC,2459,1.49,64.6,67.2,9.6,472,2466,0.00,2.15,0.00,0.000,4,0.000,0.053,3407,3736,2762,0,0,0,0,0,0,28.83,26.88,28.83
$GC,2693,1.51,74.7,45.4,6.8,518,2701,0.00,2.12,2.62,0.341,6,0.000,0.034,3408,2325,2733,0,0,0,0,0,0,28.83,26.98,26.30
$GC,2823,1.53,91.4,37.5,6.0,543,2847,0.00,2.28,18.67,0.377,4,0.000,0.051,3408,3730,2656,0,0,0,0,0,0,28.83,26.77,26.44
$GC,3073,1.53,91.4,12.7,9.9,592,3080,0.00,2.10,0.00,0.000,6,0.000,0.034,3408,2323,2651,0,0,0,0,0,0,28.83,26.92,28.83
$GC,3142,1.57,126.8,6.9,3.8,605,3160,0.00,2.20,11.60,0.158,4,0.000,0.050,3408,3735,2521,0,0,0,0,0,0,28.83,26.84,26.70
$STATE,3376,end climb,SURFACE_DEPTH_REACHED
$STATE,3376,begin surface coast
$FINISH,0.7,1.020915
$STATE,3412,end surface coast,CONTROL_FINISHED_OK
$STATE,3412,begin surface
$SM_CCo,3428,64.15,0.144,0,0,1812,300.00
$SM_GC,1.95,8.62,2.20,64.15,0.061,0.034,0.144,196,2306,1812,-8.46,1.30,300.00,0,0,0,0,0,0,26.93,26.98,26.62
$IRIDIUM_FIX,4726.11,-12159.30,180713,060658
$TT8_MAMPS,0.029211,0.029211
$HUMID,54.88
$INTERNAL_PRESSURE,8.84993
$TCM_TEMP,18.60
$XPDR_PINGS,0
$24V_AH,25.4,0.891
$10V_AH,10.5,1.584
$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,20.725,47.875,135.275,64.150,0.000,26.890,29.815,145.647,0.000,0.000,9.287,1474.042,781.856,313.916,1167.332,39.942,33.232,818.149,0.000,947.957,0.000,0.546,0.000
$DEVICE_MAMPS,247.095,55.080,774.945,143.820,0.000,11.480,160.000,223.000,420.000,0.000,26.960,19.210,2.190,19.210,45.420,62.650,70.890,13.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,442.143,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323560
$DATA_FILE_SIZE,26782,658
$CAP_FILE_SIZE,61405,0
$CFSIZE,1024393216,1021411328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,180713,090005,4743.211,-12224.809,33,0.9,33,16.3