version: 66.11
glider: 201
mission: 1
dive: 9
start: 8 8 113 0 46 46
data:
$ID,201
$MISSION,1
$DIVE,9
$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,-477.58325
$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,49
$R_STBD_OVSHOOT,41
$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
$GPS1,080813,003825,4743.233,-12224.544,15,1.3,15,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-66.8
$GPS2,080813,004551,4743.088,-12224.508,4,1.4,4,16.3
$SPEED_LIMITS,0.139,0.191
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.012,0.190
$KALMAN_X,-523.7,96.3,-82.5,902.7,-171.7
$KALMAN_Y,-3287.3,46.7,-432.1,4296.0,-1039.1
$MHEAD_RNG_PITCHd_Wd,347.2,2412,-19.8,-8.000,-22.77,1677
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.12,-88.0,199,2043,1964,1957,0.0,0.0,0,46,0.00,0.00,-28.75,0.000,16386,0.000,0.000,199,2044,2708,2726,2691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,49,-1.12,-88.0,199,2044,2726,2691,2.1,-4.0,5,90,9.10,2.10,-24.23,0.000,18692,0.225,0.065,2612,3401,3460,3495,3426,0,0,0,0,0,0,26.33,26.55,26.89
$GC,106,-1.12,-88.0,2612,3401,3495,3426,5.6,-9.5,15,113,0.00,2.08,0.00,0.000,1030,0.000,0.034,2613,1992,3460,3494,3426,0,0,0,0,0,0,28.83,26.62,28.83
$GC,175,-1.12,-88.0,2613,1993,3495,3426,12.8,-10.0,28,181,0.00,2.08,0.00,0.000,516,0.000,0.045,2613,602,3460,3495,3426,0,0,0,0,0,0,28.83,26.63,28.83
$GC,243,-1.12,-88.0,2612,602,3495,3426,21.6,-14.0,41,249,0.00,2.08,0.00,0.000,1030,0.000,0.032,2603,2005,3460,3495,3426,0,0,0,0,0,0,28.83,26.70,28.83
$GC,312,-1.12,-88.0,2602,2005,3495,3427,31.5,-14.7,54,319,0.00,2.12,0.00,0.000,260,0.000,0.048,2592,3397,3460,3495,3426,0,0,0,0,0,0,28.83,26.68,28.83
$GC,395,-1.12,-88.0,2592,3397,3495,3427,43.9,-13.8,70,403,0.12,2.05,0.00,0.000,3078,0.167,0.033,2623,2006,3461,3495,3427,0,0,0,0,0,0,26.60,26.77,28.83
$GC,525,-1.12,-88.0,2623,2006,3495,3427,59.3,-11.1,95,531,0.00,2.08,0.00,0.000,516,0.000,0.044,2624,607,3461,3495,3427,0,0,0,0,0,0,28.83,26.78,28.83
$GC,597,-1.12,-88.0,1632,606,3486,3424,67.8,-12.8,109,604,0.00,2.08,0.00,0.000,1030,0.000,0.032,2615,2017,3461,3495,3427,0,0,0,0,0,0,28.83,26.84,28.83
$GC,727,-1.12,-88.0,2616,2017,3495,3427,84.3,-13.4,134,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2017,3461,3495,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,856,-1.12,-88.0,2615,2017,3495,3427,100.8,-12.2,159,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2017,3461,3495,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,985,-1.12,-88.0,2615,2017,3495,3427,118.1,-14.3,184,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2017,3460,3494,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1112,-1.12,-88.0,2615,2017,3495,3427,134.1,-10.7,209,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2017,3461,3495,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1240,-1.12,-88.0,2615,2017,3495,3427,149.1,-11.5,234,1246,0.00,2.10,0.00,0.000,260,0.000,0.050,2605,3414,3461,3495,3427,0,0,0,0,0,0,28.83,26.93,28.83
$GC,1333,-1.12,-88.0,2604,3414,3495,3427,160.5,-13.2,252,1340,0.00,2.05,0.00,0.000,1030,0.000,0.034,2605,2009,3461,3495,3427,0,0,0,0,0,0,28.83,27.00,28.83
$GC,1462,-1.12,-88.0,2605,2009,3495,3427,176.2,-10.0,277,1468,0.00,2.08,0.00,0.000,516,0.000,0.045,2605,600,3461,3495,3427,0,0,0,0,0,0,28.83,26.97,28.83
$STATE,1474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1475,begin apogee
$GC,1480,-0.26,0.0,2594,2015,3495,3427,177.6,-10.3,279,1553,0.90,0.00,64.88,0.518,10244,0.132,0.000,2893,2016,3092,3142,3042,0,0,0,0,0,0,26.83,28.83,25.83
$STATE,1554,end apogee,CONTROL_FINISHED_OK
$STATE,1554,begin climb
$GC,1556,1.12,88.0,2894,2016,3139,3042,181.8,0.0,292,1623,1.23,0.00,62.85,0.505,11270,0.080,0.000,3345,2016,2739,2775,2703,0,0,0,0,0,0,26.27,28.83,25.39
