version: 66.11
glider: 203
mission: 1
dive: 6
start: 7 17 113 22 25 8
data:
$ID,203
$MISSION,1
$DIVE,6
$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,90
$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,-254.66026
$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,3110
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$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,2100
$C_ROLL_CLIMB,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,43
$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,120
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$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
$GPS1,170713,221934,4743.129,-12226.091,30,1.1,30,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-69.5
$GPS2,170713,222410,4743.164,-12226.029,3,0.8,3,16.3
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,4743.164,-12209.978
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.238,0.037
$KALMAN_X,-2200.0,-1448.5,-91.7,2491.2,-696.3
$KALMAN_Y,-1528.8,-1320.2,-212.4,2955.8,-164.3
$MHEAD_RNG_PITCHd_Wd,65.0,20000,-14.0,-8.000
$D_GRID,190
$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,15,-0.82,-146.6,0.0,0.0,0,62,0.00,0.00,-45.35,0.000,2,0.000,0.000,195,2108,3041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.82,-146.6,3.4,-8.8,8,89,10.70,2.25,-8.88,0.000,4,0.252,0.076,2840,3491,3472,0,0,0,0,0,0,26.32,26.53,26.88
$GC,315,-0.82,-146.6,34.9,-11.2,57,322,0.00,2.15,0.00,0.000,6,0.000,0.044,2840,2086,3472,0,0,0,0,0,0,28.83,26.73,28.83
$GC,383,-0.82,-146.6,42.6,-10.7,70,390,0.00,2.20,0.00,0.000,4,0.000,0.061,2840,3491,3473,0,0,0,0,0,0,28.83,26.71,28.83
$GC,615,-0.82,-146.6,67.8,-11.1,116,622,0.00,2.10,0.00,0.000,6,0.000,0.044,2840,2097,3473,0,0,0,0,0,0,28.83,26.84,28.83
$GC,744,-0.82,-146.6,81.6,-10.3,141,751,0.00,2.17,0.00,0.000,4,0.000,0.061,2840,3493,3473,0,0,0,0,0,0,28.83,26.83,28.83
$GC,977,-0.82,-146.6,103.9,-10.0,187,984,0.00,2.10,0.00,0.000,6,0.000,0.044,2840,2091,3473,0,0,0,0,0,0,28.83,26.93,28.83
$GC,1105,-0.82,-146.6,115.5,-9.3,212,1112,0.00,2.17,0.00,0.000,4,0.000,0.058,2841,3498,3473,0,0,0,0,0,0,28.83,26.91,28.83
$GC,1231,-0.82,-146.6,128.9,-10.2,236,1238,0.00,2.10,0.00,0.000,6,0.000,0.044,2840,2097,3473,0,0,0,0,0,0,28.83,26.96,28.83
$GC,1359,-0.82,-146.6,142.0,-10.4,261,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2097,3473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1486,-0.82,-146.6,154.2,-9.4,286,1492,0.00,2.12,0.00,0.000,4,0.000,0.054,2840,697,3473,0,0,0,0,0,0,28.83,26.97,28.83
$GC,1684,-0.82,-146.6,175.3,-10.1,325,1690,0.00,2.12,0.00,0.000,6,0.000,0.044,2840,2092,3473,0,0,0,0,0,0,28.83,27.02,28.83
$STATE,1736,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1736,begin apogee
$GC,1739,-0.23,0.0,180.4,-9.6,335,1862,0.57,0.00,112.20,1.089,6,0.139,0.000,3027,1903,2873,0,0,0,0,1,0,26.88,28.83,24.37
$STATE,1863,end apogee,CONTROL_FINISHED_OK
$STATE,1863,begin climb
$GC,1864,0.82,146.6,184.3,0.0,357,1986,1.02,0.00,117.50,0.458,6,0.105,0.000,3364,1902,2272,0,0,0,0,0,0,25.22,28.83,25.10
$GC,2107,0.82,146.6,162.8,11.8,403,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,1902,2252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2234,0.82,146.6,147.6,13.3,428,2240,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,1903,2252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2361,0.82,146.6,132.1,11.0,453,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,1902,2251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2488,0.82,146.6,118.7,10.0,478,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,1903,2252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2615,0.82,146.6,104.2,12.6,503,2622,0.00,2.20,0.00,0.000,4,0.000,0.054,3364,3330,2251,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2848,0.82,146.6,74.2,11.9,549,2855,0.00,2.15,0.00,0.000,6,0.000,0.046,3364,1926,2251,0,0,0,0,0,0,28.83,26.78,28.83
$GC,2976,0.82,146.6,62.0,8.0,574,2983,0.00,2.15,0.00,0.000,4,0.000,0.054,3364,3330,2251,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3149,0.82,146.6,45.8,9.7,608,3156,0.00,2.12,0.00,0.000,6,0.000,0.046,3365,1919,2251,0,0,0,0,0,0,28.83,26.86,28.83
$GC,3277,0.82,146.6,34.0,9.7,633,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,1919,2251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3344,0.82,146.6,28.0,8.5,646,3350,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,1919,2252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3411,0.82,146.6,22.3,8.6,659,3417,0.00,2.15,0.00,0.000,4,0.000,0.053,3364,3330,2251,0,0,0,0,0,0,28.83,26.89,28.83
$GC,3564,0.87,186.5,8.1,6.5,689,3582,0.00,2.12,13.85,0.151,6,0.000,0.046,3364,1919,2108,0,0,0,0,0,0,28.83,26.94,26.74
$GC,3644,0.98,279.9,4.0,4.5,704,3679,0.15,0.00,32.25,0.140,2,0.093,0.000,3436,1918,1763,0,0,0,0,0,0,26.93,28.83,28.83
$STATE,3680,end climb,SURFACE_DEPTH_REACHED
$STATE,3680,begin surface coast
$FINISH,-0.1,0.999051
$STATE,3705,end surface coast,CONTROL_FINISHED_OK
$STATE,3705,begin surface
$SM_CCo,3720,11.02,0.141,0,0,1645,300.00
$SM_GC,2.90,8.75,0.30,11.02,0.067,0.060,0.141,187,2124,1645,-9.06,-0.65,300.00,0,0,0,0,0,0,26.82,26.86,26.65
$IRIDIUM_FIX,4726.11,-12223.37,170713,212155
$TT8_MAMPS,0.031458,0.031458
$HUMID,52.67
$INTERNAL_PRESSURE,9.0687
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.5,88.4
$24V_AH,24.4,0.433
$10V_AH,10.6,0.283
$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,21.200,34.975,275.800,11.025,0.000,25.277,29.455,153.888,0.750,0.000,5.073,1542.000,830.104,361.611,1256.305,35.145,33.229,930.573,0.000,1030.533,0.000,7.288,0.000
$DEVICE_MAMPS,252.450,76.500,1088.595,140.760,0.000,13.010,160.000,223.000,420.000,0.000,26.960,18.450,2.190,18.450,43.170,60.400,67.140,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,477.508,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323544
$DATA_FILE_SIZE,23381,715
$CAP_FILE_SIZE,65472,0
$CFSIZE,1024393216,1021476864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,170713,232755,4743.108,-12225.450,2,1.2,2,16.3