version: 66.11
glider: 201
mission: 1
dive: 3
start: 8 7 113 18 51 4
data:
$ID,201
$MISSION,1
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$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,60
$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,-470.04636
$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,2990
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19.5
$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,2280
$C_ROLL_CLIMB,2080
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,48
$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
$GPS1,070813,184746,4743.367,-12224.800,14,1.1,14,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-67.6
$GPS2,070813,185010,4743.377,-12224.811,14,1.1,14,16.3
$SPEED_LIMITS,0.173,0.233
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.010,0.233
$KALMAN_X,-24.2,-24.8,-24.1,89.8,-23.3
$KALMAN_Y,68.4,60.9,69.4,969.7,46.5
$MHEAD_RNG_PITCHd_Wd,346.2,968,-20.6,-10.000,-23.20,1790
$D_GRID,175
$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,15,-1.20,-117.3,193,2298,1882,1876,0.0,0.0,0,57,0.00,0.00,-40.17,0.000,16386,0.000,0.000,193,2298,2914,2927,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-1.20,-117.3,193,2298,2928,2902,2.1,-5.2,7,101,8.80,2.15,-22.25,0.000,18692,0.220,0.067,2589,3674,3581,3607,3555,0,0,0,0,0,0,26.58,26.85,27.22
$GC,327,-1.20,-117.3,2589,3674,3607,3555,37.6,-15.4,59,334,0.00,2.03,0.00,0.000,1030,0.000,0.032,2589,2266,3580,3607,3554,0,0,0,0,0,0,28.83,26.99,28.83
$GC,395,-1.20,-117.3,2589,2265,3607,3555,48.3,-15.0,72,402,0.00,2.15,0.00,0.000,260,0.000,0.050,2579,3680,3581,3607,3555,0,0,0,0,0,0,28.83,26.93,28.83
$GC,628,-1.20,-117.3,2578,3680,3607,3555,84.8,-14.4,118,635,0.00,2.03,0.00,0.000,1030,0.000,0.033,2579,2277,3581,3607,3555,0,0,0,0,0,0,28.83,27.04,28.83
$GC,761,-1.20,-117.3,2578,2276,3607,3555,103.5,-14.2,143,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2276,3581,3607,3555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,890,-1.20,-117.3,2578,2275,3607,3555,120.9,-13.1,168,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2275,3581,3607,3555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1018,-1.20,-117.3,2579,2275,3607,3555,139.0,-14.6,193,1024,0.00,2.12,0.00,0.000,260,0.000,0.051,2568,3677,3580,3606,3555,0,0,0,0,0,0,28.83,27.02,28.83
$GC,1121,-1.20,-117.3,2567,3677,3607,3555,155.0,-15.5,213,1128,0.12,2.03,0.00,0.000,3078,0.174,0.034,2599,2268,3581,3607,3555,0,0,0,0,0,0,26.87,27.10,28.83
$GC,1249,-1.20,-117.3,1616,2264,3601,3553,172.4,-13.6,238,1256,0.00,2.03,0.00,0.000,516,0.000,0.044,2600,882,3581,3607,3555,0,0,0,0,0,0,28.83,27.05,28.83
$STATE,1271,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1271,begin apogee
$GC,1277,-0.26,0.0,2593,2078,3607,3555,175.6,-13.8,242,1366,0.93,0.00,83.68,0.483,10246,0.126,0.000,2904,2079,3096,3145,3048,0,0,0,0,0,0,26.88,28.83,25.86
$STATE,1367,end apogee,CONTROL_FINISHED_OK
$STATE,1367,begin climb
$GC,1369,1.20,117.3,2904,2079,3143,3045,179.8,0.0,258,1464,1.27,2.28,83.30,0.475,11012,0.077,0.048,3371,3485,2613,2655,2572,0,0,0,0,0,0,26.31,25.92,25.47
