version: 66.11
glider: 200
mission: 1
dive: 2
start: 7 17 113 16 43 1
data:
$ID,200
$MISSION,1
$DIVE,2
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,70
$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,51781
$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,-262.53452
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,197
$PITCH_MAX,3889
$C_PITCH,3160
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,282
$ROLL_MAX,3852
$ROLL_DEG,40
$C_ROLL_DIVE,2130
$C_ROLL_CLIMB,2108
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2663
$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,-65.878853
$PRESSURE_SLOPE,0.0001160319
$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,0.0097660003
$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,0.004400372
$SEABIRD_T_H,0.00063770427
$SEABIRD_T_I,2.5625237e-05
$SEABIRD_T_J,3.1304903e-06
$SEABIRD_C_G,-9.9220228
$SEABIRD_C_H,1.1569983
$SEABIRD_C_I,-0.00090645044
$SEABIRD_C_J,0.00015506662
$GPS1,170713,163202,4743.177,-12224.803,1,0.8,1,16.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-63.2
$GPS2,170713,164206,4743.221,-12224.831,4,0.8,4,16.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.069,0.251
$KALMAN_X,-56.4,-56.4,-56.4,-95.0,-188.6
$KALMAN_Y,-26.7,-26.7,-26.7,204.1,-89.4
$MHEAD_RNG_PITCHd_Wd,359.0,1258,-17.5,-10.000
$D_GRID,177
$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,-1.10,-146.6,0.0,0.0,0,117,0.00,0.00,-100.12,0.000,2,0.000,0.000,187,2114,3051,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-1.10,-146.6,3.1,-5.8,18,139,9.60,2.17,-4.93,0.000,4,0.217,0.063,2802,713,3262,0,0,0,0,0,0,26.69,26.94,27.27
$GC,365,-1.10,-146.6,43.7,-13.2,66,372,0.00,2.10,0.00,0.000,6,0.000,0.042,2793,2131,3262,0,0,0,0,0,0,28.83,27.03,28.83
$GC,493,-1.10,-146.6,61.7,-14.6,91,500,0.00,2.10,0.00,0.000,4,0.000,0.047,2792,723,3262,0,0,0,0,0,0,28.83,27.03,28.83
$GC,718,-1.10,-146.6,96.3,-14.7,135,724,0.00,2.08,0.00,0.000,6,0.000,0.042,2783,2131,3262,0,0,0,0,0,0,28.83,27.08,28.83
$GC,845,-1.10,-146.6,116.2,-16.5,160,852,0.00,2.10,0.00,0.000,4,0.000,0.054,2774,3536,3261,0,0,0,0,0,0,28.83,27.07,28.83
$GC,888,-1.10,-146.6,123.4,-16.9,168,896,0.12,2.05,0.00,0.000,6,0.163,0.039,2805,2125,3261,0,0,0,0,0,0,26.94,27.13,28.83
$GC,1018,-1.10,-146.6,143.7,-13.4,193,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2125,3261,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1069,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1069,begin apogee
$GC,1072,-0.26,0.0,150.6,-12.8,203,1194,0.80,0.00,111.03,1.031,6,0.128,0.000,3072,2123,2666,0,0,0,0,1,0,26.95,28.83,24.86
$STATE,1195,end apogee,CONTROL_FINISHED_OK
$STATE,1195,begin climb
$GC,1197,1.10,146.6,154.4,0.0,225,1314,1.25,2.25,107.70,0.496,4,0.079,0.047,3512,700,2059,0,0,0,0,0,0,25.70,25.85,25.44
$GC,1336,1.10,146.6,143.2,14.1,250,1343,0.00,2.17,0.00,0.000,6,0.000,0.044,3512,2104,2057,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1464,1.10,146.6,124.6,14.4,275,1470,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2104,2056,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1591,1.10,146.6,108.2,12.4,300,1598,0.00,2.17,0.00,0.000,4,0.000,0.055,3511,3517,2056,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1729,1.10,146.6,89.1,14.8,327,1736,0.00,2.10,0.00,0.000,6,0.000,0.041,3515,2110,2055,0,0,0,0,0,0,28.83,26.82,28.83
$GC,1857,1.10,146.6,71.9,13.0,352,1863,0.00,2.15,0.00,0.000,4,0.000,0.053,3515,700,2055,0,0,0,0,0,0,28.83,26.85,28.83
$GC,1965,1.10,146.6,59.1,10.7,373,1971,0.00,2.12,0.00,0.000,6,0.000,0.044,3515,2110,2054,0,0,0,0,0,0,28.83,26.91,28.83
$GC,2093,1.10,146.6,46.2,10.2,398,2099,0.00,2.15,0.00,0.000,4,0.000,0.051,3515,696,2054,0,0,0,0,0,0,28.83,26.94,28.83
$GC,2140,1.10,146.6,41.4,10.3,407,2147,0.00,2.15,0.00,0.000,6,0.000,0.044,3514,2120,2054,0,0,0,0,0,0,28.83,26.97,28.83
$GC,2269,1.11,158.2,27.1,9.5,432,2282,0.00,2.17,3.83,0.441,4,0.000,0.056,3515,3517,2023,0,0,0,0,0,0,28.83,26.94,26.46
$GC,2348,1.11,158.2,19.1,10.2,447,2355,0.00,2.08,0.00,0.000,6,0.000,0.042,3523,2108,2026,0,0,0,0,0,0,28.83,27.00,28.83
$GC,2416,1.11,158.2,12.6,10.1,460,2422,0.00,2.12,0.00,0.000,4,0.000,0.057,3523,3514,2026,0,0,0,0,0,0,28.83,26.97,28.83
$GC,2448,1.11,158.2,8.5,12.9,466,2455,0.00,2.08,0.00,0.000,6,0.000,0.043,3527,2108,2026,0,0,0,0,0,0,28.83,27.01,28.83
$GC,2516,1.30,312.1,3.2,2.9,479,2552,0.12,0.00,32.25,0.145,2,0.090,0.000,3593,2108,1625,0,0,0,0,0,0,27.08,28.83,28.83
$STATE,2553,end climb,SURFACE_DEPTH_REACHED
$STATE,2553,begin surface coast
$FINISH,-0.4,1.018311
$STATE,2598,end surface coast,CONTROL_FINISHED_OK
$STATE,2598,begin surface
$SM_CCo,2613,15.45,0.148,0,0,1437,300.00
$SM_GC,3.09,8.85,0.00,15.45,0.044,0.000,0.148,178,2108,1437,-9.24,-0.62,300.00,0,0,0,0,0,0,26.96,28.83,26.74
$IRIDIUM_FIX,4726.11,-12223.37,170713,161619
$TT8_MAMPS,0.028462,0.028462
$HUMID,54.25
$INTERNAL_PRESSURE,9.14226
$TCM_TEMP,18.60
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,95.1,11.5
$24V_AH,24.9,0.554
$10V_AH,10.6,0.113
$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,20.750,38.325,254.800,15.450,0.000,0.000,0.000,0.000,4.750,0.000,5.139,1036.183,532.127,379.902,719.728,22.369,30.072,807.155,0.000,714.486,0.000,7.038,0.000
$DEVICE_MAMPS,217.260,62.730,1031.220,148.410,0.000,0.000,0.000,0.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,326.613,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323444
$DATA_FILE_SIZE,16760,494
$CAP_FILE_SIZE,60866,0
$CFSIZE,1024393216,1022328832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,170713,172726,4743.282,-12225.053,4,1.4,4,16.3