version: 66.13
glider: 202
mission: 2
dive: 12
start: 3 18 117 12 50 33
data:
$ID,202
$MISSION,2
$DIVE,12
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,1020
$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,100
$T_MISSION,160
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,1800
$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,250
$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,-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,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,303
$ROLL_MAX,3831
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,74
$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,3154
$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
$GPS1,180317,124356,2909.2910,-7605.1313,13,1.5,40,-9.0,0.6,69.3,9,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-68.4
$GPS2,180317,125015,2909.3379,-7604.9888,15,1.3,31,-9.0,0.9,76.6,9,4.4
$SPEED_LIMITS,0.208,0.347
$TGT_NAME,WS
$TGT_LATLONG,2906.500,-7615.500
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,274.1,17802,-15.6,-12.000,-19.10,3089
$D_GRID,5076
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.70,-243.3,185,2598,1230,1391,0.0,0.0,0,81,0.00,0.00,-66.32,0.000,16386,0.000,0.000,185,2597,3285,3337,3233,0,0,0,0,0,0,26.84,28.83,26.84
$GC,83,-0.70,-243.3,184,2598,3333,3234,3.2,-6.2,11,114,9.88,2.15,-12.62,0.000,18980,0.227,1.248,2786,1208,3963,4036,3890,0,0,0,0,0,0,26.38,25.64,26.60
$GC,233,-0.70,-243.3,2787,1208,4035,3891,26.5,-13.3,40,241,0.00,2.12,0.00,0.000,1030,0.000,0.032,2780,2604,3962,4035,3890,0,0,0,0,0,0,26.63,26.59,26.65
$GC,419,-0.70,-243.3,2781,2602,4035,3891,51.6,-13.1,76,426,0.00,1.85,0.00,0.000,260,0.000,0.047,2772,3813,3963,4036,3890,0,0,0,0,0,0,26.98,26.70,26.98
$GC,465,-0.70,-243.3,2772,3813,4035,3891,57.0,-11.5,85,474,0.00,1.75,0.00,0.000,1062,0.000,0.026,2771,2597,3965,4041,3890,0,0,0,0,0,0,26.79,26.76,26.82
$GC,770,-0.70,-243.3,2771,2598,4037,3891,97.0,-13.6,116,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2598,3963,4036,3890,0,0,0,0,0,0,27.11,27.11,27.11
$GC,1070,-0.70,-243.3,2772,2597,4035,3891,137.1,-12.7,146,1077,0.00,1.88,0.00,0.000,260,0.000,0.045,2763,3821,3963,4036,3890,0,0,0,0,0,0,27.17,26.87,27.17
$GC,1131,-0.70,-243.3,2764,3822,4036,3891,145.0,-12.8,158,1138,0.08,1.70,0.00,0.000,3078,0.148,0.027,2793,2600,3963,4036,3890,0,0,0,0,0,0,26.82,26.95,26.94
$GC,1442,-0.70,-243.3,2791,2599,4038,3891,179.5,-11.2,190,1444,0.00,0.00,0.00,0.000,38,0.000,0.000,2792,2599,3963,4036,3890,0,0,0,0,0,0,27.22,27.22,27.22
$GC,1752,-0.70,-243.3,2793,2600,4035,3891,214.0,-10.8,213,1760,0.00,1.83,0.00,0.000,292,0.000,0.045,2784,3823,3963,4036,3890,0,0,0,0,0,0,27.24,26.94,27.24
