version: 66.11
glider: 203
mission: 2
dive: 15
start: 12 19 113 9 0 4
data:
$ID,203
$MISSION,2
$DIVE,15
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,30
$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,75
$T_MISSION,85
$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,90
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51624
$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,230
$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,-903.37543
$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,2585
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$PITCH_GAIN,19
$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,2100
$C_ROLL_CLIMB,2005
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3103
$VBD_DBAND,4
$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,-61.948673
$PRESSURE_SLOPE,0.0001160131
$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,110
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0093
$INT_PRESSURE_YINT,-1
$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
$GPS1,191213,085259,4742.536,-12224.996,34,1.4,34,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-54.3
$GPS2,191213,085910,4742.490,-12225.025,5,1.4,5,16.3
$SPEED_LIMITS,0.080,0.192
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.064,0.048
$KALMAN_X,53.4,121.1,479.6,-1478.8,0.7
$KALMAN_Y,1227.1,872.8,335.6,-3219.0,176.0
$MHEAD_RNG_PITCHd_Wd,36.8,480,-43.4,-8.000
$D_GRID,176
$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,-2.30,-18.9,0.0,0.0,0,62,0.00,0.00,-40.42,0.000,6,0.000,0.000,198,2098,3180,0,0,0,0,0,0,28.83,28.83,26.79
$GC,64,-2.31,-24.5,2.6,-6.4,8,77,6.25,2.12,-0.65,0.000,4,0.232,0.049,1822,691,3202,0,0,0,0,0,0,26.27,26.48,26.65
$GC,219,-2.31,-24.5,22.0,-13.8,38,225,0.00,2.08,0.00,0.000,6,0.000,0.031,1815,2103,3203,0,0,0,0,0,0,28.83,26.61,28.83
$GC,287,-2.31,-24.5,31.0,-13.3,51,293,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2102,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,354,-2.31,-24.5,39.6,-11.7,64,360,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2102,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,421,-2.31,-24.5,47.7,-12.0,77,427,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2103,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,548,-2.31,-24.5,64.3,-12.9,102,554,0.00,2.10,0.00,0.000,4,0.000,0.044,1816,3502,3203,0,0,0,0,0,0,28.83,26.72,28.83
$GC,656,-2.31,-24.5,77.5,-12.3,123,663,0.00,2.05,0.00,0.000,6,0.000,0.029,1816,2083,3203,0,0,0,0,0,0,28.83,26.79,28.83
$GC,784,-2.31,-24.5,94.2,-13.6,148,790,0.00,2.15,0.00,0.000,4,0.000,0.044,1816,3507,3203,0,0,0,0,0,0,28.83,26.79,28.83
$GC,827,-2.31,-24.5,99.8,-13.3,156,833,0.00,2.05,0.00,0.000,6,0.000,0.029,1816,2085,3203,0,0,0,0,0,0,28.83,26.84,28.83
$GC,955,-2.31,-24.5,116.5,-12.5,181,962,0.00,2.03,0.00,0.000,4,0.000,0.037,1815,706,3203,0,0,0,0,0,0,28.83,26.84,28.83
$GC,1046,-2.31,-24.5,127.9,-12.0,198,1053,0.00,2.03,0.00,0.000,6,0.000,0.031,1816,2101,3203,0,0,0,0,0,0,28.83,26.87,28.83
$GC,1177,-2.31,-24.5,142.9,-10.4,223,1183,0.00,2.10,0.00,0.000,4,0.000,0.044,1816,3508,3203,0,0,0,0,0,0,28.83,26.86,28.83
$GC,1344,-2.31,-24.5,159.7,-10.2,256,1351,0.00,2.03,0.00,0.000,6,0.000,0.028,1816,2096,3203,0,0,0,0,0,0,28.83,26.94,28.83
$GC,1472,-2.31,-24.5,172.5,-10.6,281,1479,0.00,2.03,0.00,0.000,4,0.000,0.037,1816,709,3203,0,0,0,0,0,0,28.83,26.93,28.83
