version: 66.11
glider: 201
mission: 1
dive: 4
start: 8 7 113 19 46 50
data:
$ID,201
$MISSION,1
$DIVE,4
$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,-471.30557
$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,51
$R_STBD_OVSHOOT,41
$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
$GPS1,070813,194129,4743.926,-12224.586,38,0.8,38,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-68.0
$GPS2,070813,194557,4743.913,-12224.589,5,1.1,5,16.3
$SPEED_LIMITS,0.173,0.233
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.170,-0.031
$KALMAN_X,90.3,62.4,-12.3,147.4,59.7
$KALMAN_Y,126.2,136.2,92.9,1795.9,37.1
$MHEAD_RNG_PITCHd_Wd,243.2,264,-27.8,-10.000,-30.00,982
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.50,-64.2,196,2285,1884,1881,0.0,0.0,0,57,0.00,0.00,-39.47,0.000,16386,0.000,0.000,196,2284,2904,2917,2891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-1.57,-117.3,196,2285,2917,2891,2.2,-4.4,7,95,8.50,2.22,-22.00,0.000,19204,0.223,0.066,2473,3690,3579,3605,3554,0,0,0,0,0,0,26.39,26.64,27.00
$GC,322,-1.57,-117.3,2472,3690,3605,3556,51.2,-21.2,58,329,0.00,2.08,0.00,0.000,1030,0.000,0.033,2473,2262,3580,3605,3556,0,0,0,0,0,0,28.83,26.84,28.83
$GC,451,-1.57,-117.3,2472,2262,3605,3556,77.6,-20.9,83,458,0.00,2.17,0.00,0.000,260,0.000,0.052,2462,3682,3580,3605,3556,0,0,0,0,0,0,28.83,26.82,28.83
$GC,593,-1.57,-117.3,1488,3682,3600,3554,106.8,-22.8,110,600,0.00,2.03,0.00,0.000,1030,0.000,0.033,2462,2284,3581,3606,3556,0,0,0,0,0,0,28.83,26.94,28.83
$GC,722,-1.57,-117.3,2461,2281,3605,3556,132.7,-20.4,135,729,0.00,2.05,0.00,0.000,516,0.000,0.042,2462,884,3581,3606,3556,0,0,0,0,0,0,28.83,26.92,28.83
$GC,885,-1.57,-117.3,2461,884,3606,3555,163.9,-19.4,167,892,0.12,2.05,0.00,0.000,3078,0.184,0.036,2482,2285,3580,3605,3556,0,0,0,0,0,0,26.76,26.98,28.83
$STATE,948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,948,begin apogee
$GC,951,-0.26,0.0,2482,2066,3605,3556,175.5,-17.7,179,1042,1.27,0.00,85.00,0.500,10246,0.142,0.000,2898,2062,3099,3147,3051,0,0,0,0,0,0,26.76,28.83,25.72
$STATE,1043,end apogee,CONTROL_FINISHED_OK
$STATE,1043,begin climb
$GC,1044,1.57,117.3,2897,2062,3142,3045,180.0,0.0,195,1140,1.60,2.30,83.32,0.474,11012,0.079,0.050,3493,3475,2611,2649,2573,0,0,0,0,0,0,26.16,25.84,25.39
$GC,1191,1.57,117.3,3493,3475,2647,2570,163.3,18.0,222,1198,0.00,2.10,0.00,0.000,1030,0.000,0.033,3504,2077,2609,2648,2570,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1320,1.57,117.3,3503,2077,2647,2570,141.0,16.5,247,1326,0.00,2.20,0.00,0.000,260,0.000,0.049,3504,3487,2608,2646,2570,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1358,1.57,117.3,3504,3487,2647,2569,133.6,19.5,254,1365,0.00,2.10,0.00,0.000,1030,0.000,0.035,3515,2075,2608,2647,2570,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1488,1.57,117.3,3514,2075,2647,2570,112.0,13.9,279,1494,0.00,2.10,0.00,0.000,516,0.000,0.045,3523,673,2608,2647,2570,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1640,1.57,117.3,2688,673,2602,2562,89.6,14.8,309,1647,0.00,2.08,0.00,0.000,1030,0.000,0.033,3524,2085,2608,2646,2570,0,0,0,0,0,0,28.83,26.77,28.83
$GC,1768,1.57,117.3,3523,2085,2646,2570,67.3,19.2,334,1775,0.00,2.12,0.00,0.000,516,0.000,0.044,3534,673,2607,2646,2569,0,0,0,0,0,0,28.83,26.80,28.83
$GC,1852,1.57,117.3,3533,673,2645,2569,49.7,20.7,350,1859,0.15,2.08,0.00,0.000,5126,0.210,0.033,3499,2083,2607,2645,2569,0,0,0,0,0,0,26.60,26.86,28.83
$GC,1982,1.57,117.3,3499,2083,2645,2569,28.6,13.3,375,1989,0.00,2.12,0.00,0.000,260,0.000,0.050,3499,3488,2607,2645,2569,0,0,0,0,0,0,28.83,26.86,28.83
$GC,2030,1.57,117.3,3499,3488,2646,2569,21.4,13.6,384,2037,0.00,2.08,0.00,0.000,1030,0.000,0.034,3508,2065,2607,2645,2569,0,0,0,0,0,0,28.83,26.91,28.83
$GC,2098,1.57,117.3,3508,2065,2645,2569,13.2,12.7,397,2105,0.00,2.05,0.00,0.000,516,0.000,0.045,3518,682,2607,2645,2569,0,0,0,0,0,0,28.83,26.90,28.83
$STATE,2180,end climb,SURFACE_DEPTH_REACHED
$STATE,2181,begin surface coast
$FINISH,0.5,1.021114
$STATE,2202,end surface coast,CONTROL_FINISHED_OK
$STATE,2202,begin surface
$SM_CCo,2220,63.72,0.137,0,0,1875,300.00
$SM_GC,1.87,8.70,2.42,63.72,0.057,0.034,0.137,193,2286,1875,-8.66,-1.05,300.00,0,0,0,0,0,0,26.91,26.96,26.59
$IRIDIUM_FIX,4726.11,-12225.08,070813,181825
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.03
$INTERNAL_PRESSURE,8.87664
$TCM_TEMP,18.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.4,7.0
$24V_AH,25.4,0.365
$10V_AH,10.6,0.245
$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,20.350,38.650,168.325,63.725,0.000,26.190,36.554,141.481,0.500,0.000,5.912,925.911,465.615,320.357,820.085,34.689,32.218,674.562,0.000,605.718,0.000,5.452,0.000
$DEVICE_MAMPS,222.615,65.790,500.310,136.935,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,277.010,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323032
$DATA_FILE_SIZE,13444,417
$CAP_FILE_SIZE,47679,0
$CFSIZE,260034560,256663552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070813,202531,4743.835,-12224.931,4,1.0,4,16.3