version: 66.11
glider: 201
mission: 1
dive: 6
start: 8 7 113 21 27 54
data:
$ID,201
$MISSION,1
$DIVE,6
$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,-473.81656
$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,2985
$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,1950
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,31
$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
$GPS1,070813,212234,4743.669,-12224.474,3,1.4,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-68.5
$GPS2,070813,212658,4743.684,-12224.581,17,1.1,17,16.3
$SPEED_LIMITS,0.173,0.233
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.143,0.184
$KALMAN_X,-138.9,118.9,30.3,299.2,-11.5
$KALMAN_Y,-554.1,172.6,111.5,2008.2,-296.7
$MHEAD_RNG_PITCHd_Wd,21.6,1651,-20.6,-10.000,-23.20,1790
$D_GRID,174
$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,-1.20,-117.3,196,1940,1885,1884,0.0,0.0,0,52,0.00,0.00,-34.10,0.000,16386,0.000,0.000,197,1940,2771,2789,2753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,54,-1.20,-117.3,196,1940,2789,2754,2.2,-5.0,6,95,8.93,2.28,-26.67,0.000,18692,0.223,0.063,2583,3369,3580,3607,3554,0,0,0,0,0,0,26.39,26.63,26.97
$GC,218,-1.20,-117.3,2581,3369,3607,3555,23.2,-16.7,37,225,0.00,2.10,0.00,0.000,1030,0.000,0.034,2583,1943,3581,3607,3555,0,0,0,0,0,0,28.83,26.76,28.83
$GC,286,-1.20,-117.3,2583,1943,3608,3555,31.7,-11.2,50,293,0.00,2.17,0.00,0.000,260,0.000,0.049,2572,3363,3580,3607,3554,0,0,0,0,0,0,28.83,26.73,28.83
$GC,324,-1.20,-117.3,2571,3364,3608,3555,35.9,-11.5,57,331,0.00,2.08,0.00,0.000,1030,0.000,0.034,2572,1956,3580,3607,3554,0,0,0,0,0,0,28.83,26.79,28.83
$GC,393,-1.20,-117.3,2572,1956,3607,3555,42.8,-11.1,70,400,0.00,2.10,0.00,0.000,516,0.000,0.047,2572,550,3580,3607,3554,0,0,0,0,0,0,28.83,26.79,28.83
$GC,497,-1.20,-117.3,2572,550,3608,3555,59.3,-19.3,90,504,0.15,2.08,0.00,0.000,3078,0.165,0.033,2602,1967,3581,3607,3555,0,0,0,0,0,0,26.67,26.85,28.83
$GC,627,-1.20,-117.3,2601,1968,3608,3555,83.6,-17.2,115,634,0.00,2.10,0.00,0.000,260,0.000,0.050,2593,3356,3581,3608,3554,0,0,0,0,0,0,28.83,26.84,28.83
$GC,716,-1.20,-117.3,1608,3355,3602,3553,97.8,-14.9,132,723,0.00,2.08,0.00,0.000,1030,0.000,0.034,2593,1942,3581,3608,3555,0,0,0,0,0,0,28.83,26.92,28.83
$GC,846,-1.20,-117.3,2593,1942,3607,3555,113.7,-13.4,157,852,0.00,2.15,0.00,0.000,260,0.000,0.050,2582,3352,3581,3608,3554,0,0,0,0,0,0,28.83,26.88,28.83
$GC,995,-1.20,-117.3,2582,3352,3608,3554,133.1,-12.9,186,1002,0.00,2.05,0.00,0.000,1030,0.000,0.034,2582,1947,3581,3608,3555,0,0,0,0,0,0,28.83,26.98,28.83
$GC,1124,-1.20,-117.3,2582,1947,3607,3554,151.4,-15.0,211,1131,0.00,2.12,0.00,0.000,260,0.000,0.049,2572,3349,3581,3608,3554,0,0,0,0,0,0,28.83,26.94,28.83
$GC,1272,-1.20,-117.3,2571,3349,3607,3555,173.0,-15.5,240,1279,0.00,2.05,0.00,0.000,1030,0.000,0.034,2572,1948,3581,3607,3555,0,0,0,0,0,0,28.83,27.01,28.83
$STATE,1284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1284,begin apogee
$GC,1287,-0.26,0.0,2571,2001,3607,3555,174.6,-14.1,242,1382,0.98,0.00,85.95,0.494,10246,0.130,0.000,2897,2000,3092,3140,3044,0,0,0,0,0,0,26.82,28.83,25.71
$STATE,1383,end apogee,CONTROL_FINISHED_OK
$STATE,1383,begin climb
$GC,1384,1.20,117.3,2897,2000,3139,3042,177.5,0.0,259,1474,1.30,0.00,83.40,0.481,10758,0.082,0.000,3366,2001,2616,2656,2577,0,0,0,0,0,0,26.16,28.83,25.32
