version: 66.13
glider: 202
mission: 2
dive: 14
start: 3 18 117 17 26 51
data:
$ID,202
$MISSION,2
$DIVE,14
$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,75
$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
$GPS1,180317,172050,2909.8350,-7603.1289,12,1.5,39,-9.0,0.8,62.4,9,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-67.5
$GPS2,180317,172633,2909.8845,-7602.9956,13,1.5,17,-9.0,0.8,74.1,8,5.4
$SPEED_LIMITS,0.208,0.347
$TGT_NAME,WS
$TGT_LATLONG,2906.500,-7615.500
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,282.1,21182,-15.6,-12.000,-19.10,3089
$D_GRID,5094
$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,10,begin dive
$GC,11,-0.70,-243.3,180,2599,1224,1383,0.0,0.0,0,86,0.00,0.00,-70.85,0.000,16386,0.000,0.000,178,2599,3458,3507,3409,0,0,0,0,0,0,26.86,28.83,26.85
$GC,87,-0.70,-243.3,180,2599,3506,3409,3.6,-8.2,12,114,9.88,2.10,-8.70,0.000,18980,0.226,1.244,2785,1198,3961,4033,3890,0,0,0,0,0,0,26.39,25.62,26.61
$GC,297,-0.70,-243.3,2785,1198,4035,3892,35.1,-11.9,53,306,0.00,2.12,0.00,0.000,1062,0.000,0.031,2779,2606,3961,4033,3890,0,0,0,0,0,0,26.72,26.68,26.73
$GC,485,-0.70,-243.3,2778,2606,4035,3892,60.2,-13.7,83,489,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2606,3961,4032,3891,0,0,0,0,0,0,27.04,27.04,27.04
$GC,785,-0.70,-243.3,2778,2607,4035,3892,100.3,-13.1,113,793,0.00,1.80,0.00,0.000,260,0.000,0.046,2770,3821,3961,4032,3890,0,0,0,0,0,0,27.13,26.83,27.13
$GC,866,-0.70,-243.3,2770,3823,4033,3891,111.6,-14.0,129,875,0.00,1.73,0.00,0.000,1030,0.000,0.027,2771,2588,3962,4033,3891,0,0,0,0,0,0,26.96,26.91,26.97
$GC,1178,-0.70,-243.3,2771,2591,4033,3891,155.5,-13.6,161,1182,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2590,3962,4034,3891,0,0,0,0,0,0,27.20,27.20,27.20
$GC,1478,-0.70,-243.3,2769,2591,4036,3892,195.2,-13.0,191,1482,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2590,3962,4034,3891,0,0,0,0,0,0,27.22,27.22,27.23
$GC,1788,-0.70,-243.3,2770,2591,4041,3892,234.5,-12.8,204,1795,0.00,1.83,0.00,0.000,260,0.000,0.044,2761,3821,3960,4034,3887,0,0,0,0,0,0,27.25,26.95,27.25
$GC,1828,-0.70,-243.3,2761,3823,4036,3891,239.8,-12.9,212,1836,0.08,1.75,0.00,0.000,3078,0.123,0.025,2788,2599,3962,4034,3891,0,0,0,0,0,0,26.89,27.02,26.97
$GC,2150,-0.70,-243.3,2789,2599,4036,3892,272.8,-9.7,226,2157,0.00,1.83,0.00,0.000,292,0.000,0.044,2783,3823,3962,4034,3891,0,0,0,0,0,0,27.27,26.96,27.27
$GC,2205,-0.70,-243.3,2783,3824,4034,3891,278.6,-10.4,237,2214,0.00,1.75,0.00,0.000,1062,0.000,0.026,2787,2597,3962,4034,3891,0,0,0,0,0,0,27.06,27.03,27.08
$GC,2511,-0.70,-243.3,2782,2598,4036,3891,308.4,-9.6,248,2514,0.00,0.00,0.00,0.000,38,0.000,0.000,2780,2598,3963,4035,3891,0,0,0,0,0,0,27.27,27.27,27.27
$GC,2811,-0.70,-243.3,2780,2598,4034,3891,336.5,-9.4,258,2817,0.00,1.83,0.00,0.000,292,0.000,0.044,2776,3826,3962,4034,3891,0,0,0,0,0,0,27.29,26.98,27.29
$GC,2891,-0.70,-243.3,2776,3827,4034,3891,344.5,-10.1,274,2898,0.00,1.75,0.00,0.000,1062,0.000,0.025,2775,2597,3963,4035,3891,0,0,0,0,0,0,27.08,27.05,27.09
$STATE,3050,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3050,begin apogee
$GC,3053,-0.20,0.0,2781,2725,4034,3891,360.4,-9.8,281,3205,0.50,0.00,147.00,1.088,10246,0.097,0.000,2957,2724,3155,3180,3130,0,0,0,0,0,0,26.92,25.28,24.59
$STATE,3208,end apogee,CONTROL_FINISHED_OK
$STATE,3208,begin loiter
$GC,3501,-0.17,98.2,2957,2725,3180,3131,375.7,-3.3,296,3578,0.00,0.00,73.32,1.085,8230,0.000,0.000,2956,2725,2753,2768,2738,0,0,0,0,0,0,26.77,25.39,24.73
$GC,3861,-0.17,98.2,2957,2724,2769,2738,369.2,2.4,308,3864,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2724,2753,2769,2738,0,0,0,0,0,0,26.77,26.77,26.77
$GC,4161,-0.17,98.2,2957,2725,2769,2738,363.4,1.8,318,4164,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2724,2753,2769,2737,0,0,0,0,0,0,26.98,26.98,26.98
