version: 66.11
glider: 203
mission: 1
dive: 3
start: 7 17 113 18 47 34
data:
$ID,203
$MISSION,1
$DIVE,3
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,10
$T_BOOST,2
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52599
$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,-250.88742
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,202
$PITCH_MAX,3901
$C_PITCH,3120
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21.4
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,2170
$C_ROLL_CLIMB,2105
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2872
$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,-62.727589
$PRESSURE_SLOPE,0.0001160131
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,90
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0093
$INT_PRESSURE_YINT,-0.77999997
$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,0.0043923887
$SEABIRD_T_H,0.00063351821
$SEABIRD_T_I,2.5271875e-05
$SEABIRD_T_J,3.0515032e-06
$SEABIRD_C_G,-9.7838888
$SEABIRD_C_H,1.1409903
$SEABIRD_C_I,-0.00071586663
$SEABIRD_C_J,0.00012479167
$GPS1,170713,184317,4743.051,-12225.607,1,1.0,1,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-58.8
$GPS2,170713,184637,4743.067,-12225.590,3,1.0,4,16.3
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.144,0.192
$KALMAN_X,-186.4,-359.4,-311.4,168.3,-488.7
$KALMAN_Y,-298.9,-455.3,-413.3,888.3,-613.2
$MHEAD_RNG_PITCHd_Wd,20.5,1829,-14.0,-8.000
$D_GRID,191
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.84,-146.6,0.0,0.0,0,111,0.00,0.00,-94.20,0.000,2,0.000,0.000,186,2161,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-0.84,-146.6,3.6,-8.4,17,132,10.15,2.20,-3.08,0.000,4,0.234,0.065,2847,760,3472,0,0,0,0,0,0,26.58,26.81,27.13
$GC,358,-0.84,-146.6,35.3,-10.7,65,365,0.00,2.15,0.00,0.000,6,0.000,0.046,2843,2169,3473,0,0,0,0,0,0,28.83,26.91,28.83
$GC,426,-0.84,-146.6,42.3,-10.9,78,433,0.00,2.12,0.00,0.000,4,0.000,0.054,2843,772,3473,0,0,0,0,0,0,28.83,26.91,28.83
$GC,659,-0.84,-146.6,67.6,-12.4,124,666,0.00,2.10,0.00,0.000,6,0.000,0.045,2843,2168,3473,0,0,0,0,0,0,28.83,26.98,28.83
$GC,788,-0.84,-146.6,83.2,-13.2,149,795,0.00,2.15,0.00,0.000,4,0.000,0.053,2843,767,3473,0,0,0,0,0,0,28.83,26.98,28.83
$GC,811,-0.84,-146.6,85.9,-11.4,153,817,0.00,2.12,0.00,0.000,6,0.000,0.047,2843,2173,3473,0,0,0,0,0,0,28.83,26.99,28.83
$GC,940,-0.84,-146.6,95.8,-9.2,178,946,0.00,2.15,0.00,0.000,4,0.000,0.054,2842,760,3473,0,0,0,0,0,0,28.83,26.99,28.83
$GC,1004,-0.84,-146.6,101.6,-6.5,190,1011,0.00,2.15,0.00,0.000,6,0.000,0.047,2842,2179,3473,0,0,0,0,0,0,28.83,27.00,28.83
$GC,1140,-0.84,-146.6,118.0,-15.5,215,1146,0.00,2.15,0.00,0.000,4,0.000,0.054,2843,764,3473,0,0,0,0,0,0,28.83,27.01,28.83
$GC,1372,-0.84,-146.6,142.7,-10.3,261,1379,0.00,2.12,0.00,0.000,6,0.000,0.047,2843,2172,3473,0,0,0,0,0,0,28.83,27.05,28.83
$GC,1502,-0.84,-146.6,153.7,-7.9,286,1509,0.00,2.12,0.00,0.000,4,0.000,0.053,2842,771,3473,0,0,0,0,0,0,28.83,27.04,28.83
$GC,1735,-0.84,-146.6,173.3,-7.9,332,1742,0.00,2.12,0.00,0.000,6,0.000,0.046,2842,2180,3473,0,0,0,0,0,0,28.83,27.06,28.83
$STATE,1817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1817,begin apogee
$GC,1821,-0.23,0.0,180.3,-9.1,348,1943,0.60,0.00,112.78,1.089,6,0.131,0.000,3039,2102,2872,0,0,0,0,1,0,26.95,28.83,24.53
$STATE,1944,end apogee,CONTROL_FINISHED_OK
$STATE,1944,begin climb
