version: 66.11
glider: 202
mission: 1
dive: 8
start: 7 17 113 16 50 4
data:
$ID,202
$MISSION,1
$DIVE,8
$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,-814.94031
$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,38
$R_STBD_OVSHOOT,34
$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
$GPS1,170713,235257,4743.955,-12224.828,5,0.9,5,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-59.0
$GPS2,170713,235740,4743.951,-12224.763,9,0.9,9,16.3
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.204,0.127
$KALMAN_X,306.4,-467.1,216.0,-161.2,366.5
$KALMAN_Y,-2143.7,-825.0,88.7,4150.1,-187.6
$MHEAD_RNG_PITCHd_Wd,41.8,1639,-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,14,-0.90,-146.6,0.0,0.0,0,101,0.00,0.00,-84.10,0.000,2,0.000,0.000,196,2310,2939,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.90,-146.6,3.2,-7.3,15,138,9.57,2.20,-16.33,0.000,4,0.236,0.057,2629,912,3639,0,0,0,0,0,0,26.33,26.60,26.92
$GC,364,-0.90,-146.6,35.5,-11.7,66,371,0.00,2.15,0.00,0.000,6,0.000,0.038,2623,2309,3639,0,0,0,0,0,0,28.83,26.76,28.83
$GC,432,-0.90,-146.6,42.9,-10.4,79,439,0.00,2.15,0.00,0.000,4,0.000,0.041,2623,905,3639,0,0,0,0,0,0,28.83,26.78,28.83
$GC,665,-0.90,-146.6,72.5,-13.0,125,672,0.00,2.15,0.00,0.000,6,0.000,0.038,2615,2316,3640,0,0,0,0,0,0,28.83,26.87,28.83
$GC,793,-0.90,-146.6,88.7,-10.8,150,800,0.00,2.15,0.00,0.000,4,0.000,0.041,2616,905,3639,0,0,0,0,0,0,28.83,26.90,28.83
$GC,856,-0.90,-146.6,96.1,-11.0,162,863,0.00,2.15,0.00,0.000,6,0.000,0.040,2608,2317,3639,0,0,0,0,0,0,28.83,26.91,28.83
$GC,984,-0.90,-146.6,109.6,-9.8,187,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2317,3640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1112,-0.90,-146.6,122.8,-10.5,212,1118,0.00,2.15,0.00,0.000,4,0.000,0.041,2608,903,3639,0,0,0,0,0,0,28.83,26.97,28.83
$GC,1155,-0.90,-146.6,127.8,-11.8,220,1162,0.12,2.17,0.00,0.000,6,0.185,0.040,2632,2320,3639,0,0,0,0,0,0,26.81,26.97,28.83
$GC,1287,-0.90,-146.6,140.6,-9.1,245,1293,0.00,2.15,0.00,0.000,4,0.000,0.042,2632,905,3639,0,0,0,0,0,0,28.83,26.99,28.83
$GC,1339,-0.90,-146.6,145.8,-10.4,255,1346,0.00,2.12,0.00,0.000,6,0.000,0.039,2627,2310,3639,0,0,0,0,0,0,28.83,27.01,28.83
$GC,1467,-0.90,-146.6,158.4,-9.8,280,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2310,3640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1594,-0.90,-146.6,170.8,-10.5,305,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2310,3639,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1640,begin apogee
$GC,1643,-0.26,0.0,175.5,-10.1,314,1760,0.62,0.00,108.53,0.464,6,0.135,0.000,2833,2310,3030,0,0,0,0,0,0,26.89,28.83,25.65
$STATE,1760,end apogee,CONTROL_FINISHED_OK
$STATE,1761,begin climb
$GC,1762,0.90,146.6,178.2,0.0,335,1879,1.10,2.40,108.50,0.439,4,0.098,0.050,3207,3740,2431,0,0,0,0,0,0,26.03,25.69,25.28
