version: 66.11
glider: 201
mission: 1
dive: 13
start: 8 8 113 5 9 40
data:
$ID,201
$MISSION,1
$DIVE,13
$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,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$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,-482.69534
$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,2983
$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,52
$R_STBD_OVSHOOT,40
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,110
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$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
$GPS1,080813,050215,4744.220,-12223.656,3,1.1,3,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-67.9
$GPS2,080813,050844,4744.258,-12223.631,6,1.1,6,16.3
$SPEED_LIMITS,0.139,0.200
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.076,-0.185
$KALMAN_X,-923.6,-74.5,-33.8,2518.4,-22.9
$KALMAN_Y,-4242.6,-241.8,129.6,7144.0,109.1
$MHEAD_RNG_PITCHd_Wd,186.1,3232,-18.7,-8.000,-21.79,1862
$D_GRID,180
$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,14,begin dive
$GC,15,-1.08,-97.8,187,2021,1965,1965,0.0,0.0,0,52,0.00,0.00,-34.20,0.000,16386,0.000,0.000,187,2021,2840,2854,2826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,54,-1.08,-97.8,187,2021,2854,2826,2.1,-4.6,6,95,9.15,2.20,-22.85,0.000,18948,0.225,0.060,2628,597,3500,3535,3465,0,0,0,0,0,0,26.35,26.58,26.89
$GC,322,-1.08,-97.8,2627,597,3535,3465,35.0,-13.7,58,328,0.00,2.08,0.00,0.000,1030,0.000,0.032,2620,2005,3500,3535,3466,0,0,0,0,0,0,28.83,26.74,28.83
$GC,390,-1.08,-97.8,2620,2005,3535,3466,44.8,-14.2,71,397,0.00,2.10,0.00,0.000,516,0.000,0.044,2620,603,3500,3535,3466,0,0,0,0,0,0,28.83,26.74,28.83
$GC,452,-1.08,-97.8,1632,603,3528,3463,54.0,-14.0,83,459,0.00,2.10,0.00,0.000,1030,0.000,0.033,2610,2018,3500,3535,3466,0,0,0,0,0,0,28.83,26.78,28.83
$GC,581,-1.08,-97.8,2610,2018,3535,3466,72.3,-13.9,108,588,0.00,2.10,0.00,0.000,260,0.000,0.050,2599,3407,3501,3536,3466,0,0,0,0,0,0,28.83,26.79,28.83
$GC,664,-1.08,-97.8,2599,3408,3535,3466,85.8,-16.9,124,672,0.12,2.03,0.00,0.000,3078,0.168,0.034,2632,2027,3500,3535,3466,0,0,0,0,0,0,26.70,26.87,28.83
$GC,795,-1.08,-97.8,2631,2024,3535,3465,103.4,-12.9,149,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2024,3500,3535,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,929,-1.08,-97.8,2631,2024,3535,3466,121.2,-11.8,174,936,0.00,2.10,0.00,0.000,516,0.000,0.044,2632,605,3500,3535,3466,0,0,0,0,0,0,28.83,26.89,28.83
$GC,1019,-1.08,-97.8,2631,605,3535,3465,132.4,-13.0,191,1025,0.00,2.10,0.00,0.000,1030,0.000,0.032,2624,2039,3500,3535,3466,0,0,0,0,0,0,28.83,26.94,28.83
$GC,1147,-1.08,-97.8,2624,2039,3535,3466,147.6,-11.1,216,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2039,3500,3535,3466,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1254,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1254,begin apogee
$GC,1257,-0.26,0.0,2624,2039,3535,3466,160.7,-12.1,237,1336,0.80,0.00,71.85,0.499,10244,0.129,0.000,2892,2040,3093,3143,3044,0,0,0,0,0,0,26.82,28.83,25.75
$STATE,1337,end apogee,CONTROL_FINISHED_OK
$STATE,1337,begin climb
$GC,1338,1.08,97.8,2892,2040,3141,3042,164.5,0.0,251,1416,1.20,0.00,69.97,0.493,11270,0.081,0.000,3331,2040,2691,2728,2654,0,0,0,0,0,0,26.20,28.83,25.34
