version: 66.11
glider: 201
mission: 1
dive: 8
start: 8 7 113 23 38 23
data:
$ID,201
$MISSION,1
$DIVE,8
$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,75
$T_MISSION,80
$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,90
$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,280
$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,-476.32468
$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,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,070813,232634,4743.331,-12224.334,3,1.4,3,16.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-65.4
$GPS2,070813,233728,4743.207,-12224.400,5,1.3,5,16.3
$SPEED_LIMITS,0.139,0.191
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.008,0.190
$KALMAN_X,-497.2,168.8,-7.6,865.2,-273.1
$KALMAN_Y,-2653.1,207.0,-160.5,3454.0,-1228.5
$MHEAD_RNG_PITCHd_Wd,346.1,2155,-19.8,-8.000,-22.77,1677
$D_GRID,176
$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,-1.12,-88.0,191,1978,1965,1962,0.0,0.0,0,52,0.00,0.00,-34.20,0.000,16386,0.000,0.000,191,1978,2842,2858,2826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,54,-1.12,-88.0,191,1978,2858,2826,2.2,-5.0,6,90,9.07,2.15,-20.58,0.000,18948,0.224,0.060,2623,596,3461,3496,3426,0,0,0,0,0,0,26.39,26.63,26.95
$GC,102,-1.12,-88.0,2623,596,3496,3427,4.1,-5.8,14,108,0.00,2.08,0.00,0.000,1030,0.000,0.033,2615,2008,3461,3497,3426,0,0,0,0,0,0,28.83,26.66,28.83
$GC,170,-1.12,-88.0,2615,2007,3496,3427,11.4,-12.9,27,176,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2007,3461,3496,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,237,-1.12,-88.0,2615,2007,3496,3427,20.6,-13.4,40,244,0.00,2.12,0.00,0.000,260,0.000,0.050,2604,3405,3461,3496,3427,0,0,0,0,0,0,28.83,26.69,28.83
$GC,381,-1.12,-88.0,2604,3405,3496,3427,40.8,-13.9,68,387,0.00,2.08,0.00,0.000,1030,0.000,0.034,2605,1995,3462,3497,3427,0,0,0,0,0,0,28.83,26.81,28.83
$GC,509,-1.12,-88.0,2604,1995,3496,3427,57.9,-13.8,93,516,0.00,2.08,0.00,0.000,516,0.000,0.046,2605,594,3461,3496,3427,0,0,0,0,0,0,28.83,26.81,28.83
$GC,553,-1.12,-88.0,2604,595,3497,3427,64.1,-14.5,101,560,0.12,2.05,0.00,0.000,3078,0.165,0.033,2627,1991,3461,3496,3427,0,0,0,0,0,0,26.69,26.85,28.83
$GC,682,-1.12,-88.0,2627,1991,3496,3427,80.3,-10.7,126,688,0.00,2.12,0.00,0.000,260,0.000,0.050,2619,3395,3461,3496,3427,0,0,0,0,0,0,28.83,26.84,28.83
$GC,741,-1.12,-88.0,2618,3395,3496,3427,87.2,-12.5,137,748,0.00,2.08,0.00,0.000,1030,0.000,0.035,2618,1990,3461,3496,3427,0,0,0,0,0,0,28.83,26.90,28.83
$GC,873,-1.12,-88.0,2618,1989,3497,3427,104.8,-11.9,162,880,0.00,2.05,0.00,0.000,516,0.000,0.046,2618,600,3462,3497,3427,0,0,0,0,0,0,28.83,26.89,28.83
$GC,891,-1.12,-88.0,2618,600,3496,3427,107.0,-11.1,165,898,0.00,2.03,0.00,0.000,1030,0.000,0.032,2608,1990,3462,3497,3427,0,0,0,0,0,0,28.83,26.93,28.83
$GC,1020,-1.12,-88.0,2608,1990,3496,3427,121.2,-10.7,190,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1990,3461,3497,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1148,-1.12,-88.0,2608,1990,3497,3427,134.8,-8.7,215,1154,0.00,2.12,0.00,0.000,260,0.000,0.050,2598,3399,3461,3496,3427,0,0,0,0,0,0,28.83,26.94,28.83
$GC,1252,-1.12,-88.0,2598,3399,3497,3427,147.2,-12.9,235,1259,0.00,2.08,0.00,0.000,1030,0.000,0.034,2598,1985,3461,3496,3427,0,0,0,0,0,0,28.83,27.00,28.83
$GC,1380,-1.12,-88.0,2597,1984,3497,3427,162.7,-12.6,260,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,1984,3461,3496,3427,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1486,begin apogee
$GC,1490,-0.26,0.0,2597,1984,3496,3427,176.5,-11.4,281,1563,0.90,0.00,65.25,0.495,10244,0.132,0.000,2897,1981,3094,3144,3044,0,0,0,0,0,0,26.84,28.83,25.89
$STATE,1563,end apogee,CONTROL_FINISHED_OK
