version: 66.11
glider: 203
mission: 1
dive: 4
start: 7 17 113 19 59 36
data:
$ID,203
$MISSION,1
$DIVE,4
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,10
$T_BOOST,2
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52599
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,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,-252.14276
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,202
$PITCH_MAX,3901
$C_PITCH,3120
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21.4
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,2170
$C_ROLL_CLIMB,2105
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2872
$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,-62.727589
$PRESSURE_SLOPE,0.0001160131
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,90
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0093
$INT_PRESSURE_YINT,-0.77999997
$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,0.0043923887
$SEABIRD_T_H,0.00063351821
$SEABIRD_T_I,2.5271875e-05
$SEABIRD_T_J,3.0515032e-06
$SEABIRD_C_G,-9.7838888
$SEABIRD_C_H,1.1409903
$SEABIRD_C_I,-0.00071586663
$SEABIRD_C_J,0.00012479167
$GPS1,170713,195107,4742.925,-12225.952,3,1.6,4,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-69.8
$GPS2,170713,195838,4743.009,-12225.883,5,1.5,5,16.3
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.166,0.174
$KALMAN_X,-624.1,-855.6,-380.0,802.6,-517.7
$KALMAN_Y,-687.9,-924.3,-521.6,1744.4,-497.3
$MHEAD_RNG_PITCHd_Wd,27.5,2132,-14.0,-8.000
$D_GRID,190
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.84,-146.6,0.0,0.0,0,61,0.00,0.00,-45.22,0.000,2,0.000,0.000,187,2186,3030,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.84,-146.6,3.2,-8.5,8,88,10.27,2.30,-9.60,0.000,4,0.237,0.068,2842,748,3471,0,0,0,0,0,0,26.41,26.62,26.96
$GC,314,-0.84,-146.6,36.7,-12.5,57,321,0.00,2.15,0.00,0.000,6,0.000,0.046,2841,2161,3472,0,0,0,0,0,0,28.83,26.79,28.83
$GC,382,-0.84,-146.6,43.5,-9.9,70,389,0.00,2.15,0.00,0.000,4,0.000,0.054,2842,759,3472,0,0,0,0,0,0,28.83,26.80,28.83
$GC,614,-0.84,-146.6,68.0,-12.8,116,621,0.00,2.15,0.00,0.000,6,0.000,0.046,2842,2186,3473,0,0,0,0,0,0,28.83,26.89,28.83
$GC,744,-0.84,-146.6,80.5,-7.2,141,751,0.00,2.20,0.00,0.000,4,0.000,0.054,2842,760,3473,0,0,0,0,0,0,28.83,26.91,28.83
$GC,977,-0.84,-146.6,102.3,-12.3,187,984,0.00,2.12,0.00,0.000,6,0.000,0.045,2842,2176,3473,0,0,0,0,0,0,28.83,26.96,28.83
$GC,1105,-0.84,-146.6,114.3,-9.8,212,1111,0.00,2.17,0.00,0.000,4,0.000,0.052,2842,759,3472,0,0,0,0,0,0,28.83,26.97,28.83
$GC,1339,-0.84,-146.6,136.2,-10.6,258,1345,0.00,2.12,0.00,0.000,6,0.000,0.045,2842,2172,3473,0,0,0,0,0,0,28.83,27.01,28.83
$GC,1469,-0.84,-146.6,148.5,-8.5,283,1475,0.00,2.15,0.00,0.000,4,0.000,0.053,2842,754,3472,0,0,0,0,0,0,28.83,27.01,28.83
$GC,1701,-0.84,-146.6,171.6,-10.9,329,1708,0.00,2.15,0.00,0.000,6,0.000,0.046,2842,2182,3473,0,0,0,0,0,0,28.83,27.03,28.83
$STATE,1783,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1783,begin apogee
$GC,1787,-0.23,0.0,180.2,-11.1,345,1958,0.60,0.00,157.88,0.425,6,0.140,0.000,3035,2087,2869,0,0,0,0,1,0,26.91,28.83,25.53
$STATE,1959,end apogee,CONTROL_FINISHED_OK