$GC,1965,0.90,146.6,160.7,11.5,373,1972,0.00,2.20,0.00,0.000,6,0.000,0.034,3206,2324,2425,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2093,0.90,146.6,146.8,11.0,398,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2324,2424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2220,0.90,146.6,134.2,9.5,423,2226,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2324,2424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2347,0.90,146.6,123.0,8.1,448,2353,0.00,2.15,0.00,0.000,4,0.000,0.043,3207,921,2424,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2465,0.90,146.6,112.1,9.6,471,2471,0.00,2.17,0.00,0.000,6,0.000,0.038,3207,2340,2424,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2593,0.90,146.6,100.7,8.6,496,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2340,2424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2720,0.90,146.6,88.8,9.4,521,2726,0.00,2.17,0.00,0.000,4,0.000,0.053,3206,3741,2423,0,0,0,0,0,0,28.83,26.80,28.83
$GC,2863,0.90,146.6,73.9,10.2,549,2870,0.00,2.12,0.00,0.000,6,0.000,0.035,3207,2323,2422,0,0,0,0,0,0,28.83,26.91,28.83
$GC,2991,0.90,146.6,62.5,8.6,574,2998,0.00,2.15,0.00,0.000,4,0.000,0.043,3207,919,2422,0,0,0,0,0,0,28.83,26.91,28.83
$GC,3039,0.90,146.6,58.5,8.3,583,3046,0.00,2.17,0.00,0.000,6,0.000,0.040,3206,2334,2422,0,0,0,0,0,0,28.83,26.94,28.83
$GC,3167,0.90,146.6,47.8,9.3,608,3174,0.00,2.17,0.00,0.000,4,0.000,0.054,3207,3739,2422,0,0,0,0,0,0,28.83,26.91,28.83
$GC,3251,0.90,146.6,40.3,9.3,624,3258,0.00,2.10,0.00,0.000,6,0.000,0.035,3207,2327,2422,0,0,0,0,0,0,28.83,27.00,28.83
$GC,3379,0.90,146.6,29.5,8.2,649,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2326,2422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3446,0.90,146.6,23.5,8.9,662,3452,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2327,2422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3513,0.90,146.6,17.6,8.0,675,3519,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2327,2422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3580,0.96,194.4,12.4,6.2,688,3604,0.00,2.20,16.52,0.164,4,0.000,0.050,3207,3740,2247,0,0,0,0,0,0,28.83,26.92,26.76
$GC,3691,0.98,214.4,5.1,7.3,709,3710,0.10,2.10,8.73,0.154,6,0.120,0.034,3255,2327,2163,0,0,0,0,0,0,26.94,27.01,26.77
$STATE,3740,end climb,SURFACE_DEPTH_REACHED
$STATE,3740,begin surface coast
$FINISH,0.6,1.005561
$STATE,3777,end surface coast,CONTROL_FINISHED_OK
$STATE,3777,begin surface
$SM_CCo,3791,32.08,0.145,0,0,1815,300.00
$SM_GC,2.76,8.10,0.00,32.08,0.054,0.000,0.145,198,2327,1815,-8.46,0.48,300.00,0,0,0,0,0,0,26.95,28.83,26.70
$IRIDIUM_FIX,4726.11,-12223.37,170713,222219
$TT8_MAMPS,0.029211,0.029211
$HUMID,56.02
$INTERNAL_PRESSURE,8.84993
$TCM_TEMP,18.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.3,13.2
$24V_AH,25.3,0.461
$10V_AH,10.5,1.318
$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,19.625,47.675,242.275,32.075,0.000,26.046,34.934,148.226,1.500,0.000,13.331,1559.513,819.807,423.010,1286.092,38.096,33.224,1017.020,0.000,1044.665,0.000,11.804,0.000
$DEVICE_MAMPS,236.385,56.610,464.355,145.350,0.000,11.480,160.000,223.000,420.000,0.000,26.960,19.210,2.190,19.210,45.420,62.650,70.890,13.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,483.597,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323488
$DATA_FILE_SIZE,23425,725
$CAP_FILE_SIZE,71033,0
$CFSIZE,1024393216,1021902848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180713,010335,4744.364,-12224.355,37,1.4,38,16.3