version: 66.11
glider: 201
mission: 1
dive: 16
start: 8 8 113 8 21 38
data:
$ID,201
$MISSION,1
$DIVE,16
$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,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,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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-486.45978
$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,49
$R_STBD_OVSHOOT,46
$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,0
$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
$GPS1,080813,081733,4743.724,-12224.006,3,1.1,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-67.8
$GPS2,080813,082042,4743.710,-12223.983,4,1.0,4,16.3
$SPEED_LIMITS,0.139,0.200
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.124,-0.157
$KALMAN_X,-584.4,-163.4,161.7,1629.1,123.1
$KALMAN_Y,-4181.4,303.1,1009.2,4644.3,-84.6
$MHEAD_RNG_PITCHd_Wd,202.1,2129,-18.7,-8.000,-21.79,1862
$D_GRID,172
$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,-97.8,196,2001,1880,1886,0.0,0.0,0,52,0.00,0.00,-34.17,0.000,16386,0.000,0.000,197,2002,2766,2784,2748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,54,-1.08,-97.8,196,2002,2784,2748,2.3,-4.6,6,95,8.98,2.10,-25.00,0.000,18948,0.223,0.057,2628,594,3500,3535,3465,0,0,0,0,0,0,26.48,26.70,27.01
$GC,231,-1.08,-97.8,2627,594,3535,3466,21.9,-14.3,40,238,0.00,2.05,0.00,0.000,1030,0.000,0.033,2620,1993,3500,3535,3466,0,0,0,0,0,0,28.83,26.79,28.83
$GC,300,-1.08,-97.8,2620,1994,3535,3465,32.1,-17.3,53,306,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,1993,3500,3534,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,368,-1.08,-97.8,2620,1994,3535,3466,42.7,-12.1,66,375,0.00,2.15,0.00,0.000,260,0.000,0.050,2609,3409,3500,3535,3466,0,0,0,0,0,0,28.83,26.80,28.83
$GC,451,-1.08,-97.8,2609,3409,3535,3466,55.3,-15.7,82,458,0.00,2.10,0.00,0.000,1030,0.000,0.034,2609,1985,3500,3535,3466,0,0,0,0,0,0,28.83,26.87,28.83
$GC,580,-1.08,-97.8,2609,1985,3534,3466,70.5,-14.2,107,587,0.00,2.05,0.00,0.000,516,0.000,0.045,2609,597,3500,3534,3466,0,0,0,0,0,0,28.83,26.87,28.83
$GC,789,-1.08,-97.8,1600,597,3528,3464,100.8,-13.6,148,796,0.12,2.03,0.00,0.000,3078,0.166,0.033,2632,1975,3500,3535,3466,0,0,0,0,0,0,26.79,26.94,28.83
$GC,918,-1.08,-97.8,2632,1975,3535,3466,115.2,-11.2,173,925,0.00,2.17,0.00,0.000,260,0.000,0.050,2624,3412,3500,3535,3466,0,0,0,0,0,0,28.83,26.92,28.83
$GC,956,-1.08,-97.8,2623,3412,3534,3465,119.8,-12.5,180,963,0.00,2.15,0.00,0.000,1030,0.000,0.034,2624,1948,3500,3535,3466,0,0,0,0,0,0,28.83,26.98,28.83
$GC,1086,-1.08,-97.8,2623,1946,3534,3466,134.8,-12.2,205,1092,0.00,1.98,0.00,0.000,516,0.000,0.046,2624,605,3500,3535,3466,0,0,0,0,0,0,28.83,26.96,28.83
$GC,1128,-1.08,-97.8,1636,604,3528,3464,139.9,-11.1,213,1135,0.00,2.00,0.00,0.000,1030,0.000,0.033,2613,1975,3501,3535,3467,0,0,0,0,0,0,28.83,27.00,28.83
$GC,1257,-1.08,-97.8,2613,1975,3535,3467,154.9,-12.5,238,1264,0.00,2.15,0.00,0.000,260,0.000,0.050,2602,3402,3501,3535,3467,0,0,0,0,0,0,28.83,26.97,28.83
$GC,1340,-1.08,-97.8,2602,3402,3534,3466,164.7,-12.4,254,1348,0.12,2.08,0.00,0.000,3078,0.163,0.034,2636,1984,3501,3535,3467,0,0,0,0,0,0,26.88,27.03,28.83
$STATE,1408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1408,begin apogee
$GC,1411,-0.26,0.0,2635,1984,3535,3467,172.0,-9.8,267,1490,0.75,0.00,71.95,0.506,10244,0.121,0.000,2894,1979,3093,3143,3044,0,0,0,0,0,0,26.89,28.83,25.81
