version: 66.11
glider: 201
mission: 1
dive: 2
start: 8 7 113 17 36 5
data:
$ID,201
$MISSION,1
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,20
$T_BOOST,1
$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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51667
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038379999
$HD_B,0.01025
$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,5
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-400.63736
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,207
$PITCH_MAX,3915
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,224
$ROLL_MAX,3758
$ROLL_DEG,40
$C_ROLL_DIVE,2080
$C_ROLL_CLIMB,2080
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3101
$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
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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,-68.747383
$PRESSURE_SLOPE,0.000115772
$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,-1.28
$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,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043948898
$SEABIRD_T_H,0.000640176
$SEABIRD_T_I,2.7039805e-05
$SEABIRD_T_J,3.3535807e-06
$SEABIRD_C_G,-9.7607336
$SEABIRD_C_H,1.1271561
$SEABIRD_C_I,-0.0014806761
$SEABIRD_C_J,0.00019408599
$GPS1,070813,173142,4743.036,-12224.853,15,1.1,15,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-59.8
$GPS2,070813,173513,4743.052,-12224.872,14,1.1,14,16.3
$SPEED_LIMITS,0.173,0.233
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.034,0.231
$KALMAN_X,-15.3,-15.3,-15.3,-12.4,-47.4
$KALMAN_Y,85.1,85.1,85.1,295.0,262.8
$MHEAD_RNG_PITCHd_Wd,352.0,1574,-20.6,-10.000,-23.20,1790
$D_GRID,178
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_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,-1.17,-117.3,199,2119,490,500,0.0,0.0,0,111,0.00,0.00,-94.35,0.000,16386,0.000,0.000,199,2120,2925,2938,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-1.17,-117.3,199,2120,2938,2913,2.1,-5.2,17,155,8.65,2.15,-22.25,0.000,18692,0.211,0.063,2609,3493,3580,3607,3554,0,0,0,0,0,0,26.65,26.90,27.27
$GC,331,-1.17,-117.3,2609,3492,3607,3554,28.2,-15.0,59,338,0.00,2.05,0.00,0.000,1030,0.000,0.033,2609,2078,3580,3607,3554,0,0,0,0,0,0,28.83,27.03,28.83
$GC,400,-1.17,-117.3,2609,2077,3606,3554,37.8,-14.1,72,406,0.00,2.12,0.00,0.000,260,0.000,0.047,2598,3487,3580,3607,3554,0,0,0,0,0,0,28.83,26.96,28.83
$GC,458,-1.17,-117.3,2598,3487,3607,3554,46.1,-13.5,83,464,0.00,2.05,0.00,0.000,1030,0.000,0.033,2599,2071,3580,3607,3554,0,0,0,0,0,0,28.83,27.05,28.83
$GC,587,-1.17,-117.3,2599,2071,3607,3554,64.2,-13.8,108,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2071,3580,3606,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,714,-1.17,-117.3,2598,2071,3607,3554,81.6,-13.3,133,721,0.00,2.12,0.00,0.000,260,0.000,0.049,2588,3485,3580,3607,3554,0,0,0,0,0,0,28.83,27.01,28.83
$GC,825,-1.17,-117.3,2587,3485,3607,3554,97.1,-13.8,154,832,0.12,2.05,0.00,0.000,3078,0.162,0.034,2620,2068,3579,3605,3554,0,0,0,0,0,0,26.88,27.10,28.83
$GC,955,-1.17,-117.3,2621,2065,3607,3554,113.4,-13.3,179,962,0.00,2.03,0.00,0.000,516,0.000,0.045,2621,686,3580,3607,3554,0,0,0,0,0,0,28.83,27.05,28.83
$GC,1064,-1.17,-117.3,2620,686,3606,3554,127.5,-12.9,200,1072,0.00,2.05,0.00,0.000,1030,0.000,0.034,2613,2087,3580,3606,3554,0,0,0,0,0,0,28.83,27.10,28.83
$GC,1194,-1.17,-117.3,2613,2086,3606,3554,143.6,-12.5,225,1200,0.00,2.10,0.00,0.000,260,0.000,0.050,2602,3492,3580,3606,3554,0,0,0,0,0,0,28.83,27.05,28.83
$STATE,1241,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1241,begin apogee