$GC,1823,-0.70,-243.3,2784,3823,4037,3891,221.9,-10.9,227,1830,0.00,1.75,0.00,0.000,1062,0.000,0.026,2784,2599,3962,4035,3890,0,0,0,0,0,0,27.04,27.02,27.05
$GC,2144,-0.70,-243.3,2783,2600,4036,3891,255.5,-10.1,241,2147,0.00,0.00,0.00,0.000,38,0.000,0.000,2784,2599,3962,4035,3890,0,0,0,0,0,0,27.27,27.27,27.27
$GC,2444,-0.70,-243.3,2783,2599,4038,3891,285.6,-10.1,251,2451,0.00,1.83,0.00,0.000,292,0.000,0.046,2777,3824,3963,4036,3890,0,0,0,0,0,0,27.28,26.98,27.27
$GC,2504,-0.70,-243.3,2776,3824,4037,3891,291.9,-10.6,263,2512,0.00,1.73,0.00,0.000,1062,0.000,0.027,2777,2592,3962,4035,3890,0,0,0,0,0,0,27.08,27.04,27.10
$GC,2835,-0.70,-243.3,2777,2593,4036,3891,327.0,-10.7,279,2842,0.00,1.85,0.00,0.000,292,0.000,0.045,2768,3831,3962,4035,3889,0,0,0,0,0,0,27.29,26.98,27.29
$GC,2916,-0.70,-243.3,2768,3831,4037,3891,336.0,-11.5,295,2923,0.00,1.77,0.00,0.000,1062,0.000,0.026,2769,2596,3962,4035,3890,0,0,0,0,0,0,27.08,27.06,27.09
$STATE,3136,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3136,begin apogee
$GC,3139,-0.20,0.0,2768,2722,4037,3891,360.4,-10.9,304,3290,0.52,0.00,147.00,1.088,10246,0.099,0.000,2958,2722,3155,3181,3129,0,0,0,0,0,0,26.93,25.28,24.61
$STATE,3292,end apogee,CONTROL_FINISHED_OK
$STATE,3293,begin loiter
$GC,3587,-0.16,122.1,2957,2722,3183,3130,379.4,-4.1,319,3680,0.00,0.00,90.80,1.087,8230,0.000,0.000,2957,2721,2657,2671,2644,0,0,0,0,0,0,26.76,25.27,24.62
$GC,3976,-0.16,122.1,2959,2722,2673,2647,367.2,4.4,332,3980,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2722,2658,2673,2644,0,0,0,0,0,0,26.75,26.75,26.75
$GC,4277,-0.16,122.1,2957,2719,2679,2645,354.9,4.0,342,4280,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2721,2658,2672,2644,0,0,0,0,0,0,26.97,26.97,26.97
$GC,4576,-0.16,122.1,2958,2722,2671,2643,343.4,3.6,352,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2726,2657,2671,2644,0,0,0,0,0,0,27.08,27.08,27.08
$GC,4876,-0.16,122.1,2957,2722,2679,2645,332.2,3.8,362,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2726,2657,2670,2644,0,0,0,0,0,0,27.14,27.14,27.14
$STATE,5086,end loiter,LOITER_COMPLETE
$STATE,5086,begin climb
$GC,5087,0.70,243.3,2958,2722,2669,2645,324.2,0.0,369,5186,0.80,1.75,90.28,1.056,10500,0.065,0.046,3264,3794,2161,2160,2162,0,0,0,0,0,0,26.86,25.44,24.72
$GC,5280,0.70,243.3,3264,3796,2157,2163,306.5,12.6,407,5287,0.00,1.62,0.00,0.000,1030,0.000,0.025,3265,2693,2159,2157,2162,0,0,0,0,0,0,26.22,26.19,26.23
$GC,5601,0.70,261.4,3264,2693,2159,2163,270.0,11.4,421,5623,0.00,1.75,14.35,0.964,8484,0.000,0.044,3264,3798,2089,2085,2093,0,0,0,0,0,0,26.88,26.27,25.58
$GC,5711,0.70,261.4,3264,3798,2087,2093,256.3,12.6,443,5718,0.00,1.60,0.00,0.000,1030,0.000,0.025,3266,2696,2088,2084,2092,0,0,0,0,0,0,26.54,26.53,26.56
