version: 66.11
glider: 202
mission: 1
dive: 4
start: 7 17 113 12 12 38
data:
$ID,202
$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,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,150
$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,0.003
$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,-659.09082
$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,44
$R_STBD_OVSHOOT,38
$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,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,110
$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
$GPS1,170713,191520,4743.449,-12224.937,5,1.8,6,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-64.4
$GPS2,170713,192016,4743.483,-12224.859,4,1.9,4,16.3
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.049,0.236
$KALMAN_X,-239.4,-255.0,-184.1,456.8,-149.4
$KALMAN_Y,-631.6,-579.0,-246.5,1870.6,-388.9
$MHEAD_RNG_PITCHd_Wd,355.3,776,-14.0,-8.000
$D_GRID,175
$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,-0.90,-146.6,0.0,0.0,0,57,0.00,0.00,-40.25,0.000,2,0.000,0.000,199,2337,2982,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-0.90,-146.6,3.3,-8.0,7,90,9.40,2.28,-14.68,0.000,4,0.232,0.056,2632,907,3639,0,0,0,0,0,0,26.44,26.70,27.03
$GC,315,-0.90,-146.6,34.7,-10.2,57,322,0.00,2.12,0.00,0.000,6,0.000,0.037,2626,2307,3639,0,0,0,0,0,0,28.83,26.86,28.83
$GC,384,-0.90,-146.6,42.1,-11.3,70,390,0.00,2.15,0.00,0.000,4,0.000,0.041,2626,911,3639,0,0,0,0,0,0,28.83,26.88,28.83
$GC,576,-0.90,-146.6,65.5,-14.2,108,583,0.00,2.12,0.00,0.000,6,0.000,0.038,2621,2313,3639,0,0,0,0,0,0,28.83,26.95,28.83
$GC,704,-0.90,-146.6,80.8,-12.1,133,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2313,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,831,-0.90,-146.6,96.5,-11.8,158,838,0.00,2.17,0.00,0.000,4,0.000,0.054,2610,3719,3639,0,0,0,0,0,0,28.83,26.96,28.83
$GC,859,-0.90,-146.6,99.9,-12.4,163,865,0.00,2.12,0.00,0.000,6,0.000,0.037,2610,2310,3639,0,0,0,0,0,0,28.83,27.05,28.83
$GC,988,-0.90,-146.6,114.6,-11.0,188,995,0.00,2.10,0.00,0.000,4,0.000,0.043,2610,908,3639,0,0,0,0,0,0,28.83,27.03,28.83
$GC,1044,-0.90,-146.6,121.3,-12.1,198,1051,0.12,2.15,0.00,0.000,6,0.185,0.041,2636,2318,3639,0,0,0,0,0,0,26.86,27.03,28.83
$GC,1174,-0.90,-146.6,135.9,-11.1,223,1181,0.00,2.15,0.00,0.000,4,0.000,0.042,2636,900,3639,0,0,0,0,0,0,28.83,27.05,28.83
$GC,1222,-0.90,-146.6,141.1,-10.5,232,1229,0.00,2.15,0.00,0.000,6,0.000,0.041,2634,2311,3638,0,0,0,0,0,0,28.83,27.05,28.83
$GC,1350,-0.90,-146.6,154.8,-10.8,257,1356,0.00,2.15,0.00,0.000,4,0.000,0.042,2633,908,3639,0,0,0,0,0,0,28.83,27.07,28.83
$GC,1388,-0.90,-146.6,159.3,-11.6,264,1394,0.00,2.15,0.00,0.000,6,0.000,0.041,2628,2311,3639,0,0,0,0,0,0,28.83,27.07,28.83
$GC,1515,-0.90,-146.6,173.5,-11.2,289,1522,0.00,2.12,0.00,0.000,4,0.000,0.043,2628,911,3639,0,0,0,0,0,0,28.83,27.08,28.83
$STATE,1532,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1532,begin apogee
$GC,1537,-0.26,0.0,175.5,-11.0,292,1704,0.65,0.00,159.10,0.423,6,0.135,0.000,2834,2331,3035,0,0,0,0,0,0,26.93,28.83,25.60
$STATE,1705,end apogee,CONTROL_FINISHED_OK
$STATE,1705,begin climb
$GC,1706,0.90,146.6,181.6,0.0,322,1824,1.10,2.38,109.03,0.438,4,0.098,0.054,3206,3742,2432,0,0,0,0,0,0,25.97,25.76,25.36
