version: 66.11
glider: 200
mission: 1
dive: 16
start: 7 18 113 9 22 8
data:
$ID,200
$MISSION,1
$DIVE,16
$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,70
$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,80
$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,0.0038360001
$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,-401.71021
$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,41
$R_STBD_OVSHOOT,35
$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,0
$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
$GPS1,180713,091348,4742.877,-12224.850,3,1.6,4,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-70.7
$GPS2,180713,092115,4742.912,-12224.791,5,0.9,6,16.3
$SPEED_LIMITS,0.148,0.186
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.139,-0.053
$KALMAN_X,-1203.0,220.4,288.7,473.5,-421.3
$KALMAN_Y,-1660.3,423.4,-95.0,874.7,-230.3
$MHEAD_RNG_PITCHd_Wd,94.5,392,-27.7,-8.571
$D_GRID,180
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.47,-50.1,0.0,0.0,0,72,0.00,0.00,-53.00,0.000,6,0.000,0.000,181,2117,2868,0,0,0,0,0,0,28.83,28.83,26.93
$GC,74,-1.47,-52.2,3.6,-8.3,10,92,9.57,2.15,0.00,0.000,4,0.230,0.044,2680,728,2869,0,0,0,0,0,0,26.37,26.58,28.83
$GC,318,-1.47,-52.2,46.7,-16.9,58,325,0.00,2.12,0.00,0.000,6,0.000,0.039,2672,2138,2869,0,0,0,0,0,0,28.83,26.73,28.83
$GC,447,-1.47,-52.2,65.5,-13.2,83,454,0.00,2.15,0.00,0.000,4,0.000,0.045,2672,729,2869,0,0,0,0,0,0,28.83,26.77,28.83
$GC,565,-1.47,-52.2,81.7,-14.8,106,572,0.00,2.10,0.00,0.000,6,0.000,0.039,2661,2141,2870,0,0,0,0,0,0,28.83,26.82,28.83
$GC,693,-1.47,-52.2,99.3,-13.8,131,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2141,2870,0,0,0,0,0,0,28.83,28.83,28.83
$GC,820,-1.47,-52.2,116.5,-12.7,156,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2141,2870,0,0,0,0,0,0,28.83,28.83,28.83
$GC,947,-1.47,-52.2,134.4,-14.3,181,954,0.00,2.10,0.00,0.000,4,0.000,0.049,2651,3543,2870,0,0,0,0,0,0,28.83,26.90,28.83
$GC,1015,-1.47,-52.2,144.3,-14.9,194,1022,0.15,2.08,0.00,0.000,6,0.190,0.035,2686,2112,2870,0,0,0,0,0,0,26.76,26.96,28.83
$GC,1145,-1.47,-52.2,161.4,-13.8,219,1152,0.00,2.08,0.00,0.000,4,0.000,0.046,2687,725,2869,0,0,0,0,0,0,28.83,26.94,28.83
$GC,1217,-1.47,-52.2,171.8,-13.9,233,1224,0.00,2.10,0.00,0.000,6,0.000,0.039,2678,2138,2869,0,0,0,0,0,0,28.83,26.96,28.83
$STATE,1279,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1279,begin apogee
$GC,1282,-0.25,0.0,180.3,-14.0,245,1334,1.25,0.00,41.17,0.952,6,0.156,0.000,3068,2138,2665,0,0,0,0,1,0,26.81,28.83,25.32
$STATE,1335,end apogee,CONTROL_FINISHED_OK
$STATE,1335,begin climb
$GC,1336,1.47,52.2,182.7,0.0,254,1388,1.55,2.33,43.08,0.580,4,0.080,0.047,3635,717,2442,0,0,0,0,0,0,26.09,25.77,25.36
$GC,1464,1.48,64.0,175.4,7.2,278,1483,0.00,2.15,9.82,0.649,6,0.000,0.041,3635,2107,2395,0,0,0,0,0,0,28.83,26.13,25.48