$STATE,1491,end apogee,CONTROL_FINISHED_OK
$STATE,1491,begin climb
$GC,1492,1.08,97.8,2894,1980,3140,3042,175.2,0.0,281,1571,1.23,2.10,70.10,0.504,10756,0.086,0.045,3326,605,2693,2727,2660,0,0,0,0,0,0,26.23,26.29,25.34
$GC,1798,1.08,97.8,3327,605,2719,2653,151.3,8.8,340,1805,0.00,2.08,0.00,0.000,1030,0.000,0.032,3328,2005,2686,2719,2653,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1928,1.08,97.8,3327,2005,2719,2652,139.2,10.6,365,1935,0.00,2.15,0.00,0.000,260,0.000,0.049,3327,3402,2686,2720,2653,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2161,1.08,97.8,3327,3402,2720,2652,114.4,10.7,411,2168,0.00,2.08,0.00,0.000,1030,0.000,0.034,3338,2003,2686,2720,2652,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2290,1.08,97.8,3337,2003,2720,2652,102.1,9.4,436,2296,0.00,2.15,0.00,0.000,260,0.000,0.048,3337,3399,2686,2720,2652,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2522,1.08,97.8,2400,3398,2678,2646,80.0,9.5,482,2529,0.00,2.05,0.00,0.000,1030,0.000,0.034,3347,2008,2686,2720,2652,0,0,0,0,0,0,28.83,26.86,28.83
$GC,2651,1.08,97.8,3347,2008,2719,2652,69.5,8.1,507,2657,0.00,2.10,0.00,0.000,516,0.000,0.045,3357,596,2685,2719,2652,0,0,0,0,0,0,28.83,26.85,28.83
$GC,2784,1.08,97.8,3357,596,2719,2652,57.1,8.5,533,2791,0.00,2.05,0.00,0.000,1030,0.000,0.033,3357,2002,2685,2719,2652,0,0,0,0,0,0,28.83,26.91,28.83
$GC,2913,1.10,117.6,3357,2002,2719,2652,46.7,6.9,558,2937,0.00,2.17,14.90,0.421,8452,0.000,0.049,3357,3397,2611,2650,2572,0,0,0,0,0,0,28.83,26.75,26.34
$GC,2973,1.10,117.6,3357,3397,2647,2566,42.0,8.1,569,2980,0.00,2.08,0.00,0.000,1030,0.000,0.034,3367,1992,2607,2647,2567,0,0,0,0,0,0,28.83,26.83,28.83
$GC,3103,1.10,117.6,3367,1992,2647,2566,31.6,8.0,594,3109,0.00,0.00,0.00,0.000,6,0.000,0.000,3367,1992,2606,2647,2566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3171,1.14,143.0,3367,1992,2647,2566,26.7,6.6,607,3194,0.00,0.00,18.98,0.414,8198,0.000,0.000,3367,1992,2510,2552,2469,0,0,0,0,0,0,28.83,28.83,26.27
$GC,3256,1.15,151.2,3367,1993,2544,2460,20.7,7.5,623,3263,0.00,2.25,1.73,0.179,8452,0.000,0.048,3367,3406,2489,2533,2446,0,0,0,0,0,0,28.83,26.71,26.56
$GC,3380,1.15,151.2,2432,3405,2498,2450,8.3,10.3,647,3388,0.00,2.08,1.67,0.181,9222,0.000,0.034,3378,1992,2483,2527,2439,0,0,0,0,0,0,28.83,26.82,26.62
$STATE,3433,end climb,SURFACE_DEPTH_REACHED
$STATE,3433,begin surface coast
$FINISH,0.3,1.021150
$STATE,3460,end surface coast,CONTROL_FINISHED_OK
$STATE,3460,begin surface
$SM_CCo,3474,54.45,0.135,0,0,1875,300.00
$SM_GC,2.18,8.23,0.00,54.45,0.048,0.000,0.135,193,1993,1875,-8.64,-0.20,300.00,0,0,0,0,0,0,26.80,28.83,26.53
$IRIDIUM_FIX,4726.11,-12213.55,080813,070757
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.66
$INTERNAL_PRESSURE,8.84734
$TCM_TEMP,18.70
$XPDR_PINGS,0
$24V_AH,25.3,0.816
$10V_AH,10.6,0.646
$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,19.425,50.325,179.325,54.450,0.000,22.655,29.447,72.370,0.000,0.000,5.901,1475.506,774.962,348.987,1083.154,48.361,33.214,874.366,0.000,951.675,0.000,0.544,0.000
$DEVICE_MAMPS,222.615,57.375,505.665,135.405,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,442.444,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323188
$DATA_FILE_SIZE,20080,662
$CAP_FILE_SIZE,67223,0
$CFSIZE,260034560,256204800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080813,092133,4743.293,-12224.122,33,1.2,33,16.3