version: 66.13
glider: 202
mission: 2
dive: 3
start: 3 17 117 12 56 34
data:
$ID,202
$MISSION,2
$DIVE,3
$N_DIVES,3
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,500
$D_NO_BLEED,500
$D_BOOST,20
$T_BOOST,0
$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,60
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51899
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,0
$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,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,208
$PITCH_MAX,3892
$C_PITCH,3020
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,-6.8056469e+38
$PITCH_GAIN,25
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,303
$ROLL_MAX,3831
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,69
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2941
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-61.796719
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,0
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.5
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,51
$LOGGERDEVICE2,85
$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,0.004404821
$SEABIRD_T_H,0.00064488029
$SEABIRD_T_I,2.8507879e-05
$SEABIRD_T_J,3.3644449e-06
$SEABIRD_C_G,-9.8029137
$SEABIRD_C_H,1.1050078
$SEABIRD_C_I,-0.0015785076
$SEABIRD_C_J,0.00020331096
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,7.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,0.0
$GPS1,170317,125209,2906.9375,-7613.1558,10,1.7,14,-8.9,0.6,60.8,7,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-65.6
$GPS2,170317,125616,2906.9580,-7613.0747,14,1.2,32,-8.9,0.8,59.1,7,4.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,2917.757,-7613.075
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,323.9,20000,-17.5,-10.000,-21.06,2227
$D_GRID,4990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.74,-146.0,190,2502,1018,1167,0.0,0.0,0,96,0.00,0.00,-80.05,0.000,16390,0.000,0.000,190,2501,3539,3588,3490,0,0,0,0,0,0,26.86,25.32,26.86
$GC,98,-0.74,-146.0,190,2502,3588,3490,3.7,-7.8,14,117,9.90,2.03,0.00,0.000,2340,0.229,0.044,2762,3813,3541,3593,3490,0,0,0,0,0,0,26.24,26.49,26.48
$GC,266,-0.74,-146.0,2761,3814,3596,3491,32.4,-11.5,47,274,0.00,1.95,0.00,0.000,1030,0.000,0.028,2762,2458,3541,3594,3489,0,0,0,0,0,0,26.72,26.67,26.74
$GC,458,-0.74,-146.0,2761,2458,3596,3491,55.8,-13.1,81,466,0.00,1.98,0.00,0.000,516,0.000,0.031,2762,1099,3542,3594,3490,0,0,0,0,0,0,27.01,26.70,27.01
$GC,509,-0.74,-146.0,2760,1099,3594,3490,63.8,-17.0,91,517,0.00,2.10,0.00,0.000,1030,0.000,0.033,2750,2510,3542,3594,3490,0,0,0,0,0,0,26.79,26.71,26.80
$GC,820,-0.74,-146.0,2752,2510,3596,3490,106.1,-11.6,123,827,0.00,2.10,0.00,0.000,516,0.000,0.031,2753,1106,3542,3594,3490,0,0,0,0,0,0,27.10,26.80,27.10
$GC,895,-0.74,-146.0,2757,1106,3594,3490,115.4,-12.9,138,904,0.08,2.10,0.00,0.000,3078,0.148,0.033,2771,2497,3542,3594,3490,0,0,0,0,0,0,26.65,26.80,26.75
$GC,1201,-0.78,-146.0,2770,2497,3597,3490,151.4,-11.8,169,1203,0.00,0.00,0.00,0.000,134,0.000,0.000,2771,2497,3542,3594,3490,0,0,0,0,0,0,27.15,27.15,27.14
