version: 66.11
glider: 202
mission: 1
dive: 13
start: 7 17 113 22 17 52
data:
$ID,202
$MISSION,1
$DIVE,13
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,20
$T_BOOST,3
$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,50
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,235
$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,-1032.6132
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3892
$C_PITCH,2925
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19.5
$PITCH_TIMEOUT,17
$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,2310
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3039
$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,-61.508095
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.5
$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,0.0043948898
$SEABIRD_T_H,0.000640176
$SEABIRD_T_I,2.7039805e-05
$SEABIRD_T_J,3.3535807e-06
$SEABIRD_C_G,-9.7607336
$SEABIRD_C_H,1.1271561
$SEABIRD_C_I,-0.0014806761
$SEABIRD_C_J,0.00019408599
$GPS1,180713,052103,4743.899,-12223.190,8,0.9,8,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-69.3
$GPS2,180713,052531,4743.885,-12223.214,4,1.0,5,16.3
$SPEED_LIMITS,0.101,0.347
$TGT_NAME,HEADING
$TGT_LATLONG,4737.690,-12236.340
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.330,-0.108
$KALMAN_X,-1018.9,12.6,-213.0,3049.2,-104.9
$KALMAN_Y,-4794.6,168.1,-53.2,5831.5,-385.1
$MHEAD_RNG_PITCHd_Wd,235.5,20000,-15.6,-12.000
$D_GRID,152
$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,-1.10,-244.4,0.0,0.0,0,52,0.00,0.00,-34.78,0.000,2,0.000,0.000,195,355,2836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,54,-1.10,-244.4,3.1,-5.9,6,95,9.55,0.88,-27.75,0.000,4,0.246,0.079,2562,914,3962,0,0,0,0,0,0,26.32,26.62,26.89
$GC,322,-1.10,-244.4,48.1,-17.8,58,328,0.00,2.12,0.00,0.000,6,0.000,0.040,2552,2310,3963,0,0,0,0,0,0,28.83,26.73,28.83
$GC,450,-1.10,-244.4,70.4,-16.6,83,456,0.00,2.17,0.00,0.000,4,0.000,0.042,2553,893,3963,0,0,0,0,0,0,28.83,26.79,28.83
$GC,577,-1.10,-244.4,92.3,-16.5,108,584,0.00,2.17,0.00,0.000,6,0.000,0.040,2544,2313,3963,0,0,0,0,0,0,28.83,26.84,28.83
$GC,705,-1.10,-244.4,114.1,-17.5,133,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2313,3962,0,0,0,0,0,0,28.83,28.83,28.83
$GC,832,-1.10,-244.4,135.6,-16.5,158,839,0.00,2.20,0.00,0.000,4,0.000,0.057,2534,3726,3962,0,0,0,0,0,0,28.83,26.87,28.83
$GC,855,-1.10,-244.4,139.1,-15.9,162,863,0.12,2.15,0.00,0.000,6,0.174,0.037,2564,2295,3962,0,0,0,0,0,0,26.77,26.94,28.83
$STATE,938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,938,begin apogee
$GC,941,-0.26,0.0,152.5,-16.1,178,1114,0.75,0.00,165.85,0.433,6,0.087,0.000,2837,2294,3032,0,0,0,0,0,0,26.87,28.83,25.39
$STATE,1115,end apogee,CONTROL_FINISHED_OK
$STATE,1115,begin climb
$GC,1116,1.10,244.4,152.8,0.0,209,1311,1.25,2.25,181.98,0.408,4,0.077,0.041,3277,926,2028,0,0,0,0,0,0,25.79,25.61,25.21
$GC,1353,1.10,244.4,134.2,15.0,252,1360,0.00,2.25,0.00,0.000,6,0.000,0.037,3277,2333,2021,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1481,1.10,244.4,114.4,14.6,277,1488,0.00,2.22,0.00,0.000,4,0.000,0.052,3277,3737,2020,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1534,1.10,244.4,105.9,16.8,287,1541,0.00,2.15,0.00,0.000,6,0.000,0.034,3277,2327,2020,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1663,1.10,244.4,87.3,15.4,312,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,2327,2020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1789,1.10,244.4,68.6,13.1,337,1796,0.00,2.15,0.00,0.000,4,0.000,0.042,3277,927,2020,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1847,1.10,244.4,60.5,14.6,348,1854,0.00,2.15,0.00,0.000,6,0.000,0.037,3278,2333,2020,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1975,1.10,244.4,42.7,12.7,373,1982,0.00,2.17,0.00,0.000,4,0.000,0.042,3277,930,2020,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2033,1.11,252.3,35.6,11.7,384,2041,0.00,2.17,1.40,0.188,6,0.000,0.038,3277,2339,2004,0,0,0,0,0,0,28.83,26.78,26.63
$GC,2102,1.11,252.3,27.2,12.3,397,2109,0.00,2.17,0.00,0.000,4,0.000,0.054,3277,3735,2015,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2140,1.11,252.3,22.2,13.6,404,2147,0.00,2.12,0.00,0.000,6,0.000,0.034,3277,2330,2016,0,0,0,0,0,0,28.83,26.83,28.83
$GC,2208,1.14,273.5,14.3,11.3,417,2226,0.00,2.20,9.23,0.168,4,0.000,0.043,3277,924,1930,0,0,0,0,0,0,28.83,26.79,26.61
$GC,2238,1.14,273.5,10.7,12.2,422,2245,0.00,2.17,1.65,0.191,6,0.000,0.040,3277,2336,1922,0,0,0,0,0,0,28.83,26.80,26.63
$GC,2307,1.22,339.8,2.5,9.8,435,2315,0.12,0.00,5.28,0.148,2,0.098,0.000,3339,2336,1880,0,0,0,0,0,0,26.85,28.83,28.83
$STATE,2316,end climb,SURFACE_DEPTH_REACHED
$STATE,2316,begin surface coast
$FINISH,0.9,0.999029
$STATE,2337,end surface coast,CONTROL_FINISHED_OK
$STATE,2337,begin surface
$SM_CCo,2350,6.82,0.154,0,0,1814,300.00
$SM_GC,3.46,8.38,0.00,6.82,0.054,0.000,0.154,198,2336,1814,-8.46,0.74,300.00,0,0,0,0,0,0,26.79,28.83,26.63
$IRIDIUM_FIX,4726.11,-12220.67,180713,040432
$TT8_MAMPS,0.027713,0.027713
$HUMID,51.89
$INTERNAL_PRESSURE,8.8304
$TCM_TEMP,18.60
$XPDR_PINGS,0
$24V_AH,25.2,0.717
$10V_AH,10.6,1.488
$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,20.175,37.900,365.375,6.825,0.000,25.991,35.842,136.968,0.000,0.000,8.350,906.911,435.189,418.078,856.460,28.519,33.231,828.353,0.000,642.118,0.000,0.546,0.000
$DEVICE_MAMPS,246.330,78.795,432.990,153.765,0.000,11.480,160.000,223.000,420.000,0.000,26.960,19.210,2.190,19.210,45.420,62.650,70.890,13.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,288.748,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323580
$DATA_FILE_SIZE,16763,440
$CAP_FILE_SIZE,49894,0
$CFSIZE,1024393216,1021591552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180713,060623,4743.525,-12223.593,3,0.9,3,16.3