$GC,1596,1.20,117.3,2384,1998,2599,2560,157.3,12.7,299,1602,0.00,0.00,0.00,0.000,6,0.000,0.000,3366,2000,2607,2646,2568,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1724,1.20,117.3,3366,2000,2647,2567,142.2,11.5,324,1730,0.00,2.17,0.00,0.000,260,0.000,0.051,3366,3406,2607,2647,2567,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1806,1.20,117.3,3366,3406,2647,2568,131.1,12.5,340,1813,0.00,2.10,0.00,0.000,1030,0.000,0.034,3367,2002,2606,2646,2567,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1936,1.20,117.3,3367,2002,2646,2567,114.9,11.8,365,1943,0.00,2.12,0.00,0.000,516,0.000,0.047,3375,587,2606,2646,2567,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1974,1.20,117.3,3375,587,2646,2567,110.1,12.4,372,1981,0.00,2.08,0.00,0.000,1030,0.000,0.034,3375,2001,2607,2647,2567,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2103,1.22,133.3,3375,2001,2647,2567,97.5,9.1,397,2121,0.00,0.00,12.35,0.438,8454,0.000,0.000,3375,2001,2547,2588,2506,0,0,0,0,0,0,28.83,28.83,26.17
$GC,2244,1.22,133.3,3375,2001,2583,2501,81.4,12.2,424,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,2000,2541,2583,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2371,1.22,133.3,3376,2001,2584,2500,65.1,11.8,449,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,2001,2541,2583,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2498,1.22,133.3,3375,2001,2583,2500,50.7,12.0,474,2505,0.00,2.12,0.00,0.000,260,0.000,0.050,3375,3398,2541,2583,2500,0,0,0,0,0,0,28.83,26.82,28.83
$GC,2571,1.22,133.3,3375,3398,2584,2500,41.0,13.5,488,2578,0.00,2.05,0.00,0.000,1030,0.000,0.034,3386,1997,2542,2584,2500,0,0,0,0,0,0,28.83,26.88,28.83
$GC,2701,1.22,133.3,3385,1997,2583,2500,25.4,11.0,513,2708,0.00,2.08,0.00,0.000,516,0.000,0.047,3395,600,2541,2583,2500,0,0,0,0,0,0,28.83,26.88,28.83
$GC,2793,1.22,133.3,2464,600,2537,2493,14.4,11.5,531,2800,0.00,2.05,0.00,0.000,1030,0.000,0.033,3396,2009,2541,2583,2500,0,0,0,0,0,0,28.83,26.93,28.83
$GC,2862,1.22,133.3,3395,2009,2583,2500,6.4,11.4,544,2868,0.00,2.10,0.00,0.000,516,0.000,0.047,3406,600,2541,2583,2500,0,0,0,0,0,0,28.83,26.91,28.83
$STATE,2894,end climb,SURFACE_DEPTH_REACHED
$STATE,2894,begin surface coast
$FINISH,0.4,1.020515
$STATE,2920,end surface coast,CONTROL_FINISHED_OK
$STATE,2920,begin surface
$SM_CCo,2936,57.67,0.137,0,0,1876,300.00
$SM_GC,2.13,8.35,2.03,57.67,0.054,0.033,0.137,193,1949,1876,-8.66,-1.47,300.00,0,0,0,0,0,0,26.90,26.95,26.60
$IRIDIUM_FIX,4726.11,-12220.67,070813,202029
$TT8_MAMPS,0.026964,0.026964
$HUMID,53.38
$INTERNAL_PRESSURE,8.85711
$TCM_TEMP,18.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.7,7.0
$24V_AH,25.3,0.440
$10V_AH,10.6,0.304
$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,19.700,46.800,181.700,57.675,0.000,22.665,35.469,129.669,0.500,0.000,18.298,1233.387,632.892,352.681,1012.252,42.806,33.219,812.384,0.000,800.351,0.000,5.452,0.000
$DEVICE_MAMPS,223.380,148.410,494.190,136.935,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,369.676,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323048
$DATA_FILE_SIZE,16772,555
$CAP_FILE_SIZE,60663,0
$CFSIZE,260034560,256585728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070813,221857,4743.479,-12224.217,36,1.0,36,16.3