version: 66.11
glider: 201
mission: 1
dive: 5
start: 8 7 113 20 30 18
data:
$ID,201
$MISSION,1
$DIVE,5
$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,-472.55893
$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,54
$R_STBD_OVSHOOT,38
$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
$GPS1,070813,202531,4743.835,-12224.931,4,1.0,4,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-67.7
$GPS2,070813,202923,4743.847,-12224.930,5,1.0,5,16.3
$SPEED_LIMITS,0.173,0.233
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.212,0.097
$KALMAN_X,259.6,86.3,-40.5,-439.0,207.3
$KALMAN_Y,128.5,142.9,79.3,1681.8,8.3
$MHEAD_RNG_PITCHd_Wd,49.2,1897,-20.6,-10.000,-23.20,1790
$D_GRID,177
$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,-117.3,193,2287,1882,1884,0.0,0.0,0,57,0.00,0.00,-40.12,0.000,16386,0.000,0.000,193,2287,2919,2932,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-1.20,-117.3,192,2287,2932,2906,2.2,-5.0,7,100,8.98,2.15,-21.98,0.000,18948,0.224,0.057,2601,889,3580,3607,3554,0,0,0,0,0,0,26.41,26.67,26.99
$GC,252,-1.20,-117.3,2601,889,3607,3554,27.2,-15.3,44,259,0.00,2.05,0.00,0.000,1030,0.000,0.035,2593,2283,3580,3607,3554,0,0,0,0,0,0,28.83,26.78,28.83
$GC,320,-1.20,-117.3,2592,2283,3607,3554,36.2,-12.7,57,326,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2283,3580,3606,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,387,-1.20,-117.3,2592,2283,3607,3554,43.6,-10.2,70,393,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2283,3580,3607,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,514,-1.20,-117.3,2592,2283,3607,3554,56.4,-10.8,95,521,0.00,2.08,0.00,0.000,516,0.000,0.044,2593,886,3580,3607,3554,0,0,0,0,0,0,28.83,26.86,28.83
$GC,568,-1.20,-117.3,2593,886,3607,3554,63.3,-13.9,105,575,0.00,2.05,0.00,0.000,1030,0.000,0.036,2583,2280,3580,3606,3554,0,0,0,0,0,0,28.83,26.89,28.83
$GC,697,-1.20,-117.3,2583,2281,3607,3554,81.3,-14.0,130,703,0.00,2.12,0.00,0.000,260,0.000,0.053,2572,3680,3580,3607,3554,0,0,0,0,0,0,28.83,26.88,28.83
$GC,827,-1.20,-117.3,2572,3682,3607,3555,101.3,-15.6,155,834,0.12,2.05,0.00,0.000,3078,0.174,0.034,2604,2259,3580,3607,3554,0,0,0,0,0,0,26.77,26.98,28.83
$GC,956,-1.20,-117.3,2604,2257,3607,3554,119.3,-13.2,180,963,0.00,2.00,0.00,0.000,516,0.000,0.043,2604,894,3580,3607,3554,0,0,0,0,0,0,28.83,26.96,28.83
$GC,1086,-1.20,-117.3,2604,894,3607,3554,136.5,-13.0,205,1092,0.00,2.03,0.00,0.000,1030,0.000,0.035,2596,2280,3580,3607,3554,0,0,0,0,0,0,28.83,27.00,28.83
$GC,1214,-1.20,-117.3,2596,2281,3607,3554,152.6,-11.4,230,1220,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2281,3580,3607,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1341,-1.20,-117.3,2596,2281,3607,3554,166.7,-11.3,255,1347,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2281,3580,3607,3554,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1437,begin apogee
$GC,1441,-0.26,0.0,2596,2077,3607,3554,177.6,-11.1,274,1531,0.90,0.00,85.03,0.490,10246,0.129,0.000,2899,2074,3098,3146,3051,0,0,0,0,0,0,26.86,28.83,25.77
$STATE,1532,end apogee,CONTROL_FINISHED_OK
$STATE,1532,begin climb