$GC,1605,1.48,64.0,164.0,9.0,305,1612,0.00,2.17,0.00,0.000,4,0.000,0.051,3635,3514,2393,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1663,1.48,64.0,158.7,9.4,316,1670,0.00,2.10,0.00,0.000,6,0.000,0.038,3643,2115,2393,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1792,1.48,65.2,147.3,8.4,341,1798,0.00,2.15,0.00,0.000,4,0.000,0.049,3654,704,2393,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1989,1.48,65.2,128.7,10.4,380,1996,0.00,2.12,0.00,0.000,6,0.000,0.040,3654,2110,2393,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2118,1.48,65.2,116.6,8.7,405,2124,0.00,2.15,0.00,0.000,4,0.000,0.051,3654,3526,2393,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2205,1.48,65.2,107.7,10.8,422,2212,0.00,2.12,0.00,0.000,6,0.000,0.037,3665,2101,2393,0,0,0,0,0,0,28.83,26.78,28.83
$GC,2334,1.49,69.8,96.7,8.0,447,2342,0.00,2.20,1.48,0.215,4,0.000,0.057,3673,698,2381,0,0,0,0,0,0,28.83,26.77,26.49
$GC,2497,1.50,76.5,83.8,7.8,479,2516,0.12,2.10,8.93,0.585,6,0.190,0.041,3645,2108,2345,0,0,0,0,0,0,26.70,26.85,26.25
$GC,2639,1.50,76.5,71.1,9.9,506,2645,0.00,2.15,0.00,0.000,4,0.000,0.054,3645,3521,2343,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2871,1.51,85.2,52.4,7.6,552,2879,0.00,2.08,2.62,0.414,6,0.000,0.037,3653,2107,2314,0,0,0,0,0,0,28.83,26.89,26.10
$GC,3002,1.51,85.2,41.6,9.0,577,3009,0.00,2.15,1.23,0.223,4,0.000,0.050,3652,3519,2317,0,0,0,0,0,0,28.83,26.85,26.66
$GC,3201,1.52,96.1,26.6,7.3,616,3219,0.00,2.10,10.35,0.519,6,0.000,0.037,3662,2099,2265,0,0,0,0,0,0,28.83,26.94,26.32
$GC,3281,1.53,98.3,20.5,8.3,631,3287,0.00,2.10,0.00,0.000,4,0.000,0.047,3673,706,2263,0,0,0,0,0,0,28.83,26.80,28.83
$GC,3334,1.54,106.5,16.4,7.6,641,3342,0.00,2.12,2.97,0.190,6,0.000,0.041,3673,2113,2225,0,0,0,0,0,0,28.83,26.84,26.65
$GC,3403,1.54,106.5,10.8,9.3,654,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,3673,2113,2236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3470,1.61,166.0,6.8,1.8,667,3500,0.00,2.17,20.90,0.155,4,0.000,0.053,3673,3507,1984,0,0,0,0,0,0,28.83,26.78,26.65
$STATE,3580,end climb,SURFACE_DEPTH_REACHED
$STATE,3581,begin surface coast
$FINISH,-0.2,1.020880
$STATE,3601,end surface coast,CONTROL_FINISHED_OK
$STATE,3602,begin surface
$SM_CCo,3619,46.65,0.145,0,0,1437,300.00
$SM_GC,0.36,9.18,2.10,46.65,0.048,0.037,0.145,180,2128,1437,-9.23,1.19,300.00,0,0,0,0,0,0,26.84,26.85,26.56
$IRIDIUM_FIX,4722.92,-12226.07,180713,090955
$TT8_MAMPS,0.029211,0.029211
$HUMID,50.90
$INTERNAL_PRESSURE,9.06413
$TCM_TEMP,18.40
$XPDR_PINGS,7
$24V_AH,25.3,2.076
$10V_AH,10.5,0.593
$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,21.825,55.450,142.550,46.650,0.000,50.193,113.052,151.514,1.750,0.000,7.981,1558.075,876.018,323.413,1330.329,38.391,33.215,866.917,0.000,997.830,0.000,0.546,0.000
$DEVICE_MAMPS,229.500,57.375,952.425,144.585,0.000,2780.010,160.000,223.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,463.812,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323424
$DATA_FILE_SIZE,26779,692
$CAP_FILE_SIZE,70260,0
$CFSIZE,1024393216,1021378560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,180713,102422,4742.963,-12224.410,35,0.9,35,16.3