$GC,1496,1.20,117.3,3371,3485,2653,2568,170.5,13.0,281,1502,0.00,2.10,0.00,0.000,1030,0.000,0.034,3381,2088,2610,2652,2568,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1626,1.20,117.3,3381,2088,2652,2568,153.2,12.9,306,1632,0.00,2.12,0.00,0.000,516,0.000,0.045,3391,683,2609,2652,2567,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1784,1.20,117.3,3390,683,2651,2567,134.8,13.0,337,1790,0.00,2.08,0.00,0.000,1030,0.000,0.033,3391,2095,2609,2650,2568,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1912,1.20,117.3,3391,2095,2651,2568,119.1,14.0,362,1919,0.00,2.10,0.00,0.000,260,0.000,0.050,3391,3481,2609,2650,2568,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2005,1.20,117.3,3391,3481,2651,2568,105.2,14.9,380,2012,0.00,2.05,0.00,0.000,1030,0.000,0.034,3401,2078,2609,2651,2567,0,0,0,0,0,0,28.83,26.84,28.83
$GC,2133,1.20,117.3,2464,2076,2605,2560,87.1,14.7,405,2140,0.00,2.08,0.00,0.000,516,0.000,0.046,3411,682,2608,2650,2567,0,0,0,0,0,0,28.83,26.85,28.83
$GC,2272,1.20,117.3,3411,682,2650,2567,68.3,12.3,432,2279,0.15,2.05,0.00,0.000,5126,0.188,0.034,3374,2087,2608,2650,2567,0,0,0,0,0,0,26.70,26.93,28.83
$GC,2401,1.24,150.9,3374,2087,2650,2567,56.4,8.1,457,2431,0.00,2.20,24.65,0.411,8452,0.000,0.050,3374,3486,2477,2521,2433,0,0,0,0,0,0,28.83,26.70,26.29
$GC,2483,1.24,150.9,3374,3485,2518,2426,49.0,10.9,472,2490,0.00,2.08,0.00,0.000,1030,0.000,0.034,3383,2074,2472,2518,2426,0,0,0,0,0,0,28.83,26.80,28.83
$GC,2611,1.24,150.9,3383,2073,2517,2426,35.3,10.7,497,2618,0.00,2.08,0.00,0.000,516,0.000,0.046,3393,679,2471,2517,2426,0,0,0,0,0,0,28.83,26.84,28.83
$GC,2664,1.24,150.9,3392,679,2517,2426,29.0,12.7,507,2671,0.00,2.05,0.00,0.000,1030,0.000,0.034,3393,2082,2471,2516,2426,0,0,0,0,0,0,28.83,26.89,28.83
$GC,2734,1.24,150.9,3392,2082,2516,2426,20.6,11.6,520,2740,0.00,2.12,0.00,0.000,260,0.000,0.050,3393,3490,2471,2517,2426,0,0,0,0,0,0,28.83,26.86,28.83
$GC,2782,1.24,150.9,3393,3491,2516,2426,13.8,15.0,529,2789,0.00,2.08,0.00,0.000,1030,0.000,0.034,3403,2069,2471,2516,2426,0,0,0,0,0,0,28.83,26.93,28.83
$GC,2850,1.24,150.9,3403,2069,2516,2425,5.2,12.1,542,2856,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2069,2471,2516,2426,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2866,end climb,SURFACE_DEPTH_REACHED
$STATE,2866,begin surface coast
$FINISH,0.3,1.020852
$STATE,2888,end surface coast,CONTROL_FINISHED_OK
$STATE,2888,begin surface
$SM_CCo,2902,51.08,0.137,0,0,1876,300.00
$SM_GC,1.94,8.27,0.32,51.08,0.049,0.059,0.137,196,2284,1876,-8.65,-1.19,300.00,0,0,0,0,0,0,26.91,26.94,26.60
$IRIDIUM_FIX,4726.11,-12226.80,070813,181838
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.17
$INTERNAL_PRESSURE,8.88641
$TCM_TEMP,18.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.7,7.0
$24V_AH,25.5,0.328
$10V_AH,10.6,0.220
$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,19.550,46.100,191.625,51.075,0.000,0.000,0.000,0.000,1.500,0.000,15.946,1205.780,621.353,352.203,805.371,37.215,31.303,803.146,0.000,790.250,0.000,12.957,0.000
$DEVICE_MAMPS,219.555,67.320,482.715,136.935,0.000,0.000,0.000,0.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,365.567,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323108
$DATA_FILE_SIZE,16779,549
$CAP_FILE_SIZE,73382,0
$CFSIZE,260034560,256671744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070813,194129,4743.926,-12224.586,38,0.8,38,16.3