$GC,1746,1.12,88.0,3344,2016,2763,2692,165.3,11.1,328,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,2016,2727,2763,2692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1874,1.12,88.0,3345,2016,2763,2691,152.7,10.0,353,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,2016,2727,2763,2692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2001,1.12,88.0,3345,2015,2763,2692,141.9,8.0,378,2007,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,2016,2727,2763,2691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2128,1.12,88.0,3344,2016,2762,2691,131.5,8.8,403,2135,0.00,2.12,0.00,0.000,260,0.000,0.049,3345,3406,2726,2762,2691,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2307,1.13,94.3,3345,3406,2762,2690,116.6,7.6,438,2314,0.00,2.10,1.25,0.190,9222,0.000,0.034,3355,1988,2714,2753,2676,0,0,0,0,0,0,28.83,26.78,26.60
$GC,2435,1.13,94.3,2432,1986,2725,2680,105.4,8.1,463,2443,0.00,2.08,1.02,0.207,8708,0.000,0.045,3356,596,2716,2756,2677,0,0,0,0,0,0,28.83,26.78,26.65
$GC,2474,1.14,99.9,3356,596,2764,2684,102.1,7.7,470,2482,0.00,2.05,3.10,0.451,9222,0.000,0.032,3356,1996,2694,2731,2657,0,0,0,0,0,0,28.83,26.83,26.16
$GC,2605,1.14,99.9,3356,1995,2757,2676,90.4,10.5,495,2613,0.00,2.17,2.22,0.296,8708,0.000,0.045,3365,596,2698,2739,2658,0,0,0,0,0,0,28.83,26.79,26.01
$GC,2680,1.14,99.9,3365,596,2754,2673,82.5,11.2,509,2688,0.00,2.03,1.92,0.192,9222,0.000,0.032,3365,1984,2694,2734,2655,0,0,0,0,0,0,28.83,26.85,26.53
$GC,2811,1.14,99.9,3365,1984,2755,2673,69.7,10.5,534,2818,0.00,2.20,1.85,0.192,8452,0.000,0.048,3365,3391,2699,2739,2659,0,0,0,0,0,0,28.83,26.83,26.58
$GC,2880,1.14,99.9,3365,3391,2754,2674,61.9,11.1,547,2888,0.00,2.05,1.88,0.192,9222,0.000,0.034,3375,1995,2693,2733,2654,0,0,0,0,0,0,28.83,26.89,26.58
$GC,3011,1.14,99.9,3375,1995,2754,2673,49.8,9.6,572,3019,0.00,2.12,1.75,0.190,8708,0.000,0.045,3385,606,2698,2739,2658,0,0,0,0,0,0,28.83,26.87,26.62
$GC,3136,1.14,99.9,3385,606,2754,2673,38.2,8.9,596,3144,0.12,2.03,1.83,0.188,13318,0.190,0.033,3355,1996,2693,2733,2653,0,0,0,0,0,0,26.73,26.94,26.63
$GC,3206,1.17,124.8,3355,1996,2753,2670,33.5,6.5,609,3236,0.00,2.20,23.80,0.410,8452,0.000,0.049,3355,3392,2582,2624,2541,0,0,0,0,0,0,28.83,26.68,26.28
$GC,3282,1.17,124.8,3355,3392,2620,2533,27.7,8.4,623,3289,0.00,2.08,0.00,0.000,1030,0.000,0.034,3364,1988,2576,2620,2533,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3352,1.17,124.8,3363,1988,2619,2533,21.7,8.7,636,3358,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,1988,2576,2619,2533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3419,1.17,124.8,3363,1988,2619,2533,15.2,10.0,649,3426,0.00,2.08,0.00,0.000,516,0.000,0.047,3372,597,2576,2619,2533,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3492,1.17,124.8,3372,597,2619,2533,8.1,10.6,663,3499,0.00,2.05,0.00,0.000,1030,0.000,0.032,3373,1996,2576,2619,2533,0,0,0,0,0,0,28.83,26.85,28.83
$STATE,3544,end climb,SURFACE_DEPTH_REACHED
$STATE,3544,begin surface coast
$FINISH,0.4,1.020422
$STATE,3576,end surface coast,CONTROL_FINISHED_OK
$STATE,3576,begin surface
$SM_CCo,3590,54.20,0.138,0,0,1956,280.13
$SM_GC,0.94,8.20,0.00,54.20,0.048,0.000,0.138,196,1998,1956,-8.64,-0.06,280.13,0,0,0,0,0,0,26.84,28.83,26.55
$IRIDIUM_FIX,4726.11,-12227.78,080813,000029
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.36
$INTERNAL_PRESSURE,8.85711
$TCM_TEMP,18.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.3,7.0
$24V_AH,25.4,0.556
$10V_AH,10.5,0.412
$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,19.675,54.350,168.350,54.200,0.000,49.526,66.990,196.676,0.500,0.000,5.835,1538.563,850.422,353.795,1309.417,53.149,33.207,901.296,0.000,975.345,0.000,5.450,0.000
$DEVICE_MAMPS,224.910,65.025,517.905,137.700,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,453.841,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323044
$DATA_FILE_SIZE,20086,679
$CAP_FILE_SIZE,78309,0
$CFSIZE,260034560,256454656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080813,014808,4743.230,-12224.688,3,1.9,3,16.3