$GC,4461,-0.17,98.2,2956,2724,2771,2738,357.1,2.5,328,4464,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2724,2754,2770,2738,0,0,0,0,0,0,27.09,27.09,27.08
$GC,4761,-0.17,98.2,2955,2725,2770,2738,349.2,2.6,338,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2724,2752,2768,2737,0,0,0,0,0,0,27.15,27.13,27.15
$STATE,5000,end loiter,LOITER_COMPLETE
$STATE,5000,begin climb
$GC,5001,0.70,243.3,2956,2725,2769,2738,343.0,0.0,346,5119,0.80,2.20,107.95,1.069,10756,0.069,0.028,3261,1321,2162,2159,2165,0,0,0,0,0,0,26.86,25.37,24.68
$GC,5177,0.72,326.8,3262,1319,2158,2165,331.2,9.2,371,5251,0.00,2.08,65.68,1.055,9254,0.000,0.031,3261,2694,1823,1800,1846,0,0,0,0,0,0,26.07,26.01,24.64
$GC,5575,0.72,330.0,3262,2695,1794,1846,284.8,11.9,400,5587,0.00,1.75,4.20,0.831,8484,0.000,0.046,3261,3816,1808,1771,1845,0,0,0,0,0,0,26.79,26.41,25.70
$GC,5696,0.72,330.0,3262,3817,1771,1846,268.6,13.2,424,5703,0.00,1.58,0.00,0.000,1030,0.000,0.026,3263,2694,1808,1771,1845,0,0,0,0,0,0,26.66,26.63,26.67
$GC,6026,0.73,337.7,3263,2694,1772,1846,228.2,11.7,440,6037,0.00,0.00,7.20,0.894,8230,0.000,0.000,3263,2693,1777,1745,1809,0,0,0,0,0,0,27.03,26.55,25.87
$GC,6326,0.73,337.7,3264,2694,1745,1810,191.5,12.7,454,6333,0.00,1.70,0.00,0.000,260,0.000,0.044,3264,3817,1777,1745,1809,0,0,0,0,0,0,27.05,26.75,27.05
$GC,6447,0.73,337.7,3264,3818,1745,1809,175.6,13.6,478,6454,0.00,1.58,0.00,0.000,1030,0.000,0.025,3263,2688,1777,1745,1809,0,0,0,0,0,0,26.90,26.86,26.91
$GC,6758,0.73,353.6,3264,2689,1745,1809,138.5,11.5,510,6772,0.00,1.77,7.03,0.825,8484,0.000,0.044,3263,3818,1712,1683,1741,0,0,0,0,0,0,27.15,26.70,26.01
$GC,6805,0.73,353.6,3263,3818,1685,1741,132.2,13.5,519,6815,0.00,1.60,0.00,0.000,1030,0.000,0.025,3264,2697,1711,1682,1740,0,0,0,0,0,0,26.84,26.82,26.85
$GC,7111,0.74,379.7,3264,2701,1680,1741,97.6,11.1,550,7129,0.00,1.75,10.98,0.720,8484,0.000,0.044,3263,3818,1606,1574,1638,0,0,0,0,0,0,27.14,26.65,26.07
$GC,7208,0.74,379.7,3263,3818,1573,1639,85.0,13.5,569,7216,0.00,1.60,0.00,0.000,1030,0.000,0.024,3263,2710,1604,1571,1638,0,0,0,0,0,0,26.82,26.79,26.84
$GC,7513,0.74,379.7,3264,2711,1569,1639,46.9,12.7,602,7521,0.00,1.73,0.00,0.000,260,0.000,0.044,3263,3819,1603,1569,1638,0,0,0,0,0,0,27.13,26.83,27.13
$GC,7579,0.74,379.7,3264,3820,1569,1638,37.7,14.1,615,7588,0.00,1.60,0.00,0.000,1030,0.000,0.025,3263,2695,1602,1566,1638,0,0,0,0,0,0,26.94,26.91,26.95
$GC,7767,0.74,379.7,3262,2694,1571,1638,13.7,12.9,652,7774,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,2693,1603,1569,1638,0,0,0,0,0,0,27.17,27.17,27.17
$STATE,7862,end climb,SURFACE_DEPTH_REACHED
$STATE,7862,begin surface coast
$FINISH,0.3,1.012655
$STATE,7877,end surface coast,CONTROL_FINISHED_OK
$STATE,7877,begin surface
$SM_CCo,7899,26.52,0.131,0,0,1316,450.13
$SM_GC,0.93,7.62,0.03,26.52,0.026,0.208,0.131,186,2602,1316,-8.76,2.60,450.13,0,0,0,0,0,0,26.94,27.00,26.71
$IRIDIUM_FIX,2855.60,-7506.34,180317,150510
$TT8_MAMPS,0.050932,0.282373
$HUMID,34.99
$INTERNAL_PRESSURE,9.67027
$TCM_TEMP,23.90
$XPDR_PINGS,0
$SC_FREEKB,7891584
$PM_FREEKB,61845248
$24V_AH,24.59,2.850
$10V_AH,10.43,2.070
$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,18.875,39.575,423.350,26.525,0.000,0.000,0.000,242.100,0.000,0.000,18.843,0.000,5997.925,560.719,1669.182,48.009,0.000,1402.145,0.000,970.931,0.000,0.551,0.000
$DEVICE_MAMPS,226.440,1243.890,1087.830,130.815,0.000,0.000,0.000,103.275,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7865.000,7871.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.256,11.796,0.000,0.000
$MEM,152976
$DATA_FILE_SIZE,23413,674
$CAP_FILE_SIZE,78722,0
$CFSIZE,1024409600,1018101760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.374,85.12,1
$GPS,180317,194003,2910.173,-7602.301,11,0.8,39,-9.1,0.5,43.0,10,3.8