version: 66.11
glider: 202
mission: 1
dive: 22
start: 7 18 113 7 28 18
data:
$ID,202
$MISSION,1
$DIVE,22
$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,-1267.04
$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,36
$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
$GPS1,180713,143132,4742.692,-12224.632,3,1.6,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-67.5
$GPS2,180713,143602,4742.675,-12224.676,5,1.6,5,16.3
$SPEED_LIMITS,0.139,0.202
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.091,0.180
$KALMAN_X,295.2,-180.9,280.1,-388.9,376.0
$KALMAN_Y,-4882.4,442.3,1083.7,2263.9,-352.0
$MHEAD_RNG_PITCHd_Wd,316.9,2274,-18.6,-8.000
$D_GRID,179
$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,-97.8,0.0,0.0,0,57,0.00,0.00,-40.60,0.000,2,0.000,0.000,196,2308,2994,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-1.07,-97.8,3.2,-5.7,7,89,9.65,2.25,-10.55,0.000,4,0.250,0.069,2562,3702,3440,0,0,0,0,0,0,26.36,26.57,26.89
$GC,231,-1.07,-97.8,27.7,-14.3,40,237,0.00,2.10,0.00,0.000,6,0.000,0.035,2562,2306,3440,0,0,0,0,0,0,28.83,26.74,28.83
$GC,299,-1.07,-97.8,36.8,-12.9,53,305,0.00,2.15,0.00,0.000,4,0.000,0.041,2562,907,3440,0,0,0,0,0,0,28.83,26.74,28.83
$GC,317,-1.07,-97.8,39.3,-13.7,56,323,0.00,2.15,0.00,0.000,6,0.000,0.041,2555,2306,3441,0,0,0,0,0,0,28.83,26.74,28.83
$GC,384,-1.07,-97.8,48.5,-14.9,69,390,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2306,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,511,-1.07,-97.8,64.6,-14.0,94,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2306,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,638,-1.07,-97.8,80.8,-12.8,119,645,0.00,2.12,0.00,0.000,4,0.000,0.041,2555,914,3440,0,0,0,0,0,0,28.83,26.87,28.83
$GC,746,-1.07,-97.8,94.7,-12.9,140,753,0.12,2.12,0.00,0.000,6,0.196,0.039,2575,2312,3440,0,0,0,0,0,0,26.76,26.91,28.83
$GC,876,-1.07,-97.8,109.1,-11.2,165,883,0.00,2.20,0.00,0.000,4,0.000,0.054,2566,3716,3441,0,0,0,0,0,0,28.83,26.91,28.83
$GC,984,-1.07,-97.8,120.7,-10.2,186,991,0.00,2.10,0.00,0.000,6,0.000,0.036,2566,2309,3440,0,0,0,0,0,0,28.83,26.98,28.83
$GC,1112,-1.07,-97.8,135.0,-11.4,211,1119,0.00,2.12,0.00,0.000,4,0.000,0.041,2567,912,3441,0,0,0,0,0,0,28.83,26.98,28.83
$GC,1205,-1.07,-97.8,146.4,-13.2,229,1212,0.00,2.12,0.00,0.000,6,0.000,0.040,2558,2311,3440,0,0,0,0,0,0,28.83,26.99,28.83
$GC,1333,-1.07,-97.8,162.0,-11.9,254,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2311,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1460,-1.07,-97.8,177.2,-13.2,279,1466,0.00,2.15,0.00,0.000,4,0.000,0.042,2558,912,3441,0,0,0,0,0,0,28.83,27.03,28.83
$STATE,1477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1477,begin apogee
$GC,1482,-0.26,0.0,179.4,-12.5,282,1561,0.90,0.00,73.28,0.465,6,0.155,0.000,2832,2333,3033,0,0,0,0,0,0,26.89,28.83,25.91
$STATE,1562,end apogee,CONTROL_FINISHED_OK
$STATE,1562,begin climb
$GC,1563,1.07,97.8,183.0,0.0,296,1642,1.27,0.00,72.22,0.450,6,0.098,0.000,3268,2333,2632,0,0,0,0,0,0,26.26,28.83,25.47