$STATE,1564,begin climb
$GC,1565,1.12,88.0,2897,1981,3143,3043,179.3,0.0,294,1633,1.20,0.00,62.85,0.493,11270,0.081,0.000,3339,1981,2739,2775,2703,0,0,0,0,0,0,26.32,28.83,25.44
$GC,1756,1.12,90.0,3339,1981,2764,2693,165.7,7.9,330,1762,0.00,2.10,0.00,0.000,516,0.000,0.046,3340,601,2728,2764,2693,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1918,1.12,90.0,2384,601,2723,2686,149.1,9.9,362,1925,0.00,2.10,0.00,0.000,1030,0.000,0.033,3340,2012,2728,2763,2693,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2047,1.12,90.0,3339,2013,2763,2692,135.6,8.1,387,2054,0.00,2.12,0.00,0.000,260,0.000,0.050,3340,3405,2727,2763,2692,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2181,1.12,90.0,3340,3405,2764,2692,122.7,9.1,413,2187,0.00,2.08,0.00,0.000,1030,0.000,0.034,3349,2005,2727,2764,2691,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2309,1.12,90.0,3348,2005,2763,2691,113.3,10.5,438,2316,0.00,2.10,0.00,0.000,516,0.000,0.047,3356,597,2727,2763,2692,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2392,1.12,90.0,3356,596,2763,2692,103.8,10.3,454,2399,0.00,2.10,0.00,0.000,1030,0.000,0.033,3357,2022,2728,2764,2692,0,0,0,0,0,0,28.83,26.81,28.83
$GC,2522,1.12,90.0,3356,2022,2763,2692,92.5,9.8,479,2528,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,2022,2727,2763,2692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2650,1.12,90.0,3356,2022,2763,2692,80.4,9.4,504,2656,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,2022,2727,2762,2692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2777,1.12,90.0,3356,2022,2763,2691,68.2,10.7,529,2783,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,2022,2727,2763,2692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2906,1.12,90.0,3357,2022,2762,2691,55.2,9.9,554,2912,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,2022,2727,2763,2692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3034,1.16,121.1,3356,2022,2763,2691,45.9,6.1,579,3063,0.00,2.22,23.90,0.429,8708,0.000,0.046,3367,597,2597,2636,2558,0,0,0,0,0,0,28.83,26.72,26.29
$GC,3240,1.16,121.1,3366,597,2629,2555,25.5,11.7,619,3247,0.00,2.08,0.00,0.000,1030,0.000,0.033,3366,2015,2592,2630,2554,0,0,0,0,0,0,28.83,26.84,28.83
$GC,3308,1.16,121.1,3366,2015,2630,2554,18.4,10.3,632,3315,0.00,2.10,0.00,0.000,260,0.000,0.050,3367,3402,2592,2630,2554,0,0,0,0,0,0,28.83,26.82,28.83
$GC,3413,1.16,121.1,3366,3402,2630,2555,7.9,11.0,652,3420,0.00,1.98,0.00,0.000,1030,0.000,0.034,3375,2050,2592,2631,2554,0,0,0,0,0,0,28.83,26.90,28.83
$STATE,3455,end climb,SURFACE_DEPTH_REACHED
$STATE,3455,begin surface coast
$FINISH,1.0,1.020551
$STATE,3483,end surface coast,CONTROL_FINISHED_OK
$STATE,3483,begin surface
$SM_CCo,3497,55.95,0.139,0,0,1955,280.13
$SM_GC,0.62,8.48,0.00,55.95,0.068,0.000,0.139,199,2049,1955,-8.63,1.41,280.13,0,0,0,0,0,0,26.86,28.83,26.58
$IRIDIUM_FIX,4726.11,-12223.37,070813,232344
$TT8_MAMPS,0.026964,0.026964
$HUMID,52.55
$INTERNAL_PRESSURE,8.85711
$TCM_TEMP,18.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.0,7.0
$24V_AH,25.4,0.515
$10V_AH,10.5,0.375
$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,19.775,46.000,152.000,55.950,0.000,98.026,101.310,190.838,0.500,0.000,6.834,1494.076,963.565,336.394,1373.003,51.622,33.237,866.992,0.000,955.295,0.000,5.449,0.000
$DEVICE_MAMPS,224.145,60.435,494.955,139.230,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,444.765,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322980
$DATA_FILE_SIZE,20061,665
$CAP_FILE_SIZE,73317,0
$CFSIZE,260034560,256499712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080813,003825,4743.233,-12224.544,15,1.3,15,16.3