$GC,1533,1.20,117.3,2900,2074,3141,3044,180.8,0.0,290,1624,1.30,2.22,83.28,0.487,10756,0.080,0.044,3383,689,2614,2652,2576,0,0,0,0,0,0,26.21,25.82,25.36
$GC,1667,1.20,117.3,3383,689,2643,2572,170.0,13.1,314,1673,0.00,2.10,0.00,0.000,1030,0.000,0.034,3383,2081,2607,2643,2572,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1795,1.20,117.3,3384,2081,2643,2571,152.8,13.5,339,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2080,2607,2643,2571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1922,1.20,117.3,3383,2080,2643,2571,137.1,10.9,364,1928,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2081,2607,2643,2571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2051,1.23,146.9,3383,2080,2643,2571,124.1,8.3,389,2081,0.00,2.17,21.80,0.460,8452,0.000,0.049,3383,3490,2493,2535,2451,0,0,0,0,0,0,28.83,26.44,26.01
$GC,2142,1.23,146.9,3383,3490,2531,2443,115.4,10.7,406,2149,0.00,2.08,0.00,0.000,1030,0.000,0.034,3394,2089,2486,2531,2442,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2271,1.23,146.9,3394,2088,2530,2442,101.5,10.5,431,2278,0.00,2.12,0.00,0.000,516,0.000,0.046,3403,673,2486,2530,2442,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2389,1.23,146.9,3403,673,2530,2443,87.7,11.6,454,2396,0.00,2.08,0.00,0.000,1030,0.000,0.034,3404,2082,2486,2530,2443,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2519,1.23,146.9,3403,2082,2529,2443,73.4,13.9,479,2526,0.00,2.12,0.00,0.000,260,0.000,0.050,3404,3486,2486,2530,2443,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2628,1.23,146.9,3403,3485,2530,2443,54.2,18.0,500,2635,0.00,2.08,0.00,0.000,1030,0.000,0.034,3414,2070,2486,2530,2442,0,0,0,0,0,0,28.83,26.86,28.83
$GC,2756,1.23,146.9,3414,2070,2530,2442,33.4,14.0,525,2763,0.00,2.05,0.00,0.000,516,0.000,0.047,3423,684,2486,2530,2443,0,0,0,0,0,0,28.83,26.86,28.83
$GC,2885,1.23,146.9,3423,685,2530,2442,15.3,13.5,550,2892,0.15,2.05,0.00,0.000,5126,0.187,0.034,3386,2081,2486,2530,2442,0,0,0,0,0,0,26.71,26.93,28.83
$GC,2954,1.25,156.2,3386,2081,2530,2442,7.9,9.5,563,2962,0.00,2.17,2.10,0.177,8708,0.000,0.048,3394,687,2464,2510,2418,0,0,0,0,0,0,28.83,26.90,26.71
$STATE,3004,end climb,SURFACE_DEPTH_REACHED
$STATE,3004,begin surface coast
$FINISH,0.3,0.998865
$STATE,3029,end surface coast,CONTROL_FINISHED_OK
$STATE,3029,begin surface
$SM_CCo,3046,51.60,0.137,0,0,1876,300.00
$SM_GC,2.07,8.30,2.42,51.60,0.052,0.034,0.137,197,2279,1876,-8.65,-1.05,300.00,0,0,0,0,0,0,26.91,26.92,26.60
$IRIDIUM_FIX,4726.11,-12308.55,070813,191934
$TT8_MAMPS,0.026964,0.026964
$HUMID,53.74
$INTERNAL_PRESSURE,8.86687
$TCM_TEMP,18.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.3,7.0
$24V_AH,25.4,0.403
$10V_AH,10.6,0.274
$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,19.750,42.475,192.200,51.600,0.000,23.573,31.163,112.554,0.500,0.000,6.856,1273.938,664.407,352.373,1016.641,40.894,33.207,825.800,0.000,831.217,0.000,5.451,0.000
$DEVICE_MAMPS,224.145,57.375,489.600,136.935,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,384.588,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323036
$DATA_FILE_SIZE,16769,577
$CAP_FILE_SIZE,60725,0
$CFSIZE,260034560,256618496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070813,212234,4743.669,-12224.474,3,1.4,3,16.3