version: 66.11
glider: 200
mission: 1
dive: 12
start: 7 18 113 4 53 16
data:
$ID,200
$MISSION,1
$DIVE,12
$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,60
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$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,-384.15201
$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,3830
$C_ROLL_CLIMB,3830
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,36
$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,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,110
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$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
$GPS1,180713,044821,4743.036,-12224.227,3,1.2,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-72.0
$GPS2,180713,045158,4743.025,-12224.233,4,1.3,4,16.3
$SPEED_LIMITS,0.373,0.383
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.292,-0.232
$KALMAN_X,-797.1,-69.6,-61.1,1396.4,148.1
$KALMAN_Y,-1269.6,117.1,83.0,824.2,73.7
$MHEAD_RNG_PITCHd_Wd,215.3,928,-10.5,-10.000
$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,-0.84,-244.4,0.0,0.0,0,74,0.00,0.00,-56.70,0.000,2,0.000,0.000,187,3837,2977,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.84,-244.4,3.2,-6.7,10,105,10.52,0.00,-13.95,0.000,6,0.239,0.000,2885,3838,3661,0,0,0,0,0,0,26.49,28.83,27.03
$GC,167,-0.84,-244.4,19.9,-12.9,27,173,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,3838,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,234,-0.84,-244.4,28.7,-13.2,40,240,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,3838,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,301,-0.84,-244.4,37.3,-13.3,53,306,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,3838,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,368,-0.84,-244.4,46.0,-12.7,66,373,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,3838,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,495,-0.84,-244.4,62.2,-13.5,91,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,3838,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,622,-0.84,-244.4,75.8,-11.4,116,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,3838,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,749,-0.84,-244.4,89.9,-10.6,141,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,3838,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,875,-0.84,-244.4,105.3,-11.9,166,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,3838,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1003,-0.84,-244.4,119.8,-11.5,191,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,3838,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1135,-0.84,-244.4,134.2,-11.1,216,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,3838,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1262,-0.84,-244.4,148.2,-11.1,241,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,3838,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1389,-0.84,-244.4,162.5,-11.5,266,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,3838,3661,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1505,begin apogee
$GC,1508,-0.25,0.0,175.0,-10.3,289,1780,0.55,0.00,260.83,0.485,6,0.119,0.000,3071,3837,2658,0,0,0,0,0,0,26.93,28.83,25.12
$STATE,1781,end apogee,CONTROL_FINISHED_OK
$STATE,1781,begin climb
$GC,1782,0.84,244.4,181.4,0.0,338,1971,1.02,0.00,178.95,0.505,6,0.085,0.000,3422,3837,1655,0,0,0,0,0,0,25.58,28.83,24.99
$GC,2092,0.84,244.4,154.2,12.8,396,2098,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,3837,1647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2219,0.84,244.4,138.5,11.9,421,2225,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,3837,1646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2346,0.84,244.4,123.7,10.5,446,2352,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,3838,1646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2473,0.84,244.4,108.8,12.2,471,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,3837,1645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2600,0.84,244.4,92.6,11.7,496,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,3837,1645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2727,0.84,244.4,78.5,10.9,521,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,3837,1645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2854,0.84,244.4,62.0,12.0,546,2860,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,3837,1644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2981,0.84,244.4,46.8,11.9,571,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,3837,1645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3108,0.84,244.4,31.8,11.6,596,3114,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,3837,1644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3175,0.84,244.4,23.8,11.9,609,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,3838,1644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3243,0.87,270.1,16.9,9.5,622,3255,0.00,0.00,8.77,0.169,6,0.000,0.000,3422,3837,1559,0,0,0,0,0,0,28.83,28.83,26.67
$GC,3316,0.88,276.6,9.6,9.9,636,3323,0.00,0.00,3.75,0.176,6,0.000,0.000,3423,3837,1532,0,0,0,0,0,0,28.83,28.83,26.70
$GC,3385,1.00,376.4,3.9,8.0,649,3409,0.15,0.00,21.50,0.148,2,0.083,0.000,3503,3837,1296,0,0,0,0,0,0,26.92,28.83,28.83
$STATE,3410,end climb,SURFACE_DEPTH_REACHED
$STATE,3410,begin surface coast
$FINISH,-0.4,1.008040
$STATE,3431,end surface coast,CONTROL_FINISHED_OK
$STATE,3431,begin surface
$SM_CCo,3506,0.00,0.000,0,0,1298,334.83
$SM_GC,0.51,8.65,0.00,0.00,0.044,0.000,0.000,186,3837,1298,-9.21,0.20,334.83,0,0,0,0,0,0,26.81,28.83,28.83
$IRIDIUM_FIX,4726.11,-12220.67,180713,040407
$TT8_MAMPS,0.029211,0.029211
$HUMID,52.12
$INTERNAL_PRESSURE,9.0446
$TCM_TEMP,18.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,125.2,59.8
$24V_AH,25.0,1.714
$10V_AH,10.5,0.462
$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,20.900,0.000,473.800,0.000,0.000,0.000,0.000,0.000,1.750,0.000,5.843,1331.373,751.043,513.651,958.089,25.086,33.245,1082.358,0.000,946.425,0.000,10.344,0.000
$DEVICE_MAMPS,239.445,0.000,504.900,0.000,0.000,0.000,0.000,0.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,434.316,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323596
$DATA_FILE_SIZE,26803,657
$CAP_FILE_SIZE,75888,1
$CFSIZE,1024393216,1021640704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180713,055207,4742.797,-12224.402,4,1.2,4,16.3