version: 66.11
glider: 202
mission: 1
dive: 19
start: 7 18 113 4 13 52
data:
$ID,202
$MISSION,1
$DIVE,19
$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,-1176.8103
$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,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,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
$GPS1,180713,111621,4742.983,-12224.389,3,1.5,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-67.2
$GPS2,180713,112136,4743.002,-12224.374,4,1.6,4,16.3
$SPEED_LIMITS,0.139,0.202
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.044,-0.197
$KALMAN_X,-837.3,21.6,54.0,1142.3,219.6
$KALMAN_Y,-4720.3,195.8,51.5,3985.7,891.3
$MHEAD_RNG_PITCHd_Wd,176.4,770,-18.6,-8.000
$D_GRID,176
$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,-1.07,-97.8,0.0,0.0,0,56,0.00,0.00,-39.70,0.000,2,0.000,0.000,197,2339,2958,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-1.07,-97.8,3.2,-6.5,7,88,9.57,2.22,-11.55,0.000,4,0.247,0.072,2565,3704,3441,0,0,0,0,0,0,26.35,26.55,26.89
$GC,94,-1.07,-97.8,8.0,-11.7,13,101,0.00,2.12,0.00,0.000,6,0.000,0.039,2565,2317,3441,0,0,0,0,0,0,28.83,26.62,28.83
$GC,162,-1.07,-97.8,18.3,-15.3,26,169,0.00,2.22,0.00,0.000,4,0.000,0.057,2555,3712,3440,0,0,0,0,0,0,28.83,26.60,28.83
$GC,395,-1.07,-97.8,52.3,-13.8,72,402,0.00,2.12,0.00,0.000,6,0.000,0.036,2555,2301,3440,0,0,0,0,0,0,28.83,26.80,28.83
$GC,523,-1.07,-97.8,69.0,-12.0,97,530,0.00,2.22,0.00,0.000,4,0.000,0.055,2544,3715,3440,0,0,0,0,0,0,28.83,26.79,28.83
$GC,655,-1.07,-97.8,85.9,-13.0,123,663,0.12,2.12,0.00,0.000,6,0.180,0.037,2574,2302,3440,0,0,0,0,0,0,26.72,26.89,28.83
$GC,784,-1.07,-97.8,101.0,-11.7,148,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2302,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,911,-1.07,-97.8,116.1,-11.4,173,918,0.00,2.12,0.00,0.000,4,0.000,0.042,2575,899,3440,0,0,0,0,0,0,28.83,26.93,28.83
$GC,999,-1.07,-97.8,126.1,-12.0,190,1006,0.00,2.17,0.00,0.000,6,0.000,0.041,2569,2316,3441,0,0,0,0,0,0,28.83,26.95,28.83
$GC,1128,-1.07,-97.8,139.5,-9.7,215,1134,0.00,2.15,0.00,0.000,4,0.000,0.043,2569,908,3441,0,0,0,0,0,0,28.83,26.97,28.83
$GC,1216,-1.07,-97.8,148.9,-11.6,232,1222,0.00,2.15,0.00,0.000,6,0.000,0.041,2561,2312,3441,0,0,0,0,0,0,28.83,26.98,28.83
$GC,1344,-1.07,-97.8,162.7,-10.7,257,1350,0.00,2.15,0.00,0.000,4,0.000,0.043,2562,900,3441,0,0,0,0,0,0,28.83,27.00,28.83
$STATE,1455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1456,begin apogee
$GC,1461,-0.26,0.0,176.2,-12.4,279,1545,0.90,0.00,74.05,0.871,6,0.155,0.000,2835,2339,3041,0,0,0,0,1,0,26.86,28.83,25.02
$STATE,1546,end apogee,CONTROL_FINISHED_OK
$STATE,1546,begin climb
$GC,1547,1.07,97.8,179.6,0.0,294,1632,1.27,2.35,77.82,0.438,4,0.102,0.050,3261,3737,2632,0,0,0,0,0,0,25.70,25.60,25.24