$GC,1246,-0.25,0.0,2602,2071,3606,3554,150.1,-13.4,234,1374,0.93,0.00,122.35,0.430,10246,0.123,0.000,2916,2068,3099,3147,3052,0,0,0,0,0,0,26.89,28.83,25.79
$STATE,1375,end apogee,CONTROL_FINISHED_OK
$STATE,1376,begin climb
$GC,1377,1.17,117.3,2916,2068,3146,3050,154.0,0.0,257,1472,1.25,2.20,83.72,0.457,10756,0.074,0.045,3385,683,2614,2652,2577,0,0,0,0,0,0,26.22,25.98,25.53
$GC,1524,1.17,117.3,3385,683,2649,2576,141.8,12.5,284,1531,0.00,2.10,0.00,0.000,1030,0.000,0.034,3386,2085,2612,2649,2576,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1652,1.17,117.3,3386,2085,2649,2574,126.1,11.8,309,1659,0.00,2.15,0.00,0.000,260,0.000,0.049,3386,3490,2611,2649,2574,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1730,1.17,117.3,3385,3490,2650,2573,115.4,14.4,324,1737,0.00,2.08,0.00,0.000,1030,0.000,0.034,3396,2080,2611,2649,2573,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1860,1.17,117.3,3396,2080,2649,2573,99.1,11.7,349,1867,0.00,2.08,0.00,0.000,516,0.000,0.047,3406,683,2611,2649,2573,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2049,1.17,117.3,3406,683,2648,2573,77.7,10.7,386,2056,0.00,2.05,0.00,0.000,1030,0.000,0.034,3406,2085,2611,2649,2573,0,0,0,0,0,0,28.83,26.89,28.83
$GC,2178,1.17,117.3,3406,2085,2649,2572,63.4,11.9,411,2184,0.00,2.12,0.00,0.000,260,0.000,0.050,3406,3493,2610,2649,2572,0,0,0,0,0,0,28.83,26.90,28.83
$GC,2266,1.17,117.3,3406,3493,2649,2572,52.9,11.7,428,2273,0.15,2.08,0.00,0.000,5126,0.189,0.035,3381,2067,2610,2649,2572,0,0,0,0,0,0,26.72,26.97,28.83
$GC,2397,1.19,130.5,3380,2068,2649,2572,39.9,9.2,453,2415,0.00,2.10,10.18,0.396,8708,0.000,0.047,3389,684,2560,2600,2521,0,0,0,0,0,0,28.83,26.89,26.46
$GC,2452,1.19,130.5,3388,684,2597,2519,34.2,11.2,463,2458,0.00,2.05,0.00,0.000,1030,0.000,0.034,3389,2087,2557,2597,2518,0,0,0,0,0,0,28.83,26.94,28.83
$GC,2520,1.19,130.5,3388,2086,2598,2519,26.2,12.0,476,2526,0.00,2.12,0.00,0.000,260,0.000,0.050,3389,3496,2558,2597,2519,0,0,0,0,0,0,28.83,26.91,28.83
$GC,2553,1.19,130.5,3389,3496,2597,2518,22.7,10.1,482,2559,0.00,2.08,0.00,0.000,1030,0.000,0.035,3398,2072,2558,2598,2518,0,0,0,0,0,0,28.83,26.98,28.83
$GC,2621,1.19,130.5,3398,2073,2597,2518,15.4,11.7,495,2628,0.00,2.05,0.00,0.000,516,0.000,0.046,3408,684,2558,2597,2519,0,0,0,0,0,0,28.83,26.96,28.83
$GC,2665,1.19,130.5,3407,685,2598,2518,10.4,11.9,503,2671,0.00,2.05,0.00,0.000,1030,0.000,0.034,3408,2093,2558,2597,2519,0,0,0,0,0,0,28.83,26.99,28.83
$STATE,2732,end climb,SURFACE_DEPTH_REACHED
$STATE,2732,begin surface coast
$FINISH,0.3,1.020878
$STATE,2758,end surface coast,CONTROL_FINISHED_OK
$STATE,2758,begin surface
$SM_CCo,2772,58.55,0.137,0,0,1874,300.00
$SM_GC,2.00,8.32,0.00,58.55,0.054,0.000,0.137,195,2093,1874,-8.69,0.37,300.00,0,0,0,0,0,0,26.97,28.83,26.65
$IRIDIUM_FIX,4726.11,-12236.62,070813,171733
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.75
$INTERNAL_PRESSURE,8.9157
$TCM_TEMP,18.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.4,6.5
$24V_AH,25.5,0.277
$10V_AH,10.6,0.183
$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,19.425,50.150,216.250,58.550,0.000,0.000,0.000,0.000,0.750,0.000,15.300,1112.208,567.249,419.283,764.957,35.675,30.072,866.957,0.000,750.775,0.000,7.017,0.000
$DEVICE_MAMPS,211.140,63.495,457.470,136.935,0.000,0.000,0.000,0.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,344.844,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323124
$DATA_FILE_SIZE,16746,521
$CAP_FILE_SIZE,66666,0
$CFSIZE,260034560,256708608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070813,182352,4743.565,-12224.647,3,2.0,3,16.3