version: 66.11
glider: 200
mission: 1
dive: 21
start: 7 18 113 14 43 49
data:
$ID,200
$MISSION,1
$DIVE,21
$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,-416.7103
$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,38
$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,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
$GPS1,180713,143811,4742.777,-12224.265,3,1.0,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-70.5
$GPS2,180713,144256,4742.769,-12224.302,4,1.2,4,16.3
$SPEED_LIMITS,0.148,0.186
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.164,-0.088
$KALMAN_X,331.1,150.3,-129.3,36.2,357.1
$KALMAN_Y,635.2,399.3,461.7,-2207.5,283.0
$MHEAD_RNG_PITCHd_Wd,225.4,634,-22.1,-8.571
$D_GRID,167
$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,-1.22,-78.2,0.0,0.0,0,72,0.00,0.00,-55.97,0.000,6,0.000,0.000,181,2132,2981,0,0,0,0,0,0,28.83,28.83,26.87
$GC,74,-1.22,-78.2,3.9,-9.2,10,92,9.93,2.17,0.00,0.000,4,0.230,0.047,2756,3539,2983,0,0,0,0,0,0,26.31,26.53,28.83
$GC,318,-1.22,-78.2,47.0,-15.2,58,325,0.00,2.08,0.00,0.000,6,0.000,0.036,2756,2124,2983,0,0,0,0,0,0,28.83,26.71,28.83
$GC,446,-1.22,-78.2,64.1,-13.8,83,453,0.00,2.15,0.00,0.000,4,0.000,0.049,2745,3541,2983,0,0,0,0,0,0,28.83,26.72,28.83
$GC,678,-1.22,-78.2,97.3,-13.5,129,685,0.00,2.10,0.00,0.000,6,0.000,0.035,2745,2118,2983,0,0,0,0,0,0,28.83,26.85,28.83
$GC,806,-1.22,-78.2,115.3,-12.9,154,813,0.00,2.15,0.00,0.000,4,0.000,0.050,2735,3540,2983,0,0,0,0,0,0,28.83,26.84,28.83
$GC,834,-1.22,-78.2,119.1,-13.4,159,841,0.12,2.08,0.00,0.000,6,0.186,0.037,2765,2121,2983,0,0,0,0,0,0,26.72,26.89,28.83
$GC,963,-1.22,-78.2,135.3,-12.3,184,970,0.00,2.12,0.00,0.000,4,0.000,0.047,2765,722,2984,0,0,0,0,0,0,28.83,26.87,28.83
$GC,1025,-1.22,-78.2,143.8,-12.9,196,1032,0.00,2.10,0.00,0.000,6,0.000,0.039,2756,2140,2984,0,0,0,0,0,0,28.83,26.91,28.83
$GC,1153,-1.22,-78.2,158.8,-11.8,221,1160,0.00,2.10,0.00,0.000,4,0.000,0.050,2746,3537,2984,0,0,0,0,0,0,28.83,26.91,28.83
$GC,1181,-1.22,-78.2,162.3,-12.8,226,1188,0.00,2.08,0.00,0.000,6,0.000,0.037,2746,2129,2983,0,0,0,0,0,0,28.83,26.95,28.83
$STATE,1223,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1223,begin apogee
$GC,1226,-0.25,0.0,167.3,-11.8,234,1316,1.02,0.00,84.43,0.512,6,0.142,0.000,3073,2129,2661,0,0,0,0,0,0,26.79,28.83,25.65
$STATE,1317,end apogee,CONTROL_FINISHED_OK
$STATE,1317,begin climb
$GC,1319,1.22,78.2,170.2,0.0,250,1381,1.35,0.00,57.00,0.511,6,0.079,0.000,3549,2128,2339,0,0,0,0,0,0,26.06,28.83,25.27
$GC,1502,1.22,78.2,154.9,11.0,285,1509,0.00,2.15,0.00,0.000,4,0.000,0.050,3550,3509,2332,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1595,1.22,78.2,144.0,11.3,303,1602,0.00,2.12,0.00,0.000,6,0.000,0.039,3556,2115,2332,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1724,1.22,84.1,131.3,8.1,328,1731,0.00,2.17,1.17,0.199,4,0.000,0.047,3567,697,2321,0,0,0,0,0,0,28.83,26.46,26.36