$GC,1664,1.07,97.8,172.6,9.3,315,1671,0.00,2.20,0.00,0.000,6,0.000,0.034,3262,2329,2629,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1792,1.07,97.8,161.0,9.0,340,1799,0.00,2.20,0.00,0.000,4,0.000,0.041,3262,922,2629,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1920,1.07,97.8,149.2,9.4,365,1927,0.00,2.17,0.00,0.000,6,0.000,0.037,3262,2336,2628,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2048,1.07,97.8,137.3,9.5,390,2055,0.00,2.22,0.00,0.000,4,0.000,0.042,3262,921,2628,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2151,1.07,97.8,127.8,8.2,410,2158,0.00,2.15,0.00,0.000,6,0.000,0.037,3262,2332,2628,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2280,1.07,97.8,116.0,8.7,435,2286,0.00,2.20,0.00,0.000,4,0.000,0.053,3262,3730,2628,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2368,1.07,97.8,107.8,8.9,452,2374,0.00,2.15,0.00,0.000,6,0.000,0.034,3262,2320,2628,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2496,1.08,100.7,97.8,7.8,477,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2320,2628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2623,1.08,100.7,86.7,8.6,502,2630,0.00,2.20,0.00,0.000,4,0.000,0.051,3262,3730,2628,0,0,0,0,0,0,28.83,26.84,28.83
$GC,2671,1.08,100.7,81.8,10.6,511,2678,0.00,2.10,0.00,0.000,6,0.000,0.034,3262,2326,2629,0,0,0,0,0,0,28.83,26.90,28.83
$GC,2799,1.09,110.3,71.8,7.5,536,2818,0.00,2.25,9.15,0.408,4,0.000,0.051,3262,3726,2581,0,0,0,0,0,0,28.83,26.80,26.44
$GC,2974,1.09,110.3,56.0,10.0,570,2981,0.00,2.10,0.00,0.000,6,0.000,0.034,3262,2320,2578,0,0,0,0,0,0,28.83,26.91,28.83
$GC,3103,1.13,147.2,46.2,6.0,595,3132,0.00,0.00,26.90,0.383,6,0.000,0.000,3262,2320,2438,0,0,0,0,0,0,28.83,28.83,26.34
$GC,3253,1.13,147.2,33.2,12.4,624,3260,0.00,2.15,0.00,0.000,4,0.000,0.042,3262,921,2425,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3471,1.13,147.2,11.9,8.7,667,3478,0.00,2.12,0.00,0.000,6,0.000,0.037,3262,2332,2426,0,0,0,0,0,0,28.83,26.87,28.83
$GC,3540,1.17,174.2,7.3,6.5,680,3559,0.12,2.22,8.85,0.155,4,0.097,0.052,3324,3730,2329,0,0,0,0,0,0,26.91,26.84,26.71
$STATE,3599,end climb,SURFACE_DEPTH_REACHED
$STATE,3599,begin surface coast
$FINISH,0.7,1.008427
$STATE,3621,end surface coast,CONTROL_FINISHED_OK
$STATE,3621,begin surface
$SM_CCo,3637,47.62,0.143,0,0,1813,300.00
$SM_GC,1.33,8.35,2.20,47.62,0.057,0.035,0.143,201,2309,1813,-8.45,1.33,300.00,0,0,0,0,0,0,26.86,26.91,26.60
$IRIDIUM_FIX,4726.11,-12227.78,180713,101024
$TT8_MAMPS,0.028462,0.028462
$HUMID,53.81
$INTERNAL_PRESSURE,8.8304
$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,25.0,1.021
$10V_AH,10.6,1.696
$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,20.350,61.050,196.775,47.625,0.000,24.293,42.438,177.381,0.000,0.000,8.296,1538.199,799.668,365.953,1261.838,45.332,33.208,920.104,0.000,1000.810,0.000,0.546,0.000
$DEVICE_MAMPS,247.095,71.910,870.570,143.055,0.000,11.480,160.000,223.000,420.000,0.000,26.960,19.210,2.190,19.210,45.420,62.650,70.890,13.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,465.705,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323588
$DATA_FILE_SIZE,26786,695
$CAP_FILE_SIZE,70514,0
$CFSIZE,1024393216,1021198336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,180713,122434,4742.945,-12224.311,5,2.0,5,16.3