$STATE,1450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1450,begin apogee
$GC,1452,-0.20,0.0,2771,2497,3596,3491,180.2,-11.3,194,1565,0.52,0.00,107.88,1.018,10246,0.110,0.000,2956,2497,2942,2979,2906,0,0,0,0,0,0,26.73,25.25,24.51
$STATE,1567,end apogee,CONTROL_FINISHED_OK
$STATE,1567,begin climb
$GC,1568,0.74,146.0,2957,2498,2983,2906,184.0,0.0,205,1696,0.88,2.10,110.93,1.009,10500,0.073,0.044,3270,3814,2345,2365,2326,0,0,0,0,0,0,25.48,25.05,24.44
$GC,1765,0.67,146.0,3270,3816,2367,2326,171.2,11.1,236,1772,0.10,1.98,0.00,0.000,5254,0.140,0.026,3238,2496,2345,2365,2326,0,0,0,0,0,0,25.81,26.02,25.92
$GC,2076,0.75,198.1,3238,2495,2365,2327,145.0,7.6,268,2115,0.00,2.03,31.10,0.949,8612,0.000,0.045,3238,3815,2132,2147,2117,0,0,0,0,0,0,26.80,25.72,25.16
$GC,2163,0.79,198.1,3239,3815,2147,2119,136.9,10.1,285,2172,0.10,1.95,0.00,0.000,3206,0.048,0.027,3319,2505,2132,2147,2117,0,0,0,0,0,0,26.18,26.21,26.21
$GC,2468,0.73,198.1,3318,2505,2146,2118,99.5,12.9,316,2476,0.20,2.00,0.00,0.000,4484,0.128,0.045,3253,3826,2131,2145,2118,0,0,0,0,0,0,26.44,26.54,26.58
$GC,2580,0.73,207.0,3252,3827,2146,2118,88.2,9.6,338,2593,0.00,1.90,3.67,0.574,9254,0.000,0.026,3255,2484,2095,2108,2083,0,0,0,0,0,0,26.72,26.68,25.91
$GC,2890,0.79,224.4,3250,2484,2109,2083,58.6,9.2,370,2903,0.00,2.10,7.32,0.565,8612,0.000,0.046,3255,3818,2025,2038,2012,0,0,0,0,0,0,27.02,26.58,26.00
$GC,2997,0.79,224.4,3254,3818,2038,2013,46.1,11.3,391,3006,0.00,1.85,0.00,0.000,1030,0.000,0.027,3255,2506,2024,2036,2012,0,0,0,0,0,0,26.79,26.74,26.79
$GC,3184,0.86,288.7,3256,2505,2030,2012,32.3,7.0,428,3222,0.15,2.08,26.73,0.521,10660,0.060,0.045,3357,3823,1761,1742,1780,0,0,0,0,0,0,26.82,26.41,25.94
$GC,3281,0.69,288.7,3357,3821,1738,1782,16.2,18.5,446,3290,0.30,1.92,0.00,0.000,5254,0.132,0.026,3246,2502,1758,1737,1780,0,0,0,0,0,0,26.41,26.60,26.55
$STATE,3412,end climb,SURFACE_DEPTH_REACHED
$STATE,3413,begin surface coast
$FINISH,0.2,1.011892
$STATE,3433,end surface coast,CONTROL_FINISHED_OK
$STATE,3433,begin surface
$SM_CCo,3453,59.22,0.129,0,0,1103,450.13
$SM_GC,0.97,7.65,0.00,59.22,0.028,0.000,0.129,185,2499,1103,-8.75,-0.03,450.13,0,0,0,0,0,0,26.70,26.95,26.37
$IRIDIUM_FIX,2855.60,-7615.77,170317,124950
$TT8_MAMPS,0.051681,0.291361
$HUMID,32.79
$INTERNAL_PRESSURE,9.65074
$TCM_TEMP,24.00
$XPDR_PINGS,1
$SC_FREEKB,7901824
$PM_FREEKB,62313344
$24V_AH,24.44,0.996
$10V_AH,10.40,1.083
$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,19.875,32.150,287.625,59.225,0.000,0.000,0.000,0.000,0.250,0.000,32.961,0.000,2134.159,424.254,1021.076,17.420,0.000,861.843,0.000,688.474,0.000,0.551,0.000
$DEVICE_MAMPS,228.735,45.900,1018.215,128.520,0.000,0.000,0.000,0.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3417.000,3431.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.044,11.687,0.000,0.000
$MEM,152620
$DATA_FILE_SIZE,16775,476
$CAP_FILE_SIZE,68165,0
$CFSIZE,1024409600,1019576320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.511,77.94,1
$GPS,170317,135547,2907.483,-7612.438,13,1.1,13,-8.9,0.0,0.0,7,8.5