$GC,1946,0.84,146.6,183.4,0.0,370,2069,1.02,2.38,115.53,0.453,4,0.098,0.054,3384,3520,2264,0,0,0,0,0,0,25.41,25.67,25.30
$GC,2296,0.84,146.6,147.7,14.7,437,2302,0.00,2.17,0.00,0.000,6,0.000,0.047,3384,2109,2254,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2425,0.84,146.6,130.6,8.2,462,2432,0.00,2.22,0.00,0.000,4,0.000,0.057,3385,3523,2254,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2513,0.84,146.6,118.6,10.1,479,2520,0.00,2.20,0.00,0.000,6,0.000,0.047,3384,2103,2254,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2641,0.84,146.6,106.8,8.4,504,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2102,2253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2768,0.84,146.6,91.7,14.4,529,2775,0.00,2.20,0.00,0.000,4,0.000,0.062,3384,691,2253,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2900,0.84,146.6,74.8,11.0,555,2907,0.00,2.12,0.00,0.000,6,0.000,0.044,3384,2109,2253,0,0,0,0,0,0,28.83,26.88,28.83
$GC,3028,0.84,146.6,61.2,11.1,580,3034,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2109,2253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3155,0.84,146.6,49.5,8.7,605,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2109,2253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3282,0.84,146.6,37.5,9.8,630,3288,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,2109,2253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3349,0.84,146.6,31.5,10.1,643,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,2109,2253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3417,0.84,146.6,24.3,10.6,656,3423,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2109,2252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3484,0.84,146.6,16.7,10.7,669,3491,0.00,2.17,0.00,0.000,4,0.000,0.058,3384,697,2252,0,0,0,0,0,0,28.83,26.96,28.83
$GC,3502,0.84,146.6,14.8,10.9,672,3509,0.00,2.12,0.00,0.000,6,0.000,0.046,3384,2110,2252,0,0,0,0,0,0,28.83,26.99,28.83
$GC,3570,0.84,146.6,8.1,9.4,685,3576,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,2110,2252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3637,0.96,244.8,2.9,4.4,698,3673,0.12,0.00,32.22,0.136,2,0.099,0.000,3448,2110,1889,0,0,0,0,0,0,27.05,28.83,28.83
$STATE,3674,end climb,SURFACE_DEPTH_REACHED
$STATE,3674,begin surface coast
$FINISH,-0.2,1.018245
$STATE,3740,end surface coast,CONTROL_FINISHED_OK
$STATE,3740,begin surface
$SM_CCo,3755,21.92,0.138,0,0,1645,300.00
$SM_GC,3.36,8.73,0.10,21.92,0.067,0.103,0.138,187,2186,1645,-9.08,-0.74,300.00,0,0,0,0,0,0,26.95,27.01,26.72
$IRIDIUM_FIX,4726.11,-12227.78,170713,181820
$TT8_MAMPS,0.030709,0.030709
$HUMID,53.26
$INTERNAL_PRESSURE,9.0966
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.3,18.8
$24V_AH,24.5,0.237
$10V_AH,10.6,0.166
$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,20.625,43.475,260.525,21.925,0.000,0.000,0.000,0.000,2.500,0.000,5.077,1537.333,815.273,407.692,1050.089,29.473,31.308,985.118,0.000,1030.323,0.000,21.761,0.000
$DEVICE_MAMPS,234.090,103.275,1088.595,138.465,0.000,0.000,0.000,0.000,420.000,0.000,26.960,18.450,2.190,18.450,43.170,60.400,67.140,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,477.812,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323520
$DATA_FILE_SIZE,23381,717
$CAP_FILE_SIZE,78324,0
$CFSIZE,1024393216,1021657088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,170713,195107,4742.925,-12225.952,3,1.6,4,16.3