$GC,1856,0.90,146.6,173.2,10.4,349,1862,0.00,2.20,0.00,0.000,6,0.000,0.035,3206,2333,2426,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1983,0.90,146.6,160.2,10.5,374,1990,0.00,2.20,0.00,0.000,4,0.000,0.044,3207,920,2426,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2176,0.90,146.6,140.6,8.8,412,2183,0.00,2.17,0.00,0.000,6,0.000,0.039,3207,2334,2426,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2304,0.90,146.6,130.0,8.1,437,2311,0.00,2.17,0.00,0.000,4,0.000,0.042,3207,926,2425,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2352,0.94,176.6,126.8,6.9,446,2382,0.00,2.15,22.83,0.424,6,0.000,0.038,3206,2330,2312,0,0,0,0,0,0,28.83,26.79,26.13
$GC,2503,0.94,176.6,113.2,11.0,475,2510,0.00,2.17,0.00,0.000,4,0.000,0.044,3207,921,2303,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2545,0.94,176.6,108.6,11.0,483,2552,0.00,2.17,0.00,0.000,6,0.000,0.040,3207,2334,2303,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2673,0.94,176.6,94.6,11.1,508,2680,0.00,2.17,0.00,0.000,4,0.000,0.054,3207,3733,2303,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2711,0.94,176.6,90.3,10.8,515,2718,0.00,2.12,0.00,0.000,6,0.000,0.035,3206,2316,2302,0,0,0,0,0,0,28.83,26.85,28.83
$GC,2839,0.94,176.6,76.1,11.5,540,2846,0.00,2.12,0.00,0.000,4,0.000,0.043,3206,922,2302,0,0,0,0,0,0,28.83,26.87,28.83
$GC,2891,0.94,176.6,70.3,11.0,550,2898,0.00,2.15,0.00,0.000,6,0.000,0.040,3207,2331,2302,0,0,0,0,0,0,28.83,26.90,28.83
$GC,3019,0.94,176.6,57.4,9.5,575,3026,0.00,2.17,0.00,0.000,4,0.000,0.054,3207,3734,2302,0,0,0,0,0,0,28.83,26.89,28.83
$GC,3077,0.94,176.6,51.9,9.0,586,3084,0.00,2.10,0.00,0.000,6,0.000,0.035,3207,2327,2302,0,0,0,0,0,0,28.83,26.97,28.83
$GC,3205,0.94,176.6,40.0,9.4,611,3211,0.00,2.12,0.00,0.000,4,0.000,0.043,3206,923,2302,0,0,0,0,0,0,28.83,26.97,28.83
$GC,3313,0.94,176.6,29.7,9.7,632,3319,0.00,2.12,0.00,0.000,6,0.000,0.038,3207,2331,2302,0,0,0,0,0,0,28.83,27.01,28.83
$GC,3380,0.94,176.6,24.2,8.2,645,3387,0.00,2.17,0.00,0.000,4,0.000,0.055,3207,3738,2302,0,0,0,0,0,0,28.83,26.96,28.83
$GC,3418,0.94,176.6,20.5,9.8,652,3424,0.00,2.10,0.00,0.000,6,0.000,0.036,3207,2329,2302,0,0,0,0,0,0,28.83,27.03,28.83
$GC,3486,0.94,176.6,14.8,8.1,665,3492,0.00,2.12,0.00,0.000,4,0.000,0.044,3207,929,2302,0,0,0,0,0,0,28.83,27.01,28.83
$GC,3559,0.96,192.8,9.3,7.4,679,3571,0.00,2.12,4.68,0.171,6,0.000,0.039,3207,2335,2252,0,0,0,0,0,0,28.83,27.03,26.80
$GC,3633,1.06,279.9,4.5,4.8,693,3674,0.15,2.15,33.53,0.148,4,0.096,0.041,3282,929,1894,0,0,0,0,0,0,27.03,26.91,26.73
$STATE,3679,end climb,SURFACE_DEPTH_REACHED
$STATE,3679,begin surface coast
$FINISH,0.7,1.019525
$STATE,3706,end surface coast,CONTROL_FINISHED_OK
$STATE,3706,begin surface
$SM_CCo,3722,7.75,0.155,0,0,1813,300.00
$SM_GC,3.64,8.20,2.17,7.75,0.055,0.040,0.155,197,2321,1813,-8.46,-0.93,300.00,0,0,0,0,0,0,26.92,26.94,26.72
$IRIDIUM_FIX,4726.11,-12223.37,170713,181802
$TT8_MAMPS,0.028462,0.028462
$HUMID,57.24
$INTERNAL_PRESSURE,8.86946
$TCM_TEMP,18.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.1,13.1
$24V_AH,25.4,0.318
$10V_AH,10.6,1.167
$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,19.625,77.750,329.150,7.750,0.000,26.526,36.468,165.572,1.500,0.000,7.481,1513.340,774.371,443.627,1272.836,39.311,32.222,1038.809,0.000,1015.699,0.000,13.053,0.000
$DEVICE_MAMPS,231.795,55.845,438.345,154.530,0.000,11.480,160.000,223.000,420.000,0.000,26.960,19.210,2.190,19.210,45.420,62.650,70.890,13.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,469.479,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323476
$DATA_FILE_SIZE,23358,706
$CAP_FILE_SIZE,75697,0
$CFSIZE,1024393216,1022164992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170713,202446,4743.743,-12224.901,36,1.2,48,16.3