version: 66.11
glider: 202
mission: 1
dive: 20
start: 7 18 113 5 21 44
data:
$ID,202
$MISSION,1
$DIVE,20
$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,-1198.3732
$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,45
$R_STBD_OVSHOOT,40
$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
$GPS1,180713,122434,4742.945,-12224.311,5,2.0,5,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-66.8
$GPS2,180713,122929,4742.976,-12224.344,5,2.0,6,16.3
$SPEED_LIMITS,0.139,0.202
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.116,-0.165
$KALMAN_X,-776.1,9.8,240.7,946.3,136.6
$KALMAN_Y,-4728.0,360.2,711.6,3121.7,389.8
$MHEAD_RNG_PITCHd_Wd,198.7,764,-18.6,-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,-1.07,-97.8,0.0,0.0,0,56,0.00,0.00,-39.85,0.000,2,0.000,0.000,201,2307,2962,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-1.07,-97.8,3.1,-5.3,7,88,9.50,2.28,-11.73,0.000,4,0.245,0.068,2564,3701,3441,0,0,0,0,0,0,26.36,26.55,26.89
$GC,314,-1.07,-97.8,41.1,-13.9,57,321,0.00,2.10,0.00,0.000,6,0.000,0.035,2564,2304,3441,0,0,0,0,0,0,28.83,26.78,28.83
$GC,442,-1.07,-97.8,57.3,-11.6,82,449,0.00,2.12,0.00,0.000,4,0.000,0.041,2564,902,3440,0,0,0,0,0,0,28.83,26.80,28.83
$GC,485,-1.07,-97.8,62.3,-11.9,90,492,0.00,2.15,0.00,0.000,6,0.000,0.040,2556,2309,3441,0,0,0,0,0,0,28.83,26.82,28.83
$GC,613,-1.07,-97.8,78.6,-13.2,115,620,0.00,2.17,0.00,0.000,4,0.000,0.043,2556,904,3441,0,0,0,0,0,0,28.83,26.86,28.83
$GC,702,-1.07,-97.8,90.0,-12.2,132,709,0.12,2.17,0.00,0.000,6,0.195,0.041,2576,2320,3441,0,0,0,0,0,0,26.74,26.89,28.83
$GC,831,-1.07,-97.8,103.4,-9.2,157,838,0.00,2.17,0.00,0.000,4,0.000,0.041,2576,911,3441,0,0,0,0,0,0,28.83,26.92,28.83
$GC,863,-1.07,-97.8,106.9,-10.8,163,870,0.00,2.15,0.00,0.000,6,0.000,0.041,2569,2312,3441,0,0,0,0,0,0,28.83,26.92,28.83
$GC,991,-1.07,-97.8,120.4,-9.6,188,998,0.00,2.17,0.00,0.000,4,0.000,0.055,2560,3715,3440,0,0,0,0,0,0,28.83,26.92,28.83
$GC,1029,-1.07,-97.8,124.9,-12.0,195,1036,0.00,2.10,0.00,0.000,6,0.000,0.037,2560,2314,3440,0,0,0,0,0,0,28.83,26.98,28.83
$GC,1157,-1.07,-97.8,141.9,-14.3,220,1164,0.00,2.12,0.00,0.000,4,0.000,0.042,2559,907,3441,0,0,0,0,0,0,28.83,26.98,28.83
$GC,1275,-1.07,-97.8,159.3,-13.9,243,1282,0.00,2.15,0.00,0.000,6,0.000,0.040,2552,2323,3441,0,0,0,0,0,0,28.83,26.99,28.83
$STATE,1397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1398,begin apogee
$GC,1401,-0.26,0.0,175.4,-15.0,267,1480,0.90,0.00,73.65,0.461,6,0.154,0.000,2834,2325,3034,0,0,0,0,0,0,26.86,28.83,25.90
$STATE,1481,end apogee,CONTROL_FINISHED_OK
$STATE,1481,begin climb
$GC,1482,1.07,97.8,178.7,0.0,281,1562,1.25,2.30,72.22,0.446,4,0.095,0.040,3268,925,2632,0,0,0,0,0,0,26.26,25.87,25.46
$GC,1628,1.07,97.8,165.8,11.6,308,1635,0.00,2.22,0.00,0.000,6,0.000,0.037,3268,2336,2627,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1756,1.07,97.8,155.5,8.3,333,1763,0.00,2.25,0.00,0.000,4,0.000,0.054,3268,3740,2627,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1974,1.09,115.5,134.6,7.0,376,1993,0.00,2.15,14.05,0.422,6,0.000,0.033,3268,2322,2568,0,0,0,0,0,0,28.83,26.64,26.06
