version: 66.11
glider: 202
mission: 1
dive: 17
start: 7 18 113 1 57 10
data:
$ID,202
$MISSION,1
$DIVE,17
$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,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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,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,-1141.5681
$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,46
$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,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
$GPS1,180713,090005,4743.211,-12224.809,33,0.9,33,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-67.7
$GPS2,180713,090454,4743.237,-12224.771,5,0.9,5,16.3
$SPEED_LIMITS,0.139,0.202
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.037,-0.198
$KALMAN_X,-1418.8,282.4,-76.8,1105.4,-198.9
$KALMAN_Y,-5508.6,312.0,-636.6,5762.8,18.3
$MHEAD_RNG_PITCHd_Wd,153.1,995,-18.6,-8.000
$D_GRID,177
$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,14,-1.07,-97.8,0.0,0.0,0,56,0.00,0.00,-39.78,0.000,2,0.000,0.000,196,2304,2964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-1.07,-97.8,3.3,-6.8,7,88,9.52,2.20,-11.25,0.000,4,0.245,0.057,2573,909,3439,0,0,0,0,0,0,26.36,26.60,26.89
$GC,315,-1.07,-97.8,38.5,-12.8,57,321,0.00,2.12,0.00,0.000,6,0.000,0.038,2569,2298,3439,0,0,0,0,0,0,28.83,26.75,28.83
$GC,383,-1.07,-97.8,47.7,-13.8,70,390,0.00,2.12,0.00,0.000,4,0.000,0.041,2569,912,3439,0,0,0,0,0,0,28.83,26.78,28.83
$GC,615,-1.07,-97.8,78.2,-12.7,116,622,0.00,2.12,0.00,0.000,6,0.000,0.038,2562,2312,3439,0,0,0,0,0,0,28.83,26.87,28.83
$GC,743,-1.07,-97.8,94.6,-12.5,141,750,0.00,2.15,0.00,0.000,4,0.000,0.041,2562,903,3439,0,0,0,0,0,0,28.83,26.90,28.83
$GC,891,-1.07,-97.8,113.7,-11.7,170,898,0.00,2.15,0.00,0.000,6,0.000,0.039,2554,2317,3439,0,0,0,0,0,0,28.83,26.94,28.83
$GC,1019,-1.07,-97.8,129.8,-13.5,195,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2317,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1146,-1.07,-97.8,145.7,-11.7,220,1153,0.00,2.15,0.00,0.000,4,0.000,0.041,2554,902,3439,0,0,0,0,0,0,28.83,26.98,28.83
$GC,1294,-1.07,-97.8,164.3,-13.4,249,1302,0.12,2.15,0.00,0.000,6,0.196,0.040,2575,2317,3439,0,0,0,0,0,0,26.85,27.01,28.83
$STATE,1407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1407,begin apogee
$GC,1410,-0.26,0.0,177.3,-10.4,271,1495,0.82,0.00,74.18,0.868,6,0.150,0.000,2837,2317,3042,0,0,0,0,1,0,26.88,28.83,25.03
$STATE,1496,end apogee,CONTROL_FINISHED_OK
$STATE,1496,begin climb
$GC,1497,1.07,97.8,180.1,0.0,286,1582,1.27,2.30,77.82,0.432,4,0.096,0.041,3268,933,2633,0,0,0,0,0,0,25.72,25.65,25.25
$GC,1623,1.07,97.8,173.7,8.2,309,1630,0.00,2.22,0.00,0.000,6,0.000,0.037,3268,2343,2629,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1752,1.07,97.8,162.5,8.4,334,1758,0.00,2.25,0.00,0.000,4,0.000,0.052,3268,3742,2629,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1780,1.07,97.8,160.0,9.2,339,1786,0.00,2.17,0.00,0.000,6,0.000,0.035,3268,2323,2629,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1908,1.07,97.8,147.7,8.9,364,1915,0.00,2.17,0.00,0.000,4,0.000,0.043,3269,920,2628,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2056,1.07,97.8,134.3,8.6,393,2063,0.00,2.17,0.00,0.000,6,0.000,0.038,3268,2341,2628,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