version: 66.11
glider: 200
mission: 1
dive: 6
start: 7 17 113 22 4 38
data:
$ID,200
$MISSION,1
$DIVE,6
$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,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,-352.05548
$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,19.700001
$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,36
$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,100
$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,-0.77999997
$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
$GPS1,170713,215852,4743.957,-12224.786,37,0.9,37,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-69.5
$GPS2,170713,220340,4743.991,-12224.717,4,0.9,4,16.3
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.191,0.146
$KALMAN_X,-143.0,-31.1,18.6,26.5,-92.7
$KALMAN_Y,-999.1,-382.1,-34.6,2959.9,-443.7
$MHEAD_RNG_PITCHd_Wd,36.4,1564,-14.0,-8.000
$D_GRID,174
$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,-0.89,-146.6,0.0,0.0,0,68,0.00,0.00,-51.03,0.000,2,0.000,0.000,183,2099,2846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-0.89,-146.6,3.4,-8.2,9,95,10.25,2.17,-8.95,0.000,4,0.229,0.064,2864,728,3262,0,0,0,0,0,0,26.34,26.55,26.89
$GC,321,-0.89,-146.6,40.7,-13.6,58,328,0.00,2.12,0.00,0.000,6,0.000,0.039,2856,2142,3262,0,0,0,0,0,0,28.83,26.74,28.83
$GC,449,-0.89,-146.6,57.3,-13.1,83,456,0.00,2.15,0.00,0.000,4,0.000,0.049,2856,727,3263,0,0,0,0,0,0,28.83,26.77,28.83
$GC,681,-0.89,-146.6,88.2,-12.9,129,688,0.00,2.12,0.00,0.000,6,0.000,0.041,2848,2138,3263,0,0,0,0,0,0,28.83,26.87,28.83
$GC,810,-0.89,-146.6,104.8,-12.0,154,817,0.00,2.12,0.00,0.000,4,0.000,0.053,2839,3544,3263,0,0,0,0,0,0,28.83,26.87,28.83
$GC,863,-0.89,-146.6,110.8,-11.0,164,871,0.12,2.08,0.00,0.000,6,0.161,0.038,2872,2126,3262,0,0,0,0,0,0,26.78,26.93,28.83
$GC,992,-0.89,-146.6,122.5,-9.6,189,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2126,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1119,-0.89,-146.6,136.1,-10.7,214,1126,0.00,2.10,0.00,0.000,4,0.000,0.049,2871,730,3263,0,0,0,0,0,0,28.83,26.94,28.83
$GC,1197,-0.89,-146.6,145.3,-11.7,229,1203,0.00,2.08,0.00,0.000,6,0.000,0.041,2865,2129,3263,0,0,0,0,0,0,28.83,26.96,28.83
$GC,1325,-0.89,-146.6,159.9,-11.7,254,1331,0.00,2.15,0.00,0.000,4,0.000,0.053,2859,3540,3263,0,0,0,0,0,0,28.83,26.96,28.83
$GC,1377,-0.89,-146.6,165.9,-11.4,264,1384,0.00,2.10,0.00,0.000,6,0.000,0.038,2859,2118,3263,0,0,0,0,0,0,28.83,27.01,28.83
$STATE,1449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1449,begin apogee
$GC,1452,-0.25,0.0,174.4,-12.2,278,1612,0.65,0.00,152.00,0.512,6,0.121,0.000,3076,2117,2658,0,0,0,0,0,0,26.87,28.83,25.29
$STATE,1613,end apogee,CONTROL_FINISHED_OK
$STATE,1614,begin climb
$GC,1615,0.89,146.6,179.7,0.0,307,1726,1.05,0.00,106.72,0.520,6,0.083,0.000,3439,2117,2063,0,0,0,0,0,0,25.76,28.83,25.08