$STATE,1959,begin climb
$GC,1960,0.84,146.6,185.6,0.0,376,2084,1.00,2.42,110.03,1.072,4,0.102,0.054,3379,3506,2277,0,0,0,0,1,0,25.94,25.18,24.34
$GC,2310,0.84,146.6,152.1,12.1,443,2318,0.00,2.15,1.80,0.219,6,0.000,0.045,3379,2122,2274,0,0,0,0,0,0,28.83,26.38,25.99
$GC,2441,0.84,146.6,137.6,13.4,468,2448,0.00,2.25,1.70,0.205,4,0.000,0.055,3379,3509,2279,0,0,0,0,0,0,28.83,26.50,26.26
$GC,2620,0.84,146.6,110.1,15.1,503,2628,0.00,2.17,1.62,0.202,6,0.000,0.046,3379,2091,2275,0,0,0,0,0,0,28.83,26.67,26.42
$GC,2750,0.84,146.6,93.1,12.3,528,2758,0.00,2.22,1.62,0.203,4,0.000,0.057,3379,699,2280,0,0,0,0,0,0,28.83,26.70,26.46
$GC,2829,0.84,146.6,83.8,11.9,543,2837,0.00,2.12,1.65,0.201,6,0.000,0.043,3379,2107,2274,0,0,0,0,0,0,28.83,26.77,26.52
$GC,2960,0.84,146.6,69.8,10.4,568,2967,0.00,2.25,1.50,0.201,4,0.000,0.057,3379,3511,2279,0,0,0,0,0,0,28.83,26.77,26.58
$GC,3063,0.84,146.6,58.9,10.9,588,3071,0.00,2.15,1.55,0.199,6,0.000,0.046,3379,2095,2274,0,0,0,0,0,0,28.83,26.84,26.61
$GC,3194,0.84,146.6,46.8,8.6,613,3200,0.00,0.00,1.50,0.200,6,0.000,0.000,3379,2095,2276,0,0,0,0,0,0,28.83,28.83,26.65
$GC,3322,0.84,146.6,35.7,9.3,638,3328,0.00,0.00,1.45,0.198,6,0.000,0.000,3379,2096,2274,0,0,0,0,0,0,28.83,28.83,26.71
$GC,3389,0.84,146.6,29.1,10.5,651,3396,0.00,0.00,1.20,0.209,6,0.000,0.000,3380,2095,2275,0,0,0,0,0,0,28.83,28.83,26.75
$GC,3457,0.84,146.6,22.4,10.2,664,3464,0.00,0.00,1.23,0.203,6,0.000,0.000,3379,2095,2274,0,0,0,0,0,0,28.83,28.83,26.76
$GC,3525,0.84,146.6,16.1,9.1,677,3531,0.00,0.00,1.12,0.210,6,0.000,0.000,3379,2096,2273,0,0,0,0,0,0,28.83,28.83,26.78
$GC,3593,0.85,157.2,10.9,7.6,690,3611,0.00,2.22,10.30,0.393,4,0.000,0.058,3379,3516,2222,0,0,0,0,0,0,28.83,26.80,26.47
$GC,3667,0.85,157.2,4.2,9.1,704,3674,0.00,2.17,0.00,0.000,6,0.000,0.047,3379,2101,2219,0,0,0,0,0,0,28.83,26.87,28.83
$GC,3736,1.05,323.0,2.1,1.9,717,3749,0.20,0.00,10.57,0.138,2,0.078,0.000,3467,2099,2096,0,0,0,0,0,0,26.91,28.83,28.83
$STATE,3750,end climb,SURFACE_DEPTH_REACHED
$STATE,3750,begin surface coast
$FINISH,-0.3,1.009233
$STATE,3876,end surface coast,CONTROL_FINISHED_OK
$STATE,3876,begin surface
$SM_CCo,3891,40.78,0.138,0,0,1647,300.00
$SM_GC,1.02,8.85,0.12,40.78,0.070,0.090,0.138,184,2194,1647,-9.10,-0.71,300.00,0,0,0,0,0,0,26.90,26.94,26.63
$IRIDIUM_FIX,4726.11,-12225.08,170713,191911
$TT8_MAMPS,0.031458,0.031458
$HUMID,54.25
$INTERNAL_PRESSURE,9.078
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,145.3,56.8
$24V_AH,24.3,0.309
$10V_AH,10.5,0.206
$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,20.925,44.075,306.725,40.775,0.000,53.185,105.758,161.360,3.250,0.000,6.045,1611.203,914.832,417.125,1419.388,38.856,32.220,1009.378,0.000,1070.302,0.000,22.813,0.000
$DEVICE_MAMPS,237.150,90.270,1071.765,138.465,0.000,13.010,160.000,223.000,420.000,0.000,26.960,18.450,2.190,18.450,43.170,60.400,67.140,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,496.584,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323456
$DATA_FILE_SIZE,23350,744
$CAP_FILE_SIZE,72869,0
$CFSIZE,1024393216,1021591552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,170713,210554,4743.153,-12226.235,13,0.8,13,16.3