$GC,1539,1.08,97.8,3331,2040,2723,2649,150.0,8.4,289,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2040,2686,2723,2649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1666,1.08,97.8,3331,2040,2723,2649,139.2,8.6,314,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2040,2685,2722,2649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1794,1.08,97.8,3331,2039,2722,2650,128.4,8.0,339,1800,0.00,2.17,0.00,0.000,516,0.000,0.044,3341,612,2685,2722,2649,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1887,1.09,105.7,2384,611,2680,2643,121.1,7.6,357,1894,0.00,2.05,2.35,0.278,9222,0.000,0.033,3342,2002,2667,2705,2630,0,0,0,0,0,0,28.83,26.65,25.95
$GC,2017,1.09,105.7,2368,2000,2681,2633,111.8,8.0,382,2024,0.00,2.12,1.27,0.194,8452,0.000,0.047,3341,3396,2671,2713,2630,0,0,0,0,0,0,28.83,26.66,26.52
$GC,2186,1.13,135.8,3341,3396,2722,2640,99.9,6.3,415,2221,0.00,2.03,26.77,0.450,9222,0.000,0.034,3352,2024,2537,2578,2496,0,0,0,0,0,0,28.83,26.78,26.06
$GC,2344,1.13,135.8,3351,2024,2573,2490,86.4,10.5,445,2351,0.00,2.12,0.00,0.000,260,0.000,0.049,3352,3398,2532,2574,2490,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2467,1.13,135.8,3351,3397,2574,2490,71.0,12.1,469,2474,0.00,2.00,0.00,0.000,1030,0.000,0.034,3360,2048,2532,2574,2490,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2596,1.13,135.8,3360,2048,2574,2490,58.0,9.8,494,2603,0.00,2.17,0.00,0.000,516,0.000,0.045,3370,594,2531,2573,2490,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2669,1.13,135.8,3370,594,2573,2490,51.1,9.5,508,2676,0.00,2.12,0.00,0.000,1030,0.000,0.032,3370,2037,2532,2574,2490,0,0,0,0,0,0,28.83,26.80,28.83
$GC,2799,1.13,135.8,3370,2037,2574,2490,39.2,9.6,533,2806,0.00,2.08,0.00,0.000,260,0.000,0.050,3370,3411,2532,2574,2490,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3029,1.13,135.8,3370,3412,2574,2489,16.6,10.0,578,3036,0.12,2.00,0.00,0.000,5126,0.190,0.034,3350,2049,2531,2574,2489,0,0,0,0,0,0,26.72,26.91,28.83
$GC,3099,1.13,135.8,3349,2049,2574,2489,10.2,8.7,591,3106,0.00,2.15,0.00,0.000,516,0.000,0.046,3356,606,2531,2573,2490,0,0,0,0,0,0,28.83,26.88,28.83
$STATE,3181,end climb,SURFACE_DEPTH_REACHED
$STATE,3181,begin surface coast
$FINISH,0.3,1.002620
$STATE,3218,end surface coast,CONTROL_FINISHED_OK
$STATE,3218,begin surface
$SM_CCo,3234,50.12,0.136,0,0,1958,280.13
$SM_GC,1.90,8.12,2.10,50.12,0.047,0.031,0.136,193,2000,1958,-8.64,-1.27,280.13,0,0,0,0,0,0,26.92,26.94,26.63
$IRIDIUM_FIX,4729.30,-12233.92,080813,040413
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.94
$INTERNAL_PRESSURE,8.85711
$TCM_TEMP,18.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.3,55.4
$24V_AH,25.3,0.709
$10V_AH,10.5,0.546
$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,19.525,41.925,172.225,50.125,0.000,50.911,54.052,152.710,1.500,0.000,6.997,1372.263,773.960,329.988,1161.780,51.510,33.217,819.380,0.000,883.641,0.000,14.871,0.000
$DEVICE_MAMPS,224.910,59.670,498.780,136.170,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,410.247,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323080
$DATA_FILE_SIZE,20060,614
$CAP_FILE_SIZE,65079,0
$CFSIZE,260034560,256315392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080813,060534,4744.163,-12223.809,35,1.0,35,16.3