$GC,1847,0.89,146.6,163.0,9.7,351,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,2117,2051,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1974,0.89,146.6,150.1,10.2,376,1981,0.00,2.17,0.00,0.000,4,0.000,0.054,3440,3511,2051,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2032,0.89,146.6,143.7,11.3,387,2039,0.00,2.12,0.00,0.000,6,0.000,0.042,3444,2111,2050,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2160,0.89,146.6,130.0,11.6,412,2167,0.00,2.17,0.00,0.000,4,0.000,0.053,3444,703,2050,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2263,0.89,146.6,119.3,10.1,432,2270,0.00,2.12,0.00,0.000,6,0.000,0.044,3445,2107,2050,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2391,0.89,146.6,106.7,9.7,457,2398,0.00,2.15,0.00,0.000,4,0.000,0.052,3445,701,2050,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2429,0.89,146.6,102.9,9.9,464,2436,0.00,2.12,0.00,0.000,6,0.000,0.044,3445,2110,2050,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2557,0.89,146.6,90.2,9.7,489,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2110,2050,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2684,0.89,146.6,79.6,8.7,514,2691,0.00,2.15,0.00,0.000,4,0.000,0.056,3445,3517,2050,0,0,0,0,0,0,28.83,26.81,28.83
$GC,2882,0.89,146.6,62.2,8.1,553,2889,0.00,2.12,0.00,0.000,6,0.000,0.041,3448,2100,2049,0,0,0,0,0,0,28.83,26.91,28.83
$GC,3010,0.90,150.2,52.9,7.9,578,3017,0.00,2.17,0.00,0.000,4,0.000,0.057,3448,3522,2049,0,0,0,0,0,0,28.83,26.88,28.83
$GC,3103,0.90,150.2,44.0,9.7,596,3110,0.00,2.10,0.00,0.000,6,0.000,0.041,3448,2100,2049,0,0,0,0,0,0,28.83,26.95,28.83
$GC,3231,0.93,180.9,35.0,6.9,621,3260,0.00,0.00,24.85,0.461,6,0.000,0.000,3448,2100,1917,0,0,0,0,0,0,28.83,28.83,26.27
$GC,3321,0.93,180.9,27.1,9.3,638,3327,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2100,1909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3388,0.93,180.9,21.0,9.3,651,3395,0.00,2.17,0.00,0.000,4,0.000,0.056,3448,3517,1909,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3446,0.93,180.9,15.2,10.8,662,3453,0.00,2.10,0.00,0.000,6,0.000,0.041,3453,2109,1908,0,0,0,0,0,0,28.83,26.81,28.83
$GC,3514,0.93,180.9,9.1,8.7,675,3520,0.00,2.17,0.00,0.000,4,0.000,0.057,3453,3522,1908,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3577,1.05,272.1,4.9,4.6,687,3617,0.12,2.10,31.10,0.151,6,0.089,0.041,3517,2108,1550,0,0,0,0,0,0,26.85,26.86,26.59
$STATE,3633,end climb,SURFACE_DEPTH_REACHED
$STATE,3633,begin surface coast
$FINISH,-0.3,1.020380
$STATE,3664,end surface coast,CONTROL_FINISHED_OK
$STATE,3664,begin surface
$SM_CCo,3679,9.95,0.152,0,0,1437,300.00
$SM_GC,3.06,8.65,0.00,9.95,0.041,0.000,0.152,187,2108,1437,-9.21,-0.62,300.00,0,0,0,0,0,0,26.78,28.83,26.58
$IRIDIUM_FIX,4726.11,-12227.78,170713,202059
$TT8_MAMPS,0.027713,0.027713
$HUMID,53.70
$INTERNAL_PRESSURE,9.07389
$TCM_TEMP,18.50
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,100.0,6.8
$24V_AH,25.1,1.195
$10V_AH,10.5,0.265
$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,20.850,51.175,314.675,9.950,0.000,25.654,35.306,153.602,1.250,0.000,5.843,1498.864,795.123,414.170,1254.005,34.621,33.226,994.666,0.000,1012.513,0.000,5.459,0.000
$DEVICE_MAMPS,228.735,64.260,520.200,152.235,0.000,2780.010,160.000,223.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,467.686,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323420
$DATA_FILE_SIZE,23426,703
$CAP_FILE_SIZE,68987,0
$CFSIZE,1024393216,1022050304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170713,230709,4744.125,-12224.216,28,1.6,28,16.3