$GC,6022,0.72,306.8,3265,2693,2083,2094,222.3,10.5,455,6062,0.00,0.00,36.08,0.972,8230,0.000,0.000,3265,2695,1903,1891,1915,0,0,0,0,0,0,26.97,25.96,25.31
$GC,6352,0.72,328.5,3265,2696,1890,1916,186.2,11.3,474,6376,0.00,1.77,17.88,0.933,8484,0.000,0.044,3265,3803,1812,1791,1834,0,0,0,0,0,0,26.84,26.21,25.53
$GC,6475,0.72,328.5,3265,3803,1788,1839,170.1,13.0,498,6483,0.00,1.60,0.00,0.000,1030,0.000,0.025,3265,2695,1813,1792,1834,0,0,0,0,0,0,26.51,26.49,26.53
$GC,6787,0.74,368.8,3265,2695,1793,1835,135.3,10.7,530,6811,0.00,1.77,17.92,0.864,8484,0.000,0.044,3265,3806,1648,1618,1679,0,0,0,0,0,0,26.96,26.33,25.70
$GC,6884,0.74,368.8,3266,3807,1615,1679,123.1,13.6,549,6892,0.00,1.60,0.00,0.000,1030,0.000,0.025,3268,2695,1646,1614,1678,0,0,0,0,0,0,26.57,26.54,26.58
$GC,7189,0.74,369.6,3267,2695,1613,1679,85.8,12.0,580,7196,0.00,1.73,0.00,0.000,292,0.000,0.044,3268,3801,1645,1611,1679,0,0,0,0,0,0,26.98,26.69,26.98
$GC,7245,0.74,369.6,3267,3801,1612,1679,78.6,12.7,591,7253,0.00,1.58,0.00,0.000,1030,0.000,0.025,3268,2706,1644,1611,1678,0,0,0,0,0,0,26.78,26.77,26.82
$GC,7550,0.74,369.6,3268,2707,1610,1679,40.4,12.9,629,7558,0.00,1.70,0.00,0.000,260,0.000,0.045,3268,3804,1644,1610,1678,0,0,0,0,0,0,27.10,26.79,27.10
$GC,7632,0.74,369.6,3267,3804,1612,1679,29.0,13.2,645,7640,0.00,1.58,0.00,0.000,1030,0.000,0.025,3268,2697,1644,1610,1678,0,0,0,0,0,0,26.91,26.91,26.93
$GC,7819,0.74,369.6,3268,2698,1610,1679,5.2,12.3,682,7827,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,2696,1644,1610,1678,0,0,0,0,0,0,27.15,27.15,27.15
$STATE,7844,end climb,SURFACE_DEPTH_REACHED
$STATE,7844,begin surface coast
$FINISH,0.3,1.013795
$STATE,7860,end surface coast,CONTROL_FINISHED_OK
$STATE,7860,begin surface
$SM_CCo,7881,30.17,0.129,0,0,1316,450.13
$SM_GC,1.11,7.65,0.05,30.17,0.027,0.138,0.129,188,2611,1316,-8.76,2.54,450.13,0,0,0,0,0,0,26.90,26.96,26.67
$IRIDIUM_FIX,2855.60,-7612.79,180317,104909
$TT8_MAMPS,0.049434,0.2996
$HUMID,34.52
$INTERNAL_PRESSURE,9.65074
$TCM_TEMP,23.80
$XPDR_PINGS,0
$SC_FREEKB,7893504
$PM_FREEKB,61921280
$24V_AH,24.61,2.585
$10V_AH,10.42,1.910
$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,18.925,42.450,414.300,30.175,0.000,0.000,0.000,267.300,0.000,0.000,32.408,0.000,5957.268,556.600,1737.120,46.886,0.000,1437.218,0.000,993.494,0.000,0.550,0.000
$DEVICE_MAMPS,227.205,1247.715,1087.830,129.285,0.000,0.000,0.000,100.215,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7846.000,7852.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.314,11.798,0.000,0.000
$MEM,152960
$DATA_FILE_SIZE,23361,690
$CAP_FILE_SIZE,80635,0
$CFSIZE,1024409600,1018363904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.394,81.73,1
$GPS,180317,150332,2909.520,-7604.163,14,1.7,41,-9.0,0.5,73.5,9,4.3