$GC,2115,1.09,115.5,120.7,9.2,403,2121,0.00,2.15,0.00,0.000,4,0.000,0.042,3268,925,2555,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2162,1.09,115.5,116.5,9.1,412,2169,0.00,2.17,0.00,0.000,6,0.000,0.037,3268,2337,2554,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2290,1.09,115.5,105.4,8.2,437,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,2337,2554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2417,1.09,115.5,93.2,9.2,462,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,2337,2554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2544,1.09,115.5,80.9,9.4,487,2551,0.00,2.17,0.00,0.000,4,0.000,0.041,3269,924,2554,0,0,0,0,0,0,28.83,26.82,28.83
$GC,2722,1.09,115.5,65.6,8.9,522,2729,0.00,2.12,0.00,0.000,6,0.000,0.037,3269,2334,2555,0,0,0,0,0,0,28.83,26.87,28.83
$GC,2851,1.09,115.5,54.2,9.6,547,2856,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,2334,2554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2977,1.09,115.6,42.8,8.0,572,2984,0.00,2.15,0.00,0.000,4,0.000,0.042,3268,921,2554,0,0,0,0,0,0,28.83,26.94,28.83
$GC,3065,1.11,127.6,36.3,7.3,589,3084,0.00,2.12,9.32,0.387,6,0.000,0.038,3269,2334,2510,0,0,0,0,0,0,28.83,26.95,26.48
$GC,3145,1.13,142.5,30.8,7.2,604,3164,0.00,2.17,11.48,0.386,4,0.000,0.041,3268,920,2447,0,0,0,0,0,0,28.83,26.79,26.41
$GC,3265,1.13,142.5,20.1,9.7,627,3272,0.00,2.15,0.00,0.000,6,0.000,0.038,3268,2333,2444,0,0,0,0,0,0,28.83,26.86,28.83
$GC,3333,1.13,142.5,13.9,9.9,640,3340,0.00,2.17,0.00,0.000,4,0.000,0.054,3268,3736,2444,0,0,0,0,0,0,28.83,26.84,28.83
$GC,3386,1.13,142.5,8.7,9.4,650,3393,0.00,2.10,0.00,0.000,6,0.000,0.035,3269,2330,2444,0,0,0,0,0,0,28.83,26.91,28.83
$GC,3454,1.19,195.9,4.1,5.1,663,3480,0.12,2.20,18.30,0.143,4,0.097,0.042,3332,929,2236,0,0,0,0,0,0,26.92,26.84,26.71
$STATE,3484,end climb,SURFACE_DEPTH_REACHED
$STATE,3485,begin surface coast
$FINISH,0.8,1.001717
$STATE,3511,end surface coast,CONTROL_FINISHED_OK
$STATE,3511,begin surface
$SM_CCo,3527,39.20,0.143,0,0,1814,300.00
$SM_GC,1.29,8.43,2.17,39.20,0.059,0.039,0.143,196,2316,1814,-8.46,-1.05,300.00,0,0,0,0,0,0,26.84,26.86,26.60
$IRIDIUM_FIX,4722.92,-12227.78,180713,111139
$TT8_MAMPS,0.028462,0.028462
$HUMID,53.11
$INTERNAL_PRESSURE,8.8304
$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,25.5,1.058
$10V_AH,10.6,1.732
$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,20.325,60.675,199.025,39.200,0.000,24.434,29.737,167.119,0.000,0.000,10.275,1494.851,768.303,355.742,1208.607,45.125,33.211,898.763,0.000,970.473,0.000,0.548,0.000
$DEVICE_MAMPS,244.800,68.085,461.295,143.055,0.000,11.480,160.000,223.000,420.000,0.000,26.960,19.210,2.190,19.210,45.420,62.650,70.890,13.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,450.554,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323536
$DATA_FILE_SIZE,26774,673
$CAP_FILE_SIZE,70288,0
$CFSIZE,1024393216,1021132800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180713,133059,4742.747,-12224.296,37,1.1,37,16.3