$GC,1763,1.07,97.8,168.4,9.9,334,1770,0.00,2.22,0.00,0.000,4,0.000,0.043,3268,925,2626,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1866,1.07,97.8,157.9,10.0,354,1873,0.00,2.17,0.00,0.000,6,0.000,0.038,3269,2333,2626,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1994,1.07,97.8,145.7,9.9,379,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2333,2625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2121,1.07,97.8,134.1,9.4,404,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2333,2625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2248,1.07,97.8,123.0,8.5,429,2255,0.00,2.22,0.00,0.000,4,0.000,0.054,3269,3738,2625,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2483,1.07,97.8,100.7,11.1,475,2489,0.00,2.15,0.00,0.000,6,0.000,0.035,3271,2322,2625,0,0,0,0,0,0,28.83,26.85,28.83
$GC,2611,1.07,97.8,88.7,8.3,500,2617,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,2321,2625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2738,1.09,112.9,78.1,7.2,525,2756,0.00,0.00,11.90,0.399,6,0.000,0.000,3271,2321,2567,0,0,0,0,0,0,28.83,28.83,26.40
$GC,2877,1.09,112.9,65.4,9.3,552,2884,0.00,2.12,0.00,0.000,4,0.000,0.041,3271,920,2564,0,0,0,0,0,0,28.83,26.85,28.83
$GC,2920,1.09,112.9,61.2,10.2,560,2927,0.00,2.15,0.00,0.000,6,0.000,0.037,3271,2344,2564,0,0,0,0,0,0,28.83,26.86,28.83
$GC,3049,1.10,123.2,49.3,7.4,585,3057,0.00,2.25,2.83,0.366,4,0.000,0.042,3270,926,2539,0,0,0,0,0,0,28.83,26.87,26.23
$GC,3139,1.10,123.4,41.6,8.0,602,3146,0.00,2.12,2.08,0.250,6,0.000,0.037,3271,2334,2535,0,0,0,0,0,0,28.83,26.90,25.84
$GC,3267,1.10,123.4,31.7,9.1,627,3275,0.00,2.22,1.80,0.195,4,0.000,0.041,3271,926,2540,0,0,0,0,0,0,28.83,26.91,26.70
$GC,3502,1.11,130.6,14.3,7.6,673,3515,0.00,2.12,4.43,0.181,6,0.000,0.037,3271,2336,2506,0,0,0,0,0,0,28.83,26.96,26.78
$GC,3576,1.15,162.4,9.2,6.3,687,3595,0.00,2.22,12.73,0.161,4,0.000,0.052,3270,3726,2376,0,0,0,0,0,0,28.83,26.89,26.76
$STATE,3706,end climb,SURFACE_DEPTH_REACHED
$STATE,3706,begin surface coast
$FINISH,0.8,1.007640
$STATE,3731,end surface coast,CONTROL_FINISHED_OK
$STATE,3731,begin surface
$SM_CCo,3748,51.83,0.142,0,0,1811,300.00
$SM_GC,1.57,8.18,2.20,51.83,0.056,0.034,0.142,199,2299,1811,-8.46,1.10,300.00,0,0,0,0,0,0,26.94,26.98,26.65
$IRIDIUM_FIX,4722.92,-12223.37,180713,131300
$TT8_MAMPS,0.028462,0.028462
$HUMID,54.33
$INTERNAL_PRESSURE,8.84016
$TCM_TEMP,18.60
$XPDR_PINGS,0
$24V_AH,25.5,1.138
$10V_AH,10.6,1.804
$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,20.125,52.025,181.250,51.825,0.000,24.853,28.197,144.157,0.000,0.000,8.286,1600.672,832.544,354.308,1254.455,41.130,33.205,920.520,0.000,1033.141,0.000,0.547,0.000
$DEVICE_MAMPS,250.155,68.850,465.120,142.290,0.000,11.480,160.000,223.000,420.000,0.000,26.960,19.210,2.190,19.210,45.420,62.650,70.890,13.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,481.270,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323452
$DATA_FILE_SIZE,26723,717
$CAP_FILE_SIZE,71314,0
$CFSIZE,1024393216,1021001728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180713,154059,4742.845,-12225.114,9,0.9,9,16.3