$GC,1753,1.23,89.1,128.7,8.2,333,1766,0.00,2.15,8.57,0.562,6,0.000,0.041,3567,2114,2299,0,0,0,0,0,0,28.83,26.51,25.87
$GC,1889,1.23,89.1,114.5,9.8,359,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,2114,2290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2016,1.24,98.0,102.2,7.9,384,2024,0.00,2.25,2.80,0.463,4,0.000,0.047,3576,693,2269,0,0,0,0,0,0,28.83,26.58,25.76
$GC,2090,1.24,98.0,96.1,9.4,398,2098,0.00,2.12,1.77,0.202,6,0.000,0.040,3576,2110,2265,0,0,0,0,0,0,28.83,26.65,26.36
$GC,2221,1.24,98.0,83.9,9.0,423,2229,0.00,2.22,1.62,0.200,4,0.000,0.048,3576,702,2269,0,0,0,0,0,0,28.83,26.68,26.45
$GC,2260,1.24,98.0,80.4,9.3,430,2267,0.00,2.12,1.60,0.205,6,0.000,0.041,3576,2118,2265,0,0,0,0,0,0,28.83,26.72,26.45
$GC,2390,1.24,98.0,68.2,9.2,455,2398,0.00,2.25,1.58,0.200,4,0.000,0.049,3576,693,2269,0,0,0,0,0,0,28.83,26.73,26.51
$GC,2539,1.24,98.0,54.4,9.5,484,2547,0.00,2.12,1.65,0.200,6,0.000,0.040,3576,2116,2264,0,0,0,0,0,0,28.83,26.81,26.56
$GC,2669,1.25,104.9,44.0,8.1,509,2687,0.00,2.17,9.50,0.527,4,0.000,0.053,3576,3508,2228,0,0,0,0,0,0,28.83,26.70,26.20
$GC,2773,1.28,125.3,35.8,7.1,529,2797,0.00,2.10,14.55,0.558,6,0.000,0.038,3576,2101,2144,0,0,0,0,0,0,28.83,26.79,26.10
$GC,2859,1.28,125.3,29.2,9.0,545,2865,0.00,2.20,0.00,0.000,4,0.000,0.054,3576,3522,2139,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3087,1.28,125.3,6.2,8.6,590,3093,0.00,2.12,0.00,0.000,6,0.000,0.037,3587,2094,2140,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3155,1.37,202.1,3.7,2.9,603,3184,0.00,2.17,25.05,0.137,4,0.000,0.048,3596,709,1834,0,0,0,0,0,0,28.83,26.70,26.59
$STATE,3195,end climb,SURFACE_DEPTH_REACHED
$STATE,3195,begin surface coast
$FINISH,-0.5,1.007775
$STATE,3226,end surface coast,CONTROL_FINISHED_OK
$STATE,3226,begin surface
$SM_CCo,3243,34.15,0.132,0,0,1435,300.00
$SM_GC,0.27,8.95,2.20,34.15,0.044,0.041,0.132,177,2128,1435,-9.24,-1.13,300.00,0,0,0,0,0,0,26.75,26.74,26.53
$IRIDIUM_FIX,4726.11,-12220.67,180713,131331
$TT8_MAMPS,0.029211,0.029211
$HUMID,50.70
$INTERNAL_PRESSURE,9.05436
$TCM_TEMP,18.40
$XPDR_PINGS,4
$24V_AH,25.3,2.362
$10V_AH,10.5,0.747
$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,21.375,55.800,211.300,34.150,0.000,25.033,29.465,159.114,1.000,0.000,5.902,1369.893,704.194,346.104,1114.724,37.023,33.218,848.871,0.000,890.320,0.000,0.547,0.000
$DEVICE_MAMPS,230.265,53.550,562.275,132.345,0.000,2780.010,160.000,223.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,411.243,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323416
$DATA_FILE_SIZE,23520,616
$CAP_FILE_SIZE,66051,0
$CFSIZE,1024393216,1021050880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180713,153902,4742.536,-12224.674,3,0.8,3,16.3