version: 66.11
glider: 202
mission: 1
dive: 21
start: 7 18 113 6 27 55
data:
$ID,202
$MISSION,1
$DIVE,21
$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,-1249.467
$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,38
$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
$GPS1,180713,133059,4742.747,-12224.296,37,1.1,37,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-67.5
$GPS2,180713,133539,4742.734,-12224.341,5,1.4,5,16.3
$SPEED_LIMITS,0.139,0.202
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.199,-0.035
$KALMAN_X,-156.5,-132.5,286.4,423.0,242.7
$KALMAN_Y,-4831.2,411.7,1033.9,2404.0,78.5
$MHEAD_RNG_PITCHd_Wd,243.7,576,-18.6,-8.000
$D_GRID,162
$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,-97.8,0.0,0.0,0,51,0.00,0.00,-34.35,0.000,2,0.000,0.000,196,2316,2815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,53,-1.07,-97.8,3.1,-6.6,6,83,9.55,2.28,-15.70,0.000,4,0.246,0.068,2565,3712,3440,0,0,0,0,0,0,26.35,26.55,26.88
$GC,309,-1.07,-97.8,37.3,-13.9,56,316,0.00,2.15,0.00,0.000,6,0.000,0.035,2565,2299,3440,0,0,0,0,0,0,28.83,26.77,28.83
$GC,377,-1.07,-97.8,45.6,-12.1,69,384,0.00,2.22,0.00,0.000,4,0.000,0.054,2554,3711,3440,0,0,0,0,0,0,28.83,26.74,28.83
$GC,535,-1.07,-97.8,65.6,-12.8,100,542,0.00,2.12,0.00,0.000,6,0.000,0.034,2555,2306,3440,0,0,0,0,0,0,28.83,26.86,28.83
$GC,664,-1.07,-97.8,81.1,-12.0,125,670,0.00,2.12,0.00,0.000,4,0.000,0.041,2554,900,3440,0,0,0,0,0,0,28.83,26.86,28.83
$GC,826,-1.07,-97.8,105.2,-13.5,157,833,0.12,2.12,0.00,0.000,6,0.196,0.038,2575,2305,3440,0,0,0,0,0,0,26.76,26.91,28.83
$GC,955,-1.07,-97.8,121.2,-11.6,182,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2306,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1082,-1.07,-97.8,137.0,-13.0,207,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2306,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1209,-1.07,-97.8,153.0,-11.8,232,1215,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2306,3440,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1285,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1285,begin apogee
$GC,1288,-0.26,0.0,162.6,-12.7,247,1373,0.82,0.00,74.65,0.865,6,0.148,0.000,2837,2306,3040,0,0,0,0,1,0,26.89,28.83,25.01
$STATE,1374,end apogee,CONTROL_FINISHED_OK
$STATE,1374,begin climb
$GC,1375,1.07,97.8,167.0,0.0,262,1460,1.25,2.40,77.45,0.428,4,0.093,0.050,3262,3735,2632,0,0,0,0,0,0,25.71,25.60,25.25
$GC,1511,1.07,97.8,158.5,11.5,287,1518,0.00,2.17,0.00,0.000,6,0.000,0.034,3262,2332,2629,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1640,1.07,97.8,143.5,11.9,312,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2330,2629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1767,1.07,97.8,129.1,9.8,337,1774,0.00,2.17,0.00,0.000,4,0.000,0.042,3262,921,2629,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1885,1.07,97.8,116.1,13.0,360,1892,0.00,2.20,0.00,0.000,6,0.000,0.036,3262,2348,2629,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2013,1.07,97.8,102.5,10.4,385,2020,0.00,2.20,0.00,0.000,4,0.000,0.041,3262,928,2629,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2056,1.07,97.8,97.6,11.7,393,2063,0.00,2.15,0.00,0.000,6,0.000,0.037,3263,2339,2629,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2184,1.07,97.8,83.9,10.5,418,2191,0.00,2.20,0.00,0.000,4,0.000,0.042,3262,923,2629,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2289,1.09,108.1,74.8,7.4,438,2296,0.00,2.15,3.08,0.419,6,0.000,0.037,3262,2331,2598,0,0,0,0,0,0,28.83,26.81,26.34
$GC,2417,1.09,108.1,64.7,8.0,463,2425,0.00,2.22,1.65,0.202,4,0.000,0.041,3264,927,2604,0,0,0,0,0,0,28.83,26.82,26.59
$GC,2526,1.09,108.1,55.4,8.6,484,2534,0.00,2.12,1.65,0.202,6,0.000,0.037,3264,2333,2601,0,0,0,0,0,0,28.83,26.86,26.64
$GC,2656,1.09,108.1,44.3,9.2,509,2663,0.00,2.25,1.55,0.204,4,0.000,0.051,3264,3739,2603,0,0,0,0,0,0,28.83,26.85,26.67
$GC,2765,1.10,120.0,35.1,7.3,530,2784,0.00,2.12,13.12,0.379,6,0.000,0.034,3265,2326,2544,0,0,0,0,0,0,28.83,26.94,26.44
$GC,2845,1.10,120.0,28.8,8.3,545,2852,0.00,2.22,0.00,0.000,4,0.000,0.053,3265,3739,2538,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3009,1.11,127.4,14.0,7.6,577,3016,0.00,2.12,1.80,0.198,6,0.000,0.034,3265,2332,2518,0,0,0,0,0,0,28.83,26.91,26.70
$GC,3078,1.17,178.6,9.4,5.2,590,3108,0.12,2.17,19.80,0.155,4,0.097,0.042,3330,932,2311,0,0,0,0,0,0,26.92,26.82,26.68
$STATE,3189,end climb,SURFACE_DEPTH_REACHED
$STATE,3189,begin surface coast
$FINISH,1.3,1.020580
$STATE,3200,end surface coast,CONTROL_FINISHED_OK
$STATE,3200,begin surface
$SM_CCo,3216,46.03,0.143,0,0,1812,300.00
$SM_GC,1.37,8.38,2.15,46.03,0.057,0.037,0.143,196,2308,1812,-8.46,-1.27,300.00,0,0,0,0,0,0,26.86,26.87,26.60
$IRIDIUM_FIX,4726.11,-12225.08,180713,121238
$TT8_MAMPS,0.029211,0.029211
$HUMID,53.11
$INTERNAL_PRESSURE,8.84016
$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,25.0,1.103
$10V_AH,10.6,1.766
$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,20.250,48.075,194.750,46.025,0.000,23.219,29.364,157.666,0.000,0.000,8.282,1363.910,702.413,337.466,1114.461,37.987,33.207,830.671,0.000,885.372,0.000,0.547,0.000
$DEVICE_MAMPS,245.565,68.085,865.215,143.055,0.000,11.480,160.000,223.000,420.000,0.000,26.960,19.210,2.190,19.210,45.420,62.650,70.890,13.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,410.319,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323436
$DATA_FILE_SIZE,23449,613
$CAP_FILE_SIZE,63207,0
$CFSIZE,1024393216,1021083648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,180713,143132,4742.692,-12224.632,3,1.6,3,16.3