$STATE,1509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1509,begin apogee
$GC,1515,-0.26,0.0,176.2,-9.5,288,1539,2.08,0.00,19.38,1.064,6,0.155,0.000,2484,2009,3102,0,0,0,0,0,0,26.78,28.83,25.64
$STATE,1540,end apogee,CONTROL_FINISHED_OK
$STATE,1540,begin climb
$GC,1541,2.31,24.5,176.2,0.0,292,1570,2.30,0.00,19.17,1.058,6,0.084,0.000,3318,2010,3004,0,0,0,0,0,0,26.40,28.83,25.23
$GC,1692,2.31,24.5,166.7,8.8,321,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2010,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1819,2.31,24.5,156.4,8.4,346,1826,0.00,2.12,0.00,0.000,4,0.000,0.043,3326,615,3004,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1981,2.31,24.5,140.9,10.0,378,1988,0.00,2.05,0.00,0.000,6,0.000,0.029,3325,2014,3005,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2111,2.31,25.0,130.0,7.8,403,2118,0.00,2.08,0.00,0.000,4,0.000,0.039,3326,3406,3004,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2344,2.33,37.7,116.4,4.4,449,2357,0.00,2.03,5.38,0.789,6,0.000,0.031,3330,2025,2949,0,0,0,0,0,0,28.83,26.76,25.89
$GC,2479,2.33,39.9,107.1,7.4,475,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2026,2949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2606,2.33,39.9,96.5,9.5,500,2613,0.00,2.08,0.00,0.000,4,0.000,0.039,3330,3415,2949,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2839,2.33,39.9,70.6,10.4,546,2846,0.00,2.08,0.00,0.000,6,0.000,0.032,3330,2008,2949,0,0,0,0,0,0,28.83,26.84,28.83
$GC,2969,2.33,39.9,57.0,10.0,571,2975,0.00,2.08,0.00,0.000,4,0.000,0.040,3330,3405,2949,0,0,0,0,0,0,28.83,26.84,28.83
$GC,3112,2.33,39.9,43.0,8.8,599,3118,0.00,2.08,0.00,0.000,6,0.000,0.032,3338,1981,2949,0,0,0,0,0,0,28.83,26.89,28.83
$GC,3240,2.33,39.9,31.6,8.1,624,3246,0.00,2.05,0.00,0.000,4,0.000,0.044,3348,601,2949,0,0,0,0,0,0,28.83,26.88,28.83
$GC,3372,2.33,39.9,19.8,8.5,650,3379,0.00,2.05,0.00,0.000,6,0.000,0.029,3348,2010,2949,0,0,0,0,0,0,28.83,26.94,28.83
$GC,3440,2.33,39.9,14.1,8.4,663,3447,0.00,2.05,0.00,0.000,4,0.000,0.040,3348,3401,2949,0,0,0,0,0,0,28.83,26.92,28.83
$STATE,3583,end climb,SURFACE_DEPTH_REACHED
$STATE,3583,begin surface coast
$FINISH,0.4,1.023186
$STATE,3604,end surface coast,CONTROL_FINISHED_OK
$STATE,3604,begin surface
$SM_CCo,3620,66.12,0.138,0,0,2163,230.09
$SM_GC,1.73,9.05,1.95,66.12,0.104,0.030,0.138,193,2090,2163,-7.38,1.53,230.09,0,0,0,0,0,0,26.93,26.96,26.59
$IRIDIUM_FIX,4726.11,-12225.08,191213,070705
$TT8_MAMPS,0.031458,0.031458
$HUMID,40.82
$INTERNAL_PRESSURE,9.1463
$TCM_TEMP,18.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,140.5,34.9
$24V_AH,25.2,2.714
$10V_AH,10.5,1.491
$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,19.675,49.375,43.925,66.125,0.000,23.504,40.639,231.995,1.500,0.000,6.676,1602.085,845.485,258.186,1321.645,43.707,33.211,783.328,0.000,1000.997,0.000,13.179,0.000
$DEVICE_MAMPS,231.795,48.960,1064.115,138.465,0.000,13.010,160.000,223.000,420.000,0.000,26.960,18.450,2.190,18.450,43.170,60.400,67.140,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,471.688,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323412
$DATA_FILE_SIZE,26724,695
$CAP_FILE_SIZE,68215,0
$CFSIZE,1024393216,1020051456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,191213,100208,4742.290,-12225.148,4,1.4,4,16.3