2185,1.07,97.8,123.2,8.4,418,2191,0.00,2.20,0.00,0.000,4,0.000,0.042,3268,923,2628,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2218,1.07,97.8,120.3,8.9,424,2224,0.00,2.15,0.00,0.000,6,0.000,0.039,3268,2334,2628,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2345,1.07,97.8,109.2,9.1,449,2352,0.00,2.20,0.00,0.000,4,0.000,0.053,3268,3728,2629,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2438,1.07,97.8,99.7,10.2,467,2445,0.00,2.12,0.00,0.000,6,0.000,0.034,3268,2322,2628,0,0,0,0,0,0,28.83,26.84,28.83
$GC,2567,1.07,97.8,89.0,8.1,492,2573,0.00,2.12,0.00,0.000,4,0.000,0.043,3269,922,2628,0,0,0,0,0,0,28.83,26.86,28.83
$GC,2620,1.07,97.8,84.5,8.6,502,2626,0.00,2.15,0.00,0.000,6,0.000,0.040,3268,2333,2628,0,0,0,0,0,0,28.83,26.86,28.83
$GC,2747,1.07,97.8,73.4,9.2,527,2754,0.00,2.20,0.00,0.000,4,0.000,0.055,3269,3736,2628,0,0,0,0,0,0,28.83,26.87,28.83
$GC,2800,1.07,97.8,68.5,9.8,537,2807,0.00,2.10,0.00,0.000,6,0.000,0.036,3271,2330,2628,0,0,0,0,0,0,28.83,26.95,28.83
$GC,2928,1.07,97.8,57.2,8.9,562,2935,0.00,2.17,0.00,0.000,4,0.000,0.054,3271,3726,2628,0,0,0,0,0,0,28.83,26.91,28.83
$GC,3162,1.07,97.8,36.6,8.8,608,3169,0.00,2.08,0.00,0.000,6,0.000,0.034,3271,2327,2628,0,0,0,0,0,0,28.83,27.02,28.83
$GC,3231,1.10,118.1,31.2,6.9,621,3255,0.00,2.25,14.43,0.371,4,0.000,0.052,3271,3730,2547,0,0,0,0,0,0,28.83,26.85,26.52
$GC,3301,1.10,118.1,25.3,8.6,634,3308,0.00,2.10,0.00,0.000,6,0.000,0.035,3271,2326,2544,0,0,0,0,0,0,28.83,26.92,28.83
$GC,3369,1.10,122.2,19.3,7.8,647,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,2326,2544,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3436,1.10,122.2,13.6,8.9,660,3442,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,2326,2544,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3503,1.10,122.2,7.6,9.2,673,3509,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,2326,2544,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3571,1.21,206.3,4.7,3.4,686,3612,0.12,2.22,30.88,0.145,4,0.101,0.050,3333,3719,2198,0,0,0,0,0,0,26.99,26.84,26.73
$STATE,3632,end climb,SURFACE_DEPTH_REACHED
$STATE,3632,begin surface coast
$FINISH,0.8,1.008945
$STATE,3663,end surface coast,CONTROL_FINISHED_OK
$STATE,3663,begin surface
$SM_CCo,3680,35.17,0.145,0,0,1812,300.00
$SM_GC,1.97,8.40,2.17,35.17,0.058,0.035,0.145,196,2315,1812,-8.46,1.47,300.00,0,0,0,0,0,0,26.88,26.92,26.65
$IRIDIUM_FIX,4722.92,-12223.37,180713,070725
$TT8_MAMPS,0.027713,0.027713
$HUMID,53.78
$INTERNAL_PRESSURE,8.84016
$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,25.0,0.936
$10V_AH,10.6,1.622
$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,20.275,60.725,197.300,35.175,0.000,24.281,27.843,169.035,0.000,0.000,8.373,1554.520,805.515,362.588,1250.542,45.290,33.215,927.462,0.000,1012.516,0.000,0.547,0.000
$DEVICE_MAMPS,244.800,56.610,867.510,144.585,0.000,11.480,160.000,223.000,420.000,0.000,26.960,19.210,2.190,19.210,45.420,62.650,70.890,13.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,470.633,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323612
$DATA_FILE_SIZE,26786,703
$CAP_FILE_SIZE,71481,0
$CFSIZE,1024393216,1021329408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,180713,100820,4743.103,-12224.514,3,1.1,4,16.3